阅读说明：本技术 双电机同步控制方法、装置、存储介质及车辆 (Dual-motor synchronous control method and device, storage medium and vehicle ) 是由 杨欣澍 于 2018-06-28 设计创作，主要内容包括：本公开涉及一种双电机同步控制方法、装置、存储介质及车辆,该方法包括：分别获取主电机的第一参数信息和从电机的第二参数信息,第一参数信息包括主电机的当前转角和当前转速,第二参数信息包括从电机的当前转速；根据预设目标转角和主电机的当前转角,确定主电机的第一参考转矩；将主电机的当前转速作为从电机的目标转速,根据目标转速和所述从电机的当前转速,确定从电机的第二参考转矩；根据第一参考转矩和第二参考转矩调节从电机的转动。通过本公开的技术方案,可以平衡两电机的输出转矩,从而提高双电机的驱动效率和驱动响应速度,减小双电机的空转电流和发热量,提高驱动稳定性和双电机的寿命。(The disclosure relates to a dual-motor synchronous control method, a dual-motor synchronous control device, a storage medium and a vehicle, wherein the method comprises the following steps: respectively acquiring first parameter information of a main motor and second parameter information of a slave motor, wherein the first parameter information comprises a current rotation angle and a current rotation speed of the main motor, and the second parameter information comprises a current rotation speed of the slave motor; determining a first reference torque of the main motor according to a preset target corner and a current corner of the main motor; taking the current rotating speed of the main motor as the target rotating speed of the slave motor, and determining a second reference torque of the slave motor according to the target rotating speed and the current rotating speed of the slave motor; and regulating the rotation of the slave motor according to the first reference torque and the second reference torque. Through the technical scheme disclosed by the invention, the output torques of the two motors can be balanced, so that the driving efficiency and the driving response speed of the double motors are improved, the idle current and the heat productivity of the double motors are reduced, the driving stability is improved, and the service lives of the double motors are prolonged.)

1. A dual-motor synchronous control method is characterized by comprising the following steps:

respectively acquiring first parameter information of a main motor and second parameter information of a slave motor, wherein the first parameter information comprises a current rotation angle and a current rotation speed of the main motor, and the second parameter information comprises a current rotation speed of the slave motor;

determining a first reference torque of the main motor according to a preset target rotation angle and the current rotation angle of the main motor;

taking the current rotating speed of the main motor as the target rotating speed of the slave motor, and determining a second reference torque of the slave motor according to the target rotating speed and the current rotating speed of the slave motor;

adjusting rotation of the slave motor according to the first reference torque and the second reference torque.

2. The method according to claim 1, wherein the determining a first reference torque of the main electric machine based on a preset target rotation angle and a current rotation angle of the main electric machine includes:

determining a rotation angle correction quantity of the main motor according to a rotation angle difference value between the target rotation angle and the current rotation angle of the main motor based on a first preset closed-loop control algorithm;

and determining the first reference torque corresponding to the rotation angle correction amount according to a first preset corresponding relation between the rotation angle of the main motor and the output torque.

3. The method of claim 1, wherein the determining a second reference torque of the slave motor based on the target speed and the current speed of the slave motor using the current speed of the master motor as the target speed of the slave motor comprises:

determining a rotation speed correction quantity of the slave motor according to a rotation speed difference value between the target rotation speed and the current rotation speed of the slave motor based on a second preset closed-loop control algorithm;

and determining the second reference torque corresponding to the rotation speed correction according to a second preset corresponding relation between the rotation speed and the output torque of the slave motor.

4. The method of any of claims 1-3, wherein adjusting the rotation of the slave motor based on the first and second reference torques comprises:

determining a target reference torque of the slave motor according to the first reference torque and the second reference torque;

determining a reference current amplitude of the slave motor according to the target reference torque;

determining a three-phase reference current of the slave motor according to the reference current amplitude and the current sign of the slave motor;

and performing current hysteresis control on the slave motor according to the three-phase reference current and the current three-phase current of the slave motor, wherein the second parameter information further comprises the current sign and the current three-phase current of the slave motor.

5. The method of claim 4, wherein determining the reference current magnitude for the slave motor based on the target reference torque comprises:

determining the reference current amplitude according to the following formula:

wherein, I^*For said reference current amplitude, T_mN is the pole pair number of the slave motor and phi is the magnetic flux of the slave motor for the target reference torque.

6. A dual-motor synchronous control device is characterized by comprising:

the motor parameter acquisition module is used for respectively acquiring first parameter information of a main motor and second parameter information of a slave motor, wherein the first parameter information comprises a current rotation angle and a current rotation speed of the main motor, and the second parameter information comprises the current rotation speed of the slave motor;

the main motor reference torque determining module is used for determining a first reference torque of the main motor according to a preset target rotation angle and the current rotation angle of the main motor;

the slave motor reference torque determining module is used for determining a second reference torque of the slave motor according to the target rotating speed and the current rotating speed of the slave motor by taking the current rotating speed of the master motor as the target rotating speed of the slave motor;

and the slave motor adjusting module is used for adjusting the rotation of the slave motor according to the first reference torque and the second reference torque.

7. The apparatus of claim 6, wherein the main motor reference torque determination module comprises:

the rotation angle correction quantity determining submodule is used for determining the rotation angle correction quantity of the main motor according to a rotation angle difference value between the target rotation angle and the current rotation angle of the main motor based on a first preset closed-loop control algorithm;

and the first reference torque determining submodule is used for determining the first reference torque corresponding to the rotation angle correction according to a first preset corresponding relation between the rotation angle of the main motor and the output torque.

8. The apparatus of claim 6, wherein the slave motor reference torque determination module comprises:

the rotating speed correction quantity determining submodule is used for determining the rotating speed correction quantity of the slave motor according to a rotating speed difference value between the target rotating speed and the current rotating speed of the slave motor based on a second preset closed-loop control algorithm;

and the second reference torque determining submodule is used for determining the second reference torque corresponding to the rotation speed correction according to a second preset corresponding relation between the rotation speed and the output torque of the slave motor.

9. The apparatus of any one of claims 6 to 8, wherein the slave motor regulation module comprises:

a target reference torque determination submodule for determining a target reference torque of the slave motor based on the first reference torque and the second reference torque;

the reference current amplitude determination submodule is used for determining the reference current amplitude of the slave motor according to the target reference torque;

the three-phase reference current determining submodule is used for determining three-phase reference current of the slave motor according to the reference current amplitude and the current sign of the slave motor;

and the current hysteresis control submodule is used for carrying out current hysteresis control on the slave motor according to the three-phase reference current and the current three-phase current of the slave motor, wherein the second parameter information further comprises the current symbol and the current three-phase current of the slave motor.

10. The apparatus of claim 9, wherein the reference current magnitude determination submodule is configured to:

determining the reference current amplitude according to the following formula:

wherein, I^*For said reference current amplitude, T_mFor the target reference torque, n isThe pole pair number of the slave motor is phi, and the magnetic flux of the slave motor is phi.

11. A computer-readable storage medium, on which computer program instructions are stored, which program instructions, when executed by a processor, implement the method of any of claims 1 to 5.

12. A dual-motor synchronous control device is characterized by comprising:

the computer-readable storage medium recited in claim 11; and

one or more processors to execute the program in the computer-readable storage medium.

13. A vehicle, characterized by comprising: a master motor and a slave motor, and the two-motor synchronous control device of any one of claims 6 to 10 or claim 12;

the master motor and the slave motor are used for pushing brake pads to enable the calipers to clamp wheels so as to brake the vehicle.

Technical Field

The disclosure relates to the technical field of vehicles, in particular to a dual-motor synchronous control method and device, a storage medium and a vehicle.

Background

The double motors have stronger driving load capacity than the single motor, so that the double motors are widely applied to occasions with higher requirements on the driving load capacity, such as vehicle braking, numerical control machines and the like, and how to synchronously control the double motors is the core problem in the applications.

The existing dual-motor synchronous control method generally controls two motors respectively based on a corner/rotating speed error between the two motors, however, for the dual motors with a large structural or parameter difference and coupled by strong machinery (such as single-degree-of-freedom gear constraint), the strong mechanical coupling between the two motors causes the corner/rotating speed error between the two motors to be small and unable to be identified, and because the structural or parameter difference between the two motors is large, the driving capability of the two motors is inconsistent, the motor with good driving capability is dragged by the motor with poor driving capability, the motor with poor driving capability is driven by the motor with good driving capability, the mutual dragging between the two motors can cause the idle current of the two motors to be increased, the average rotating speed to be reduced and the two motors to generate heat seriously, so the existing synchronous control method is not applicable any more.

Disclosure of Invention

In order to overcome the problems in the prior art, the present disclosure provides a dual-motor synchronous control method, apparatus, storage medium and vehicle.

In order to achieve the above object, the present disclosure provides a dual-motor synchronous control method, including:

respectively acquiring first parameter information of a main motor and second parameter information of a slave motor, wherein the first parameter information comprises a current rotation angle and a current rotation speed of the main motor, and the second parameter information comprises a current rotation speed of the slave motor;

determining a first reference torque of the main motor according to a preset target rotation angle and the current rotation angle of the main motor;

taking the current rotating speed of the main motor as the target rotating speed of the slave motor, and determining a second reference torque of the slave motor according to the target rotating speed and the current rotating speed of the slave motor;

adjusting rotation of the slave motor according to the first reference torque and the second reference torque.

Optionally, the determining a first reference torque of the main electric machine according to a preset target rotation angle and the current rotation angle of the main electric machine includes:

determining a rotation angle correction quantity of the main motor according to a rotation angle difference value between the target rotation angle and the current rotation angle of the main motor based on a first preset closed-loop control algorithm;

and determining the first reference torque corresponding to the rotation angle correction amount according to a first preset corresponding relation between the rotation angle of the main motor and the output torque.

Optionally, the determining a second reference torque of the slave motor according to the target rotation speed and the current rotation speed of the slave motor by taking the current rotation speed of the master motor as the target rotation speed of the slave motor includes:

determining a rotation speed correction quantity of the slave motor according to a rotation speed difference value between the target rotation speed and the current rotation speed of the slave motor based on a second preset closed-loop control algorithm;

and determining the second reference torque corresponding to the rotation speed correction according to a second preset corresponding relation between the rotation speed and the output torque of the slave motor.

Optionally, the adjusting rotation of the slave motor according to the first reference torque and the second reference torque comprises:

determining a target reference torque of the slave motor according to the first reference torque and the second reference torque;

determining a reference current amplitude of the slave motor according to the target reference torque;

determining a three-phase reference current of the slave motor according to the reference current amplitude and the current sign of the slave motor;

and performing current hysteresis control on the slave motor according to the three-phase reference current and the current three-phase current of the slave motor, wherein the second parameter information further comprises the current sign and the current three-phase current of the slave motor.

Optionally, the determining a reference current amplitude of the slave motor according to the target reference torque comprises:

determining the reference current amplitude according to the following formula:

wherein, I^*For said reference current amplitude, T_mN is the pole pair number of the slave motor and phi is the magnetic flux of the slave motor for the target reference torque.

The present disclosure further provides a dual-motor synchronous control device, including:

the motor parameter acquisition module is used for respectively acquiring first parameter information of a main motor and second parameter information of a slave motor, wherein the first parameter information comprises a current rotation angle and a current rotation speed of the main motor, and the second parameter information comprises the current rotation speed of the slave motor;

the main motor reference torque determining module is used for determining a first reference torque of the main motor according to a preset target rotation angle and the current rotation angle of the main motor;

the slave motor reference torque determining module is used for determining a second reference torque of the slave motor according to the target rotating speed and the current rotating speed of the slave motor by taking the current rotating speed of the master motor as the target rotating speed of the slave motor;

and the slave motor adjusting module is used for adjusting the rotation of the slave motor according to the first reference torque and the second reference torque.

Optionally, the main machine reference torque determination module comprises:

the rotation angle correction quantity determining submodule is used for determining the rotation angle correction quantity of the main motor according to a rotation angle difference value between the target rotation angle and the current rotation angle of the main motor based on a first preset closed-loop control algorithm;

and the first reference torque determining submodule is used for determining the first reference torque corresponding to the rotation angle correction according to a first preset corresponding relation between the rotation angle of the main motor and the output torque.

Optionally, the slave motor reference torque determination module comprises:

the rotating speed correction quantity determining submodule is used for determining the rotating speed correction quantity of the slave motor according to a rotating speed difference value between the target rotating speed and the current rotating speed of the slave motor based on a second preset closed-loop control algorithm;

and the second reference torque determining submodule is used for determining the second reference torque corresponding to the rotation speed correction according to a second preset corresponding relation between the rotation speed and the output torque of the slave motor.

Optionally, the slave motor regulation module comprises:

a target reference torque determination submodule for determining a target reference torque of the slave motor based on the first reference torque and the second reference torque;

the reference current amplitude determination submodule is used for determining the reference current amplitude of the slave motor according to the target reference torque;

the three-phase reference current determining submodule is used for determining three-phase reference current of the slave motor according to the reference current amplitude and the current sign of the slave motor;

and the current hysteresis control submodule is used for carrying out current hysteresis control on the slave motor according to the three-phase reference current and the current three-phase current of the slave motor, wherein the second parameter information further comprises the current symbol and the current three-phase current of the slave motor.

Optionally, the reference current amplitude determination submodule is configured to:

determining the reference current amplitude according to the following formula:

wherein, I^*For said reference current amplitude, T_mN is the pole pair number of the slave motor and phi is the magnetic flux of the slave motor for the target reference torque.

The present disclosure also provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the dual-motor synchronous control method provided by the present disclosure.

The present disclosure further provides a dual-motor synchronous control device, including:

a computer-readable storage medium provided by the present disclosure; and

one or more processors to execute the program in the computer-readable storage medium.

The present disclosure also provides a vehicle comprising: the double-motor synchronous control device comprises a main motor, a slave motor and a double-motor synchronous control device provided by the disclosure; the master motor and the slave motor are used for pushing brake pads to enable the calipers to clamp wheels so as to brake the vehicle.

Through the technical scheme, for the main motor, the first reference torque of the main motor is determined according to the preset target rotation angle and the current rotation angle of the main motor, for the slave motor, the first reference torque of the slave motor is determined according to the rotation speed of the main motor and the rotation speed of the slave motor, the target reference torque of the slave motor is determined according to the first reference torque and the second reference torque, the rotation of the main motor is adjusted according to the target reference torque, the output torques of the main motor and the slave motor can be balanced, mutual drag of the two motors caused by imbalance of the output torques is weakened, and therefore the driving efficiency and the driving response speed of the double motors are improved, the idle current and the heat productivity of the double motors are reduced, the driving stability is improved, and the service life of the double motors is prolonged.

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

Drawings

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

FIG. 1 is a flow chart illustrating a dual motor synchronization control method according to an exemplary embodiment of the present disclosure;

FIG. 2 is a flow chart illustrating a dual motor synchronization control method according to another exemplary embodiment of the present disclosure;

FIG. 3 is a schematic diagram illustrating a current hysteresis control according to an exemplary embodiment of the present disclosure;

FIG. 4 is a block diagram illustrating a dual-motor synchronous control device according to an exemplary embodiment of the present disclosure;

fig. 5 is a block diagram illustrating a dual motor synchronous control apparatus according to another exemplary embodiment of the present disclosure.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

In the present disclosure, the terms "first," "second," and the like in the description and claims of the present disclosure and in the drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

Fig. 1 is a flowchart illustrating a dual-motor synchronization control method according to an exemplary embodiment of the present disclosure, as shown in fig. 1, the method including the steps of:

in step S101, first parameter information of the master motor and second parameter information of the slave motor are respectively obtained, the first parameter information including a current rotation angle and a current rotation speed of the master motor, and the second parameter information including a current rotation speed of the slave motor.

In the embodiment of the present disclosure, for the dual motors having different performances, the motor having relatively strong driving capability may be used as the master motor, and the motor having relatively weak driving capability may be used as the slave motor. For example, for some vehicle braking systems adopting strong mechanical coupling double motors, because the two motors have different structures, one of the motors integrates the locking mechanism and the other motor does not integrate the locking mechanism, the driving capability of the motor integrating the locking mechanism is relatively weak, and the motor can be used as a slave motor; the driving capability of the motor without the integrated locking mechanism is relatively strong, and the motor can be used as a main motor.

During the rotation of the master motor and the slave motor, first parameter information including a current rotation angle, a current rotation speed, and the like of the master motor and second parameter information including a current rotation angle, a current rotation speed, and the like of the slave motor may be acquired, respectively.

In step S102, a first reference torque of the main electric machine is determined based on a preset target rotation angle and a current rotation angle of the main electric machine.

In one embodiment, as shown in fig. 2, for the rotation control of the main motor, a control manner using a corner closed loop as an outer loop may be adopted, a corner of the main motor is obtained in real time during the rotation of the main motor, based on a first preset closed-loop control algorithm, a corresponding PWM signal is output in real time to a driving chip of the main motor according to a preset target corner and a current corner of the main motor, and the driving chip drives a power tube switch connected with the main motor to operate, so as to regulate the rotation of the main motor. Further, the rotation direction of the main motor may be adjusted by comparing a preset target rotation angle with the current rotation angle of the main motor.

In addition, during the rotation of the main motor, a rotation angle correction amount of the main motor may be determined according to a rotation angle difference between a preset target rotation angle and the acquired current rotation angle of the main motor based on a first preset closed-loop control algorithm, and a first reference torque corresponding to the rotation angle correction amount may be determined according to a first preset correspondence between the rotation angle of the main motor and an output torque thereof. Wherein the first reference torque represents an output torque correction amount required to bring a rotation angle difference between a current rotation angle and a preset target rotation angle of the main motor within a preset error range when only the main motor is controlled to rotate.

It should be noted that the rotation angle correction amount is a numerical value with rotation angle physical characteristics obtained after closed-loop control is performed according to a first preset closed-loop control algorithm, and the first preset corresponding relationship may be obtained by calibrating operation data (shown in table 1) of the main motor measured by using the motor test bench.

Further, the first preset closed-loop-control algorithm may include, for example, but is not limited to: a basic P/PI/PID control algorithm, and an anti-integral saturation PID control algorithm, a fuzzy PID control algorithm, a neural network PID control algorithm and the like which are developed on the basis of the basic P/PI/PID control algorithm.

TABLE 1

In step S103, a second reference torque of the slave motor is determined based on the target rotation speed and the current rotation speed of the slave motor, taking the current rotation speed of the master motor as the target rotation speed of the slave motor.

In order to ensure that the master motor and the slave motor keep synchronous rotation, the current rotating speed of the master motor can be used as the target rotating speed of the slave motor, in one embodiment, as shown in fig. 2, a control mode taking a rotating speed closed loop as an outer loop can be adopted, a rotating speed correction quantity of the slave motor is determined according to a rotating speed difference value between the target rotating speed and the obtained current rotating speed of the slave motor based on a second preset closed loop control algorithm, and a second reference torque corresponding to the rotating speed correction quantity is determined according to a second preset corresponding relation between the rotating speed of the slave motor and the output torque of the slave motor. Wherein the second reference torque represents an output torque correction amount required to bring a rotation speed difference between the current rotation speed and the target rotation speed of the slave motor within a preset error range when only the slave motor is controlled to rotate.

It should be noted that the rotation speed correction is a numerical value with physical rotation speed characteristics obtained by performing closed-loop control according to a second preset closed-loop control algorithm, and the second preset correspondence may be obtained by calibrating the operation data of the slave motor (see the operation data of the slave motor shown in table 1) measured by using the motor test bench.

Further, the second preset closed-loop-control algorithm may include, for example, but is not limited to: a basic P/PI/PID control algorithm, and an anti-integral saturation PID control algorithm, a fuzzy PID control algorithm, a neural network PID control algorithm and the like which are developed on the basis of the basic P/PI/PID control algorithm.

In step S104, the rotation of the slave motor is adjusted according to the first reference torque and the second reference torque.

Considering that the driving capacities of the two motors are different due to differences in structures or parameters between the master motor and the slave motor, in the case of strong mechanical coupling, the slave motor with relatively weak driving capacity is driven by the master motor with relatively strong driving capacity, which will result in an increase in output torque of the slave motor, if the second output torque is directly used to adjust the rotation of the slave motor, the output torques of the master motor and the slave motor may be unbalanced, which may result in an increase in idle current, a decrease in average rotation speed, and serious heat generation of the master motor and the slave motor, so in one embodiment, as shown in fig. 2, a target reference torque of the slave motor may be determined according to the first reference torque and the second reference torque, and current hysteresis control may be performed according to the target reference torque to adjust the rotation of the slave motor. Specifically, as shown in fig. 2 and 3, a reference current amplitude of the slave motor may be determined according to the target reference torque, a three-phase reference current of the slave motor may be determined according to the reference current amplitude and a current sign of the slave motor, current hysteresis control may be performed on the slave motor according to the three-phase reference current of the slave motor and the obtained current three-phase current, and a corresponding control signal may be output to a driving chip of the slave motor after the current hysteresis control, and the driving chip drives a power tube switch connected to the slave motor to operate, so as to regulate rotation of the slave motor. And the second parameter information of the slave motor further comprises a current sign of the slave motor and the current three-phase current of the slave motor.

It should be noted that the sign of the current from the motor may be obtained from a hall signal output from a hall sensor for detecting the rotation speed of the motor and from the rotation direction of the motor.

Further, the reference current amplitude from the motor may be calculated according to equation (1).

Wherein, I^*For reference current amplitude from the motor, T_mN is the pole pair number of the slave motor and phi is the magnetic flux of the slave motor. Wherein, the number of pole pairs and the magnetic flux of the slave motor are set when the slave motor leaves a factory.

According to the dual-motor synchronous control method provided by the embodiment of the disclosure, the slave motor rotates along with the rotating speed of the master motor, the target reference torque of the slave motor is determined according to the first reference torque of the master motor and the second reference torque of the slave motor, and the rotation of the slave motor is adjusted according to the target reference torque, so that the output torques of the master motor and the slave motor can be balanced, mutual drag of the two motors caused by unbalanced output torques can be weakened, the driving efficiency and the driving response speed of the dual motors can be improved, the idle current and the heat generation amount of the dual motors can be reduced, and the driving stability and the service life of the dual motors can be improved.

Fig. 4 is a block diagram illustrating a dual-motor synchronous control apparatus according to another exemplary embodiment of the present disclosure, and as shown in fig. 4, the apparatus 400 may include: a motor parameter acquisition module 401, a master motor reference torque determination module 402, a slave motor reference torque determination module 403, and a slave motor regulation module 404.

The motor parameter acquiring module 401 is configured to acquire first parameter information of a master motor and second parameter information of a slave motor, where the first parameter information includes a current rotation angle and a current rotation speed of the master motor, and the second parameter information includes a current rotation speed of the slave motor.

The main electric machine reference torque determination module 402 is configured to determine a first reference torque of the main electric machine based on a preset target rotational angle and a current rotational angle of the main electric machine.

The slave motor reference torque determination module 403 is configured to determine a second reference torque of the slave motor according to the target rotation speed and the current rotation speed of the slave motor, with the current rotation speed of the master motor as the target rotation speed of the slave motor.

The slave motor adjustment module 404 is configured to adjust the rotation of the slave motor based on the first reference torque and the second reference torque.

In another embodiment, as shown in FIG. 5, the main machine reference torque determination module 402 includes:

the corner correction amount determining submodule 421 is configured to determine, based on a first preset closed-loop control algorithm, a corner correction amount of the main motor according to a corner difference between the target corner and the current corner of the main motor;

the first reference torque determination submodule 422 is configured to determine the first reference torque corresponding to the rotation angle correction amount according to a first preset correspondence relationship between the rotation angle of the main motor and the output torque.

In another embodiment, as shown in fig. 5, the slave motor reference torque determination module 403 includes:

a rotation speed correction quantity determining submodule 431, configured to determine a rotation speed correction quantity of the slave motor according to a rotation speed difference between the target rotation speed and the current rotation speed of the slave motor based on a second preset closed-loop control algorithm;

and a second reference torque determining submodule 432, configured to determine the second reference torque corresponding to the rotation speed correction amount according to a second preset corresponding relationship between the rotation speed of the slave motor and the output torque.

In another embodiment, as shown in fig. 5, the slave motor regulation module 404 includes:

a target reference torque determination submodule 441 for determining a target reference torque of the slave motor based on the first reference torque and the second reference torque;

a reference current amplitude determination submodule 442 for determining a reference current amplitude of the slave motor according to the target reference torque;

a three-phase reference current determination sub-module 443 for determining a three-phase reference current of the slave motor according to the reference current amplitude and the current sign of the slave motor;

and the current hysteresis control submodule 444 is configured to perform current hysteresis control on the slave motor according to the three-phase reference current and the current three-phase current of the slave motor, where the second parameter information further includes the current sign and the current three-phase current of the slave motor.

In another embodiment, the reference current amplitude determination sub-module 442 is configured to:

determining the reference current amplitude according to the following formula:

wherein, I^*For said reference current amplitude, T_mN is the pole pair number of the slave motor and phi is the magnetic flux of the slave motor for the target reference torque.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

Through the double-motor synchronous control device provided by the embodiment of the disclosure, the output torques of the master motor and the slave motor can be balanced, and mutual drag of the two motors caused by unbalanced output torques is weakened, so that the driving efficiency and the driving response speed of the double motors are improved, the idle current and the heat productivity of the double motors are reduced, and the driving stability and the service life of the double motors are improved.

Accordingly, the present disclosure also provides a computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the dual-motor synchronous control method provided by the present disclosure.

Correspondingly, the disclosure also provides a dual-motor synchronous control device, which comprises the computer readable storage medium provided by the disclosure; and one or more processors for executing the program in the computer-readable storage medium.

Accordingly, the present disclosure also provides a vehicle including a master motor and a slave motor for pushing brake pads to cause calipers to grip a wheel to brake the vehicle, and the dual-motor synchronous control apparatus provided by the present disclosure. The dual-motor synchronous control device can be a microcontroller ECU (electronic control Unit) which realizes the vehicle by software, hardware or a combination of the two.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.