CN116001590B

CN116001590B - Power control method and system for multi-electric drive axle vehicle

Info

Publication number: CN116001590B
Application number: CN202211734114.XA
Authority: CN
Inventors: 陆海涵; 李伟; 付玲; 刘熙; 陈炳酉; 刘延斌; 李业彬
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2024-06-21
Anticipated expiration: 2042-12-30
Also published as: CN116001590A

Abstract

The invention provides a power control method and a power control system for a multi-electric drive axle vehicle, and belongs to the technical field of electric automobile control. The method comprises the following steps: inquiring a relation value record based on the wheel end torque demand and the current vehicle speed value to obtain an identification value of the current transmission mode and a torque distribution coefficient value among multiple electric drive bridges; based on the inquired identification value, the gear of the gearbox of each electric drive bridge is adjusted to be a designated gear in the current transmission mode, wherein the inquired identification value is the identification value of the transmission mode of the equivalent single electric drive bridge or the identification value of the transmission mode of the non-equivalent single electric drive bridge; and adjusting the motor output value of each electric drive bridge based on the torque distribution coefficient value and the wheel end total required torque value. The invention can realize the bottleneck breakthrough of the energy consumption efficiency of the multi-electric drive bridge vehicle.

Description

Power control method and system for multi-electric drive axle vehicle

Technical Field

The invention relates to the technical field of electric automobile control, in particular to a power control method of a multi-electric drive axle vehicle, a power control system of the multi-electric drive axle vehicle, electronic equipment, an electric vehicle and a machine-readable storage medium.

Background

In recent years, new energy automobiles have become a major direction of global automobile industry transformation development in order to cope with climate change and promote green development. The electric driving force assembly and the power supply system are important components of the new energy automobile, the electric driving force assembly converts electric energy provided by the power supply system into power for the new energy automobile to advance, and the system energy consumption of the electric driving force assembly is an important power performance index of the new energy automobile. Currently, research on electrically driven bridges (electric drive axles) shows that integrated electric drive force assemblies have more energy consumption advantages.

Compared with an electric drive assembly of a common electric passenger vehicle, the vehicle adopting the integrated gear shifting electric drive bridge has the characteristic of reliability. However, since the integrated gear shifting electric drive bridge is multi-gear variable speed and drives the tire to rotate through the independent driving shaft, gear selection among the integrated gear shifting electric drive bridges affects driving efficiency, torque distribution among the integrated gear shifting electric drive bridges is unreasonable, tire dragging phenomenon exists, complexity of a whole vehicle energy consumption rule is inevitably increased, and great challenges are brought to energy consumption optimization, so that application of the integrated gear shifting electric drive bridges is limited.

Disclosure of Invention

The invention aims to provide a power control method and a system for a multi-electric drive bridge vehicle, which avoid the problems of whole vehicle power loss and tire slip caused by unreasonable gear selection and unreasonable torque distribution among a plurality of integrated gear shifting electric drive bridges, further realize the breakthrough of the energy consumption bottleneck of the multi-electric drive bridge under the same battery capacity, realize the control of the multi-electric drive bridge vehicle which can cope with different road conditions and load conditions, and improve the driving total efficiency and the endurance mileage of the system.

In order to achieve the above object, an embodiment of the present invention provides a power control method for a multi-electric drive axle vehicle, including:

Inquiring a relation value record based on the wheel end torque demand and the current vehicle speed value to obtain an identification value of the current transmission mode and a torque distribution coefficient value among multiple electric drive bridges;

based on the inquired identification value, the gear of the gearbox of each electric drive bridge is adjusted to be a designated gear in the current transmission mode, wherein the inquired identification value is the identification value of the transmission mode of the equivalent single electric drive bridge or the identification value of the transmission mode of the non-equivalent single electric drive bridge;

and adjusting the motor output value of each electric drive bridge based on the torque distribution coefficient value and the wheel end total required torque value.

Specifically, among others,

The transmission mode is a gearbox gear combination mode of the multi-electric drive axle;

The relation value record comprises an identification value of a transmission mode corresponding to a vehicle speed value and a wheel end total required torque value and a corresponding torque distribution coefficient value when the total efficiency of a driving system of the multi-electric drive axle vehicle is the maximum value;

The overall drive system efficiency is a product of the electric drive system efficiency and the tire slip efficiency of the multi-electric drive bridge;

The tire slip efficiency is calculated from the tire slip rate and torque distribution coefficient value of the multi-electric drive bridge through a conversion relation.

Specifically, among others,

The tire slip ratio of any one of the electric drive bridges is determined by a force balance relationship between a driving force of the any one of the electric drive bridges, which is adjusted by a torque distribution coefficient value and a wheel end total required torque value of the any one of the electric drive bridges, and a tire friction force, which is determined by the tire slip ratio of the any one of the electric drive bridges, a tire friction model coefficient of an associated road surface, and a vertical load.

Specifically, the relation value records comprise a transmission mode relation value record and a torque distribution relation value record;

The transmission mode relation value records an identification value of a transmission mode corresponding to a vehicle speed value and a total required torque value of a wheel end;

The torque distribution relation value record is used for providing a torque distribution coefficient value corresponding to a vehicle speed value and a total required torque value of the wheel end.

Specifically, the step of adjusting the gear of the gearbox of each electric drive axle to the designated gear in the current transmission mode based on the queried identification value includes:

Determining that the queried identification value is one of the identification values of equivalent transmission modes, wherein the equivalent transmission modes are equivalent modes among transmission gear position combination modes of the multi-electric drive bridge;

Selecting an identification value of a transmission mode among the equivalent transmission modes based on the driving mileage of the multi-electric drive bridge vehicle;

Updating the identification value of the current transmission mode to the identification value of the selected transmission mode;

And adjusting the gear of the gearbox of each electric drive axle to a designated gear in the selected transmission mode based on the updated identification value.

Specifically, the selecting the identification value of the transmission mode between the equivalent transmission modes based on the driving mileage of the multi-electric drive bridge vehicle includes:

When the driving mileage of the multi-electric drive bridge vehicle is determined to be greater than a configured mileage threshold value, configuring the priority of a transmission mode with low priority in the equivalent transmission modes as high priority, and taking the identification value of the transmission mode with high priority as the identification value of the selected transmission mode;

And when the driving mileage of the multi-electric drive bridge vehicle is less than or equal to the configured mileage threshold, taking the identification value of the transmission mode with high priority in the equivalent transmission mode as the identification value of the selected transmission mode.

Specifically, the step of adjusting the gear of the gearbox of each electric drive axle to the designated gear in the current transmission mode based on the queried identification value further includes:

determining that the identification value of the query is not one of the identification values of the equivalent transmission mode;

and adjusting the gear of the gearbox of each electric drive bridge to a designated gear in a transmission mode corresponding to the inquired identification value.

Specifically, the adjusting the motor output value of each electric drive bridge based on the torque distribution coefficient value and the wheel end total required torque value includes:

calculating a target torque value of each electric drive bridge;

Based on the target torque value, adjusting the motor output torque of each electric drive bridge;

The target torque value of any one electric drive bridge is determined by the torque distribution coefficient value and the total required torque value of the wheel end through the calculation relation of the any one electric drive bridge, and the calculation relation is configured with the speed ratio and the speed reduction ratio of the gearbox of the any one electric drive bridge and the efficiency parameter of the system of the any one electric drive bridge.

The embodiment of the invention provides an acquisition method for a relation value record in a power control method of a multi-electric drive bridge vehicle, which comprises the following steps:

determining a wheel end external characteristic curve corresponding to each gearbox gear combination based on the gearbox gear combination and the external characteristic curve of the motor of the multi-electric drive bridge;

Establishing a corresponding relation between an identification value of each transmission mode and an encircling area between curves in the wheel end external characteristic curve graph, and taking a wheel end total required torque value and a vehicle speed value as grid points in the wheel end external characteristic curve graph;

An identification value of a transmission mode corresponding to an enclosed area where each grid point is located is determined, and tire slip efficiency and total drive system efficiency of the multi-electric drive vehicle at each torque distribution coefficient value are determined in the transmission mode.

Specifically, the determining the tire slip efficiency and the total drive system efficiency of the multi-electric drive vehicle at each torque distribution coefficient value in the transmission mode includes:

When the identification value of the transmission mode is not the identification value of the transmission mode of the equivalent single electric drive bridge, calculating tire slip efficiency corresponding to each torque distribution coefficient value and the tire slip rate of the multi-electric drive bridge, and calculating the total driving system efficiency of the multi-electric drive bridge vehicle corresponding to the electric driving system efficiency and the tire slip efficiency;

And when the identification value of the transmission mode is determined to be the identification value of the transmission mode of the equivalent single electric drive bridge, calculating the efficiency of the electric drive system, and taking the efficiency of the electric drive system as the total efficiency of the drive system of the multi-electric drive bridge vehicle.

The embodiment of the invention provides a power control method of a multi-electric drive axle vehicle, which comprises the following steps:

Inquiring a transmission mode relation value record based on the wheel end torque requirement and the current vehicle speed value to obtain the identification value of the current transmission mode;

when the identification value is determined to be the identification value of the transmission mode of the equivalent single-electric drive bridge, the gear of the gearbox of each electric drive bridge is adjusted to be the designated gear in the current transmission mode, and the motor output value of the equivalent single-electric drive bridge is adjusted based on the total required torque value of the wheel end;

and when the identification value is not the identification value of the transmission mode of the equivalent single electric drive bridge, inquiring a torque distribution relation value record based on the wheel end torque requirement and the current vehicle speed value to obtain a torque distribution coefficient value, and adjusting the motor output value of each electric drive bridge based on the wheel end total required torque value and the torque distribution coefficient value.

The embodiment of the invention provides a power control method of a multi-electric drive bridge vehicle, which is applied to a whole vehicle controller and comprises the following steps:

Based on the inquired identification value, transmitting a gear switching instruction to a gearbox controller of each electric drive bridge, wherein the gear switching instruction is used for enabling the gearbox controller to adjust the gearbox gear of each electric drive bridge to be a designated gear in a current transmission mode;

And based on the torque distribution coefficient value and the wheel end total required torque value, sending a power adjustment instruction to the motor controller of each electric drive bridge, wherein the power adjustment instruction is used for enabling the motor controller to adjust the motor output value of each electric drive bridge.

The embodiment of the invention provides a power control method of a multi-electric drive axle vehicle, which is applied to a gearbox controller and comprises the following steps:

receiving a gear switching instruction sent by a whole vehicle controller in the power control method of the multi-electric drive bridge vehicle;

And adjusting the gear of the gearbox of the electric drive axle to a gear corresponding to the gear switching instruction.

The embodiment of the invention provides a power control method of a multi-electric drive bridge vehicle, which is applied to a motor controller and comprises the following steps:

receiving a power adjustment instruction sent by a whole vehicle controller in the power control method of the multi-electric drive bridge vehicle;

And adjusting the motor output value of the electric drive bridge according to the power adjustment instruction.

The embodiment of the invention provides a power control system of a multi-electric drive axle vehicle, which comprises:

The inquiring module is used for inquiring the relation value record based on the wheel end torque requirement and the current vehicle speed value, obtaining the identification value of the current transmission mode and obtaining the torque distribution coefficient value among the multiple electric drive bridges;

the transmission gear adjusting module is used for adjusting the transmission gear of each electric drive bridge to a designated gear in the current transmission mode based on the inquired identification value, wherein the inquired identification value is the identification value of the transmission mode of the equivalent single electric drive bridge or the identification value of the transmission mode of the non-equivalent single electric drive bridge;

And the motor output value adjusting module is used for adjusting the motor output value of each electric drive bridge based on the torque distribution coefficient value and the total required torque value of the wheel end.

In still another aspect, an embodiment of the present invention provides an electronic device, including:

at least one processor;

a memory coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor, the at least one processor implementing the aforementioned methods by executing the memory-stored instructions.

In yet another aspect, an embodiment of the present invention provides an electric vehicle driven by at least two electric drive axles, and having or configured with the aforementioned electronic device.

In yet another aspect, embodiments of the present invention provide a machine-readable storage medium storing machine instructions that, when executed on a machine, cause the machine to perform the foregoing method.

The invention can determine the current transmission mode and torque distribution condition by inquiring the relation value record, wherein the transmission mode corresponds to the total efficiency of the maximum driving system, so as to realize the coupling of the gear of the gearbox of the multi-electric drive bridge vehicle, and the torque distribution coefficient value corresponds to the total efficiency of the maximum driving system under the transmission mode, so as to realize the motor power coupling of the multi-electric drive bridge vehicle. Meanwhile, the power output is carried out through the transmission mode and the torque distribution coefficient value which are inquired when the total driving efficiency is the maximum value, and compared with torque distribution control (slip phenomenon) of front and rear axles, the torque distribution coefficient value and the transmission mode of the embodiment of the invention correspond to the total driving system efficiency with the maximum value and are combined selection with the strongest speed conversion capability, so that the driving tires of all electric driving axles have the same speed conversion condition corresponding to the current road surface and load working condition, the rotation of the driving tires with unconverted speed is avoided, and the bottleneck of the electric driving system efficiency of the multi-axle vehicle using the torque distribution control when the actual road surface and working condition are responded can be broken through. The invention can avoid the slip of the tyre, has the characteristics of easy realization in a controller or an electric control unit and nearly extremely real-time performance, and improves the uneven tyre abrasion condition of the multi-electric drive bridge vehicle.

Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain, without limitation, the embodiments of the invention. In the drawings:

FIG. 1 is a schematic diagram of the steps of the main method according to the embodiment of the present invention;

FIG. 2 is a schematic diagram of an exemplary integrated shift drive axle distributed drive commercial vehicle chassis in accordance with an embodiment of the present invention;

FIG. 3 is a schematic diagram of an exemplary transmission mode relationship value record according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of an exemplary process flow for selecting a transmission mode based on priority in accordance with an embodiment of the present invention;

FIG. 5 is a graph illustrating exemplary torque distribution coefficient relationship records according to an embodiment of the present invention;

FIG. 6 is a schematic diagram illustrating an exemplary distribution of surrounding areas corresponding to a transmission mode according to an embodiment of the present invention;

fig. 7 is a schematic diagram of an exemplary grid point distribution in accordance with an embodiment of the present invention;

FIG. 8 is a schematic diagram illustrating an exemplary relationship value record acquisition step according to an embodiment of the present invention.

Detailed Description

The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.

The internal combustion engine vehicle and the engineering machinery are required to complete electric transformation, but are limited by the requirements of engineering production environment, vehicle working condition, load capacity and the like, and the single electric drive bridge is difficult to be widely applied to various commercial vehicles, engineering machinery and the like. The driving vehicle of the front and rear axles formed by two single electric drive axles can be tried, the matched target front and rear axle torque distribution coefficients are obtained by searching a preset front and rear axle torque distribution coefficient map (map), the torque distribution coefficients are corrected through temperature parameters of front and rear axle motors, wherein the distribution coefficients are preset in the front and rear axle torque distribution coefficient map according to the total torque demand of the whole vehicle speed and the transmission ratio of the front and rear axle motors, and the distribution coefficients are set in consideration of the motor energy loss demand, and the front and rear axle motors are mechanically connected (for example, connected through a planet carrier) so as to be suitable for common passenger vehicle application, however, when the requirements of engineering production environment, vehicle working condition, load capacity and the like are met, the torque distribution is only changed when the vehicle is used, and the vehicle is difficult to adapt to variable environments and accords with various working conditions. In view of this, the electric drive bridges in the embodiments of the present invention may all be integrated gear shift electric drive bridges, which may include a gearbox, a motor, an axle, and the like, where the integrated gear shift electric drive bridge is a multi-gear speed change and drives the tire to rotate through an independent driving shaft.

Example 1

The embodiment of the invention provides a power control method of a multi-electric drive axle vehicle, and in terms of use, as shown in fig. 1, the power control method can comprise the following steps:

S1) inquiring a relation value record based on a wheel end torque demand and a current vehicle speed value to obtain an identification value of a current transmission mode and a torque distribution coefficient value among multiple electric drive bridges;

S2) adjusting the gear of the gearbox of each electric drive bridge to be a designated gear in the current transmission mode based on the inquired identification value, wherein the inquired identification value is the identification value of the transmission mode of the equivalent single electric drive bridge or the identification value of the transmission mode of the non-equivalent single electric drive bridge;

S3) adjusting the motor output value of each electric drive bridge based on the torque distribution coefficient value and the wheel end total required torque value.

In the embodiment of the invention, the multi-electric drive bridge vehicle comprises at least two integrated gear shifting electric drive bridges and a frame, wherein the at least two integrated gear shifting electric drive bridges (which can be simply called as multi-electric drive bridges) are connected with the frame, and the multi-electric drive bridge vehicle can be at least two-bridge vehicles such as a double-bridge vehicle, a three-bridge vehicle, a four-bridge vehicle, a five-bridge vehicle and the like. Meanwhile, the power control method according to the embodiment of the present invention may be applied to various types of multi-electric drive axle vehicles, and may include:

P1) identifying motor messages or gearbox messages (such as message number) in each electric drive bridge in a bus, and determining the number of the electric drive bridges;

P2) selecting a relation value record corresponding to the number of the electric drive bridges.

The relation value record is pre-stored, and the pre-stored relation value record can comprise relation value records of double electric drive bridges, three electric drive bridges, four electric drive bridges, five electric drive bridges and the like, so that the capacity of self-adapting the number of the electric drive bridges is realized in power control.

As shown in fig. 2, the multi-electric drive vehicle is a four-axle vehicle, the third and fourth axles are all electric drive axles integrated with a gearbox AMT and a motor EM, and each electric drive axle may include a gearbox and a motor. In some applications involving multiple motors, each electrically driven bridge may include a gearbox and two (or more) motors that may themselves distribute torque to each other based on the transmission, i.e., the two motors will be considered as one motor unit and determined to be one electrically driven bridge based on the motor unit's motor message or gearbox message. A four-axle vehicle may be employed as an exemplary vehicle in embodiments of the present invention, wherein the third and fourth axles are all electrically driven axles.

The gearbox and the motor in the multi-electric drive bridge can be controlled by an electric control unit, and the electric control unit can execute instructions corresponding to the method. The electronic control unit can be used for gear shifting of a gearbox and motor torque adjustment. In some application scenarios, the electronic control unit may include a whole vehicle controller, a gearbox controller and a motor controller, and any one of the electric drive bridges may be integrated with at least one gearbox controller and at least one motor controller, where the gearbox controller and the motor controller may be connected with the whole vehicle controller through buses respectively; in another application scenario, the whole vehicle controller, the gearbox controller and the motor controller may be integrated on the same control circuit board or chip, and the gearbox controller and the motor controller may be connected to the gearbox and the motor respectively via interfaces.

In an embodiment of the present invention, the wheel end torque request may include accelerator pedal opening information and brake pedal opening information, and step S1) may include:

S101) determining a total required torque value of the wheel end at the moment based on the torque requirement of the wheel end and the current vehicle speed value;

s102) carrying out relation value record inquiry based on the total required torque value of the wheel end and the current vehicle speed value.

The electronic control unit may further comprise a memory, which may be configured with a relation value record. In some application scenarios, the relationship value record may be a data record in the form of a value table(s), an array, a matrix, a value vector, a value relationship (map) graph, or the like. The relationship value record may include an identification value of a transmission mode corresponding to a vehicle speed value and a wheel end total required torque value and a corresponding torque distribution coefficient value when the total efficiency of the drive system of the multi-electric drive axle vehicle is a maximum value; the total drive system efficiency is the product of the electric drive system efficiency and the tire slip efficiency of the multi-electric drive bridge; the tire slip efficiency is calculated from the tire slip ratio and the torque distribution coefficient value of the multi-electric drive bridge through a conversion relation.

For the tire slip ratio and the torque distribution coefficient value in the foregoing conversion relationship, the tire slip ratio of any one of the electric drive bridges is determined by a force balance relationship between a driving force of the any one of the electric drive bridges, which is adjusted by the torque distribution coefficient value of the any one of the electric drive bridges and the wheel end total required torque value, and a tire friction force, which is determined by the tire slip ratio of the any one of the electric drive bridges, a tire friction model coefficient associated with a road surface, and a vertical load, which may be a load perpendicular to a contact surface of the tire with the road surface. The efficiency of the electric drive system is the comprehensive efficiency of the double electric drive bridge, the comprehensive efficiency can comprise the comprehensive efficiency of the double electric drive bridge motor and the controller efficiency thereof, the transmission efficiency of the gearbox, the mechanical efficiency of the differential mechanism and the mechanical efficiency of the wheel-side reduction mechanism, and the tire slip efficiency is the efficiency of converting the rotation speed of the driving wheel into the actual running speed. Therefore, when facing to various road surfaces, the vehicle with the multi-electric drive axle can have strong load capacity, flexible wheel end torque distribution is realized, the efficiency of an electric drive system is improved, the torque distribution is reasonable, the rotation speed of the double-axle tire is converted into the same condition of the vehicle speed, and therefore the phenomenon of dragging and sliding is avoided, and the power loss condition and the tire abrasion condition are improved.

In some exemplary relationship value record examples disclosed herein, the relationship value record may include a transmission mode relationship value record and a torque distribution relationship value record, both of which may employ map-style data records; the transmission mode relation value records an identification value of a transmission mode corresponding to a vehicle speed value and a total required torque value of a wheel end; the torque distribution relation value record is used for providing a torque distribution coefficient value corresponding to a vehicle speed value and a total required torque value of the wheel end.

The aforementioned transmission modes are multiple electrically driven bridge transmission gear shift patterns, and each transmission mode is assigned a unique identification value. In some application scenarios, the identification value may be written into a bus message between controllers to represent the corresponding transmission mode. In an exemplary transmission mode application example disclosed in the present invention, taking an integrated two-gear electric drive bridge as an example, each gearbox has three gears of N gear, 1 gear and 2 gear, and then for a vehicle driven by a double electric drive bridge, there are 8 transmission modes:

Table 1 transmission mode definition

In table 1, 1 to 8 may be identification values of transmission modes of the multi-electric drive bridge, and the transmission gear combinations corresponding to the transmission mode 1 are first transmission 1 gear and second transmission 1 gear, the transmission gear combinations corresponding to the transmission mode 2 are first transmission 1 gear and second transmission 2 gear, and the like. The transmission mode of the equivalent single electric drive bridge may be a transmission mode of a multi electric drive bridge in which only one gearbox of the electric drive bridge is placed in a driving operation gear, the gearboxes of the other electric drive bridges except the one electric drive bridge in the multi electric drive bridge are all placed in a non-driving operation gear (neutral gear, N gear), for example, transmission modes 5 to 8 may be identification values of the transmission modes of the equivalent single electric drive bridge, transmission modes 5 and 6 are transmission modes in which the second gearbox is placed in a driving operation gear, the first gearbox is placed in a non-driving operation gear, and transmission modes 7 and 8 are transmission modes in which the first gearbox is placed in a driving operation gear, and the second gearbox is placed in a non-driving operation gear.

In the first numerical example disclosed in the present invention, the multi-axle vehicle is the aforementioned four-axle vehicle, and the torque distribution coefficient value between the multi-electric drive axles queried by the electric control unit may be the aforementioned torque distribution coefficient value between the third axle and the fourth axle. When the inquired identification value is the identification value of the transmission mode of the equivalent single electric drive bridge, if the identification value is 5 or 6, the torque distribution coefficient value of the third bridge can be 0 (or the iteratively calculated selected value), the torque distribution coefficient value of the fourth bridge can be 1 (or the iteratively calculated selected value), the gearbox of the third bridge can be set to be in N gear, the gearbox of the fourth bridge can be set to be in 1 gear or 2 gear, and the motor output value (torque, power, rotating speed, current and the like can be based on the configured instruction) of the fourth bridge is adjusted by the total required torque value of the wheel end. It should be noted that, at this time, the torque distribution coefficient value of the third bridge is 0 (or a value close to 0 such as 0.01, 0.02, etc.), but due to factors such as road conditions and load conditions of the vehicle, the third bridge still independently drives the tire through the third bridge, the tire slip rate and conversion relation of the tire, the tire slip rate of the fourth bridge affects the tire slip efficiency and the total efficiency of the driving system of the four-bridge vehicle, and the queried torque distribution coefficient value and transmission mode correspond to the maximum value of the total efficiency of the driving system corresponding to the current road conditions and load conditions in the relation value record. Namely, the torque distribution coefficient value and the transmission mode are the joint selection that the multi-electric drive axle has the strongest speed conversion capability when the vehicle is in response to the current road surface and working condition, and the bottleneck of the efficiency of the electric drive system of the multi-axle vehicle using the torque distribution control when the vehicle is in response to the actual road surface and working condition can be broken through.

In a second numerical example disclosed by the invention, on the basis of the first numerical example, when the inquired identification value is the identification value of the transmission mode of the nonequivalent single-electric drive bridge, if the identification value is 3, the torque distribution coefficient value of the third bridge can be alpha, and the torque distribution coefficient value of the fourth bridge can be 1-alpha, the gearbox of the third bridge can be set to be in 2 gear, the gearbox of the fourth bridge can be set to be in 1 gear, and the motor output value of the third bridge and the motor output value of the fourth bridge are adjusted by the respective torque distribution coefficient values and the total required torque value of the wheel end. When the multi-axle vehicle is used for coping with the current road surface and working conditions, compared with torque distribution control (slip phenomenon) of front and rear axles, the torque distribution coefficient value and the transmission mode of the embodiment of the invention correspond to the total efficiency of a maximum driving system, are combined selection with the strongest speed conversion capability, enable driving tires of all electric driving axles to cope with the current road surface and load working conditions and have the same speed conversion condition, avoid the rotation of the driving tires with unconverted speed, and break through the bottleneck of the efficiency of the electric driving system of the multi-axle vehicle using torque distribution control when coping with the actual road surface and working conditions.

In a third numerical example disclosed in the present disclosure, the multi-axle vehicle is the aforementioned five-axle vehicle, wherein the first axle and the second axle are steering axles, the third axle, the fourth axle, and the fifth axle are all electric drive axles having a gear shifting (N-speed, 1-speed, and 2-speed) gearbox and a motor, and the torque distribution coefficient value between the multi-electric drive axles obtained by the query may be the torque distribution coefficient value between the third axle and the fourth axle and the fifth axle, and the torque distribution coefficient value between the fourth axle and the fifth axle. If the identification value of the inquired transmission mode is X (positive integer), the gear of the gearbox of each electric drive bridge can be adjusted to the gear corresponding to the transmission mode; if the torque distribution coefficient value of the third bridge is alpha, the common torque distribution coefficient value of the combination of the fourth bridge and the fifth bridge can be 1-alpha, and the torque distribution coefficient value beta (1-alpha) of the fourth bridge can be inquired, namely (1-beta) (1-alpha), the torque distribution coefficient value of the fifth bridge can be adjusted through the torque distribution coefficient value alpha and the total required torque value of the wheel end, and the motor output value of the third bridge can be adjusted through the torque distribution coefficient values beta (1-alpha) and (1-beta) (1-alpha) and the total required torque value of the wheel end respectively.

In the embodiment of the invention, according to the wheel end torque requirement and the current vehicle speed, a matched target transmission mode is searched from a preset transmission mode map (as shown in fig. 3), wherein the abscissa of the transmission mode map represents the vehicle speed value (queried through the current vehicle speed value), the ordinate represents the total required torque of the wheel end, and the coordinate point represents the transmission mode with highest total efficiency of the electric drive system under the belonged vehicle speed and the wheel end torque requirement.

For the aforementioned transmission modes, there is an equivalent relationship of transmission gear combinations among the plurality of transmission modes, the transmission modes in which the equivalent relationship exists may be referred to as equivalent transmission modes, and the overall efficiency of the electric drive system may be the same. For example, in table 1 above, if the same motor and gearbox are used in both electric axles of the vehicle configuration, then transmission modes 2 and 3 are equivalent, transmission modes 5 and 7 are equivalent, and transmission modes 6 and 8 are equivalent. The selection can be made between transmission mode 2 and transmission mode 3, transmission mode 5 and transmission mode 7, transmission mode 6 and transmission mode 8, respectively (transmission modes 5-8 are also transmission modes of an equivalent single-drive bridge). If the transmission mode obtained by inquiry is an equivalent transmission mode, the selection operation can be performed, the use frequency of every two equivalent transmission modes can be ensured to be equivalent, and the consistency of the abrasion and service life of the drive axle and the tires can be ensured. Step S2) may include:

S201), if the inquired identification value is determined to be one of the identification values of the equivalent transmission modes, performing step S202), and if the inquired identification value is determined to be not one of the identification values of the equivalent transmission modes, adjusting the gear of the gearbox of each electric drive bridge to be a designated gear in the transmission mode corresponding to the inquired identification value;

S202) selecting an identification value of a transmission mode between the equivalent transmission modes based on the driving mileage of the multi-electric drive bridge vehicle;

S203) updating the identification value of the current transmission mode to the identification value of the selected transmission mode;

S204) based on the updated identification values, adjusting the gearbox gear of each electrically driven bridge to a specified gear in the selected transmission mode.

In some examples of applications of the present disclosure, priority-based selection may be employed. Step S202) may include:

s221) when the driving mileage of the multi-electric drive bridge vehicle is determined to be greater than a configured mileage threshold value, configuring the priority of a transmission mode with low priority in the equivalent transmission modes as high priority, and taking the identification value of the transmission mode with high priority as the identification value of the selected transmission mode;

s222) when it is determined that the driving range of the multi-electric drive bridge vehicle is less than or equal to the configured range threshold, taking the identification value of the transmission mode with the high priority in the equivalent transmission modes as the identification value of the selected transmission mode.

Based on the above example, as shown in fig. 4, the priority of transmission mode 2 is initially set to be higher than the priority of transmission mode 3, the priority of transmission mode 5 is higher than the priority of transmission mode 7, and the priority of transmission mode 6 is higher than the priority of transmission mode 8; namely, when the vehicle leaves the factory, the transmission modes 2, 5 and 6 are preferentially used;

respectively counting the driving mileage corresponding to the modes 2, 5 and 6, and if the accumulated driving mileage of the driving mode 2 is increased by a certain value (for example, 1000 Km), exchanging the priority of the driving mode 2 and the priority of the driving mode 3, namely, the priority of the driving mode 3 is higher than the priority of the driving mode 2 at the moment; when the accumulated driving mileage of the transmission mode 3 increases by a certain value (such as 1000 Km), the priority of the transmission mode 2 is restored to be higher than the priority of the transmission mode 3, and the cycle adjustment is performed;

The transmission modes 5 and 7 and the transmission modes 6 and 8 adopt the same priority management method.

And according to the wheel end torque requirement and the current vehicle speed, searching a preset torque distribution coefficient map (such as fig. 5) to obtain a matched target torque distribution coefficient, wherein the abscissa of the torque distribution coefficient map represents the vehicle speed, the ordinate represents the wheel end torque requirement, and the coordinate point represents the torque distribution coefficient with highest total efficiency of the electric drive system under the vehicle speed and the wheel end torque requirement. The torque split coefficient is the percentage of wheel end torque that is distributed to the three axles.

After determining the torque distribution coefficient value, step S3) may include:

calculating a target torque value of each electric drive bridge;

The embodiment of the invention also provides an acquisition method for the relation value record in the power control method of the multi-electric drive vehicle, and the acquisition method and the power control method of the multi-electric drive vehicle belong to the same invention conception. In an implementation aspect, the acquisition method may include:

G1 Determining a wheel end outside characteristic curve corresponding to each gearbox gear combination based on the gearbox gear combination and the outside characteristic curve of the motor of the multi-electric drive bridge;

G2 Establishing a corresponding relation between an identification value of each transmission mode and an encircling area between curves in the wheel end external characteristic curve graph, and taking a wheel end total required torque value and a vehicle speed value as grid points in the wheel end external characteristic curve graph;

G3 Determining an identification value of a transmission mode corresponding to an enclosed area where each grid point is located, in which a tire slip efficiency at each torque distribution coefficient value and a total drive system efficiency of the multi-electric drive axle vehicle are determined.

Wherein, step G3) may include:

G301 When it is determined that the identification value of the transmission mode is not the identification value of the transmission mode of the equivalent single electric drive bridge, calculating tire slip efficiency corresponding to each torque distribution coefficient value and the tire slip rate of the multi-electric drive bridge, and calculating a total drive system efficiency of the multi-electric drive bridge vehicle corresponding to the electric drive system efficiency and the tire slip efficiency;

G302 When the identification value of the transmission mode is determined to be the identification value of the transmission mode of the equivalent single electric drive axle, calculating the efficiency of the electric drive system, and taking the efficiency of the electric drive system as the total efficiency of the drive system of the multi-electric drive axle vehicle.

In the embodiment of the present invention, the relation value record may include a transmission mode map and a torque distribution coefficient map.

And calculating the external characteristics of the wheel end. The vehicle speed V is shown on the abscissa and the wheel end torque T _w is shown on the ordinate, and the wheel end external characteristics in each transmission mode are calculated from the motor external characteristics, as shown in fig. 6.

The corresponding relation between the vehicle speed V and the motor rotating speed n _k is as follows:

Wherein r _w is the tire rolling radius, i _gk is the current speed ratio of the gearbox in the kth electric drive axle, i _ok is the product of the main speed reduction ratio and the wheel side speed reduction ratio, k is the number of the electric drive axle, and 1 or 2 can be taken

The corresponding relation between the wheel end torque T _w and the motor torque T _Mk is as follows:

Wherein T _Mk is the motor torque in the kth electric drive bridge, eta _k is the kth electric drive bridge efficiency, the wheel end torque T _w refers to the target wheel end total torque requested by a driver through a pedal, the target wheel end torque of each electric drive bridge can be determined through the target wheel end total torque and a torque distribution coefficient, and then the motor torque corresponding to the target wheel end is determined according to the transmission ratio relation in the electric drive bridge corresponding to the target wheel end.

An enclosed area is determined. Dividing the areas surrounded by the wheel end outer characteristic curves and the coordinate axes into 7 areas A-G, and preparing a corresponding relation table of the transmission mode and each area, wherein the table is shown in Table 2:

table 2 transmission mode area table

/>

As can be seen from fig. 6 and table 2, each transmission mode may correspond to an external characteristic curve, the area that can be covered by the curve of transmission mode 1 in fig. 6 is area a/B/C/D/E, the area that can be covered by the curve of transmission mode 2 in fig. 6 is area B/C/D/E, and so on, to obtain the surrounding areas of the remaining transmission modes in table 2, wherein the surrounding areas between the area that can be covered and the coordinate axis, and between the curve and the curve.

And searching an optimal transmission mode and an optimal torque distribution coefficient under the current working condition by adopting an off-line optimization mode, obtaining the total efficiency of the highest driving system, and iteratively calculating and selecting the transmission mode and the torque distribution coefficient. Taking the four-axle vehicle as an example, the obtaining of the relationship value record having the optimal transmission mode and torque distribution coefficient may include:

a) As shown in fig. 7, in the wheel end external characteristic, the vehicle speed axis is divided by taking 10Km/h (example) as a scale, the wheel end required torque is divided by taking every 20000 Nm (example) as the scale, and the intersection point of the scale lines is defined as a calculation jth grid point (V _h,T_wr,j);

b) Determining that the calculated grid points (V _h,T_wr,j) are in the specific surrounding area in FIG. 6, and obtaining all the alternative transmission modes Z according to the area lookup table 1;

c) If the transmission mode Z is less than or equal to 4, iteratively calculating the efficiency of the electric drive system under each third axle wheel end torque distribution coefficient (value) alpha by taking the third axle torque distribution coefficient alpha per 1% (example) as a change scale in the transmission mode If the transmission mode Z > 4 (the transmission mode of the equivalent single-electric drive bridge), only the efficiency/>, of the electric drive system in the current transmission mode (without considering torque distribution) needs to be calculated

D) Repeating step C until the electric drive efficiency in all the alternative transmission modesAll the calculation is completed;

e) Iteratively calculating tire slip efficiency at each third axle wheel end torque distribution coefficient alpha by taking each third axle torque distribution coefficient per 1% (example) as a variation scale

F) Calculating the overall efficiency of the drive systemExtracting a corresponding transmission mode Z and a third bridge end torque distribution coefficient alpha when the total efficiency of a grid point (V _h,T_wr,j) driving system is highest;

g) Selecting the next grid computing point (V _h,T_wr,j), repeating the steps b) -f) until all the optimizing computing points are traversed;

h) And counting the corresponding transmission mode Z and the third axle end torque distribution coefficient alpha when the total efficiency of the driving system of each calculation grid point (V _h,T_wr,j) is highest, and manufacturing the transmission mode map (figure 3) and the torque distribution coefficient map (figure 5).

Notably, in the foregoing exemplary step f), the overall efficiency of the drive systemIn comparison with the case where only torque distribution is considered, and tire slip efficiency is not considered, i.e. the overall efficiency of the drive system/>The overall efficiency/>, of the drive system of the embodiment of the inventionWhen the multi-axle vehicle is in an engineering production environment and is in response to different complex road conditions and load conditions, the transmission mode Z and the third axle wheel end torque distribution coefficient which correspond to the highest total efficiency of the selected driving system are adopted, and each electric driving axle of the vehicle can drive the driving tires to be converted into the vehicle speed at a reasonable rotating speed, so that the total efficiency of the driving system of the embodiment of the invention is not caused Lower than the overall efficiency of the drive system/>But also the total efficiency/>, of the driving system of the embodiment of the inventionActually higher than or equal to the total efficiency of the drive systemCompared with the method that only torque distribution is considered to cause slip (invalid work of a motor) among independent driving tires of the multi-electric drive bridge, a large amount of electric energy is consumed on various road surfaces and cannot be converted into speed, so that a heavy-load vehicle is easy to be in trouble. It should be noted that in the embodiment of the present invention, the road surface may include one or any combination of multiple kinds of muddy soil roads, gravel roads, uneven roads, sandy soil road surfaces, flat roads (at least equal in total efficiency), etc. in the engineering production environment, and the load conditions may include no-load conditions, half-load conditions, full-load conditions (heavy load conditions), etc., so that it is understood that in practice, there are more road surface conditions and load conditions, and the heavy-load multi-bridge vehicle in the embodiment of the present invention has excellent driving total efficiency and endurance mileage performance in multiple kinds of complex road surfaces.

The efficiency calculation formula of the electric drive system is as follows:

Wherein eta _mf、η_gf、η_of is the total efficiency of the third bridge motor and the driver thereof, the efficiency of the third bridge gearbox, the total mechanical efficiency of the third bridge differential and the wheel end speed reducer respectively, and is a function of the torque and the rotating speed of the third bridge motor. η _mr、η_gr、η_or is the total efficiency of the fourth axle motor and its driver, the fourth axle gearbox, the fourth axle differential and the wheel end reducer, respectively, as a function of the torque and the rotational speed of the fourth axle motor. The relevant raw efficiency data may be obtained from bench tests.

The calculation formula of the tire slip efficiency is

Wherein, formula (4) is the conversion relation, s _f is the tire slip ratio of the third bridge, and s _r is the tire slip ratio of the fourth bridge;

s _f and the torque distribution coefficient alpha are as shown in formula (5)

S _r and the torque distribution coefficient alpha are as shown in formula (6)

In the formula (5) and the formula (6), F _xf、F_zr is the longitudinal driving force of the third axle and the longitudinal driving force of the fourth axle respectively, F _zf、F_zr is the vertical load of the third axle and the vertical load of the fourth axle respectively, r _w is the rolling radius of the tire, T _wr is the total required torque of the wheel end, and C _1f,C_2f,C_3f is the friction model coefficient of the tire of the third axle Burckhardt, and the friction model coefficient can be obtained through table look-up under the road surface condition. C _1r,C_2r,C_3r is the friction model coefficient of the fourth bridge Burckhardt tire, and can also be obtained through table lookup of road conditions. For example, the electric control unit can adopt a road surface recognition algorithm module to acquire, the road surface recognition algorithm module can be used for scanning the current road surface data based on the vehicle-mounted ultrasonic radar or performing image processing on the current road surface, and inquiring the characteristic value of the scanned data or the characteristic value of the image from the configured road surface condition table to obtain the friction model coefficient of the Burckhardt tire of each electric drive bridge. From the formulas (4), (5) and (6), it is known that the tire slip efficiency η _s is a function of the torque distribution coefficient α. It should be noted that, the formulas disclosed in the embodiments of the present invention may be adjusted and changed based on the characteristics and actual use effects of the multi-axle vehicle, for example, increasing the linear coefficient and specifying the initial value.

Aiming at the problem of vehicle irregularity caused by frequent switching of transmission modes and too fast change of torque distribution coefficients, the invention discloses a method for manufacturing a transmission mode map and a torque mode map (step h): by deleting the transmission mode with small action area in the transmission mode map, frequent switching of the transmission mode is prevented, that is, a small area exists in fig. 3, the queried transmission mode can be changed rapidly, for example, the area of a certain transmission mode is limited to a grid area, the size of the grid area is the size of the area with the speed change range of 2km/h (example value) and the total required torque change range of 500Nm (example value) at the wheel end, the grid area is a small area and can be abandoned, and the area of the certain transmission mode can be deleted at the moment, so that the current transmission mode can be kept from being changed rapidly when the transmission mode map is used; similarly, for the small area and the noise area in fig. 5, if the small area or the noise area is the small area, and the vehicle speed change range in the small area is 2km/h and the total required torque change range of the wheel end is 500Nm, the small area can be filtered through filtering the map of the torque distribution coefficient, so that the torque distribution coefficient is prevented from being excessively changed in a short time; however, the small area or noise area at the bottom in fig. 3 and 5 is objectively present, and should remain present in fig. 3 and 5 (concentric circles are auxiliary legends of gray values), and may be subjected to the above-mentioned deletion and filtering processes before actual use. The transmission mode and the torque distribution coefficient are selected as above when braking energy is recovered, but only the optimal efficiency of the electric drive system is needed to be realized, and the tire slip efficiency is not considered.

The invention can be applied to high-performance passenger cars and double-rear axle driving commercial vehicles which need to deal with different road surfaces and have independent driving of front and rear axles with load requirements. The flexible torque distribution and gear selection among multiple transaxles provides more possibilities for improving the overall efficiency of the electric drive system of the distributed drive vehicle. In optimizing electric drive efficiency, transmission mode selection is considered in addition to torque distribution, and is applicable to vehicles equipped with two or more integrated electric drive axles (motor, gear change gearbox and axle integration). The invention takes the total efficiency of the driving system formed by the efficiency of the electric driving system and the slip efficiency of the tyre as an optimization target, and can reduce the abrasion of the tyre to the greatest extent while improving the energy consumption. The invention can ensure that the use strengths of a plurality of electric drive bridges and tires thereof are basically consistent.

The embodiment of the invention also provides a power control method of the multi-electric drive axle vehicle, and the power control method and the method belong to the same invention conception. The power control method may include:

B1 Inquiring a transmission mode relation value record based on the wheel end torque requirement and the current vehicle speed value to obtain the identification value of the current transmission mode;

B2 When the identification value is determined to be the identification value of the transmission mode of the equivalent single-electric drive bridge, adjusting the gear of the gearbox of each electric drive bridge to be a designated gear in the current transmission mode, and adjusting the motor output value of the equivalent single-electric drive bridge based on the total required torque value of the wheel end;

B3 When the identification value is not the identification value of the transmission mode of the equivalent single electric drive bridge, inquiring a torque distribution relation value record based on the wheel end torque requirement and the current vehicle speed value to obtain a torque distribution coefficient value, and adjusting the motor output value of each electric drive bridge based on the wheel end total requirement torque value and the torque distribution coefficient value.

In the embodiment of the invention, when the inquired identification value is determined to be the identification value of the transmission mode of the equivalent single-electric drive bridge, the torque distribution relation value record can be no longer inquired, the torque distribution coefficient value of the equivalent single-electric drive bridge can be regarded as default to 1 or a selected value, and when the inquired identification value is not the identification value of the transmission mode of the equivalent single-electric drive bridge, the torque distribution relation value record can be continuously inquired.

The embodiment of the invention also provides a power control method of the multi-electric drive axle vehicle, which is applied to the whole vehicle controller and belongs to the same inventive concept as the method. The power control method may include:

v1) inquiring a relation value record based on a wheel end torque demand and a current vehicle speed value to obtain an identification value of a current transmission mode and a torque distribution coefficient value among multiple electric drive bridges;

v2) based on the inquired identification value, transmitting a gear switching instruction to a gearbox controller of each electric drive bridge, wherein the gear switching instruction is used for enabling the gearbox controller to adjust the gearbox gear of each electric drive bridge to a designated gear in a current transmission mode;

V3) based on the torque distribution coefficient value and the wheel end total required torque value, sending a power adjustment instruction to the motor controller of each electric drive bridge, wherein the power adjustment instruction is used for enabling the motor controller to adjust the motor output value of each electric drive bridge.

In one numerical example disclosed in the invention, the whole vehicle controller belongs to the four-axle vehicle, when the identification value queried by the whole vehicle controller is an identification value of a transmission mode of a non-equivalent single electric drive axle, for example, the identification value is 3 in the table 1, the torque distribution coefficient value of the third axle can be alpha, the torque distribution coefficient value of the fourth axle can be 1-alpha, at this time, the whole vehicle controller can send a gear switching instruction to the gearbox controllers of the third axle and the fourth axle, the gearbox of the third axle can be set to 2 gears, the gearbox of the fourth axle can be set to 1 gear, the whole vehicle controller sends a power adjustment instruction to the motor controllers of the third axle and the fourth axle, and the motor output value of the third axle and the motor output value of the fourth axle are adjusted by the respective torque distribution coefficient values and the total required torque value of wheel ends. When the multi-axle vehicle is used for coping with the current road surface and working conditions, compared with torque distribution control (slip phenomenon) of front and rear axles, the torque distribution coefficient value and the transmission mode of the embodiment of the invention correspond to the total efficiency of a maximum driving system, are combined selection with the strongest speed conversion capability, enable driving tires of all electric driving axles to cope with the current road surface and load working conditions and have the same speed conversion condition, avoid the rotation of the driving tires with unconverted speed, and break through the bottleneck of the efficiency of the electric driving system of the multi-axle vehicle using torque distribution control when coping with the actual road surface and working conditions.

The embodiment of the invention also provides a power control method of the multi-electric drive axle vehicle, which is applied to the gearbox controller and belongs to the same inventive concept as the method. The power control method may include:

T1) receiving a gear switching instruction sent by a whole vehicle controller in the power control method of the multi-electric drive bridge vehicle;

T2) adjusting the gear of the gearbox of the electric drive axle to a gear corresponding to the gear switching instruction.

The embodiment of the invention also provides a power control method of the multi-electric drive axle vehicle, which is applied to the motor controller and belongs to the same inventive concept as the method. The power control method comprises the following steps:

M1) receiving a power adjustment instruction sent by a whole vehicle controller in the power control method of the multi-electric drive bridge vehicle;

m2) adjusting the motor output value of the electric drive bridge according to the power adjustment command.

According to the invention, the electric driving efficiency and the tire slip efficiency which are in conflict with each other are simultaneously optimized by adopting an offline iterative optimization method, so that the optimal point of the total efficiency of the driving system is reached; decoupling the overall efficiency optimizing problem of the driving system into a double-bridge transmission mode selection and double-bridge wheel end torque distribution problem; defining a transmission mode as different combinations of double-axle gearbox gears; searching a preset transmission mode map to obtain a matched target transmission mode according to the wheel end torque requirement and the current vehicle speed, and controlling a transmission controller TCU to switch gears to finish switching to the target transmission mode; and searching a matched target torque distribution coefficient alpha from a preset torque distribution coefficient map, respectively calculating target torques of motors of the third bridge and the fourth bridge, and sending the target torques to the motor controller MCU.

Example 2

The embodiment of the present invention belongs to the same inventive concept as embodiment 1, and provides a power control system of a multi-electric drive axle vehicle, which may include:

Specifically, among others,

Specifically, based on the queried identification value, adjusting the gear of the gearbox of each electric drive bridge to the designated gear in the current transmission mode includes:

Determining that the identification value of the query is one of the identification values of the equivalent transmission mode;

Specifically, based on the driving mileage of the multi-electric drive bridge vehicle, selecting the identification value of the transmission mode between the equivalent transmission modes includes:

Specifically, based on the identification value of the query, the gear of the gearbox of each electric drive axle is adjusted to be a designated gear in the current transmission mode, and the method further comprises:

Specifically, based on the torque distribution coefficient value and the wheel end total required torque value, adjusting the motor output value of each electric drive bridge includes:

calculating a target torque value of each electric drive bridge;

Example 3

The embodiment of the present invention and embodiments 1 and 2 all belong to the same inventive concept, and the embodiment of the present invention provides an electronic device, which may include:

at least one processor;

a memory coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor, the at least one processor implementing the aforementioned methods by executing the instructions stored by the memory.

The embodiment of the invention also provides an electric vehicle under the same conception, which is driven by at least two electric drive bridges and is provided with or configured with the electronic equipment. The electric vehicle can be used as engineering machinery such as a carrier vehicle, a truck, a trailer and the like, a commercial vehicle and a high-performance passenger vehicle, and has the characteristics of strong load capacity, various ground adaptability, high driving efficiency and the like.

The foregoing details of the optional implementation of the embodiment of the present invention have been described in conjunction with the accompanying drawings, but the embodiment of the present invention is not limited to the specific details of the foregoing implementation, and various simple modifications may be made to the technical solution of the embodiment of the present invention within the scope of the technical concept of the embodiment of the present invention, where all the simple modifications belong to the protection scope of the embodiment of the present invention.

In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, various possible combinations of embodiments of the present invention are not described in detail.

Those skilled in the art will appreciate that all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program stored in a storage medium, including instructions for causing a single-chip microcomputer, chip or processor (processor) to perform all or part of the steps of the methods of the embodiments described herein. While the aforementioned storage medium may be non-transitory, the storage medium may include: a U-disk, a hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a Flash Memory (Flash Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In addition, any combination of various embodiments of the present invention may be performed, so long as the concept of the embodiments of the present invention is not violated, and the disclosure of the embodiments of the present invention should also be considered.

Claims

1. A power control method of a multi-electric drive axle vehicle, the power control method comprising:

Inquiring a relation value record based on the wheel end torque demand and the current vehicle speed value to obtain an identification value of the current transmission mode and a torque distribution coefficient value among multiple electric drive bridges; the transmission mode is a gearbox gear combination mode of the multi-electric drive axle; the relation value record comprises an identification value of a transmission mode corresponding to a vehicle speed value and a wheel end total required torque value and a corresponding torque distribution coefficient value when the total efficiency of a driving system of the multi-electric drive axle vehicle is the maximum value;

The step of adjusting the gear of the gearbox of each electric drive bridge to a designated gear in the current transmission mode based on the queried identification value comprises the following steps:

based on the updated identification values, adjusting the gear of the gearbox of each electric drive bridge to a designated gear in the selected transmission mode;

Adjusting the gear of the gearbox of each electric drive bridge to be a designated gear in a transmission mode corresponding to the inquired identification value;

based on the torque distribution coefficient value and the total required torque value of the wheel end, adjusting the motor output value of each electric drive bridge;

wherein, based on the torque distribution coefficient value and the total required torque value of the wheel end, the motor output value of each electric drive bridge is adjusted, comprising:

calculating a target torque value of each electric drive bridge;

2. The method for controlling power of a multi-electric drive vehicle according to claim 1, wherein,

3. The method for controlling power of a multi-electric drive vehicle according to claim 2, wherein,

4. The method of claim 1, wherein the relationship records include a transmission mode relationship record and a torque distribution relationship record;

5. The method of claim 1, wherein selecting an identification value of a transmission mode between the equivalent transmission modes based on a range of the multi-electric drive vehicle comprises:

6. An acquisition method for a relation value record in the power control method of a multi-electric drive axle vehicle according to any one of claims 1 to 5, characterized in that the acquisition method comprises:

Determining an identification value of a transmission mode corresponding to an enclosed area where each grid point is located, determining a tire slip efficiency and a total drive system efficiency of the multi-electric drive vehicle at each torque distribution coefficient value in the transmission mode, comprising:

7. The power control method of the multi-electric drive bridge vehicle is applied to a whole vehicle controller and is characterized by comprising the following steps of:

Based on the queried identification value, transmitting a gear switching instruction to a gearbox controller of each electric drive bridge, wherein the gear switching instruction is used for enabling the gearbox controller to adjust the gear of the gearbox of each electric drive bridge to be a designated gear in a current transmission mode, and the queried identification value is an identification value of a transmission mode of an equivalent single electric drive bridge or an identification value of a transmission mode of a non-equivalent single electric drive bridge, and the method comprises the following steps:

Based on the torque distribution coefficient value and the wheel end total required torque value, sending a power adjustment instruction to a motor controller of each electric drive bridge, wherein the power adjustment instruction is used for enabling the motor controller to adjust the motor output value of each electric drive bridge, and the method comprises the following steps:

calculating a target torque value of each electric drive bridge;

8. The power control method of the multi-electric drive axle vehicle is applied to a gearbox controller and is characterized by comprising the following steps of:

Receiving a gear switching instruction sent by a whole vehicle controller in the power control method of the multi-electric drive bridge vehicle of claim 7;

9. The power control method of the multi-electric drive bridge vehicle is applied to a motor controller and is characterized by comprising the following steps of:

Receiving a power adjustment command sent by a vehicle controller in the power control method of the multi-electric drive bridge vehicle of claim 7;

10. A power control system for a multi-electric drive axle vehicle, the power control system comprising:

The inquiring module is used for inquiring the relation value record based on the wheel end torque requirement and the current vehicle speed value, obtaining the identification value of the current transmission mode and obtaining the torque distribution coefficient value among the multiple electric drive bridges; the transmission mode is a gearbox gear combination mode of the multi-electric drive axle; the relation value record comprises an identification value of a transmission mode corresponding to a vehicle speed value and a wheel end total required torque value and a corresponding torque distribution coefficient value when the total efficiency of a driving system of the multi-electric drive axle vehicle is the maximum value;

The gearbox gear adjustment module is used for adjusting the gearbox gear of each electric drive bridge to a designated gear in a current transmission mode based on an inquired identification value, wherein the inquired identification value is an identification value of a transmission mode of an equivalent single electric drive bridge or an identification value of a transmission mode of a non-equivalent single electric drive bridge, and comprises the following components: determining that the identification value of the query is one of the identification values of the equivalent transmission mode; selecting an identification value of a transmission mode among the equivalent transmission modes based on the driving mileage of the multi-electric drive bridge vehicle; updating the identification value of the current transmission mode to the identification value of the selected transmission mode; based on the updated identification values, adjusting the gear of the gearbox of each electric drive bridge to a designated gear in the selected transmission mode; further comprises: determining that the identification value of the query is not one of the identification values of the equivalent transmission mode; adjusting the gear of the gearbox of each electric drive bridge to be a designated gear in a transmission mode corresponding to the inquired identification value;

The motor output value adjustment module is used for adjusting the motor output value of each electric drive bridge based on the torque distribution coefficient value and the total required torque value of the wheel end, and comprises the following components: calculating a target torque value of each electric drive bridge; based on the target torque value, adjusting the motor output torque of each electric drive bridge; the target torque value of any one electric drive bridge is determined by the torque distribution coefficient value and the total required torque value of the wheel end through the calculation relation of the any one electric drive bridge, and the calculation relation is configured with the speed ratio and the speed reduction ratio of the gearbox of the any one electric drive bridge and the efficiency parameter of the system of the any one electric drive bridge.

11. An electronic device, comprising:

at least one processor;

a memory coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor, the at least one processor implementing the method of any one of claims 1 to 9 by executing the instructions stored by the memory.

12. An electric vehicle, characterized in that it is driven by at least two electric drive axles and that it has or is configured with an electronic device as claimed in claim 11.

13. A machine readable storage medium storing machine instructions which, when run on a machine, cause the machine to perform the method of any one of claims 1 to 9.