CN107284287A - Control method and system for the Dual-motors Driving of electric automobile - Google Patents
Control method and system for the Dual-motors Driving of electric automobile Download PDFInfo
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- CN107284287A CN107284287A CN201610223829.7A CN201610223829A CN107284287A CN 107284287 A CN107284287 A CN 107284287A CN 201610223829 A CN201610223829 A CN 201610223829A CN 107284287 A CN107284287 A CN 107284287A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2054—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed by controlling transmissions or clutches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses the Dual-motors Driving control method and system of electric automobile, the electric automobile includes the first power motor and the second power motor；Driving wheel；And the transmission device for power to be transmitted between the motor and the driving wheel, the transmission device limits the first gear with the first gearratio and the second gear with the second gearratio, and single motor activation point that the transmission device can be connected in only described first power motor according to described method and system with second gear with the actuator operation, the bi-motor one that first power motor is connected with the actuator operation simultaneously with second gear and second power motor with first gear keeps off activation point, switch the gear activation point of bi-motor two that first power motor is connected with second gear and second power motor with second gear with the actuator operation simultaneously between.
Description
Technical field
The present invention relates generally to the control method of the Dual-motors Driving for electric automobile and is
System, it is particularly possible to distributed for different operation optimization moments of torsion and energy utilization efficiency is higher.
Background technology
Increasingly serious with energy crisis and environmental problem, energy-saving and emission-reduction have become vapour now
The trend of car industry development.In the process for promoting new-energy automobile, electric automobile is efficient with its
Free of contamination advantage turns into the emphasis that new-energy automobile is promoted.
Different from traditional fuel engines, motor has excellent torque characteristics, therefore electronic
Automobile is substantially reduced for the requirement of gearbox.Using single motor single speed more than traditional electric automobile
The type of drive of ratio.Acceleration under this traditional electric automobile low speed exists with hill climbing demands motor
High pulling torque is exported under low speed, and is run at high speed, it is required that motor possesses very big speed adjustable range, mesh
It is difficult to realize high-efficiency operation under low speed and high speed simultaneously in front motor design, this is resulted in
Often can not be before energy utilization efficiency highest be met using the electric automobile of this type of drive
Put driving and climbing and the both sides demand of running at high speed taken into account under low speed.
The content of the invention
For problem above, the present invention proposes a kind of novel electric automobile Dual-motors Driving
Control method and system, according to different operating modes, by vehicle total torque demand two motors it
Between carry out reasonable distribution, while vehicle total torque demand is met lifting system total energy profit
Use efficiency.
According to an aspect of the invention, there is provided a kind of electric automobile, especially pure electric automobile
Dual-motors Driving control method, the electric automobile includes the first power motor and second dynamic
Force motor；Driving wheel；And for power to be transmitted between the motor and the driving wheel
Transmission device, the transmission device limits the first gear with the first gearratio and has
Second gear of the second gearratio, and the transmission device can be in only described first power electric
Single motor activation point that machine is connected with second gear with the actuator operation, institute
The first power motor is stated with second gear and second power motor with the first gear
The bi-motor one that position is connected with the actuator operation simultaneously keeps off activation point, described first
Power motor with second gear and second power motor with second gear simultaneously
Switch between the gear activation point of bi-motor two being connected with the actuator operation, the side
Method includes：
Determine the need that the current vehicle speed and needs of the electric automobile are exported by the transmission device
Seek moment of torsion；
In the case where the demand torque can be by first power motor satisfaction, institute is determined
State energy utilization efficiency of first power motor in single motor activation point；
Judge whether the rotating speed of second power motor is interval applicable double according to the current vehicle speed
Motor one keeps off the gearratio of activation point；
The transmission that bi-motor one keeps off activation point is applicable in the rotating speed interval of second power motor
Than in the case of, with predetermined moment of torsion interval, it is determined that meeting described the first of the demand torque
The different torque combinations of power motor and second power motor, for different moment of torsion groups
Close, first and second power motor is calculated respectively in the gear of bi-motor one and two gear activation points
When total energy utilization ratio；
From single motor activation point obtained above when, bi-motor one keep off and two gear activation points
When energy utilization efficiency in determine peak, according to activation point corresponding with the peak
Switch the gear of the transmission device and corresponding moment of torsion control is carried out to motor.
Alternatively, in the inapplicable gear of bi-motor one driving in rotating speed interval of second power motor
In the case of the gearratio of position, with predetermined moment of torsion interval, it is determined that meeting the demand torque
First power motor and second power motor different torque combinations, for not
Same torque combinations, calculate first and second power motor and keep off driving in bi-motor two respectively
Total energy utilization ratio during position；
From single motor activation point that above-mentioned calculating is obtained when, bi-motor two gear activation point when
Energy utilization efficiency in determine peak, cut according to activation point corresponding with the peak
Change the gear of the transmission device and corresponding moment of torsion control is carried out to motor.
Alternatively, if the demand torque can not be met by first power motor, according to
Whether fit in the rotating speed interval for judging second power motor according to the current vehicle speed of the electric automobile
The gearratio of activation point is kept off with bi-motor one；
The transmission that bi-motor one keeps off activation point is applicable in the rotating speed interval of second power motor
Than in the case of, with predetermined moment of torsion interval, it is determined that meeting described the first of the demand torque
The different torque combinations of power motor and second power motor, for different moment of torsion groups
Close, first and second power motor is calculated respectively in the gear of bi-motor one and two gear activation points
When total energy utilization ratio；
Energy utilization efficiency when keeping off activation point from the gear of bi-motor one that above-mentioned calculating is obtained and two
Middle determination peak, the transmission device is switched according to activation point corresponding with the peak
Gear and according to torque combinations corresponding with the peak to motor carry out moment of torsion control.
Alternatively, in the inapplicable gear of bi-motor one driving in rotating speed interval of second power motor
In the case of the gearratio of position, with predetermined moment of torsion interval, it is determined that meeting the demand torque
First power motor and second power motor different torque combinations, for not
Same torque combinations, calculate first and second power motor and keep off driving in bi-motor two respectively
Total energy utilization ratio during position；
Determined in energy utilization efficiency during the gear activation point of bi-motor two obtained from above-mentioned calculating
Peak, by the transmission device switch to bi-motor two keep off activation point and according to it is described
The corresponding torque combinations of peak carry out moment of torsion control to motor.
Preferably, the power of first power motor is more than the power of second power motor.
Preferably, second gearratio is less than first gearratio.
Alternatively, when the electric automobile gives it the gun, first and second power motor
The calculation formula of total energy utilization ratio be：ηIt is double=((T1×n1/9550)+(T2×
n2/9550))/((T1×n1/9550)/η1+(T2×n2/9550)/η2), wherein, T1And T2
Moment of torsion on the output shaft of respectively described first power motor and second power motor, it is single
Position：Ox rice；n1And n2Respectively described first power motor and second power motor output
Rotating speed on axle, unit：Revolutions per minute；η1And η2It is first power motor and institute respectively
State the efficiency value of the second power motor in itself.
Alternatively, in the electric automobile Reduced Speed Now or braking, described first and second move
The calculation formula of the total energy utilization ratio of force motor is：η′It is double=((T1×n1×η1/9550)
+(T2×n2×η2/9550))/((T1×n1/9550+(T2×n2/ 9550)), wherein, T1With
T2Moment of torsion on the output shaft of respectively described first power motor and second power motor,
Unit：Ox rice；n1And n2Respectively described first power motor and second power motor are defeated
Rotating speed on shaft, unit：Revolutions per minute；η1And η2Be respectively first power motor and
The efficiency value of second power motor in itself.
Preferably, the transmission device is gear drive.
Preferably, methods described during the traveling of the electric automobile with predetermined time interval
Complete in real time.
Alternatively, methods described is completed and for different cars in advance when the electric automobile dispatches from the factory
The different driving call by location and the moment of torsion control knot of motor of the transmission device of speed and demand torque
Fruit be stored in the memory of the electric automobile, during the traveling of the electric automobile with
Predetermined time interval calls stored result to control for different speeds and demand torque
State the activation point of transmission device and moment of torsion control is carried out to motor.
According to another aspect of the present invention, additionally provide a kind of electric automobile, it is especially pure electronic
The drive control system of double motors of automobile, the system is dynamic including the first power motor and second
Force motor；Transmission device, the input of the transmission device is selected with second power motor
Property be connected, and the driving wheel of the electric automobile is connected with the output end of the transmission device；
And control unit, first gear of the transmission device restriction with the first gearratio is with having
Second gear of the second gearratio, and according to preceding method, described control unit control is described
Transmission device is in only described first power motor with the defeated of second gear and the transmission device
Enter the connected single motor activation point in end, first power motor with second gear and
Second power motor is connected with the input of the transmission device simultaneously with first gear
The gear of bi-motor one activation point, first power motor is with second gear and described
Pair that second power motor is connected with the input of the transmission device simultaneously with second gear
Switch between the gear activation point of motor two, and the moment of torsion of described control unit controlled motor.
, can real-time optimization electric automobile using this bi-motor moment of torsion distribution method of the present invention
Moment of torsion allocation strategy, so as to improve system capacity utilization ratio, extends the continual mileage of vehicle.
Brief description of the drawings
Describe in detail from described later and combine following accompanying drawing and will can be more fully understood the present invention's
Foregoing and other side.It is pointed out that the ratio of each accompanying drawing is for clarity of illustration
It is possible to different, but this can't influence the understanding of the present invention.In the accompanying drawings：
Fig. 1 diagrammatically illustrates the block diagram of the drive control system of double motors according to the present invention；
Fig. 2 diagrammatically illustrates the schematic diagram of one embodiment of transmission device as shown in Figure 1；
And
Fig. 3 diagrammatically illustrates the flow chart of the Dual-motors Driving control method according to the present invention.
Embodiment
In each accompanying drawing of the application, structure is identical or intimate feature is by identical accompanying drawing
Mark is represented.
Fig. 1 diagrammatically illustrates the block diagram of the drive control system of double motors according to the present invention.Should
Driving control system includes the input of two motors 1,6, wherein motor 1 and transmission device 100
End is always connected, and the selective power connector of input of motor 6 and transmission device 100,
By power according to the driving wheel for being provided to electric automobile under the control of control unit for vehicle 300
200.Control unit for vehicle 300 can control and monitor respectively the operating parameter of motor 1,6,
For example can be according to the moment of torsion for needing to adjust each motor in real time, the output shaft turn for monitoring motor
Speed etc..Control unit for vehicle 300 can control the respective of transmission device 100 and motor 1,6
Power connector and the inside gear shifting action for controlling transmission device 100.
In addition, driving control system of the invention can also include electrokinetic cell and its battery
Other necessary parts such as management system, shift motor and its controller.In addition, this area skill
Art personnel are it should be clear that the signified Dual-motors Driving of the application can be double electricity of pure electric automobile
The Dual-motors Driving in motorized motions part in machine driving or plug-in hybrid vehicle.
As described above, the effect of transmission device 100, which is mainly, realizes motor 1,6 and driving wheel
200 selective power connector and related gear conversion.Fig. 2 diagrammatically illustrates this transmission
The schematic diagram of one example of device.In the figure, transmission device 100 is with gear drive machine
The mode of structure is shown.But, it will be apparent to those skilled in the art that described example is not
Uniqueness limitation to transmission device 100, those skilled in the art are understanding related art method
After can also use other mechanisms driver such as stepless speed variator of vehicle, double-clutch speed changer
Structure is applied to the present invention.
As shown in Fig. 2 transmission device 100 includes two gear driving gear 2, itself and motor 1
Output shaft is fixedly linked, so that the moment of torsion exported by the output shaft of motor 1 can directly drive two
Gear driving gear 2 rotates.Two gear driving gear 2 is formed with one two gear synchromesh gear 3, should
Two gear synchromesh gears 3 can be with the synchronous rotary of two gear driving gear 2.
A main reducing gear is provided with transmission device 100, the main reducing gear includes what is be engaged with each other
The main driving gear 8 that subtracts subtracts driven gear 12 with main.In transmission device 100.Two gear driven tooths
The gear driven gear 9 of wheel 10 and one subtracts that driving gear 8 is coaxial to be connected with the master.Master subtracts driven tooth
Wheel 12 is connected via differential mechanism 11 and rotating shaft with driving wheel 200.So, moment of torsion can be from electricity
The output shaft of machine 1 keeps off driven gear 10, master via two gear driving gear 2, two and subtracts driving gear
8 subtract driven gear 12 with master is transferred to driving wheel 200, for driving electric automobile during traveling.Should
When clear, when electric automobile slows down or brakes, the moment of torsion of road wheel end can be with above-mentioned opposite
Process is transferred to motor 1.
As shown in Fig. 2 transmission device 100 is additionally provided with a synchronizer 7, for example, one with interior
The sleeve of tooth.A gear is fixedly disposed on the output shaft of motor 6, the gear and synchronizer 7
Engage always.Transmission device 100 is additionally provided with fixed gear synchromesh gear 4 each other
With a gear driving gear 5.Synchronizer 7 can be respectively by mobile in synchronous with a gear and two gears
The all out of mesh single motor activation point of gear 4 and 3；That is engaged with a gear synchromesh gear 4 is double
Motor one keeps off activation point；The bi-motor two engaged with two gear synchromesh gears 3 keeps off activation point.
One gear driving gear 5 is engaged with a gear driven gear 9 of main reducing gear.
In the case of normally travel, when keeping off activation point in bi-motor one, except mentioned above
Be delivered to from motor 1 beyond the moment of torsion of driving wheel 200, additional moment of torsion from motor 6 via
The one gear gear of driving gear 5, one driven gear 9, master, which subtract driving gear 8 and led, subtracts driven gear
12 are transferred to driving wheel 200；When keeping off activation point in bi-motor two, additional moment of torsion is from motor
6 via two gear driving gear 2, two keep off driven gear 10, it is main subtract driving gear 8 and it is main subtract from
Moving gear 12 is transferred to driving wheel 200, for driving electric automobile during traveling.It should be clear that working as
When electric automobile slows down or braked, the moment of torsion of road wheel end can be transferred to above-mentioned opposite process
Motor 1 and 6.
Preferably, the gearratio between two gear driving gear and two gear driven gears can be less than one
The gearratio kept off between driving gear and a gear driven gear.But it should be clear that transmission device
The gearratio of each gear in 100 can be separately fixed according to need.Preferably, the power of motor 1 can
With the power more than motor 6.
According to the Dual-motors Driving control method of the present invention, the control unit for vehicle 300 of electric automobile
It can be driven for speed and total torque the demand selection of a certain determination using single motor or bi-motor
Dynamic model formula, and can switch under Dual-motors Driving pattern according to needing progress two to keep off.
For the control mode of the fast ratio of traditional single motor single, low speed for electric automobile,
The different torque demand operating modes climbed or run at high speed, it is impossible to take into account requirement completely.But using this
The Dual-motors Driving control method of invention perfect can solve this problem.
Fig. 3 diagrammatically illustrates Dual-motors Driving controlling party according to an embodiment of the invention
The flow chart of method.
First, in step S10, the current vehicle speed of electric automobile is determined, and according to current work
Condition determines required torque TDemand.Torque TDemandReally usual practice can such as be worked as by considering
Preceding speed, accelerator pedal position, brake pedal position, cruise set, vehicle driving up or descending
The factors such as state determine that this work can for example complete by control unit for vehicle 300.
Torque T hereinDemandTo want the moment of torsion that transmission device is exported according to current working.
Then, in step S11, control unit for vehicle 300 according to identified torque demand come
Judge whether motor 1 disclosure satisfy that requirement.
If step S11 judged result is "Yes", determine that motor 1 is independent in step S12
Electric efficiency/energy utilization efficiency η during drivingIt is single, the efficiency etaIt is singleBe motor 1 itself with not
It is motor pre-determined parameter in itself, for example with the related efficiency value of rotating speed or moment of torsion
Be stored in corresponding electro-mechanical memory, it is necessary to when directly invoke.
Progress synchronous with step S12 is step S13, and motor 6 is judged in step S13
Whether rotating speed interval disclosure satisfy that bi-motor one keeps off the speed demand of activation point.For example, according to
Speed is kept off the transmission of activation point by transmission device 100 in bi-motor one determined by step S10
Than the anti-rotating speed for pushing away motor, judge the rotating speed whether in the rotating speed of motor 6 is interval.
If step S13 judged result is "Yes", in step S14, it is determined that above-mentioned double
It is total in the case of the gear activation point of motor one, i.e. in motor 6 with a gear activation point and motor 1
It is all the energy utilization effect of whole driving control system in the case that driving wheel 200 provides moment of torsion
Rate.
Step S14's is implemented as follows.
First, the torque range [T1 of motor 1 and 6 is determined based on speedIt is minimum、T1It is maximum]、[T6It is minimum、T6It is maximum].For example, for given rotating speed, each motor exists according to power difference should
Torque range.Then, with certain step delta T (for example, 5 Ns of rice, 10 Ns of rice, 15 Ns of rice
Deng；It is expected that computational accuracy is high, then the step-length is optional smaller) change electricity in above-mentioned torque range
The moment of torsion of machine 1 and motor 6, so that it is determined that can cover total required by step S10 determinations
The all possible torque combinations of moment of torsion.Then, for each step delta T torque combinations,
The energy utilization efficiency of the drive control system of double motors under every kind of torque combinations is calculated successively.
For example, situation about accelerating for electric automobile, calculation formula can be ηDouble 1=(P1 output
+P6 outputs)/(P1 input+P6 inputs)=((T1×n1/9550)+(T6×n6/9550))/((T1
×n1/9550)/η1+(T6×n6/9550)/η6)；And for the situation that electric automobile brakes, meter
Calculation formula is η 'Double 1=(P1 output+P6 outputs)/(P1 input+P6 inputs)=((T1×n1×η1/9550)
+(T6×n6×η6/9550))/((T1×n1/9550+(T6×n6/ 9550)), wherein, T1With
T6Moment of torsion respectively on the output shaft of motor 1 and 6, unit：Ox rice；n1And n6Respectively
Rotating speed on the output shaft of motor 1 and 6, unit：Revolutions per minute；η1And η6It is motor respectively
1 and 6 efficiency values related to different rotating speeds or moment of torsion of itself, they be motor in itself
Pre-determined parameter, be for example stored in corresponding electro-mechanical memory, it is necessary to when directly invoke
.
It should be apparent to those skilled in the art that be that the total energy utilization ratio of motor can also be adopted
Otherwise determine.For example, in the case of the Accelerating Traveling of Automobiles, it is considered to electrical consumption
The minimum situation of electrical power is used as total energy utilization ratio highest situation；And in car deceleration
Or in the case of braking, it is considered to motor reclaims the most situation of electrical power and utilized as total energy
Efficiency highest situation.
Then, in step S15, it is determined that in the case of above-mentioned bi-motor two gear activation point,
The feelings of moment of torsion are provided for driving wheel 200 jointly in motor 6 with two gear activation points with motor 1
Under condition, the energy utilization efficiency of whole driving control system.Step S15 specific implementation
It is identical with step S14, redundant is not done herein.
If step S13 judged result is "No", in step S16, it is determined that above-mentioned double
It is total in the case of the gear activation point of motor two, i.e. in motor 6 with two gear activation points and motor 1
It is all the energy utilization effect of whole driving control system in the case that driving wheel 200 provides moment of torsion
Rate.Step S16 specific implementation is identical with step S15, and redundant is not done herein.
Then, in step S17, electric efficiency (S12), step delta T for the driving of single motor 1
Different torque combinations under calculate obtain multiple bi-motors one gear driving control system energy profit
The multiple double electricity obtained with being calculated under efficiency (S14) and step delta T different torque combinations
Machine two keeps off the energy utilization efficiency (S15) of driving control system, compares the efficiency determined in them
Peak, then according to this efficiency peak, determines how switching power.Or in step
S17 ', the electric efficiency (S12) driven for single motor 1, step delta T different torque combinations
It is lower to calculate the energy utilization efficiency (S16) that obtained multiple bi-motors two keep off driving control system,
Compare the efficiency peak determined in them, then according to this efficiency peak, determine how
Switch power.
For example, in the case of disclosure satisfy that current vehicle speed in the rotating speed interval of motor 6, by step
S12 result and step S14 and S15 result are compared, if what single motor 1 drove
The value of electric efficiency (S12) is maximum, then the instruction of control unit for vehicle 300 transmission device 100 is tieed up
Hold single motor activation point it is constant and to motor carry out moment of torsion control (step S4).
For another example in the case of disclosure satisfy that current vehicle speed in the rotating speed interval of motor 6, will walk
Rapid S12 result and step S14 and S15 result is compared, if some step delta T
Torque combinations under calculate the energy utilization efficiency that obtained bi-motor one keeps off driving control system
(S14) value is maximum, then the instruction of control unit for vehicle 300 transmission device 100 is switched to double electricity
Machine one keeps off activation point and carries out moment of torsion control (step S4) to motor 1 and 6 with the torque combinations.
Here moment of torsion control is carried out to motor and refers to foundation and identified energy utilization efficiency maximum
The torque output of that torque combinations, respectively regulation motor 1 and 6.If for example, total torque
Demand is 400 Ns of rice and motor 1 can meet total torque demand and the rotating speed of motor 6 is interval
A gear demand can be met, in this case, if a certain torque combinations are in a gear driving position
Obtained energy utilization efficiency is calculated when putting maximum, then the input of regulate transmission device 100
End is connected with motor 1 and 6, while the gear of motor 6 is in a gear, and according to the torsion
The torque output of square combination difference regulation motor 1 and 6.
For another example by step in the case of disclosure satisfy that current vehicle speed in the rotating speed interval of motor 6
S12 result and step S14 and S15 result are compared, or in the rotating speed of motor 6
Interval will be calculated in the case of can not meeting current vehicle speed under step delta T different torque combinations
To multiple bi-motors two gear driving control system energy utilization efficiency be compared, if certain
The energy that obtained bi-motor two keeps off driving control system is calculated under individual step delta T torque combinations
The value of utilization ratio (S14) is maximum, then the instruction of control unit for vehicle 300 transmission device 100 is cut
Change to the gear activation point of bi-motor two and moment of torsion control is carried out to motor 1 and 6 with the torque combinations
(step S4).The detailed process of moment of torsion control is similar to the above.
If step S11 judged result is "No", turning for motor 6 is judged in step S20
Whether fast interval disclosure satisfy that bi-motor one keeps off the speed demand of activation point.Step S20 reality
Existing mode is similar with step S13, does not make redundant herein.
If step S20 judged result is "Yes", in step S21 foundations and step 14
Identical mode determines to calculate obtained multiple bi-motors one under step delta T different torque combinations
Keep off the energy utilization efficiency of driving control system.
Then, in step S22 according to determining step delta T's with step S15 identicals mode
The energy utilization that obtained multiple bi-motors two keep off driving control system is calculated under different torque combinations
Efficiency.
Then, in step S23, what is obtained for being calculated under step delta T different torque combinations is more
The energy utilization efficiency (S21) and step delta T of the individual gear of bi-motor one driving control system are not
With the energy utilization effect that the obtained gear driving control system of multiple bi-motors two is calculated under torque combinations
Rate (S22), compares the efficiency peak determined in them, then according to this efficiency peak,
Determine how switching power.
For example, in the case of disclosure satisfy that current vehicle speed in the rotating speed interval of motor 6, if certain
The energy that obtained bi-motor one keeps off driving control system is calculated under individual step delta T torque combinations
The value of utilization ratio (S21) is maximum, then the instruction of control unit for vehicle 300 transmission device 100 is cut
Change to the gear activation point of bi-motor one and moment of torsion control is carried out to motor 1 and 6 with the torque combinations
(step S4).The detailed process of moment of torsion control is similar to the above.
If step S20 judged result is "No", in step S31 foundations and step S15
Identical mode calculates multiple pairs for calculating and obtaining under the different torque combinations to determine step delta T
Motor two keeps off the energy utilization efficiency of driving control system.
Then, in step S32, what is obtained for being calculated under step delta T different torque combinations is more
Individual bi-motor two keeps off the energy utilization efficiency (S31) of driving control system, compares and determines in them
Efficiency peak, then according to this efficiency peak, determine how switching power.
If calculating the obtained gear drive control of bi-motor two under some step delta T torque combinations
The value of the energy utilization efficiency (S31) of system is maximum, then the instruction of control unit for vehicle 300 transmission
Device 100 is switched to the gear activation point of bi-motor two and motor 1 and 6 is entered with the torque combinations
Row moment of torsion control (step S4).The detailed process of moment of torsion control is similar to the above.
So, no matter for electric automobile give it the gun needed for energy or for slow down or brake
When recover energy, may ensure that the present invention drive control system of double motors can be always most
Run in the case of high integral energy utilization ratio.
The above method of the present invention can in real time be completed in driving control system, i.e., with certain
Time interval for actual measurement speed or setting velocity estimated total torque demand, then constantly weight
Process as shown in Figure 3 is performed again, so that it is guaranteed that the drive control system of double motors energy of the present invention
Enough it is directed to real working condition Effec-tive Function in real time.
Certainly, also can be in this of the present invention for the electric automobile calculated in real time can not be provided
Drive control system of double motors realizes the various operating modes of simulation before dispatching from the factory, then with as shown in Figure 3
Method calculate control strategy under different operating modes, then this control strategy is stored in vehicle control
In unit processed.In electric automobile actual travel, according to the operating mode monitored in real time, recall
The control strategy being previously stored is controlled to drive control system of double motors.
Although only certain exemplary embodiments of this invention is described in detail here, they are just for the sake of solution
The purpose released and provide, and it is not considered that they are construed as limiting to the scope of the present invention.Do not taking off
It is various to replace, change and transform and be contemplated out on the premise of from spirit and scope of the invention.
Claims (12)
1. the Dual-motors Driving control method of a kind of electric automobile, especially pure electric automobile, described
Electric automobile includes the first power motor and the second power motor；Driving wheel；And for inciting somebody to action
The transmission device that power is transmitted between the motor and the driving wheel, the transmission device limit
Surely there is the first gear of the first gearratio and the second gear with the second gearratio, and
The transmission device can be in only described first power motor with second gear and the transmission
Single motor activation point that device is operatively connected, first power motor are with the second gear
Position and second power motor with first gear simultaneously with the actuator operation
The connected gear of bi-motor one activation point, first power motor with second gear and
Second power motor is connected with the actuator operation simultaneously with second gear
Switch between the gear activation point of bi-motor two, methods described includes：
Determine the need that the current vehicle speed and needs of the electric automobile are exported by the transmission device
Seek moment of torsion (TDemand)；
In the demand torque (TDemand) can by first power motor meet in the case of,
Determine energy utilization efficiency of first power motor in single motor activation point；
Judge whether the rotating speed of second power motor is interval applicable double according to the current vehicle speed
Motor one keeps off the gearratio of activation point；
The transmission that bi-motor one keeps off activation point is applicable in the rotating speed interval of second power motor
Than in the case of, with predetermined moment of torsion interval, it is determined that meeting the demand torque (TDemand)
The different torque combinations of first power motor and second power motor, for difference
Torque combinations, calculate respectively first and second power motor bi-motor one gear and two gears
Total energy utilization ratio during activation point；
From single motor activation point obtained above when, bi-motor one keep off and two gear activation points
When energy utilization efficiency in determine peak (S17), according to it is corresponding with the peak drive
Dynamic position switches the gear of the transmission device and carries out corresponding moment of torsion control to motor.
2. according to the method described in claim 1, it is characterised in that
The biography of activation point is kept off in the inapplicable bi-motor one in rotating speed interval of second power motor
In the case of dynamic ratio, with predetermined moment of torsion interval, it is determined that meeting the demand torque (TDemand)
First power motor and second power motor different torque combinations, for not
Same torque combinations, calculate first and second power motor and keep off driving in bi-motor two respectively
Total energy utilization ratio during position；
From single motor activation point that above-mentioned calculating is obtained when, bi-motor two gear activation point when
Energy utilization efficiency in determine peak (S17 '), according to it is corresponding with the peak driving
Position switches the gear of the transmission device and carries out corresponding moment of torsion control to motor.
3. method according to claim 1 or 2, it is characterised in that
If demand torque (the TDemand) can not be met by first power motor, then according to
Whether fit in the rotating speed interval for judging second power motor according to the current vehicle speed of the electric automobile
The gearratio of activation point is kept off with bi-motor one；
The transmission that bi-motor one keeps off activation point is applicable in the rotating speed interval of second power motor
Than in the case of, with predetermined moment of torsion interval, it is determined that meeting the demand torque (TDemand)
The different torque combinations of first power motor and second power motor, for difference
Torque combinations, calculate respectively first and second power motor bi-motor one gear and two gears
Total energy utilization ratio during activation point；
Energy utilization efficiency when keeping off activation point from the gear of bi-motor one that above-mentioned calculating is obtained and two
Middle determination peak (S23), according to activation point corresponding with the peak switching biography
The gear of dynamic device simultaneously carries out moment of torsion according to torque combinations corresponding with the peak to motor
Control.
4. method according to claim 3, it is characterised in that
The biography of activation point is kept off in the inapplicable bi-motor one in rotating speed interval of second power motor
In the case of dynamic ratio, with predetermined moment of torsion interval, it is determined that meeting the demand torque (TDemand)
First power motor and second power motor different torque combinations, for not
Same torque combinations, calculate first and second power motor and keep off driving in bi-motor two respectively
Total energy utilization ratio during position；
Determined in energy utilization efficiency during the gear activation point of bi-motor two obtained from above-mentioned calculating
Peak (S32), switches to bi-motor two by the transmission device and keeps off activation point and foundation
Torque combinations corresponding with the peak carry out moment of torsion control to motor.
5. according to any described method of Claims 1-4, it is characterised in that described first
The power of power motor is more than the power of second power motor.
6. according to any described method of preceding claims, it is characterised in that described second passes
Move than less than first gearratio.
7. according to any described method of preceding claims, it is characterised in that described electronic
During the Accelerating Traveling of Automobiles, the meter of the total energy utilization ratio of first and second power motor
Calculating formula is：ηIt is double=((T1×n1/9550)+(T2×n2/9550))/((T1×n1/9550)
/η1+(T2×n2/9550)/η2), wherein, T1And T2Respectively described first power motor and
Moment of torsion on the output shaft of second power motor, unit：Ox rice；n1And n2Respectively institute
State the rotating speed on the first power motor and the second power motor output shaft, unit：Revolutions per
Clock；η1And η2It is the efficiency of first power motor and second power motor in itself respectively
Value.
8. according to any described method of claim 1 to 6, it is characterised in that in the electricity
When electrical automobile Reduced Speed Now or braking, the total energy of first and second power motor is utilized
The calculation formula of efficiency is：η′It is double=((T1×n1×η1/9550)+(T2×n2×η2/9550))/
((T1×n1/9550+(T2×n2/ 9550)), wherein, T1And T2Respectively described first power
Moment of torsion on the output shaft of motor and second power motor, unit：Ox rice；n1And n2
Rotating speed on respectively described first power motor and the second power motor output shaft, unit：
Revolutions per minute；η1And η2Be respectively first power motor and second power motor in itself
Efficiency value.
9. according to any described method of preceding claims, it is characterised in that the transmission dress
It is set to gear drive.
10. according to any described method of preceding claims, it is characterised in that methods described
Completed in real time with predetermined time interval during the traveling of the electric automobile.
11. according to any described method of claim 1 to 10, it is characterised in that the side
Method is completed and for the transmission of different speeds and demand torque in advance when the electric automobile dispatches from the factory
The different driving call by location of device and the moment of torsion control result of motor are stored in the electronic vapour
In the memory of car, it is directed at predetermined intervals during the traveling of the electric automobile
Different speeds and demand torque call stored result to control the driving position of the transmission device
Put and moment of torsion control is carried out to motor.
12. the drive control system of double motors of a kind of electric automobile, especially pure electric automobile, institute
Stating system includes the first power motor and the second power motor；Transmission device, the transmission dress
The input put selectively is connected with second power motor, and the drive of the electric automobile
Driving wheel is connected with the output end of the transmission device；And control unit, the transmission device limit
Surely there is the first gear and the second gear with the second gearratio of the first gearratio, and root
According to any described method of preceding claims, described control unit controls the transmission device to exist
What only described first power motor was connected with second gear with the input of the transmission device
Single motor activation point, first power motor with second gear and it is described second move
The bi-motor one that force motor is connected with the input of the transmission device simultaneously with first gear
Activation point, first power motor are kept off with second gear and second power electric
The bi-motor two that machine is connected with the input of the transmission device simultaneously with second gear, which is kept off, to be driven
Switch between dynamic position, and the moment of torsion of described control unit controlled motor.
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| CN109747432A (en) * | 2017-11-08 | 2019-05-14 | 郑州宇通客车股份有限公司 | Coaxial double-motor power control method, system and coaxial double-motor power system |
| CN110962625A (en) * | 2019-12-25 | 2020-04-07 | 奇瑞汽车股份有限公司 | Automobile torque distribution method, device, equipment and storage medium based on double motors |
| CN111619365A (en) * | 2019-05-27 | 2020-09-04 | 合肥工业大学 | Electric automobile double-motor parallel-shaft transmission system and mode switching dynamic control strategy thereof |
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| CN109747432A (en) * | 2017-11-08 | 2019-05-14 | 郑州宇通客车股份有限公司 | Coaxial double-motor power control method, system and coaxial double-motor power system |
| CN111619365A (en) * | 2019-05-27 | 2020-09-04 | 合肥工业大学 | Electric automobile double-motor parallel-shaft transmission system and mode switching dynamic control strategy thereof |
| CN111619365B (en) * | 2019-05-27 | 2021-06-15 | 合肥工业大学 | Mode switching dynamic control strategy of double-motor parallel-shaft transmission system of electric automobile |
| CN110962625A (en) * | 2019-12-25 | 2020-04-07 | 奇瑞汽车股份有限公司 | Automobile torque distribution method, device, equipment and storage medium based on double motors |
| CN110962625B (en) * | 2019-12-25 | 2022-05-03 | 奇瑞汽车股份有限公司 | Automobile torque distribution method, device, equipment and storage medium based on double motors |
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