CN115723587B - Torque distribution method, device, equipment and readable storage medium - Google Patents
Torque distribution method, device, equipment and readable storage medium Download PDFInfo
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- CN115723587B CN115723587B CN202211372259.XA CN202211372259A CN115723587B CN 115723587 B CN115723587 B CN 115723587B CN 202211372259 A CN202211372259 A CN 202211372259A CN 115723587 B CN115723587 B CN 115723587B
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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
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Abstract
The invention provides a torque distribution method, a torque distribution device, torque distribution equipment and a readable storage medium. The method comprises the following steps: judging whether the vehicle has a dynamic requirement or not; when the vehicle has a power requirement, distributing the motor torques of the front axle and the rear axle according to a torque distribution strategy corresponding to the power requirement; when the vehicle has no power requirement, calculating a plurality of torque distribution coefficients according to the vehicle speed range and the total required torque range of the vehicle; obtaining a target torque distribution coefficient corresponding to a target vehicle speed from a plurality of optimized torque distribution coefficients; and distributing the motor torque of the front shaft and the rear shaft according to the target torque distribution coefficient and the total required torque of the motor. According to the invention, on the premise of ensuring the dynamic property of the vehicle, the power consumption of the driving system is reduced, and the economical efficiency of the vehicle is improved.
Description
Technical Field
The present invention relates to the field of electric control technologies of electric automobiles, and in particular, to a torque distribution method, a device, an apparatus, and a readable storage medium.
Background
The four-drive power system is widely applied because of good power performance and operation performance, but if the torque of the front and rear shaft motors of the four-drive electric automobile is not reasonably distributed, the power performance of the four-drive electric automobile cannot be ensured, the power consumption of the drive system is larger, and the economical efficiency of the automobile is lower. Therefore, there is a need for a four-wheel drive torque distribution method for a front-rear axle dual-motor electric vehicle, which reduces power consumption of a driving system and improves economical efficiency of the vehicle on the premise of ensuring dynamic performance of the vehicle.
Disclosure of Invention
The invention mainly aims to provide a torque distribution method, a device, equipment and a readable storage medium, which aim to reduce the power consumption of a driving system and improve the economical efficiency of a vehicle on the premise of ensuring the dynamic property of the vehicle.
In a first aspect, the present invention provides a torque distribution method, the torque distribution method comprising:
judging whether the vehicle has a power requirement or not based on the ramp sensor information, the gear state, the accelerator pedal state, the brake pedal state and the vehicle body electronic stability control system enabling signal;
when the vehicle has a power requirement, distributing the motor torque of the front and rear axles according to a torque distribution strategy corresponding to the power requirement, wherein the power requirement is a climbing power requirement, an accelerating power requirement or a driving anti-skid power requirement;
when the vehicle has no power requirement, calculating a plurality of torque distribution coefficients according to a vehicle speed range and a total required torque range of the vehicle, wherein each torque distribution coefficient corresponds to a minimum motor loss power;
respectively optimizing a plurality of torque distribution coefficients through curve fitting;
obtaining a target torque distribution coefficient corresponding to a target vehicle speed from a plurality of optimized torque distribution coefficients;
And distributing the motor torque of the front shaft and the rear shaft according to the target torque distribution coefficient and the total required torque of the motor.
In a second aspect, the present invention also provides a torque distribution device comprising:
the judging module is used for judging whether the vehicle has dynamic requirements or not based on ramp sensor information, gear state, accelerator pedal state, brake pedal state and vehicle body electronic stability control system enabling signals;
the first distribution module is used for distributing the motor torque of the front and rear axles according to a torque distribution strategy corresponding to the power requirement when the vehicle has the power requirement, wherein the power requirement is a climbing power requirement, an accelerating power requirement or a driving anti-skid power requirement;
the calculation module is used for calculating a plurality of torque distribution coefficients according to a vehicle speed range and a total required torque range of the vehicle when the vehicle has no power requirement, wherein each torque distribution coefficient corresponds to a minimum motor loss power;
the optimization module is used for respectively optimizing the plurality of torque distribution coefficients through curve fitting;
the matching module is used for acquiring a target torque distribution coefficient corresponding to the target vehicle speed from the plurality of optimized torque distribution coefficients;
And the second distribution module is used for distributing the motor torque of the front shaft and the rear shaft according to the target torque distribution coefficient and the total required torque of the motor.
In a third aspect, the present invention also provides a torque distribution device comprising a processor, a memory, and a torque distribution program stored on the memory and executable by the processor, wherein the torque distribution program, when executed by the processor, implements the steps of the torque distribution method as described above.
In a fourth aspect, the present invention also provides a readable storage medium having a torque distribution program stored thereon, wherein the torque distribution program, when executed by a processor, implements the steps of the torque distribution method as described above.
In the invention, whether the vehicle has dynamic requirements or not is judged based on ramp sensor information, gear state, accelerator pedal state, brake pedal state and a vehicle body electronic stability control system enabling signal; when the vehicle has a power requirement, distributing the motor torque of the front and rear axles according to a torque distribution strategy corresponding to the power requirement, wherein the power requirement is a climbing power requirement, an accelerating power requirement or a driving anti-skid power requirement; when the vehicle has no power requirement, calculating a plurality of torque distribution coefficients according to a vehicle speed range and a total required torque range of the vehicle, wherein each torque distribution coefficient corresponds to a minimum motor loss power; respectively optimizing a plurality of torque distribution coefficients through curve fitting; obtaining a target torque distribution coefficient corresponding to a target vehicle speed from a plurality of optimized torque distribution coefficients; and distributing the motor torque of the front shaft and the rear shaft according to the target torque distribution coefficient and the total required torque of the motor. According to the invention, when the vehicle has dynamic requirements, the front and rear axle motor torques are distributed according to the torque distribution strategies corresponding to the dynamic requirements under different working conditions, so that the front and rear axle motor torques are distributed reasonably under different working conditions, and when the vehicle has no dynamic requirements, the front and rear axle motor torques are distributed according to the target torque distribution coefficient and the total motor required torque because each torque distribution coefficient corresponds to a minimum motor loss power, the lower power consumption of a driving system is ensured, and the economical efficiency of the vehicle is improved.
Drawings
FIG. 1 is a schematic hardware configuration of a torque distribution device according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of a torque distribution method according to the present invention;
FIG. 3 is a flow chart of a second embodiment of the torque distribution method of the present invention;
FIG. 4 is a flow chart of a third embodiment of a torque distribution method according to the present invention;
FIG. 5 is a functional block diagram of an embodiment of a torque distribution device according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In a first aspect, an embodiment of the present invention provides a torque distribution apparatus.
Referring to fig. 1, fig. 1 is a schematic hardware configuration of a torque distribution device according to an embodiment of the present invention. In an embodiment of the invention, the torque distribution device may include a processor 1001 (e.g., central processing unit Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, and a memory 1004. Wherein the communication bus 1002 is used to enable connected communications between these components; the user interface 1003 may include a harness interface, a debug interface; the memory 1004 may be a high speed random access memory (random access memory, RAM), and the memory 1004 may alternatively be a storage device independent of the aforementioned processor 1001. Those skilled in the art will appreciate that the hardware configuration shown in fig. 1 is not limiting of the invention and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
With continued reference to FIG. 1, an operating system, a network communication module, a user interface module, and a torque distribution program may be included in memory 1004, which is a type of computer storage medium in FIG. 1. The processor 1001 may call a torque distribution program stored in the memory 1004, and execute the torque distribution method provided by the embodiment of the present invention.
In a second aspect, an embodiment of the present invention provides a torque distribution method.
In an embodiment, referring to fig. 2, fig. 2 is a flowchart illustrating a torque distribution method according to a first embodiment of the present invention. As shown in fig. 2, the torque distribution method includes:
step S10, judging whether the vehicle has dynamic requirements or not based on ramp sensor information, gear state, accelerator pedal state, brake pedal state and vehicle body electronic stability control system enabling signals;
in this embodiment, the information of the ramp sensor is obtained, the condition of the ramp where the vehicle is located is determined through the information of the ramp sensor, and the gear state, the accelerator pedal state and the brake pedal state of the vehicle are obtained, so that the current running state of the vehicle is determined, and whether the vehicle has a climbing power requirement or an accelerating power requirement can be determined according to the condition of the ramp where the vehicle is located and the current running state of the vehicle. When the wheels slip, the electronic stability control system of the vehicle body can automatically start and feed back corresponding signals, so that whether the vehicle has the requirement of driving anti-slip turning force can be judged by detecting whether the signals corresponding to the wheel slip fed back by the electronic stability control system of the vehicle body are received or not.
Further, in an embodiment, step S10 includes:
determining the condition of the ramp where the vehicle is located according to the information of the ramp sensor;
if the ramp where the vehicle is located is an ascending ramp and the gear is a forward gear, judging that the vehicle has a power requirement, wherein the power requirement is a climbing power requirement;
if the ramp where the vehicle is located is a downhill ramp and the gear is a reverse gear, judging that the vehicle has a power requirement, wherein the power requirement is a climbing power requirement;
if the opening degree of the accelerator pedal is increased, judging that the vehicle has a power requirement, wherein the power requirement is the acceleration power requirement;
if an enabling signal of the electronic stability control system of the vehicle body is received, judging that the vehicle has a dynamic property requirement, wherein the dynamic property requirement is a driving anti-skid force requirement;
if the vehicle has the climbing power demand judging condition or the vehicle has the accelerating power demand judging condition or the vehicle has the driving anti-skid rotating power demand judging condition, judging that the vehicle has no power demand.
In this embodiment, the ramp condition of the vehicle includes, but is not limited to, an uphill ramp and a downhill ramp, where the ramp is located by the vehicle, and the ramp sensor may detect a ramp value of the ramp where the vehicle is located, so as to determine whether the ramp condition of the vehicle is an uphill ramp or a downhill ramp according to the ramp value of the ramp where the vehicle is located by the vehicle.
If the ramp where the vehicle is located is an ascending ramp and the gear is a forward gear, the vehicle is currently climbing, and the vehicle is judged to have a power requirement, wherein the power requirement is a climbing power requirement. If the ramp on which the vehicle is located is an ascending ramp and the gear is not a forward gear, judging that the vehicle has no climbing power requirement.
If the ramp where the vehicle is located is a downhill ramp and the gear is a reverse gear, the vehicle is in a reverse climbing state currently, the vehicle is judged to have a power requirement, and the power requirement is a climbing power requirement.
If the accelerator pedal opening increases, the current power demand of the vehicle is indicated, and the power demand is the acceleration power demand.
When the wheels slip, the electronic stability control system of the vehicle body can automatically start and feed back corresponding enabling signals, so that whether the vehicle has the requirement of driving anti-slip turning force can be judged by detecting whether the corresponding enabling signals fed back by the electronic stability control system of the vehicle body are received or not. Therefore, if the vehicle body electronic stability control system enabling signal is received, the vehicle is judged to have the power requirement, and the power requirement is the driving anti-skid power requirement. If the vehicle body electronic stability control system enabling signal is not received, the vehicle is not driven to have the anti-slip power requirement.
If the vehicle has a climbing power demand judging condition or the vehicle has an accelerating power demand judging condition or the vehicle has a driving anti-slip power demand judging condition, judging that the vehicle has no power demand at the moment, wherein it is easy to understand that the climbing power demand judging condition is that a ramp where the vehicle is located is an ascending ramp and a gear is a forward gear or that the ramp where the vehicle is located is a descending ramp and the gear is a reverse gear, the accelerating power demand judging condition is that the opening of an accelerator pedal is increased, and the driving anti-slip power demand judging condition is that a vehicle body electronic stability control system enabling signal is received.
Step S20, when the vehicle has a power requirement, the torque of the front and rear shaft motors is distributed according to a torque distribution strategy corresponding to the power requirement, wherein the power requirement is a climbing power requirement, an accelerating power requirement or a driving anti-slip power requirement;
in this embodiment, the power requirement is a climbing power requirement, an acceleration power requirement or a driving anti-slip power requirement, and when the vehicle is determined to have the power requirement and the power requirement is the climbing power requirement, the torque of the front and rear axle motors is distributed according to a torque distribution strategy corresponding to the climbing power requirement; when the judgment result shows that the vehicle has a power requirement and the power requirement is an acceleration power requirement, distributing the motor torques of the front shaft and the rear shaft according to a torque distribution strategy corresponding to the acceleration power requirement; when the judgment result shows that the vehicle has the dynamic requirement and the dynamic requirement is the driving anti-slip rotating force requirement, the front and rear axle motor torques are distributed according to the torque distribution strategy corresponding to the driving anti-slip rotating force requirement, so that the front and rear axle motor torques of the vehicle under different working conditions are distributed reasonably.
Step S30, when the vehicle has no power requirement, calculating a plurality of torque distribution coefficients according to a vehicle speed range and a total required torque range of the vehicle, wherein each torque distribution coefficient corresponds to a minimum motor loss power;
in this embodiment, when the determination result is that the vehicle has no power requirement, the vehicle speed is converted into the motor rotation speed, the vehicle total required torque is converted into the motor total required torque, the motor rotation speed range can be determined according to the vehicle speed range, the motor total required torque range can be determined according to the vehicle total required torque range, and a plurality of torque distribution coefficients are obtained through calculation according to a plurality of motor rotation speeds in the motor rotation speed range and a plurality of motor total required torques in the motor total required torque range, wherein each torque distribution coefficient corresponds to a minimum motor loss power.
Step S40, respectively optimizing a plurality of torque distribution coefficients through curve fitting;
in this embodiment, a plurality of torque distribution coefficients are optimized through curve fitting, so as to obtain a plurality of optimized torque distribution coefficients, and the change of the torque distribution coefficients is more gentle through optimization, so that the change of torque values distributed to the front motor and the rear motor is more gentle, and the comfort and the stability of the vehicle are improved.
S50, obtaining a target torque distribution coefficient corresponding to a target vehicle speed from a plurality of optimized torque distribution coefficients;
in this embodiment, a plurality of optimized torque distribution coefficients are input into the torque distribution model. The target vehicle speed is input into a torque distribution model, and a target torque distribution coefficient corresponding to the target vehicle speed is obtained from a plurality of optimized torque distribution coefficients based on the torque distribution model. After the target vehicle speed is input into the torque distribution model, the target vehicle speed is converted into target motor rotating speeds through the torque distribution model, wherein the target motor rotating speeds comprise a front shaft target motor rotating speed and a rear shaft target motor rotating speed. The optimized torque distribution coefficients correspond to the second target front axle motor speeds and the second target rear axle motor speeds, so that the second target front axle motor speed which is the same as the front axle target motor speed in the second target front axle motor speeds and the second target rear axle motor speed which is the same as the rear axle target motor speed in the second target rear axle motor speeds are the target torque distribution coefficients corresponding to the optimized torque distribution coefficients.
And step S60, distributing the motor torque of the front shaft and the rear shaft according to the target torque distribution coefficient and the total required torque of the motor.
In this embodiment, after the target torque distribution coefficient is obtained according to the target vehicle speed, the front axle motor torque and the rear axle motor torque can be obtained by calculation according to the target torque distribution coefficient and the total motor required torque, so as to complete the distribution of the front axle motor torque and the rear axle motor torque.
Further, in one embodiment, step S60 includes:
and calculating the product of the target torque distribution coefficient and the total required torque of the motor to obtain the motor torque of the rear axle, and subtracting the difference value of the motor torque of the rear axle from the total required torque of the motor to obtain the motor torque of the front axle.
In this embodiment, the torque distribution coefficients are obtained by calculating the sum of the total required torque of the rear axle motor divided by the total required torque of the front axle motor plus the total required torque of the rear axle motor, so that the product of the target first torque distribution coefficient multiplied by the total required torque of the motor can be calculated to obtain the torque of the rear axle motor, and the difference of the total required torque of the motor minus the torque of the rear axle motor can be calculated to obtain the torque of the front axle motor. Further, it is easily conceivable that the torque distribution coefficient may also be obtained by the front axle motor total required torque and the rear axle motor total required torque corresponding to the minimum motor loss power corresponding to the motor total required torque.
In the embodiment, whether the vehicle has a power demand is judged based on ramp sensor information, a gear state, an accelerator pedal state, a brake pedal state and a vehicle body electronic stability control system enabling signal; when the vehicle has a power requirement, distributing the motor torque of the front and rear axles according to a torque distribution strategy corresponding to the power requirement, wherein the power requirement is a climbing power requirement, an accelerating power requirement or a driving anti-skid power requirement; when the vehicle has no power requirement, calculating a plurality of torque distribution coefficients according to a vehicle speed range and a total required torque range of the vehicle, wherein each torque distribution coefficient corresponds to a minimum motor loss power; respectively optimizing a plurality of torque distribution coefficients through curve fitting; obtaining a target torque distribution coefficient corresponding to a target vehicle speed from a plurality of optimized torque distribution coefficients; and distributing the motor torque of the front shaft and the rear shaft according to the target torque distribution coefficient and the total required torque of the motor. Through the embodiment, when the vehicle has dynamic requirements, the front and rear axle motor torques are distributed according to the torque distribution strategies corresponding to the dynamic requirements under different working conditions, so that the front and rear axle motor torques are distributed reasonably under different working conditions, and when the vehicle has no dynamic requirements, the front and rear axle motor torques are distributed according to the target torque distribution coefficient and the total motor required torque because each torque distribution coefficient corresponds to a minimum motor loss power, the lower power consumption of a driving system is ensured, and the economical efficiency of the vehicle is improved.
Further, in an embodiment, referring to fig. 3, fig. 3 is a flow chart of a second embodiment of the torque distribution method according to the present invention. As shown in fig. 3, when the power demand is a driving anti-slip power demand, the step of distributing the motor torque of the front and rear axles according to the torque distribution strategy corresponding to the power demand includes:
step S221, detecting whether the driving anti-slip rotational force requirement is a single-shaft driving anti-slip rotational force requirement or a double-shaft driving anti-slip rotational force requirement;
step S222, if the demand for slip-resistant turning force is single-shaft driving, the torque of the slip shaft is reduced, and the torque of the non-slip shaft is increased, wherein the total demand torque of the motor is unchanged;
step S223, in the process of increasing the torque of the non-slip rotating shaft, if the non-slip rotating shaft is detected to slip, reducing the total required torque of the motor based on a first preset proportion, and detecting whether the vehicle has the requirement of driving the anti-slip rotating force;
step S224, if there is a driving anti-slip turning force demand, executing a step of detecting whether the driving anti-slip turning force demand is a single-axis driving anti-slip turning force demand or a double-axis driving anti-slip turning force demand until it is determined that the vehicle has no driving anti-slip turning force demand;
In step S225, if the demand for anti-slip turning is a biaxial drive, a step of reducing the total required torque of the motor based on the first preset ratio is performed to detect whether the vehicle has a demand for anti-slip turning.
In this embodiment, when the power demand is the driving anti-slip power demand, it is detected whether the driving anti-slip power demand is the single-axis driving anti-slip power demand or the double-axis driving anti-slip power demand, and after step S221, if the detection result is that the driving anti-slip power demand is the single-axis driving anti-slip power demand, the torque of the slip shaft is reduced and the torque of the non-slip shaft is increased on the premise that the total required torque of the motor is unchanged, that is, torque transfer is performed, and the torque reduced by the slip shaft is increased to the non-slip shaft. The method comprises the steps of inquiring a relation change table between a vehicle speed and torque according to the current vehicle speed of a vehicle, and determining a torque value required to be reduced by a sliding shaft, wherein the sliding shaft can be a front shaft or a rear shaft.
If the torque of the non-slip shaft is increased, the non-slip shaft is not detected to slip, the non-slip shaft is distributed according to the torque of the non-slip shaft after the increase, and the slip shaft is distributed according to the torque of the slip shaft after the decrease.
If slip of the non-slip rotating shaft is detected in the process of increasing the torque of the non-slip rotating shaft, the torque of the non-slip rotating shaft is not increased, but the total required torque of the motor is reduced based on a first preset proportion, namely, the torque of the non-slip rotating shaft is unchanged, the total required torque of the motor is reduced, and then whether the vehicle has the requirement of driving the non-slip rotating force is detected. After step S223, if the detection result indicates that there is a driving anti-slip turning force demand, a step of detecting whether the driving anti-slip turning force demand is a single-axis driving anti-slip turning force demand or a double-axis driving anti-slip turning force demand is performed, after step S223, if the detection result still indicates that there is no driving anti-slip turning force demand, then continuously detecting whether the vehicle has a driving anti-slip turning force demand for a preset number of times, taking the preset number of times as an example, then continuously detecting whether the vehicle has a driving anti-slip turning force demand for a preset number of times, and if the detection result is that there is no driving anti-slip turning force demand for all 3 times, then determining that the vehicle has no driving anti-slip turning force demand.
After step S221, if the detection result is that the driving anti-slip turning force demand is the biaxial driving anti-slip turning force demand, indicating that both the front axle and the rear axle are slipping, a step of reducing the total required torque of the motor based on the first preset ratio is performed to detect whether the vehicle has the driving anti-slip turning force demand. That is, as long as the detection result is that the drive anti-slip rotational force demand is a biaxial drive anti-slip rotational force demand, the motor total required torque is reduced based on the first preset ratio until the detection result is that the drive anti-slip rotational force demand is a uniaxial drive anti-slip rotational force demand, the torque is adjusted according to a torque adjustment scheme corresponding to the uniaxial drive anti-slip rotational force demand until it is determined that the vehicle has no drive anti-slip rotational force demand. Or, if the detection result is that the driving anti-slip turning force requirement does not exist, continuously detecting whether the vehicle has the driving anti-slip turning force requirement for the preset times, taking 3 times as an example, continuously detecting whether the vehicle has the driving anti-slip turning force requirement for the 3 times, and if the detection result is that the vehicle has no driving anti-slip turning force requirement for the 3 times, determining that the vehicle has no driving anti-slip turning force requirement.
Further, in an embodiment, when the power requirement is a climbing power requirement or an accelerating power requirement, the step of distributing the torques of the front and rear axle motors according to the torque distribution strategy corresponding to the power requirement includes:
increasing the total required torque of the motor based on a second preset ratio, wherein the product of the total required torque of the motor multiplied by the torque transmission coefficient does not exceed the maximum longitudinal traction;
calculating to obtain a third torque distribution coefficient according to the distance from the mass center of the vehicle to the front axle, the distance from the mass center to the rear axle, the angle of the gradient of the vehicle, the height of the mass center of the vehicle from the plane of the vehicle and the longitudinal speed change of the vehicle within a preset time period;
and distributing the motor torques of the front and rear axles according to the third torque distribution coefficient and the increased total required motor torque, wherein the torque of the rear axle motor does not exceed the product of the rear vertical load and the attachment coefficient.
In this embodiment, when the power demand is a hill climbing power demand or an acceleration power demand, the total required torque of the motor is increased based on the second preset ratio, so as to respond to the hill climbing power demand or the acceleration power demand. However, the product of the increased total motor torque demand multiplied by the torque transmission coefficient does not exceed the maximum longitudinal traction force, which is Wherein F is xmax Indicating maximum longitudinal traction +.>Indicating the adhesion of the vehicle, F z Representing the vertical load of the drive shaft, +.>Representing the adhesion coefficient.
Center of mass of vehicle to front axleThe distance a from the mass center to the rear axle, the angle alpha of the gradient of the vehicle, the height hg of the mass center of the vehicle from the plane of the vehicle, and the longitudinal speed change Deltavx of the vehicle within a preset time period are substituted into the formulaAnd calculating to obtain a third torque distribution coefficient.
Calculating the product of the third torque distribution coefficient multiplied by the increased total required torque of the motor to obtain the torque of the rear axle motor, and subtracting the difference value of the torque of the rear axle motor from the increased total required torque of the motor to obtain the torque of the front axle motor, wherein the torque of the rear axle motor does not exceed the rear vertical load F zr Coefficient of adhesion toIs the product of (a) and (b) the rear vertical loadm represents the mass of the vehicle, and g represents the gravitational acceleration. If the product of the third torque distribution coefficient multiplied by the increased total required torque of the motor is greater than the product of the rear vertical load and the attachment coefficient, the absolute value of the difference between the two is calculated, and the torque corresponding to the absolute value of the difference is distributed to the front axle motor.
Further, in an embodiment, referring to fig. 4, fig. 4 is a flow chart of a third embodiment of the torque distribution method according to the present invention. As shown in fig. 4, the vehicle speed range includes a front wheel speed range and a rear wheel speed range, the vehicle total required torque range includes a front wheel total required torque range and a rear wheel total required torque range, and the step of calculating a plurality of torque distribution coefficients according to the vehicle speed range and the vehicle total required torque range includes:
Step S301, determining a front axle motor rotating speed range and a rear axle motor rotating speed range according to a vehicle speed range, and determining a front axle motor total required torque range and a rear axle motor total required torque range according to a vehicle total required torque range;
step S302, taking the front axle motor rotating speed which is the same as the rear wheel vehicle speed obtained according to the rear axle motor rotating speed as a first target front axle motor rotating speed in a front axle motor rotating speed range;
step S303, selecting any one of a plurality of first target front axle motor speeds as a second target front axle motor speed;
step S304, calculating to obtain a plurality of front axle motor loss powers according to the second target front axle motor rotating speed and the total required torque of each front axle motor in the total required torque range of the front axle motor;
step S305, taking the rear axle motor rotating speed which is obtained according to the rear axle motor rotating speed and is the same as the vehicle speed obtained according to the front axle motor rotating speed as a first target rear axle motor rotating speed in the rear axle motor rotating speed range;
step S306, selecting any one of the first target rear axle motor speeds from the plurality of first target rear axle motor speeds as a second target rear axle motor speed;
Step S307, calculating to obtain a plurality of rear axle motor loss powers according to the second target rear axle motor rotating speed and each rear axle motor total required torque in the rear axle motor total required torque range, wherein the sum of each front axle motor total required torque in the front axle motor total required torque range and each rear axle motor total required torque corresponding to the rear axle motor total required torque range is equal to the motor total required torque;
step S308, calculating the sum of the loss power of a plurality of front axle motors and the loss power of a plurality of corresponding rear axle motors respectively to obtain a plurality of motor loss powers;
step S309, taking the minimum motor loss power among the motor loss powers as a target motor loss power;
step S310, determining a torque distribution coefficient according to the total required torque of the front axle motor and the total required torque of the rear axle motor corresponding to the loss power of the target motor;
step S311, selecting any one of the plurality of unselected first target front axle motor speeds as a second target front axle motor speed, and executing the step of calculating a plurality of front axle motor loss powers according to the second target front axle motor speed and the total required torque of each front axle motor in the total required torque range of the front axle motor until the plurality of first target front axle motor speeds are all selected, thereby obtaining a plurality of torque distribution coefficients.
In the present embodiment, the vehicle speed range includes a front wheel speed range and a rear wheel speed range, and the vehicle total required torque range includes a front wheel total required torque range and a rear wheel total required torque range. Calculating the quotient of the front wheel speed divided by the first transmission coefficient to obtain the rotating speed of the front axle motor, calculating the quotient of the rear wheel speed divided by the first transmission coefficient to obtain the rotating speed of the rear axle motor, calculating the quotient of the total required torque of the front wheel divided by the second transmission coefficient to obtain the total required torque of the front axle motor, and calculating the quotient of the total required torque of the rear wheel divided by the second transmission coefficient to obtain the total required torque of the rear axle motor. And similarly, the rotating speed range of the front axle motor and the rotating speed range of the rear axle motor can be determined according to the vehicle speed range, and the total required torque range of the front axle motor and the total required torque range of the rear axle motor can be determined according to the total required torque range of the vehicle.
And in the front axle motor rotating speed range, taking the front axle motor rotating speed which is obtained according to the front axle motor rotating speed and is the same as the rear wheel vehicle rotating speed which is obtained according to the rear axle motor rotating speed as a first target front axle motor rotating speed, namely, in the front axle motor rotating speed range, obtaining a plurality of first target front axle motor rotating speeds, wherein the plurality of front wheel vehicle speeds obtained by converting according to the plurality of first target front axle motor rotating speeds are the same as the plurality of rear wheel vehicle speeds obtained by converting according to the rear axle motor rotating speed.
After the plurality of first target front axle motor speeds are acquired, any one of the plurality of first target front axle motor speeds is selected as the second target front axle motor speed. Calculating a plurality of front axle motor loss powers according to the second target front axle motor rotating speed and the total required torque of each front axle motor in the total required torque range of the front axle motor, wherein when the torque distribution coefficient is greater than or equal to zero and less than 1, the front axle motor loss powersWhen the torque distribution coefficient is equal to 1, the front axle motor loses power P loss_f ＝P drag_f ，P loss_f Indicating the loss power of the front axle motor, n f Represents the rotating speed eta of the front axle motor f Representing the efficiency of the front axle motor, T f Representing total required torque of front axle motor, P drag_f Representing the drag loss power of the front axle motor. It is easily conceivable that any one of the front axle motor total required torque of the second target front axle motor speed and the front axle motor total required torque range is substituted into the formula +.>Or P loss_f ＝P drag_f The power loss of one front axle motor can be calculated, and the power loss of a plurality of front axle motors can be obtained by the same way.
And acquiring a plurality of first target rear axle motor speeds in the rear axle motor speed range, wherein a plurality of rear wheel speeds obtained by converting according to the plurality of first target rear axle motor speeds are the same as a plurality of front wheel speeds obtained by converting according to the front axle motor speeds, and the front wheel speeds are in one-to-one correspondence with the rear wheel speeds.
After the plurality of first target rear axle motor speeds are obtained, any one of the plurality of first target rear axle motor speeds is selected as the second target rear axle motor speed. Calculating a plurality of rear axle motor loss powers according to the second target rear axle motor rotating speed and each rear axle motor total required torque in the rear axle motor total required torque range, wherein when the torque distribution coefficient is equal to zero, the rear axle motor loss powers P loss_r ＝P drag_r When the torque distribution coefficient is greater than zero and less than or equal to 1, the rear axle motor loses powerP loss_r Indicating the loss power of the rear axle motor, n r Represents the rotation speed eta of the rear axle motor r Representing rear axle motor efficiency, T r Representing total required torque of rear axle motor, P drag_r Representing trailing axle motor drag loss powerThe sum of each front axle motor total demand torque in the front axle motor total demand torque range and each rear axle motor total demand torque corresponding in the rear axle motor total demand torque range is equal to the motor total demand torque. It is easily conceivable that any one of the rear axle motor total required torque of the second target rear axle motor rotation speed and the rear axle motor total required torque range is substituted into the formula +.>Or P loss_r ＝P drag_r The power loss of one rear axle motor can be calculated, and the power loss of a plurality of rear axle motors can be obtained by the same.
And respectively calculating the sum of the motor loss powers of the front axles and the corresponding motor loss powers of the rear axles to obtain a plurality of motor loss powers, namely motor loss power=front axle motor loss power+rear axle motor loss power. Wherein the motor loses power
After the plurality of motor loss powers are obtained, the minimum motor loss power among the plurality of motor loss powers is taken as the target motor loss power.
And obtaining the front axle motor loss power and the rear axle motor loss power corresponding to the target motor loss power, and obtaining the front axle motor total required torque and the rear axle motor total required torque corresponding to the target motor loss power according to the calculation process for obtaining the front axle motor loss power and the calculation process for obtaining the rear axle motor loss power after obtaining the front axle motor loss power and the rear axle motor loss power. Then determining a torque distribution coefficient i according to the total required torque of the front axle motor and the total required torque of the rear axle motor corresponding to the target motor loss power dif Wherein the torque distribution coefficientWherein T is r Representing total required torque of a rear axle motor corresponding to target motor loss power, T f Representing target motor lossesThe total required torque of the front axle motor corresponding to the power.
If the number of the first target front axle motor speeds is 5, selecting any first target front axle motor speed from the 4 first target front axle motor speeds which are not selected as a second target front axle motor speed, and executing the step of calculating to obtain a plurality of front axle motor loss powers according to the second target front axle motor speed and each front axle motor total required torque in the front axle motor total required torque range until the 5 first target front axle motor speeds are all selected, so as to obtain 5 torque distribution coefficients. It is easily conceivable that the number of first target front axle motor speeds in the present embodiment is for reference only, and is not limited thereto. Further, the torque distribution coefficient can be obtained through calculation through the minimum motor loss corresponding to the total required torque of the motor.
Further, in an embodiment, the step of determining the torque distribution coefficient according to the total required torque of the front axle motor and the total required torque of the rear axle motor corresponding to the target motor loss power includes:
acquiring total required torque of a front axle motor and total required torque of a rear axle motor corresponding to the loss power of the target motor;
And calculating the sum of the total required torque of the rear axle motor divided by the total required torque of the front axle motor plus the total required torque of the rear axle motor to obtain a torque distribution coefficient.
In this embodiment, after the target motor loss power is obtained, according to the calculation process of the front axle motor loss power and the rear axle motor loss power, the total required torque of the front axle motor and the total required torque of the rear axle motor corresponding to the target first motor loss power can be obtained, and then the total required torque of the rear axle motor is calculated to be divided by the sum of the total required torque of the front axle motor and the total required torque of the rear axle motor, so as to obtain the torque distribution coefficient i dif I.e. torque distribution coefficient
In a third aspect, an embodiment of the present invention further provides a torque distribution device.
In an embodiment, referring to fig. 5, fig. 5 is a schematic functional block diagram of an embodiment of a torque distribution device according to the present invention. As shown in fig. 5, the torque distribution device includes:
a judging module 10 for judging whether the vehicle has a power demand based on the ramp sensor information, the gear state, the accelerator pedal state, the brake pedal state, and the vehicle body electronic stability control system enable signal;
the first distribution module 20 is configured to distribute the motor torques of the front and rear axles according to a torque distribution strategy corresponding to a power requirement when the vehicle has the power requirement, wherein the power requirement is a climbing power requirement, an acceleration power requirement or a driving anti-slip power requirement;
A calculating module 30, configured to calculate a plurality of torque distribution coefficients according to a vehicle speed range and a total required torque range of the vehicle when the vehicle has no power requirement, where each torque distribution coefficient corresponds to a minimum motor loss power;
an optimization module 40 for optimizing the plurality of torque distribution coefficients by curve fitting, respectively;
a matching module 50, configured to obtain a target torque distribution coefficient corresponding to the target vehicle speed from the plurality of optimized torque distribution coefficients;
the second distribution module 60 is configured to distribute the motor torques of the front and rear axles according to the target torque distribution coefficient and the total required torque of the motor.
Further, in an embodiment, the first allocation module 20 is further configured to:
when the dynamic demand is a driving anti-slip dynamic demand, detecting whether the driving anti-slip dynamic demand is a single-shaft driving anti-slip dynamic demand or a double-shaft driving anti-slip dynamic demand;
if the torque is required by single-shaft driving anti-skid rotational force, the torque of the sliding rotating shaft is reduced, and the torque of the non-sliding rotating shaft is increased, wherein the total required torque of the motor is unchanged;
in the process of increasing the torque of the non-slip rotating shaft, if the non-slip rotating shaft is detected to slip, reducing the total required torque of the motor based on a first preset proportion, and detecting whether the vehicle has the requirement of driving anti-slip rotating force;
If the driving anti-slip turning force requirement exists, executing the step of detecting whether the driving anti-slip turning force requirement is the single-shaft driving anti-slip turning force requirement or the double-shaft driving anti-slip turning force requirement until the fact that the vehicle does not have the driving anti-slip turning force requirement is determined;
if the demand for anti-slip turning is for biaxial drive, a step of reducing the total required torque of the motor based on a first preset ratio is performed to detect whether the vehicle has a demand for driving anti-slip turning.
Further, in an embodiment, the first allocation module 20 is further configured to:
when the power demand is a climbing power demand or an accelerating power demand, increasing the total required torque of the motor based on a second preset proportion, wherein the product of the total required torque of the motor multiplied by the torque transmission coefficient does not exceed the maximum longitudinal traction;
calculating to obtain a third torque distribution coefficient according to the distance from the mass center of the vehicle to the front axle, the distance from the mass center to the rear axle, the angle of the gradient of the vehicle, the height of the mass center of the vehicle from the plane of the vehicle and the longitudinal speed change of the vehicle within a preset time period;
and distributing the motor torques of the front and rear axles according to the third torque distribution coefficient and the increased total required motor torque, wherein the torque of the rear axle motor does not exceed the product of the rear vertical load and the attachment coefficient.
Further, in an embodiment, the calculating module 30 is further configured to:
determining a front axle motor rotating speed range and a rear axle motor rotating speed range according to a vehicle speed range, and determining a front axle motor total required torque range and a rear axle motor total required torque range according to a vehicle total required torque range;
in the front axle motor rotating speed range, taking the front axle motor rotating speed which is the same as the rear wheel vehicle speed obtained according to the rear axle motor rotating speed as a first target front axle motor rotating speed;
selecting any one of the first target front axle motor speeds from the plurality of first target front axle motor speeds as a second target front axle motor speed;
calculating to obtain a plurality of front axle motor loss powers according to the second target front axle motor rotating speed and the total required torque of each front axle motor in the total required torque range of the front axle motor;
taking the rear axle motor rotating speed which is obtained according to the rear axle motor rotating speed and is the same as the vehicle speed obtained according to the front axle motor rotating speed as a first target rear axle motor rotating speed in the rear axle motor rotating speed range;
selecting any one of the first target rear axle motor speeds from the plurality of first target rear axle motor speeds as a second target rear axle motor speed;
Calculating to obtain a plurality of rear axle motor loss powers according to the second target rear axle motor rotating speed and each rear axle motor total required torque in a rear axle motor total required torque range, wherein the sum of each front axle motor total required torque in a front axle motor total required torque range and each rear axle motor total required torque corresponding to the rear axle motor total required torque range is equal to the motor total required torque;
respectively calculating the sum of the loss power of the motors of the plurality of front shafts and the loss power of the motors of the corresponding plurality of rear shafts to obtain the loss power of the motors;
taking the minimum motor loss power among the motor loss powers as a target motor loss power;
determining a torque distribution coefficient according to the total required torque of the front axle motor and the total required torque of the rear axle motor corresponding to the target motor loss power;
and selecting any first target front axle motor rotating speed from the first unselected target front axle motor rotating speeds as a second target front axle motor rotating speed, and executing the step of calculating and obtaining a plurality of front axle motor loss powers according to the second target front axle motor rotating speed and each front axle motor total required torque in a front axle motor total required torque range until the first target front axle motor rotating speeds are all selected, so as to obtain a plurality of torque distribution coefficients.
Further, in an embodiment, the calculating module 30 is further configured to:
acquiring total required torque of a front axle motor and total required torque of a rear axle motor corresponding to the loss power of the target motor;
and calculating the sum of the total required torque of the rear axle motor divided by the total required torque of the front axle motor plus the total required torque of the rear axle motor to obtain a torque distribution coefficient.
Further, in an embodiment, the determining module 10 is further configured to:
determining the condition of the ramp where the vehicle is located according to the information of the ramp sensor;
if the ramp where the vehicle is located is an ascending ramp and the gear is a forward gear, judging that the vehicle has a power requirement, wherein the power requirement is a climbing power requirement;
if the ramp where the vehicle is located is a downhill ramp and the gear is a reverse gear, judging that the vehicle has a power requirement, wherein the power requirement is a climbing power requirement;
if the opening degree of the accelerator pedal is increased, judging that the vehicle has a power requirement, wherein the power requirement is the acceleration power requirement;
if an enabling signal of the electronic stability control system of the vehicle body is received, judging that the vehicle has a dynamic property requirement, wherein the dynamic property requirement is a driving anti-skid force requirement;
if the vehicle has the climbing power demand judging condition or the vehicle has the accelerating power demand judging condition or the vehicle has the driving anti-skid rotating power demand judging condition, judging that the vehicle has no power demand.
Further, in an embodiment, the second allocation module 60 is further configured to:
and calculating the product of the target torque distribution coefficient and the total required torque of the motor to obtain the motor torque of the rear axle, and subtracting the difference value of the motor torque of the rear axle from the total required torque of the motor to obtain the motor torque of the front axle.
The function implementation of each module in the torque distribution device corresponds to each step in the embodiment of the torque distribution method, and the function and implementation process of each module are not described in detail herein.
In a fourth aspect, embodiments of the present invention also provide a readable storage medium.
The readable storage medium of the present invention stores a torque distribution program, wherein the torque distribution program, when executed by a processor, implements the steps of the torque distribution method as described above.
The method implemented when the torque distribution program is executed may refer to various embodiments of the torque distribution method of the present invention, and will not be described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising several instructions for causing a terminal device to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (9)
1. A torque distribution method, characterized in that the torque distribution method comprises:
Judging whether the vehicle has a power requirement or not based on the ramp sensor information, the gear state, the accelerator pedal state, the brake pedal state and the vehicle body electronic stability control system enabling signal;
when the vehicle has a power requirement, distributing the motor torque of the front and rear axles according to a torque distribution strategy corresponding to the power requirement, wherein the power requirement is a climbing power requirement, an accelerating power requirement or a driving anti-skid power requirement;
when the vehicle has no power requirement, calculating a plurality of torque distribution coefficients according to a vehicle speed range and a total required torque range of the vehicle, wherein each torque distribution coefficient corresponds to a minimum motor loss power;
respectively optimizing a plurality of torque distribution coefficients through curve fitting;
obtaining a target torque distribution coefficient corresponding to a target vehicle speed from a plurality of optimized torque distribution coefficients;
distributing motor torques of the front shaft and the rear shaft according to the target torque distribution coefficient and the total required torque of the motor;
when the power demand is a driving anti-slip power demand, the step of distributing the motor torque of the front and rear axles according to the torque distribution strategy corresponding to the power demand includes:
Detecting whether the driving anti-slip rotational force demand is a single-shaft driving anti-slip rotational force demand or a double-shaft driving anti-slip force demand;
if the torque is required by single-shaft driving anti-skid rotational force, the torque of the sliding rotating shaft is reduced, and the torque of the non-sliding rotating shaft is increased, wherein the total required torque of the motor is unchanged;
in the process of increasing the torque of the non-slip rotating shaft, if the non-slip rotating shaft is detected to slip, reducing the total required torque of the motor based on a first preset proportion, and detecting whether the vehicle has the requirement of driving anti-slip rotating force;
if the driving anti-slip turning force requirement exists, executing the step of detecting whether the driving anti-slip turning force requirement is the single-shaft driving anti-slip turning force requirement or the double-shaft driving anti-slip turning force requirement until the fact that the vehicle does not have the driving anti-slip turning force requirement is determined;
if the demand for anti-slip turning is for biaxial drive, a step of reducing the total required torque of the motor based on a first preset ratio is performed to detect whether the vehicle has a demand for driving anti-slip turning.
2. The torque distribution method according to claim 1, wherein when the power demand is a hill climbing power demand or an accelerating power demand, the step of distributing the front and rear axle motor torque according to the torque distribution strategy corresponding to the power demand includes:
Increasing the total required torque of the motor based on a second preset ratio, wherein the product of the total required torque of the motor multiplied by the torque transmission coefficient does not exceed the maximum longitudinal traction;
calculating to obtain a third torque distribution coefficient according to the distance from the mass center of the vehicle to the front axle, the distance from the mass center to the rear axle, the angle of the gradient of the vehicle, the height of the mass center of the vehicle from the plane of the vehicle and the longitudinal speed change of the vehicle within a preset time period;
and distributing the motor torques of the front and rear axles according to the third torque distribution coefficient and the increased total required motor torque, wherein the torque of the rear axle motor does not exceed the product of the rear vertical load and the attachment coefficient.
3. The torque distribution method according to claim 1, wherein the vehicle speed range includes a front wheel speed range and a rear wheel speed range, the vehicle total demand torque range includes a front wheel total demand torque range and a rear wheel total demand torque range, and the step of calculating a plurality of torque distribution coefficients from the vehicle speed range and the vehicle total demand torque range includes:
determining a front axle motor rotating speed range and a rear axle motor rotating speed range according to a vehicle speed range, and determining a front axle motor total required torque range and a rear axle motor total required torque range according to a vehicle total required torque range;
In the front axle motor rotating speed range, taking the front axle motor rotating speed which is the same as the rear wheel vehicle speed obtained according to the rear axle motor rotating speed as a first target front axle motor rotating speed;
selecting any one of the first target front axle motor speeds from the plurality of first target front axle motor speeds as a second target front axle motor speed;
calculating to obtain a plurality of front axle motor loss powers according to the second target front axle motor rotating speed and the total required torque of each front axle motor in the total required torque range of the front axle motor;
taking the rear axle motor rotating speed which is obtained according to the rear axle motor rotating speed and is the same as the vehicle speed obtained according to the front axle motor rotating speed as a first target rear axle motor rotating speed in the rear axle motor rotating speed range;
selecting any one of the first target rear axle motor speeds from the plurality of first target rear axle motor speeds as a second target rear axle motor speed;
calculating to obtain a plurality of rear axle motor loss powers according to the second target rear axle motor rotating speed and each rear axle motor total required torque in a rear axle motor total required torque range, wherein the sum of each front axle motor total required torque in a front axle motor total required torque range and each rear axle motor total required torque corresponding to the rear axle motor total required torque range is equal to the motor total required torque;
Respectively calculating the sum of the loss power of the motors of the plurality of front shafts and the loss power of the motors of the corresponding plurality of rear shafts to obtain the loss power of the motors;
taking the minimum motor loss power among the motor loss powers as a target motor loss power;
determining a torque distribution coefficient according to the total required torque of the front axle motor and the total required torque of the rear axle motor corresponding to the target motor loss power;
and selecting any first target front axle motor rotating speed from the first unselected target front axle motor rotating speeds as a second target front axle motor rotating speed, and executing the step of calculating and obtaining a plurality of front axle motor loss powers according to the second target front axle motor rotating speed and each front axle motor total required torque in a front axle motor total required torque range until the first target front axle motor rotating speeds are all selected, so as to obtain a plurality of torque distribution coefficients.
4. The torque distribution method according to claim 3, wherein the step of determining the torque distribution coefficient based on the total required torque of the front axle motor and the total required torque of the rear axle motor corresponding to the target motor loss power includes:
acquiring total required torque of a front axle motor and total required torque of a rear axle motor corresponding to the loss power of the target motor;
And calculating the sum of the total required torque of the rear axle motor divided by the total required torque of the front axle motor plus the total required torque of the rear axle motor to obtain a torque distribution coefficient.
5. The torque distribution method according to claim 1, wherein the step of determining whether the vehicle has a power demand based on the hill sensor information, the gear state, the accelerator pedal state, the brake pedal state, and the vehicle body electronic stability control system enable signal includes:
determining the condition of the ramp where the vehicle is located according to the information of the ramp sensor;
if the ramp where the vehicle is located is an ascending ramp and the gear is a forward gear, judging that the vehicle has a power requirement, wherein the power requirement is a climbing power requirement;
if the ramp where the vehicle is located is a downhill ramp and the gear is a reverse gear, judging that the vehicle has a power requirement, wherein the power requirement is a climbing power requirement;
if the opening degree of the accelerator pedal is increased, judging that the vehicle has a power requirement, wherein the power requirement is the acceleration power requirement;
if an enabling signal of the electronic stability control system of the vehicle body is received, judging that the vehicle has a dynamic property requirement, wherein the dynamic property requirement is a driving anti-skid force requirement;
if the vehicle has the climbing power demand judging condition or the vehicle has the accelerating power demand judging condition or the vehicle has the driving anti-skid rotating power demand judging condition, judging that the vehicle has no power demand.
6. The torque distribution method as set forth in claim 1, wherein the step of distributing the front and rear axle motor torque according to the target torque distribution coefficient and the motor total required torque comprises:
and calculating the product of the target torque distribution coefficient and the total required torque of the motor to obtain the motor torque of the rear axle, and subtracting the difference value of the motor torque of the rear axle from the total required torque of the motor to obtain the motor torque of the front axle.
7. A torque distribution device, characterized in that it comprises:
the judging module is used for judging whether the vehicle has dynamic requirements or not based on ramp sensor information, gear state, accelerator pedal state, brake pedal state and vehicle body electronic stability control system enabling signals;
the first distribution module is used for distributing the motor torque of the front and rear axles according to a torque distribution strategy corresponding to the power requirement when the vehicle has the power requirement, wherein the power requirement is a climbing power requirement, an accelerating power requirement or a driving anti-skid power requirement;
the calculation module is used for calculating a plurality of torque distribution coefficients according to a vehicle speed range and a total required torque range of the vehicle when the vehicle has no power requirement, wherein each torque distribution coefficient corresponds to a minimum motor loss power;
The optimization module is used for respectively optimizing the plurality of torque distribution coefficients through curve fitting;
the matching module is used for acquiring a target torque distribution coefficient corresponding to the target vehicle speed from the plurality of optimized torque distribution coefficients;
the second distribution module is used for distributing the motor torque of the front shaft and the rear shaft according to the target torque distribution coefficient and the total required torque of the motor;
the first allocation module is further configured to:
when the dynamic demand is a driving anti-slip dynamic demand, detecting whether the driving anti-slip dynamic demand is a single-shaft driving anti-slip dynamic demand or a double-shaft driving anti-slip dynamic demand;
if the torque is required by single-shaft driving anti-skid rotational force, the torque of the sliding rotating shaft is reduced, and the torque of the non-sliding rotating shaft is increased, wherein the total required torque of the motor is unchanged;
in the process of increasing the torque of the non-slip rotating shaft, if the non-slip rotating shaft is detected to slip, reducing the total required torque of the motor based on a first preset proportion, and detecting whether the vehicle has the requirement of driving anti-slip rotating force;
if the driving anti-slip turning force requirement exists, executing the step of detecting whether the driving anti-slip turning force requirement is the single-shaft driving anti-slip turning force requirement or the double-shaft driving anti-slip turning force requirement until the fact that the vehicle does not have the driving anti-slip turning force requirement is determined;
If the demand for anti-slip turning is for biaxial drive, a step of reducing the total required torque of the motor based on a first preset ratio is performed to detect whether the vehicle has a demand for driving anti-slip turning.
8. A torque distribution device comprising a processor, a memory, and a torque distribution program stored on the memory and executable by the processor, wherein the torque distribution program, when executed by the processor, implements the steps of the torque distribution method according to any one of claims 1 to 6.
9. A readable storage medium, characterized in that the readable storage medium has stored thereon a torque distribution program, wherein the torque distribution program, when executed by a processor, implements the steps of the torque distribution method according to any of claims 1 to 6.
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