CN114347805B - Double-motor driving system for integrated vehicle control of electric vehicle and control method thereof - Google Patents

Abstract

The invention discloses a dual-motor drive system for integrated vehicle control of an electric vehicle. The dual motors are a front-drive motor and a rear-drive motor; the dual-motor drive system is provided with a motor controller, and the motor controller includes a control unit and a drive module; All the functions of the car controller and the main control part of the motor control. Using the above-mentioned technical solution, the efficiency matching with the working conditions of the whole vehicle is realized and the battery life is improved; when the heat dissipation power of the dual-three-phase motor meets the normal driving conditions of the whole vehicle, a group of power components can act as a PTC function and can be used to predict Hot battery start and low temperature heating work, while reducing PTC power and working power, to achieve full use of energy; even if one set of output fails, the other set can still work and can still output high power at low voltage, improving vehicle power performance and safety performance.

Description

Dual-motor drive system and control method for electric vehicle integrated vehicle control

technical field

The invention belongs to the technical field of new energy vehicle power systems, and relates to the drive control technology of electric vehicles. More specifically, the present invention relates to a dual-motor drive system with integrated vehicle control for electric vehicles. The invention also relates to a control method of the drive system.

Background technique

At present, a new architecture has emerged for vehicle control and motor drive of new energy electric vehicles, from one motor in the past to the current dual-motor or even 8-wheel multi-motor drive system around the wheel. At the same time, new technologies and lightweight technologies have emerged in the high-voltage electronic control component system, some from the integration of high-voltage power unit technology, some from the new electrical architecture of the vehicle, and new integration methods have also emerged.

Among them, in the field of passenger vehicles, there has been a trend of power improvement in recent years. While meeting the performance requirements of the vehicle, taking into account the control strategy, safety and cost, the dual-motor drive control system has gradually formed a trend and can be applied to EVs and PHEVs.

In the above scheme currently adopted, most of the drive system and vehicle controller assembly are completed separately by the main engine factory and the parts manufacturer. The strategy lacks a top-level design of the system. At the same time, the power of the two motor systems is one large and one small. , some of which are all high-power, and the efficiency range of the motor cannot be controlled and adjusted; in this way, the matching of two motors with different characteristics, such as the high-efficiency range and the efficiency matching with the vehicle's working conditions, fails to achieve directional design, which affects system performance and cruising range. Especially in the low-temperature environment in winter, many new energy vehicles have serious attenuation in battery life, and problems such as inability to start and safe throwing.

Contents of the invention

The invention provides a dual-motor drive system for integrated vehicle control of an electric vehicle, the purpose of which is to efficiently, coordinate and safely manage the control of the drive system.

In order to achieve the above object, the technical scheme that the present invention takes is:

In the electric vehicle integrated vehicle control dual-motor drive system of the present invention, the dual-motor is a front-drive motor and a rear-drive motor; the dual-motor drive system is provided with a motor controller (MCU), and the motor controller includes a control A unit and a drive module; the control unit realizes all the functions of the vehicle controller (VCU) and the main control part of the motor control.

The drive module includes a front drive module and a rear drive module; the front drive module and the rear drive module respectively control the front drive motor and the rear drive motor.

The front drive motor adopts PMSM motor, which is driven by magnetizable electric pulse PWM; the rear drive motor adopts PMSM dual three-phase motor and six sets of winding output; the front drive motor and the rear drive motor pass the motor The controller (MCU) is connected to realize joint driving.

The motor controller (MCU) includes a front drive cooling channel and a rear drive cooling channel; the front drive cooling channel controls the front drive system to cool the front drive motor; the rear drive cooling channel controls the rear drive system to cool the rear drive system. The motor cools down.

The rear drive cooling channel also cools the battery.

The control unit realizes all functions of the vehicle controller, which includes:

Accelerator pedal information, brake information, gear position information, air conditioning system, high-voltage accessory information collection and execution of necessary enablement and control;

Acquisition and processing of current, voltage, temperature, and speed corresponding to all sensors, load motors, and busbars of the vehicle, and enable command output;

Realize the startup, operation control, power on and off mode and conversion of the vehicle, and control the speed and torque of the drive motor according to the driver's speed command;

Monitor the running direction of the vehicle and motor;

Control the matching of vehicle driving electric and power generation modes;

Realize energy recovery, starting on a slope, standing on a slope, power splitting of two motors, torque distribution and response coordination, communication fault handling, diagnosis, emergency start and stop.

In order to achieve the same purpose of the invention as the above technical solution, the present invention also provides a control method for the above-mentioned electric vehicle integrated vehicle control dual-motor drive system, the technical solution of which is:

The motor controller (MCU) assembly internally decomposes the basic road spectrum into the parameters of the road spectrum self-examination table, predicts the vehicle state and environment according to the driver's demand instruction and combined with the collected vehicle information, and decomposes the road spectrum The coefficient is converted to the torque curve in the road spectrum self-examination table;

According to the phase voltage, inductance, DC resistance, phase current, back electromotive force, leakage inductance and position information of the two drive motors in the current state, compare the model matrix inside the motor controller (MCU) assembly, and diagnose the fault code ( DTC) Look up the table pre-torque, adjust and optimize PWM wave generation, so that the excitation electric pulse of the front drive motor changes, the internal magnetic flux of the motor optimizes the output characteristics of the motor, and performs specific interval migration;

According to the torque curve information decomposed by the road spectrum self-examination table, the pre-adjustment value of each motor can be found again, and the drive with the best efficiency required by the current working condition can be achieved. completed in advance; after completion, the rear drive motor outputs the assigned torque value to perform the work of driving the rear drive wheel;

Since the positions of the two motors can be shared through the motor controller (MCU) assembly, the initial position can be set uniformly. Even if there is an abnormality during driving, the abnormality includes the failure of electric pulse excitation, and the torque can also be achieved through another motor Allocation and termination, providing redundancy;

The rear drive motor is a dual three-phase output. During normal operation, its two sets of outputs are normally driven and connected. It is driven by two drive unit circuits in the motor controller (MCU) assembly. It adopts a single-tube parallel connection method to facilitate independent Run, and drive the PTC function externally;

According to the requirements of vehicle start and acceleration conditions, other external loads, such as PTC, are not driven during the period, and whether it is connected or not is automatically matched through the driver's speed demand curve.

When the whole vehicle is running normally, according to the real-time display of CAN communication feedback information, the current vehicle temperature, battery voltage, battery temperature, battery discharge current, discharge power and maximum available remaining power are displayed on the IPU (Intelligent Power Unit) ;The driver judges the driving mode according to the vehicle health information of the IPU; especially when there is a problem with the vehicle health status, such as the remaining available power is too small to perform the intelligent driving mode, the IPU will remind the driver in advance to adjust the driving mode to achieve safe driving .

When the vehicle is running in the front drive mode, the motor controller (MCU) assembly controls the operation of the front drive motor, and the rear drive motor does not participate in the operation;

At this time, the state is a single motor state, and the control unit uses the electric pulse PWM to shift the excitation curve according to the vehicle speed command, so as to meet the high torque and constant power operation of the vehicle at startup;

After the operating parameters, inductance value, three-phase current value, phase voltage, back electromotive force and leakage inductance of the front drive motor are obtained, the model is extracted inside the control unit to derive the torque output characteristic curve; within the transferable speed, the magnetic flux output model The optimal efficiency curve and torque value optimal value of the parameters, until the vehicle speed reaches the driver's demand speed command;

After the speed is constant, the high-efficiency interval running trajectory is locked by the control unit, and the excitation parameters, electric pulse voltage amplitude, frequency and magnetic flux value are frozen;

When the vehicle is running at high speed until the maximum speed, the magnetic flux of the front drive motor has been weakened deeply, and the magnetic flux no longer changes. At this time, the working efficiency area and the characteristics of the front drive motor can be covered, and there is no need to change the excitation curve separately. So as to reduce energy loss and ensure continuous operation with current efficiency;

When the vehicle is running in the front drive + rear drive mode, it is a four-wheel drive operation. When the vehicle continues to run from the front drive and obtains the drive power of the rear drive, the front drive motor and the rear drive motor run at the same time. At this time, the rear drive motor passes through two sets of windings. Six-phase output for maximum power;

According to the vehicle driver's vehicle speed command requirements, adjust the transfer pulse PWM parameters, before the working conditions are stable, the front drive motor can quickly match the parameters of the road spectrum model, and finally interact to obtain stable external characteristics; while meeting the start and acceleration power requirements , to ensure that the efficiency of the front-drive motor falls in the high-efficiency zone;

At this time, the control unit adjusts the field-weakening parameters of the rear-drive motor to ensure that it is in the highest efficiency area before driving at the highest speed; because the front-drive motor and the road spectrum are already optimal, as long as the torque value of the rear-drive motor is allocated according to the control unit The efficiency of the whole system can be optimized;

When the normal front drive + rear drive mode is running, the remaining power of the rear drive motor can be shunted according to the working conditions under the premise of satisfying the power, and provided to the battery pack for heating, and at the same time, the heating power is output to the battery through the rear cooling system The group and passenger cabins are heated, and the whole vehicle is controlled according to the thermal management temperature balance to achieve heat preservation.

When the vehicle enters constant power or low power driving, the priority is to ensure that the front drive motor is controlled to drive, which can achieve a higher efficiency range.

The heating of the passenger compartment and the heating of the battery pack are controlled by the control unit of the rear drive motor to realize the heating and thermal management functions of the rear drive module.

Due to the variable configuration requirements of the whole vehicle, the power of the front drive motor and the rear drive motor may be the same or similar, or the power of the two is very different. At this time, the control unit can decompose according to the road spectrum parameters and select the front drive motor and the rear drive motor for matching. A variety of combinations, and after the output power meets the speed command requirements of the vehicle driver, the remaining power can be split and distributed to achieve PTC heating of the passenger compartment and battery pack heating and coordinated utilization of heat dissipation power.

The present invention adopts the above-mentioned technical scheme and establishes a complete vehicle control strategy and electric drive control strategy through system matching, which not only realizes the efficiency matching with the vehicle working conditions, but also realizes the improvement of battery life. When the power meets the normal driving conditions of the vehicle, a group of power components can act as a PTC function, which can be used to preheat the battery for starting and low-temperature heating work, while reducing the power of the PTC and the power at work to achieve full use of energy; In addition, the dual The application of three-phase motors makes even if one set of output fails, the other set can still work and can still output high power under low voltage, improving vehicle power performance and safety performance.

Description of drawings

A brief description of what is shown in the accompanying drawings:

Fig. 1 is a control block diagram of the dual-motor drive system assembly of the present invention;

Fig. 2 is a schematic diagram of the control unit information collection implementation strategy of the present invention;

FIG. 3 is a schematic diagram of the implementation strategy of the drive motor control of the present invention.

detailed description

The specific implementation of the present invention will be described in further detail below by describing the embodiments with reference to the accompanying drawings, so as to help those skilled in the art have a more complete, accurate and in-depth understanding of the inventive concepts and technical solutions of the present invention.

The structure of the present invention as shown in Figure 1 is a dual-motor drive system for electric vehicle integrated vehicle control, and the dual-motor is a front-drive motor and a rear-drive motor; the dual-motor drive system is provided with a motor controller (MCU ), the motor controller includes a control unit and a drive module.

The invention relates to the vehicle control of new energy electric vehicles and the drive and control of the electric drive system. It is a new type of vehicle drive control system. Drive motor; realize efficient and safe management of motor drive, four-quadrant operation and vehicle driving, and system control.

In order to solve the problems existing in the prior art and overcome its defects, and realize the purpose of the invention to efficiently, coordinate and safely manage the control of the drive system, the technical solutions adopted by the present invention are as follows:

As shown in Fig. 1 to Fig. 3, the electric vehicle integrated vehicle control dual-motor drive system of the present invention, the control unit realizes all the functions of the vehicle controller (VCU) and the main control part of the motor control. The control unit realizes the functions of the original vehicle controller (VCU) and the control part of the motor controller (MCU) for system management.

The present invention aims at the existing problems of the prior art, and establishes a complete vehicle control strategy and electric drive control strategy through the control principle and system design on the framework, and its core is to realize the original vehicle controller ( VCU) functions and the control part system management of the motor controller (MCU), integrate all the functions of the vehicle controller (VCU) into the motor controller assembly, and design and form a functional module, that is, the control unit; The high-voltage drive is stripped to form a modularized drive module, which can be transplanted and applied in different layout scenarios.

Through the system matching, the present invention not only realizes the efficiency matching with the working conditions of the whole vehicle, but also realizes the improvement of the battery life. At the same time, when the cooling power of the dual three-phase motor satisfies the normal driving conditions of the whole vehicle, a group of power components can act as a PTC function , can be used to preheat the battery to start and work at low temperature, while reducing the power of the PTC and the power at work to achieve full utilization of energy; at the same time, the application of dual three-phase motors makes even if one output fails, the other can still work And it can still output high power under low voltage. The invention can improve the power performance, safety and cruising range of the vehicle.

The assembly formed by the above control unit and the drive module is called a motor controller (MCU, ie microcontroller) assembly. That is, the motor controller (MCU) assembly includes two modules, namely the control unit and the drive module.

The entire motor controller (MCU) is assembled to meet the layout needs, so that it is integrated with the rear drive motor, while greatly reducing components, shortening the connection route, and improving its efficiency; the front and rear drive motors are separated, and the front drive motor It forms a water channel with the vehicle, and after the rear drive motor is integrated with the motor controller (MCU) assembly, it forms a water channel with the vehicle. This water channel forms a circuit with the battery system, and uses heat dissipation power to heat the battery pack.

The drive module includes a front drive module and a rear drive module; the front drive module and the rear drive module respectively control the front drive motor and the rear drive motor.

As shown in Figure 1, according to the layout requirements of the vehicle, combined with the control settings and considering the three-phase and bus distribution, EMC (electromagnetic compatibility), and cooling water channels, the above-mentioned motor controller (MCU) is composed of four layers. The descending order is: control unit, front drive cooling channel, front drive module, rear drive cooling channel, rear drive module. The rear drive cooling water channel and the battery system form a circuit, which is used for heat dissipation and heating of the rear drive motor.

Described front drive motor and rear drive motor are PMSM, are two different PMSM motors (permanent magnet synchronous motor), described front drive motor adopts PMSM motor, one adopts high-efficiency magnetic flux variable motor, by magnetizable Electrical pulse PWM drive; the rear drive motor adopts PMSM dual three-phase motor, six sets of winding output; the front drive motor and the rear drive motor are connected through a motor controller (MCU) to realize joint drive.

When the front drive motor is working, the motor is excited by the pre-control low-voltage pulse, and the excitation is achieved according to the motor model curve to meet the characteristics of low-speed startup.

The front-drive motor can be driven by electric pulse excitation, and at the same time, it can achieve positionless control for the acquisition of three-phase parameters, which achieves the shortest transmission chain, reduces EMC (electromagnetic compatibility) interference and wiring problems; according to the hysteresis of the front-drive motor and external The characteristics cooperate with electric pulse excitation to achieve different magnetic output, which solves the specific migration of external characteristics from low speed to high speed, achieves the output characteristics of low-speed motors and high-speed motors, the problem of high-efficiency intervals, and the distribution of vehicle startup, acceleration and normal driving conditions Efficiency range, power split, torque output matching, and efficiency adjustment requirements have achieved a relatively large improvement in battery life.

When starting or accelerating, considering that ordinary magnetic flux cannot reach the optimal efficiency point, implement pulse injection according to the internal model curve of the motor controller (MCU) assembly, so that the flux change of the front-drive motor reaches the vicinity of the target curve fitting; according to the work In the detection of working conditions in the high-speed constant-speed section, the characteristics of the front-drive motor reach the pre-adjustment of the speed section curve and then shift, and the entire high-efficiency section migrates to meet the preset requirements;

At the same time, if the rear drive motor starts to drive, its six sets of windings will output at the same time, which is equivalent to two motors. The whole system is equivalent to three motors with high efficiency and can work in a wider voltage range.

Since all the signals for controlling the vehicle and the driving motor are directly collected from the inside of the module, there is no need to connect two separate controllers through the CAN network, reducing signal transmission, improving the performance of the EMC system (electromagnetic compatibility), and improving the efficiency of software execution and safety redundancy, increasing power density.

The motor controller (MCU) includes a front drive cooling channel and a rear drive cooling channel; the front drive cooling channel controls the front drive system to cool the front drive motor; the rear drive cooling channel controls the rear drive system to cool the rear drive system. The motor cools down.

The rear drive cooling channel also cools the battery.

The front-drive motor and the rear-drive motor are integrated with the above-mentioned motor controller MCU (microcontroller) assembly, eliminating the need for three-phase lines and low-voltage wiring harnesses. In order to take into account different layout drivers, the MCU (microcontroller) assembly can be portably combined or integrated. Through two PMSM motors with different structures, it is guaranteed to realize interactive control and drive output with the above-mentioned MCU (microcontroller) assembly.

Since the front-drive motor and the rear-drive motor can be fitted according to the curve fitting of the internal model of the MCU (microcontroller) assembly, and at the same time the external characteristics of the front-drive motor can be adjusted to achieve high-efficiency interval migration, to meet the two characteristic requirements of the low-speed motor and the high-speed motor. The configuration of different schemes, such as two motors of different sizes and powers or two motors of higher power, can work in the highest efficiency range and match the speed of the whole vehicle;

Especially in the common speed range, which takes up a lot of driving time, the high-efficiency range brings a great increase in battery life. Even in a low-voltage state, the two three-phase outputs of the rear drive motor are output at the same time. Under the same vehicle environment, Larger power output can still be achieved.

The temperature monitoring of the whole vehicle system is completed by the motor controller (MCU) assembly, and three-level fault processing is carried out according to the collected information to realize the power reduction and shutdown operation strategy; the instantaneous power, available residual power, vehicle speed, rotation speed, SOC The interactive display of the health status of the vehicle can be provided to the driver as a basis for driving judgment.

In addition, the motor controller (MCU) assembly has the vehicle control function, and ABS (anti-lock brake system), ESP (body stability control system), EPB (electronic parking brake system), EPS (electric power steering System), TPMS (Tire Pressure Monitoring System) and other system functions to achieve matching, and control the implementation of vehicle detection and operation control assistance, to keep the vehicle running under abnormal conditions and control the torque distribution of the drive motor.

The drive power components in the motor controller (MCU) assembly can also be used for external output to act as a PTC when the entire dual-motor system meets the driver's speed command requirements. Differential heating of the cooling water channels can heat the battery pack or output to the passenger compartment.

The control unit can realize all the functions of the vehicle controller and the main control part of the motor control, which includes:

Accelerator pedal information, brake information, gear position information, air conditioning system, high-voltage accessory information collection and execution of necessary enablement and control;

Acquisition and processing of current, voltage, temperature, and rotational speed corresponding to all sensors, load motors, and busbars of the vehicle, enabling command output;

Realize the startup, operation control, power on and off mode and conversion of the vehicle, and control the speed and torque of the drive motor according to the driver's speed command;

Monitor the running direction of the vehicle and motor;

Control the matching of vehicle driving electric and power generation modes;

Realize energy recovery, starting on a slope, standing on a slope, power splitting of two motors, torque distribution and response coordination, communication fault handling, diagnosis, emergency start and stop.

In order to achieve the same purpose of the invention as the above technical solution, the present invention also provides a control method for the above-mentioned electric vehicle integrated vehicle control dual-motor drive system, the technical solution of which is:

The motor controller (MCU) assembly internally decomposes the basic road spectrum into the parameters of the road spectrum self-examination table, predicts the vehicle state and environment according to the driver's demand instruction and combined with the collected vehicle information, and decomposes the road spectrum The coefficient is converted to the torque curve in the road spectrum self-examination table;

According to the phase voltage, inductance, DC resistance, phase current, back electromotive force, leakage inductance and position information of the two driving motors in the current state, compare the model matrix inside the motor controller (MCU) assembly, and pass the DTC (diagnostic fault Code) Look up the pre-torque table, adjust and optimize the PWM wave generation, so that the excitation electric pulse of the front-drive motor changes, the internal magnetic flux of the motor optimizes the output characteristics of the motor, and performs specific interval migration;

According to the torque curve information decomposed by the road spectrum self-examination table, the pre-adjustment value of each motor can be found again, and the drive with the best efficiency required by the current working condition can be achieved. completed in advance; after completion, the rear drive motor outputs the assigned torque value to perform the work of driving the rear drive wheel;

Since the positions of the two motors can be shared through the motor controller (MCU) assembly, the initial position can be set uniformly. Even if there is an abnormality during driving, the abnormality includes the failure of electric pulse excitation, and the torque can also be achieved through another motor Allocation and termination, providing redundancy;

The rear drive motor is a dual three-phase output. During normal operation, its two sets of outputs are normally driven and connected. It is driven by two drive unit circuits in the motor controller (MCU) assembly. It adopts a single-tube parallel connection method to facilitate independent Run, and drive the PTC function externally;

According to the requirements of vehicle start and acceleration conditions, other external loads, such as PTC, are not driven during the period, and whether it is connected or not is automatically matched through the driver's speed demand curve.

According to the characteristics of the rear drive cooling channel, the normal heat dissipation is used to heat the circulating water and increase the working temperature of the battery pack, but the present invention is not limited thereto.

When the whole vehicle is running normally, according to the real-time display of CAN communication feedback information, the current vehicle temperature, battery voltage, battery temperature, battery discharge current, discharge power and maximum available remaining power are displayed on the IPU (Intelligent Power Unit); The driver judges the driving mode based on the vehicle health information of the IPU; especially when there is a problem with the vehicle's health status, such as the remaining available power is too small to implement the smart driving mode, the IPU will remind the driver in advance to adjust the driving mode to achieve safe driving.

Here's how the different drive modes work:

1. When the vehicle is running in front-wheel drive:

When the vehicle is running in the front drive mode, the motor controller (MCU) assembly controls the operation of the front drive motor, and the rear drive motor does not participate in the operation;

At this time, the state is a single motor state, and the control unit uses the electric pulse PWM to shift the excitation curve according to the vehicle speed command, so as to meet the high torque and constant power operation of the vehicle at startup;

After the operating parameters, inductance value, three-phase current value, phase voltage, back electromotive force and leakage inductance of the front drive motor are obtained, the model is extracted inside the control unit to derive the torque output characteristic curve; within the transferable speed, the magnetic flux output model The optimal efficiency curve and torque value optimal value of the parameters, until the vehicle speed reaches the driver's demand speed command;

After the speed is constant, the high-efficiency interval running trajectory is locked by the control unit, and the excitation parameters, electric pulse voltage amplitude, frequency and magnetic flux value are frozen;

When the vehicle is running at high speed until the maximum speed, the magnetic flux of the front drive motor has been weakened deeply, and the magnetic flux no longer changes. At this time, the working efficiency area and the characteristics of the front drive motor can be covered, and there is no need to change the excitation curve separately. So as to reduce energy loss and ensure continuous operation with current efficiency;

The cooling circuit of the front drive motor is connected to the vehicle cooling system, and the connected part is the front cooling system; this circuit is not directly connected to the rear drive cooling system, but can be controlled by the control circuit. The rear drive cooling system is connected to the rear drive motor and to the battery pack circuit, which can realize temperature heating and heat balance management.

2. When the vehicle is driven by front drive + rear drive:

When the vehicle is running in the front drive + rear drive mode, it is a four-wheel drive operation. When the vehicle continues to run from the front drive and obtains the drive power of the rear drive, the front drive motor and the rear drive motor run at the same time. At this time, the rear drive motor passes through two sets of windings. Six-phase output for maximum power;

According to the vehicle driver's vehicle speed command requirements, adjust the transfer pulse PWM parameters, before the working conditions are stable, the front drive motor can quickly match the parameters of the road spectrum model, and finally interact to obtain stable external characteristics; while meeting the start and acceleration power requirements , to ensure that the efficiency of the front-drive motor falls in the high-efficiency zone;

At this time, the control unit adjusts the field-weakening parameters of the rear-drive motor to ensure that it is in the highest efficiency area before driving at the highest speed; because the front-drive motor and the road spectrum are already optimal, as long as the torque value of the rear-drive motor is allocated according to the control unit The efficiency of the whole system can be optimized;

When the normal front drive + rear drive mode is running, the remaining power of the rear drive motor can be shunted according to the working conditions under the premise of satisfying the power, and provided to the battery pack for heating, and at the same time, the heating power is output to the battery through the rear cooling system The group and passenger cabins are heated, and the whole vehicle is controlled according to the thermal management temperature balance to achieve heat preservation.

When the vehicle enters constant power or low power driving, the priority is to ensure that the front drive motor is controlled to drive, which can achieve a higher efficiency range.

The heating of the passenger compartment and the heating of the battery pack are controlled by the control unit of the rear drive motor to realize the heating and thermal management functions of the rear drive module.

Due to the variable configuration requirements of the whole vehicle, the power of the front drive motor and the rear drive motor may be the same or similar, or the power of the two is very different. At this time, the control unit can decompose according to the road spectrum parameters and select the front drive motor and the rear drive motor for matching. A variety of combinations, and after the output power meets the speed command requirements of the vehicle driver, the remaining power can be split and distributed to achieve PTC heating of the passenger compartment and battery pack heating and coordinated utilization of heat dissipation power.

The specific content of the accompanying drawings is analyzed below:

As shown in Figure 1:

The front drive cooling water channel forms a circuit with the front cooling system from the vehicle and the front drive motor; the rear drive cooling channel connects with the inside of the Pack battery pack, the rear drive motor, and the rear water cooling system to form a circuit.

The water temperature can heat and keep the battery warm; the temperature is controlled by collecting the parameters of the internal and external thermometers and air conditioners through the control unit for thermal management; when the temperature rises to or exceeds the maximum operating temperature point, the switch can be controlled to close the heating introduction circuit ; When the temperature is lower than the set minimum threshold, the control switch can be turned on for heating, heat conduction, and entering the circuit to achieve temperature balance.

The front drive motor is connected to the front drive module to realize the drive, and the control unit implements the electric pulse PWM adjustment and optimization to ensure that the efficiency range is synchronized with the parameters of the synchronous decomposition of the road spectrum; the rear drive motor is connected to the rear drive module to realize the drive, which can realize a single three Two-phase and two-phase three-phase output; when the power meets the speed command of the driver, the shunt distribution of the available surplus power can be continued, and the shunt unit in the rear drive module can be used for output, and the PTC power output can be used to realize the heating of the passenger compartment; it can also be expanded Realize the heating of the battery pack.

The control unit controls and drives the front drive module and the rear drive module through the collected signals. The voltage from the Pack powers the motor controller (MCU) assembly.

as shown in picture 2:

The entire control unit circuit includes vehicle system information collection and processing; drive system signal collection and processing; drive signal transmission.

The driving module 1 is the front driving module; the driving module 2 is the rear driving module.

Among them, as shown on the left side of Figure 2:

The whole vehicle system collects brake signal (brake), gear position PRND signal (PRND), hardware enable signal (ENABLE), accelerator pedal signal (ACCELE);

As shown on the lower side of Figure 2:

At the same time, the vehicle signal comes from the signal of the accessory part (such as PTC, DCDC enable, relay drive), air conditioner enable and drive, external digital input and output signal (GIIO);

As shown on the right side of Figure 2:

The signal of the drive module 1 includes the collection of high-voltage circuit signals, such as the collection of bus voltage, three-phase current (IGBT current), and IGBT temperature (IGBT TEM), the collection of driver board temperature signal (Board TEMP), and the collection of motor temperature (MOTOR TEMP). And perform wave control according to PWM output requirements;

The rear drive module signal includes three-phase current signal acquisition, IGBT temperature signal acquisition, driver board temperature signal acquisition, motor temperature signal acquisition, and enable signal acquisition;

When the rear drive module is connected to drive, its two sets of windings can be driven normally;

If there is a fault, one group can be output and the other group can be turned off. When two groups output at the same time, their power can reach the maximum value.

During the power output, dynamic adjustment can be made according to the load status and the data collected inside the drive motor and control unit, and the power can be shunted, and the fault diagnosis can be graded according to the status, so as to realize a three-level fault protection mechanism and reduce power output. Until shutdown protection.

As shown in Figure 3:

The front drive motor can interact with the drive and control signals through the drive circuit, and its running signal parameters, such as the three-phase current AC value (AC phase current), the temperature of the front drive motor (MOTOR TEMP) and the temperature of the power device of the controller (IGBTTEM) , enable the interaction of the control signal (ENABLE), collect the necessary phase inductance (LA, LB, LC, LAB, LAC, LBC), position and speed signal (Position Speed), and adjust the parameters of the electric pulse through the above parameters, To respond to the load conditions; according to the external conditions and combined with the model road spectrum decomposition curve in the control unit, implement the optimal electric pulse excitation strategy, adjust the timing, pulse frequency, and excitation voltage.

When the vehicle starts normally, after the self-inspection is completed and the driver has given the vehicle speed requirement command, the electric drive system assembly of the present invention collects the vehicle state information and realizes the acquisition of the external signal of the vehicle in the manner shown in FIG. 2 .

After the speed signal and the rotor position signal (Position Speed) in the signal are collected and processed, when there is no fault, the control unit synchronously obtains the signal of the rear drive motor, realizes the key torque safety sharing mechanism, enters the post-stage data processing unit and executes it, so that After the execution completes the data analysis, it responds to the load requirements of acceleration and high-power conditions; the internal data processing unit of the control unit stores records and historical faults, and stores the key parameters of the switching timing of the front drive motor and the rear drive motor.

The present invention has been exemplarily described above in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited by the above methods, as long as various insubstantial improvements are adopted in the method concept and technical solutions of the present invention, or there is no improvement Directly applying the conception and technical solutions of the present invention to other occasions falls within the protection scope of the present invention.

Claims (15)

1. The control method of the dual-motor drive system of electric vehicle integrated vehicle control, and described dual-motor is front drive motor and rear drive motor; Described dual-motor drive system is provided with motor controller, and described motor controller comprises control unit and a drive module; the control unit realizes all the functions of the vehicle controller (VCU) and the main control part functions of the motor control; It is characterized by: The motor controller assembly decomposes the basic road spectrum into the parameters of the road spectrum self-examination table, predicts the vehicle state and environment according to the driver's demand instruction and combined with the collected vehicle information, and converts the road spectrum decomposition coefficient into Torque curve in road spectrum self-examination table; According to the phase voltage, inductance, DC resistance, phase current, back electromotive force, leakage inductance and position information of the two driving motors in the current state, compare the model matrix inside the motor controller assembly, and look up the pre-torque through the diagnosis fault code , adjust and optimize the PWM wave generation, so that the excitation electric pulse of the front drive motor changes, the internal magnetic flux of the motor optimizes the output characteristics of the motor, and performs specific interval migration; According to the torque curve information decomposed by the self-examination table of the road spectrum, find the pre-adjustment value of each motor again, and the drive with the best efficiency required by the current working condition can be achieved; after completion, the rear drive motor outputs the assigned torque value to perform the drive Rear wheel work. 2. The control method of the dual-motor drive system of electric vehicle integrated vehicle control, wherein the dual-motor is a front-drive motor and a rear-drive motor; the dual-motor drive system is provided with a motor controller, and the motor controller includes a control unit and a drive module; the control unit realizes all the functions of the vehicle controller (VCU) and the main control part functions of the motor control; The drive module includes a front drive module and a rear drive module; the front drive module and the rear drive module respectively control the front drive motor and the rear drive motor; It is characterized by: The motor controller assembly decomposes the basic road spectrum into the parameters of the road spectrum self-examination table, predicts the vehicle state and environment according to the driver's demand instruction and combined with the collected vehicle information, and converts the road spectrum decomposition coefficient into Torque curve in road spectrum self-examination table; According to the phase voltage, inductance, DC resistance, phase current, back electromotive force, leakage inductance and position information of the two driving motors in the current state, compare the model matrix inside the motor controller assembly, and look up the pre-torque through the diagnosis fault code , adjust and optimize the PWM wave generation, so that the excitation electric pulse of the front drive motor changes, the internal magnetic flux of the motor optimizes the output characteristics of the motor, and performs specific interval migration; According to the torque curve information decomposed by the self-examination table of the road spectrum, find the pre-adjustment value of each motor again, and the drive with the best efficiency required by the current working condition can be achieved; after completion, the rear drive motor outputs the assigned torque value to perform the drive Rear wheel work. 3. The control method of the dual-motor drive system of electric vehicle integrated vehicle control, wherein the dual-motor is a front-drive motor and a rear-drive motor; the dual-motor drive system is provided with a motor controller, and the motor controller includes a control unit and a drive module; the control unit realizes all the functions of the vehicle controller (VCU) and the main control part functions of the motor control; The front drive motor adopts PMSM motor, which is driven by magnetizable electric pulse PWM; the rear drive motor adopts PMSM dual three-phase motor and six sets of winding output; the front drive motor and the rear drive motor pass the motor Controller connection to realize joint drive; It is characterized by: The motor controller assembly decomposes the basic road spectrum into the parameters of the road spectrum self-examination table, predicts the vehicle state and environment according to the driver's demand instruction and combined with the collected vehicle information, and converts the road spectrum decomposition coefficient into Torque curve in road spectrum self-examination table; According to the phase voltage, inductance, DC resistance, phase current, back electromotive force, leakage inductance and position information of the two driving motors in the current state, compare the model matrix inside the motor controller assembly, and look up the pre-torque through the diagnosis fault code , adjust and optimize the PWM wave generation, so that the excitation electric pulse of the front drive motor changes, the internal magnetic flux of the motor optimizes the output characteristics of the motor, and performs specific interval migration; According to the torque curve information decomposed by the self-examination table of the road spectrum, find the pre-adjustment value of each motor again, and the drive with the best efficiency required by the current working condition can be achieved; after completion, the rear drive motor outputs the assigned torque value to perform the drive Rear wheel work. 4. The control method of the dual-motor drive system for electric vehicle integrated vehicle control, the dual-motor is a front-drive motor and a rear-drive motor; the dual-motor drive system is provided with a motor controller, and the motor controller includes a control unit and a drive module; the control unit realizes all the functions of the vehicle controller (VCU) and the main control part functions of the motor control; The motor controller includes a front drive cooling channel and a rear drive cooling channel; the front drive cooling channel controls the front cooling system to cool the front drive motor; the rear drive cooling channel controls the rear cooling system to cool the rear drive motor; It is characterized by: The motor controller assembly decomposes the basic road spectrum into the parameters of the road spectrum self-examination table, predicts the vehicle state and environment according to the driver's demand instruction and combined with the collected vehicle information, and converts the road spectrum decomposition coefficient into Torque curve in road spectrum self-examination table; According to the phase voltage, inductance, DC resistance, phase current, back electromotive force, leakage inductance and position information of the two driving motors in the current state, compare the model matrix inside the motor controller assembly, and look up the pre-torque through the diagnosis fault code , adjust and optimize the PWM wave generation, so that the excitation electric pulse of the front drive motor changes, the internal magnetic flux of the motor optimizes the output characteristics of the motor, and performs specific interval migration; According to the torque curve information decomposed by the self-examination table of the road spectrum, find the pre-adjustment value of each motor again, and the drive with the best efficiency required by the current working condition can be achieved; after completion, the rear drive motor outputs the assigned torque value to perform the drive Rear wheel work. 5. A control method for a dual-motor drive system with integrated vehicle control for an electric vehicle, wherein the dual-motor is a front-drive motor and a rear-drive motor; the dual-motor drive system is provided with a motor controller, and the motor controller includes a control unit and a drive module; the control unit realizes all the functions of the vehicle controller (VCU) and the main control part functions of the motor control; The motor controller includes a front drive cooling channel and a rear drive cooling channel; the front drive cooling channel controls the front cooling system to cool the front drive motor; the rear drive cooling channel controls the rear cooling system to cool the rear drive motor; The rear drive cooling channel also cools the battery; It is characterized by: The motor controller assembly decomposes the basic road spectrum into the parameters of the road spectrum self-examination table, predicts the vehicle state and environment according to the driver's demand instruction and combined with the collected vehicle information, and converts the road spectrum decomposition coefficient into Torque curve in road spectrum self-examination table; According to the phase voltage, inductance, DC resistance, phase current, back electromotive force, leakage inductance and position information of the two driving motors in the current state, compare the model matrix inside the motor controller assembly, and look up the pre-torque through the diagnosis fault code , adjust and optimize the PWM wave generation, so that the excitation electric pulse of the front drive motor changes, the internal magnetic flux of the motor optimizes the output characteristics of the motor, and performs specific interval migration; According to the torque curve information decomposed by the self-examination table of the road spectrum, find the pre-adjustment value of each motor again, and the drive with the best efficiency required by the current working condition can be achieved; after completion, the rear drive motor outputs the assigned torque value to perform the drive Rear wheel work. 6. A control method for a dual-motor drive system of electric vehicle integrated vehicle control, wherein the dual-motor is a front-drive motor and a rear-drive motor; the dual-motor drive system is provided with a motor controller, and the motor controller includes a control unit and a drive module; the control unit realizes all the functions of the vehicle controller (VCU) and the main control part functions of the motor control; The control unit realizes all functions of the vehicle controller, which includes: Accelerator pedal information, brake information, gear position information, air conditioning system, high-voltage accessory information collection and execution of necessary enablement and control; Acquisition and processing of current, voltage, temperature, and rotational speed corresponding to all sensors, load motors, and busbars of the vehicle, enabling command output; Realize the startup, operation control, power on and off mode and conversion of the vehicle, and control the speed and torque of the drive motor according to the driver's speed command; Monitor the running direction of the vehicle and motor; Control the matching of vehicle driving electric and power generation modes; Realize energy recovery, starting on a slope, standing on a slope, power splitting of two motors, torque distribution and response coordination, communication fault handling, diagnosis, emergency start and stop; It is characterized by: The motor controller assembly decomposes the basic road spectrum into the parameters of the road spectrum self-examination table, predicts the vehicle state and environment according to the driver's demand instruction and combined with the collected vehicle information, and converts the road spectrum decomposition coefficient into Torque curve in road spectrum self-examination table; According to the phase voltage, inductance, DC resistance, phase current, back electromotive force, leakage inductance and position information of the two driving motors in the current state, compare the model matrix inside the motor controller assembly, and look up the pre-torque through the diagnosis fault code , adjust and optimize the PWM wave generation, so that the excitation electric pulse of the front drive motor changes, the internal magnetic flux of the motor optimizes the output characteristics of the motor, and performs specific interval migration; According to the torque curve information decomposed by the self-examination table of the road spectrum, find the pre-adjustment value of each motor again, and the drive with the best efficiency required by the current working condition can be achieved; after completion, the rear drive motor outputs the assigned torque value to perform the drive Rear wheel work. 7. According to the control method of the dual-motor drive system of electric vehicle integrated vehicle control according to any one of claims 1 to 6, it is characterized in that: The positions of the two motors can be shared through the motor controller assembly, and the initial position is set uniformly. Even if there is an abnormality during driving, including the failure of electric pulse excitation, the torque distribution and termination can also be realized through another motor; The rear drive motor is a dual three-phase output. During normal operation, its two sets of outputs are normally driven and connected. It is driven by two drive unit circuits in the motor controller assembly. It adopts a single-tube parallel connection mode to facilitate independent operation. External drive PTC function; When the vehicle is started and accelerated, other external loads are not driven during the period; whether it is connected or not is automatically matched through the driver's speed demand curve. 8. According to the control method of the dual-motor drive system of electric vehicle integrated vehicle control according to any one of claims 1 to 6, it is characterized in that: When the vehicle is running normally, the information fed back by CAN communication is displayed in real time, and the current vehicle temperature, battery voltage, battery temperature, battery discharge current, discharge power and the maximum available remaining power are displayed on the IPU; the driver according to the IPU The vehicle health information can be used to judge the driving mode; when there is a problem with the vehicle health status and the remaining available power is too small to implement the intelligent driving mode, the IPU will remind the driver in advance to adjust the driving mode to achieve safe driving. 9. According to the control method of the dual-motor drive system of electric vehicle integrated vehicle control according to any one of claims 1 to 6, it is characterized in that: When the vehicle is running in the front drive mode, the motor controller assembly controls the operation of the front drive motor, and the rear drive motor does not participate in the operation; At this time, the state is a single motor state, and the control unit uses the electric pulse PWM to shift the excitation curve according to the vehicle speed command, so as to meet the high torque and constant power operation of the vehicle at startup; After the operating parameters, inductance value, three-phase current value, phase voltage, back electromotive force and leakage inductance of the front drive motor are obtained, the model is extracted inside the control unit to derive the torque output characteristic curve; within the transferable speed, the magnetic flux output model The optimal efficiency curve and torque value optimal value of the parameters, until the vehicle speed reaches the driver's demand speed command; After the speed is constant, the high-efficiency interval running trajectory is locked by the control unit, and the excitation parameters, electric pulse voltage amplitude, frequency and magnetic flux value are frozen. 10. According to the control method of the dual-motor drive system of electric vehicle integrated vehicle control according to claim 9, it is characterized in that: When the vehicle is running at high speed until the highest speed, at this time, because the front drive motor has been deeply weakened, the magnetic flux no longer changes at this time, the working efficiency area and the characteristics of the front drive motor can be covered, and there is no need to change the excitation curve separately, so as to achieve Reduce energy loss and ensure continuous operation at current efficiency. 11. According to the control method of the dual-motor drive system of electric vehicle integrated vehicle control according to any one of claims 1 to 6, it is characterized in that: When the vehicle is running in the front drive + rear drive mode, it is a four-wheel drive operation. When the vehicle continues to run from the front drive and obtains the drive power of the rear drive in normal driving, the front drive motor and the rear drive motor run at the same time. At this time, the rear drive motor passes through two groups Winding six-phase output, maximum power can be obtained; According to the vehicle driver's vehicle speed command requirements, adjust the transfer pulse PWM parameters, before the working conditions are stable, the front drive motor can quickly match the parameters of the road spectrum model, and finally interact to obtain stable external characteristics; while meeting the start and acceleration power requirements , to ensure that the efficiency of the front-drive motor falls in the high-efficiency zone; At this time, the control unit adjusts the field-weakening parameters of the rear-drive motor to ensure that it is in the highest efficiency area before driving at the highest speed; because the front-drive motor and the road spectrum are already optimal, as long as the torque value of the rear-drive motor is allocated according to the control unit The efficiency of the whole system can be optimized. 12. According to the control method of the dual-motor drive system of electric vehicle integrated vehicle control according to claim 11, it is characterized in that: When the normal front drive + rear drive mode is running, the remaining power of the rear drive motor can be shunted according to the working conditions under the premise of satisfying the power, and provided to the battery pack for heating, and at the same time, the heating power is output to the battery through the rear cooling system The group and passenger cabins are heated, and the whole vehicle is controlled according to the thermal management temperature balance to achieve heat preservation. 13. The control method of the dual-motor drive system of electric vehicle integrated vehicle control according to claim 11, characterized in that: when the vehicle enters constant power or low power driving, the priority is to ensure that the front drive motor is controlled to drive, which can realize driving at a higher speed. High efficiency range. 14. The control method of the dual-motor drive system of electric vehicle integrated vehicle control according to claim 11, characterized in that: the rear drive module is controlled by the control unit of the rear drive motor for the heating of the passenger compartment and the heating of the battery pack to realize heating and thermal heating. management functions. 15. The control method of the dual-motor drive system of electric vehicle integrated vehicle control according to claim 11, characterized in that: due to the variable configuration requirements of the whole vehicle, the power of the front drive motor and the rear drive motor may be the same or similar, or The power difference between the two is very large. At this time, the control unit can decompose according to the road spectrum parameters, select the front drive motor and the rear drive motor to match various combinations, and after the output power meets the speed command requirements of the vehicle driver, the remaining power can be used. Power splitting and distribution realizes the coordinated utilization of PTC heating of the passenger compartment and battery pack heating and cooling power.

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