Search

CN-122008906-A - Torque distribution method and device for multi-motor distributed driving vehicle

CN122008906ACN 122008906 ACN122008906 ACN 122008906ACN-122008906-A

Abstract

The application discloses a torque distribution method and a torque distribution device for a multi-motor distributed driving vehicle, which relate to the technical field of vehicle control, and are used for determining current first available driving power based on acquired current total available power and current non-driving total power consumption, determining current loss power of each motor in at least four motors to obtain current total loss power of the at least four motors, determining current actual available driving power based on the current first available driving power and the current total loss power, and determining actual torque distributed for each motor by adopting grid search when the current required driving power is larger than the current actual available driving power, wherein the total loss power of the at least four motors is minimum, the sum of the input power of the motors is not larger than the actual available driving power, the difference between the total torque of the left motor and the total torque of the right motor is a preset fixed value, and the sum of the total torque of the left motor and the total torque of the right motor is a target total torque is a constraint condition, so that the energy efficiency of the whole vehicle is optimized.

Inventors

  • ZHAO YA
  • ZHANG FAN
  • ZHU HAO

Assignees

  • 奇瑞汽车股份有限公司

Dates

Publication Date
20260512
Application Date
20260331

Claims (10)

  1. 1. A torque distribution method of a multi-motor distributed drive vehicle, comprising: Acquiring current total available power and current non-driving total power consumption provided by a battery management system; Determining a current first available drive power based on the current total available power and a current non-drive total power consumption; Determining the current lost power of each motor in at least four motors to obtain the current total lost power of at least four motors; determining a current actual available drive power based on the current first available drive power and the current total lost power; When the current required driving power is larger than the current actual available driving power, determining the actual torque respectively distributed for each motor by adopting grid search under the constraint that the total loss power of at least four motors is minimum, the sum of the input powers of the motors is not larger than the actual available driving power, the difference between the total torque of the left motor and the total torque of the right motor is a preset fixed value, and the sum of the total torque of the left motor and the total torque of the right motor is a target total torque.
  2. 2. The method of torque distribution for a multi-motor, distributed drive vehicle of claim 1, wherein said determining the lost power of each of the at least four motors comprises: acquiring current state information of each motor in at least four motors; Determining the current efficiency of the motor according to the current state information; a current lost power of the motor is determined based on the current state information and the current efficiency.
  3. 3. The method of torque distribution for a multi-motor distributed drive vehicle according to claim 2, wherein said determining the current efficiency of the motor from the current state information comprises: And inquiring a pre-stored efficiency mapping table according to the current state information to obtain the current efficiency of the motor.
  4. 4. The method of torque distribution for a multi-motor distributed drive vehicle according to claim 2, characterized in that said determining the current lost power of the motor based on the current state information and the current efficiency comprises: based on the current state information and the current efficiency, calculating to obtain the current lost power of the motor by using the following formula; ; Wherein, the Indicating the current lost power of the ith motor, i indicating the motor index, Indicating the current rotational speed of the i-th motor, Representing the current torque of the i-th motor, Indicating the current efficiency of the ith motor.
  5. 5. The method for torque distribution for a multi-motor, distributed-drive vehicle according to claim 1, wherein the constraints further include: the torque of each motor does not exceed the maximum allowable torque at the corresponding rotating speed and is not smaller than the minimum allowable torque at the corresponding rotating speed.
  6. 6. The method for torque distribution for a multi-motor, distributed-drive vehicle according to claim 1, wherein the constraints further include: and calculating the rotation speeds corresponding to the motors when the current total lost power of the motors is calculated as the rotation speeds determined based on the vehicle speed.
  7. 7. The method of torque distribution for a multi-motor distributed drive vehicle according to claim 1, characterized in that after the determination of the current actual available drive power based on the current first available drive power and the current total lost power, further comprising: and displaying the currently available driving power on a vehicle instrument panel.
  8. 8. A torque distribution device of a multi-motor distributed drive vehicle, comprising: the acquisition module is used for acquiring the current total available power and the current non-driving total power consumption provided by the battery management system; a first determining module, configured to determine a current first available driving power based on the current total available power and a current non-driving total power consumption; The second determining module is used for determining the current lost power of each motor in the at least four motors to obtain the current total lost power of the at least four motors; A third determining module, configured to determine a current actual available driving power based on the current first available driving power and the current total lost power; and the distribution module is used for determining the actual torque distributed to each motor respectively by adopting grid search by taking the total loss power of at least four motors, the sum of the input powers of the motors is not more than the actual available driving power, the difference between the total torque of the left motor and the total torque of the right motor as a preset fixed value and the sum of the total torque of the left motor and the total torque of the right motor as a target total torque as a constraint condition when the current required driving power is more than the current actual available driving power.
  9. 9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the method of torque distribution for a multi-motor distributed drive vehicle of any one of claims 1-7 when the computer program is executed.
  10. 10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, implements the torque distribution method of the multi-motor distributed drive vehicle of any one of claims 1 to 7.

Description

Torque distribution method and device for multi-motor distributed driving vehicle Technical Field The application relates to the technical field of vehicle control, in particular to a torque distribution method and device for a multi-motor distributed driving vehicle. Background In a four-motor distributed drive electric vehicle, the drive power of the entire vehicle is derived from a power battery and is transmitted to the wheels through a plurality of independent motors. The whole vehicle controller needs to reasonably distribute power to each motor according to the total available power provided by the battery management system so as to ensure the dynamic property, stability and safety of the vehicle. In the related art, the whole vehicle controller generally calculates the available power of each motor based on the available power reported by the battery management system, and simply according to a fixed allocation policy (such as average allocation or weight allocation based on driving mode). However, this approach may suffer from inaccurate power estimation. Disclosure of Invention In view of the above, the present application provides a method and apparatus for torque distribution of a multi-motor distributed driving vehicle to optimize the efficiency of the whole vehicle. The aim of the application can be achieved by the following technical scheme: A first aspect of the present application provides a torque distribution method of a multi-motor distributed drive vehicle, including: Acquiring current total available power and current non-driving total power consumption provided by a battery management system; determining a current first available drive power based on the current total available power and the current non-drive total power consumption; Determining the current lost power of each motor in the at least four motors to obtain the current total lost power of the at least four motors; Determining a current actual available drive power based on the current first available drive power and the current total lost power; When the current required driving power is larger than the current actual available driving power, the total loss power of at least four motors is minimum, the sum of the input powers of the motors is not larger than the actual available driving power, the difference between the total torque of the left motor and the total torque of the right motor is a preset fixed value, the sum of the total torque of the left motor and the total torque of the right motor is a target total torque, and grid searching is adopted to determine the actual torque respectively distributed to each motor. In an alternative embodiment, determining the lost power of each of the at least four motors includes: acquiring current state information of each motor in at least four motors; Determining the current efficiency of the motor according to the current state information; The current lost power of the motor is determined based on the current state information and the current efficiency. In an alternative embodiment, determining the current efficiency of the motor based on the current state information includes: and inquiring a prestored efficiency mapping table according to the current state information to obtain the current efficiency of the motor. In an alternative embodiment, determining the current lost power of the motor based on the current state information and the current efficiency includes: Based on the current state information and the current efficiency, calculating to obtain the current loss power of the motor by using the following formula; ; Wherein, the Indicating the current lost power of the ith motor, i indicating the motor index,Indicating the current rotational speed of the i-th motor,Representing the current torque of the i-th motor,Indicating the current efficiency of the ith motor. In an alternative embodiment, the constraints further include: the torque of each motor does not exceed the maximum allowable torque at the corresponding rotating speed and is not smaller than the minimum allowable torque at the corresponding rotating speed. In an alternative embodiment, the constraints further include: the rotational speed corresponding to the motor when calculating the current total lost power of the plurality of motors is the rotational speed determined based on the vehicle speed. In an alternative embodiment, after determining the current actual available drive power based on the current first available drive power and the current total lost power, further comprising: The currently available drive power is displayed on the vehicle dashboard. A second aspect of the present application provides a torque distribution device for a multi-motor distributed drive vehicle, comprising: the acquisition module is used for acquiring the current total available power and the current non-driving total power consumption provided by the battery management system; A first determining module for determ