CN113071332B - Torque control method for dual-motor electric vehicle, electric vehicle and storage medium - Google Patents
Torque control method for dual-motor electric vehicle, electric vehicle and storage medium Download PDFInfo
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- CN113071332B CN113071332B CN202110470276.6A CN202110470276A CN113071332B CN 113071332 B CN113071332 B CN 113071332B CN 202110470276 A CN202110470276 A CN 202110470276A CN 113071332 B CN113071332 B CN 113071332B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/12—Recording operating variables ; Monitoring of operating variables
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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Abstract
The invention discloses a torque control method of a dual-motor electric automobile, the electric automobile and a storage medium. The torque control method includes the steps of: detecting the opening degree of an accelerator pedal, the opening degree of a brake pedal, the steering wheel angle, the vehicle speed and the current mode selected by a driver of the electric vehicle; controlling the electric automobile to enter a corresponding working mode according to the opening degree of an accelerator pedal, the opening degree of a brake pedal, the speed of the automobile and the mode selected by the current driver; determining the torque of a front motor and the torque of a rear motor according to the current working mode of the electric automobile; when the electric automobile is in a steering working condition, controlling the electric automobile to enter a corresponding steering auxiliary mode according to the steering wheel rotation angle and the steering wheel steering angular speed; and determining the torque of the front motor and the torque of the rear motor according to the corresponding steering auxiliary mode of the electric automobile. Under the condition of meeting the requirements of a driver, the torque output by the motor meets the driving control requirements, and the driving safety, stability and comfort of the electric automobile are improved.
Description
Technical Field
The invention relates to the technical field of vehicle drive control, in particular to a torque control method of a dual-motor electric vehicle, the electric vehicle and a storage medium.
Background
For a four-wheel drive electric automobile provided with double motors, the front axle and the rear axle can be independently distributed with torque, so that the passing performance of the automobile is better. However, in the prior art, the distribution of the front and rear axle torques is mainly performed depending on the vehicle state (such as wheel speed, steering wheel angle, yaw acceleration, etc.) to realize the economical control, the traction control, etc. of the vehicle; most control methods do not refer to vehicle speed estimation, driving conditions and driving intentions of drivers; meanwhile, the acquisition of the vehicle state depends on the sensor, and is influenced by the accuracy and the transmission speed of the sensor signal, so that the problem of response delay exists, and the driving safety, stability and comfort of the electric automobile are finally influenced.
Therefore, it is desirable to provide a torque control method for a two-motor electric vehicle, an electric vehicle and a storage medium to solve the above problems.
Disclosure of Invention
The invention aims to provide a torque control method of a double-motor electric automobile, the electric automobile and a storage medium, which are used for solving the problem that the torque control of the electric automobile in the prior art does not consider the driving working condition and the intention of a driver, so that the torque output by a motor meets the driving control requirement under the condition of meeting the requirement of the driver, and the driving safety, stability and comfort of the electric automobile are improved.
In order to realize the purpose, the following technical scheme is provided:
a torque control method of a dual-motor electric vehicle comprises the following steps:
s100: detecting the opening degree of an accelerator pedal, the opening degree of a brake pedal, the steering wheel angle, the vehicle speed and the current mode selected by a driver of the electric vehicle;
s200: controlling the electric automobile to enter a corresponding working mode according to the opening degree of an accelerator pedal, the opening degree of a brake pedal, the speed of the automobile and the mode selected by the current driver; wherein the working mode comprises a sport mode, an economy mode, an energy recovery mode and a braking mode;
s300: when the electric automobile is in any one working mode of a motion mode, an economy mode, an energy recovery mode and a braking mode, determining the torque of a front motor and the torque of a rear motor according to the current working mode of the electric automobile;
s400: when the electric automobile is in a steering working condition, controlling the electric automobile to enter a corresponding steering auxiliary mode according to the steering wheel rotation angle and the steering wheel steering angular speed; the steering auxiliary mode comprises a bending mode, a curved road running mode and a bending mode;
s500: when the electric automobile is in any steering auxiliary mode, determining the front motor torque and the rear motor torque according to the corresponding steering auxiliary mode of the electric automobile.
Optionally, step S200 includes the steps of:
s201: when the opening degree of the accelerator pedal is greater than a first preset opening degree; or when the opening degree of the accelerator pedal is greater than a second preset opening degree and less than or equal to a first preset opening degree and the mode command received by the electric automobile is an automatic mode command; or when the opening degree of the accelerator pedal is greater than a third preset opening degree and less than or equal to a second preset opening degree, the change rate of the opening degree of the accelerator pedal is greater than a preset change rate, and the mode command received by the electric automobile is an automatic mode command; or when the mode instruction received by the electric automobile is a motion mode instruction, the electric automobile enters a motion mode;
s202: when the opening degree of an accelerator pedal is greater than 0 and less than or equal to a third preset opening degree and a mode instruction received by the electric automobile is an automatic mode instruction; or when the mode instruction received by the electric automobile is an economic mode instruction, the electric automobile enters an economic mode;
s203: when the opening degree of an accelerator pedal is 0, the opening degree of a brake pedal is 0, the speed of the electric automobile is greater than or equal to the preset speed, and the received mode instruction is an automatic mode instruction, the electric automobile enters an energy recovery mode;
s204: when the opening degree of an accelerator pedal is 0, the speed of the electric automobile is less than the preset speed, and the received mode instruction is an automatic mode instruction; or when the opening degree of the brake pedal is larger than 0, the electric automobile enters a braking mode.
Optionally, in step S300:
when the current working mode of the electric automobile is a motion mode, torque distribution is carried out on the front motor and the rear motor according to the optimal scheme of the power output of the whole automobile;
when the current working mode of the electric automobile is an economic mode, torque distribution is carried out on the front motor and the rear motor according to the optimal economic efficiency of the whole automobile;
when the current working mode of the electric automobile is an energy recovery mode, torque distribution is carried out on the front motor and the rear motor according to the optimal energy recovery efficiency;
when the current working mode of the electric automobile is a braking mode, torque distribution is carried out on the front motor and the rear motor in an optimal braking feeling on the premise of considering the strength of mechanical braking and the limitation of safe brake distribution.
Optionally, step S400 includes the steps of:
s401: when the steering angular speed of the steering wheel is greater than the preset steering angular speed and the direction of the steering angular speed of the steering wheel is consistent with the turning direction of the steering wheel, the electric automobile enters a bending mode;
s402: when the steering angular speed of the steering wheel is greater than the preset steering angular speed and the direction of the steering angular speed of the steering wheel is opposite to the turning direction of the steering wheel, the electric automobile enters a bending mode;
s403: and when the steering angular speed of the steering wheel is less than or equal to the preset steering angular speed and the steering angle of the steering wheel is greater than the preset steering angle, the electric automobile enters a curved road running mode.
Optionally, in step S500:
when the electric automobile enters a bending mode, the torque of the front motor is transferred to the rear motor so as to prevent the understeer of the automobile;
when the electric automobile enters a bending mode, the torque of the rear motor is transferred to the front motor so as to prevent the over-steering of the automobile;
when the electric automobile enters a curved road running mode, differential control is fully utilized according to the road friction coefficient, and the running stability of a curved road is improved.
Optionally, the method further comprises the steps of:
s600: and constraining the required torques of the front motor and the rear motor through a stability control strategy so as to output the torques of the front motor and the rear motor.
Optionally, in step S600, when the electric vehicle slips, the torques of the front motor and the rear motor are corrected according to the active anti-slip strategy; the active anti-skid strategy specifically comprises: acquiring a reference speed according to the wheel speed, the steering wheel angle and the yaw angular speed of the electric automobile, and further acquiring the slip rate of the electric automobile; and correcting the front and rear axle torques of the electric automobile according to the acceleration and the slip ratio of the electric automobile.
Optionally, in step S600, when the electric vehicle has a drift, the torques of the front motor and the rear motor are corrected according to a yaw control strategy; the yaw control strategy specifically comprises: the method comprises the steps of obtaining a reference speed according to the wheel speed, the steering wheel angle and the yaw rate of the electric automobile, obtaining a target yaw rate according to the reference speed and the steering wheel angle of the electric automobile, and correcting the front-rear shaft torque of the electric automobile according to the deviation between the target yaw rate and the actual yaw rate.
An electric vehicle, comprising:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement any one of the above-mentioned torque control methods for the dual-motor electric vehicle.
A computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements any one of the above-described torque control methods for a two-motor electric vehicle.
Compared with the prior art, the invention has the following beneficial effects:
according to the torque control method of the double-motor electric automobile, the working mode of the double-motor electric automobile can be intelligently selected according to the intention of a driver and the running condition of the automobile; meanwhile, the steering working condition is identified to enter a corresponding steering auxiliary mode, and the output torques of the front motor and the rear motor are determined in different working modes or steering auxiliary modes so as to meet the driving requirement of the electric automobile; the torque control method enables the torque output by the motor to meet the driving control requirement under the condition of meeting the requirement of a driver under each driving working condition, and improves the driving safety, stability and comfort of the electric automobile.
Drawings
FIG. 1 is a structural diagram of a powertrain of a dual motor electric vehicle according to an embodiment of the present invention;
FIG. 2 is a control flow chart of a torque control method for a dual-motor electric vehicle according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating the operation mode determination of a dual-motor electric vehicle according to an embodiment of the present invention;
FIG. 4 is a flow chart illustrating torque control of a dual motor electric vehicle in accordance with an embodiment of the present invention;
fig. 5 is a flow chart illustrating the determination of the steering assist mode of the two-motor electric vehicle according to the embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Example one
The embodiment provides a torque control method of a dual-motor electric vehicle, a structural framework of a power system of the dual-motor electric vehicle is shown in fig. 1, the power system comprises a front motor, a rear motor, a power battery and a vehicle control unit, wherein the front motor and the rear motor are respectively used for controlling a front shaft and a rear shaft to complete the transmission of torque to wheels. Specifically, referring to fig. 2, the torque control method of the dual motor electric vehicle includes the steps of:
s100: detecting the opening degree of an accelerator pedal, the opening degree of a brake pedal, the steering wheel angle, the vehicle speed and the current mode selected by a driver of the electric vehicle;
s200: controlling the electric automobile to enter a corresponding working mode according to the opening degree of an accelerator pedal, the opening degree of a brake pedal, the speed of the automobile and the mode selected by the current driver; wherein the working mode comprises a sport mode, an economy mode, an energy recovery mode and a braking mode;
s300: when the electric automobile is in any one working mode of a motion mode, an economy mode, an energy recovery mode and a braking mode, determining the torque of a front motor and the torque of a rear motor according to the current working mode of the electric automobile;
s400: when the electric automobile is in a steering working condition, controlling the electric automobile to enter a corresponding steering auxiliary mode according to the steering wheel rotation angle and the steering wheel steering angular speed; the steering auxiliary mode comprises a bending mode, a curved road running mode and a bending mode;
s500: when the electric automobile is in any steering auxiliary mode, determining the front motor torque and the rear motor torque according to the corresponding steering auxiliary mode of the electric automobile.
According to the torque control method of the double-motor electric vehicle, the working mode of the double-motor electric vehicle can be intelligently selected according to the intention of a driver and the running condition of the vehicle; meanwhile, the steering working condition is identified to enter a corresponding steering auxiliary mode, and the output torques of the front motor and the rear motor are determined in different working modes or steering auxiliary modes so as to meet the driving requirement of the electric automobile; the torque control method enables the torque output by the motor to meet the driving control requirement under the condition of meeting the requirement of a driver under each driving working condition, and improves the driving safety, stability and comfort of the electric automobile.
Further, referring to fig. 3, the step S200 includes the steps of:
s201: when the opening degree of the accelerator pedal is greater than a first preset opening degree; or when the opening degree of the accelerator pedal is greater than a second preset opening degree and less than or equal to a first preset opening degree and the mode instruction received by the electric automobile is an automatic mode instruction; or when the opening degree of the accelerator pedal is greater than a third preset opening degree and less than or equal to a second preset opening degree, the change rate of the opening degree of the accelerator pedal is greater than a preset change rate, and the mode instruction received by the electric automobile is an automatic mode instruction; or when the mode instruction received by the electric automobile is a motion mode instruction, the electric automobile enters a motion mode;
s202: when the opening degree of an accelerator pedal is greater than 0 and less than or equal to a third preset opening degree and a mode instruction received by the electric automobile is an automatic mode instruction; or when the mode instruction received by the electric automobile is an economic mode instruction, the electric automobile enters an economic mode;
s203: when the opening degree of an accelerator pedal is 0, the opening degree of a brake pedal is 0, the speed of the electric automobile is greater than or equal to the preset speed, and the received mode instruction is an automatic mode instruction, the electric automobile enters an energy recovery mode;
s204: when the opening degree of an accelerator pedal is 0, the speed of the electric automobile is less than the preset speed, and the received mode instruction is an automatic mode instruction; or when the opening degree of the brake pedal is larger than 0, the electric automobile enters a braking mode.
After the operating mode of the vehicle is determined in step S200, the torque distribution of the front motor and the rear motor may be conveniently performed by considering the torque distribution principle in different operating modes. That is, referring to fig. 4, in step S300:
when the current working mode of the electric automobile is a motion mode, torque distribution is carried out on the front motor and the rear motor according to the optimal scheme of the power output of the whole automobile;
when the current working mode of the electric automobile is an economic mode, torque distribution is carried out on the front motor and the rear motor according to the optimal economic efficiency of the whole automobile;
when the current working mode of the electric automobile is an energy recovery mode, torque distribution is carried out on the front motor and the rear motor according to the optimal energy recovery efficiency;
when the current working mode of the electric automobile is a braking mode, torque distribution is carried out on the front motor and the rear motor in an optimal braking feeling on the premise of considering the strength of mechanical braking and the braking safety distribution limit.
Under the different working modes, the optimal torque distribution principle is used for distribution, and the safety, the stability and the comfort of the electric automobile driving are improved.
Specifically, referring to fig. 5, step S400 specifically includes the following steps:
s401: when the steering angular speed of the steering wheel is greater than the preset steering angular speed and the direction of the steering angular speed of the steering wheel is consistent with the turning direction of the steering wheel, the electric automobile enters a bending mode;
s402: when the steering angular speed of the steering wheel is greater than the preset steering angular speed and the direction of the steering angular speed of the steering wheel is opposite to the direction of the steering angle of the steering wheel, the electric automobile enters a bending mode;
s403: and when the steering angular speed of the steering wheel is less than or equal to the preset steering angular speed and the steering angle of the steering wheel is greater than the preset steering angle, the electric automobile enters a curved road running mode.
According to the steps S401 to S403, the torque control method provided in this embodiment further fully considers the steering condition of the electric vehicle, and determines the specific steering assist mode according to the corresponding parameter, so as to perform different torque distribution according to different steering assist modes. Referring to fig. 4, in step S500:
when the electric automobile enters a bending mode, the torque of the front motor is transferred to the rear motor so as to prevent the understeer of the automobile;
when the electric automobile enters a bending mode, the torque of the rear motor is transferred to the front motor so as to prevent the vehicle from oversteering;
when the electric automobile enters a curve driving mode, differential control is fully utilized according to the road friction coefficient, and the curve driving stability is improved.
Further, in order to avoid a safety accident when the vehicle slips or slips, referring to fig. 2 and 4, the torque control method further includes the steps of:
s600: and constraining the required torques of the front motor and the rear motor through a stability control strategy so as to output the torques of the front motor and the rear motor.
The stability control strategy comprises an active anti-skidding strategy and a yaw control strategy; the former is used in all driving conditions of the vehicle, and the latter is used in the steering conditions of the vehicle. Specifically, when the electric automobile slips, the torques of the front motor and the rear motor are corrected according to an active anti-slip strategy; the active anti-skid strategy specifically comprises: acquiring a reference speed according to the wheel speed, the steering wheel angle and the yaw angular speed of the electric automobile, and further acquiring the slip rate of the electric automobile; and correcting the front and rear axle torques of the electric automobile according to the acceleration and the slip ratio of the electric automobile. When the electric automobile has drift, correcting the torque of the front motor and the torque of the rear motor according to a yaw control strategy; the yaw control strategy specifically comprises: the method comprises the steps of obtaining a reference speed according to the wheel speed, the steering wheel angle and the yaw rate of the electric automobile, obtaining a target yaw rate according to the reference speed and the steering wheel angle of the electric automobile, and correcting the front-rear shaft torque of the electric automobile according to the deviation between the target yaw rate and the actual yaw rate.
In summary, the torque control method provided by the embodiment not only considers the driving intention of the driver, but also identifies the steering working condition, and can perform coordinated control of the torque by using the stability control strategy after determining the working mode (or the steering assist mode), so as to finally output the required torques of the front motor and the rear motor, thereby improving the safety, stability and comfort of the electric vehicle driving.
Example two
The second embodiment of the present invention further provides an electric vehicle, and components of the electric vehicle may include but are not limited to: the vehicle body, one or more processors, memory, and a bus connecting the various system components (including the memory and the processors).
The memory, which is a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions corresponding to the torque control method of the dual-motor electric vehicle in the embodiments of the present invention. The processor executes various functional applications and data processing of the vehicle by running software programs, instructions and modules stored in the memory, so that the torque control method of the dual-motor electric vehicle is realized.
The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory may further include memory remotely located from the processor, and these remote memories may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
EXAMPLE III
The third embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a torque control method for a dual-motor electric vehicle, where the torque control method includes the following steps:
s100: detecting the opening degree of an accelerator pedal, the opening degree of a brake pedal, the turning angle of a steering wheel, the speed of the electric automobile and the mode selected by the current driver;
s200: controlling the electric automobile to enter a corresponding working mode according to the opening degree of an accelerator pedal, the opening degree of a brake pedal, the speed of the automobile and the mode selected by the current driver; wherein the working mode comprises a sport mode, an economy mode, an energy recovery mode and a braking mode;
s300: when the electric automobile is in any one working mode of a motion mode, an economy mode, an energy recovery mode and a braking mode, determining the torque of a front motor and the torque of a rear motor according to the current working mode of the electric automobile;
s400: when the electric automobile is in a steering working condition, controlling the electric automobile to enter a corresponding steering auxiliary mode according to the steering wheel rotation angle and the steering wheel steering angular speed; the steering auxiliary mode comprises a bending mode, a curved road running mode and a bending mode;
s500: when the electric automobile is in any steering auxiliary mode, determining the front motor torque and the rear motor torque according to the corresponding steering auxiliary mode of the electric automobile.
Of course, the embodiment of the present invention provides a computer-readable storage medium, and the computer-executable instructions thereof are not limited to the operations of the method described above, and may also perform related operations in the torque control method of the dual-motor electric vehicle provided in any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
In the above embodiment, each included unit and module is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (6)
1. A torque control method of a dual-motor electric automobile is characterized by comprising the following steps:
s100: detecting the opening degree of an accelerator pedal, the opening degree of a brake pedal, the turning angle of a steering wheel, the speed of the electric automobile and the mode selected by the current driver;
s200: controlling the electric automobile to enter a corresponding working mode according to the opening degree of an accelerator pedal, the opening degree of a brake pedal, the speed of the automobile and the mode selected by the current driver; wherein the working mode comprises a sport mode, an economy mode, an energy recovery mode and a braking mode;
s300: when the electric automobile is in any one working mode of a motion mode, an economy mode, an energy recovery mode and a braking mode, determining the torque of a front motor and the torque of a rear motor according to the current working mode of the electric automobile;
s400: when the electric automobile is in a steering working condition, controlling the electric automobile to enter a corresponding steering auxiliary mode according to the steering wheel rotation angle and the steering wheel steering angular speed; the steering auxiliary mode comprises a bending mode, a curved road running mode and a bending mode;
s500: when the electric automobile is in any steering auxiliary mode, determining the torque of a front motor and the torque of a rear motor according to the corresponding steering auxiliary mode of the electric automobile, and when the electric automobile enters a bending mode, transferring the torque of the front motor to the rear motor so as to prevent the understeer of the automobile; when the electric automobile enters a bending mode, the torque of the rear motor is transferred to the front motor so as to prevent the vehicle from oversteering; when the electric automobile enters a curved road running mode, differential control is fully utilized according to the friction coefficient of the road surface, and the running stability of the curved road is improved;
the step S200 includes the steps of:
s201: when the opening degree of an accelerator pedal is greater than a first preset opening degree; or when the opening degree of the accelerator pedal is greater than a second preset opening degree and less than or equal to a first preset opening degree and the mode instruction received by the electric automobile is an automatic mode instruction; or when the opening degree of the accelerator pedal is greater than a third preset opening degree and less than or equal to a second preset opening degree, the change rate of the opening degree of the accelerator pedal is greater than a preset change rate, and the mode instruction received by the electric automobile is an automatic mode instruction; or when the mode instruction received by the electric automobile is a motion mode instruction, the electric automobile enters a motion mode;
s202: when the opening degree of an accelerator pedal is larger than 0 and smaller than or equal to a third preset opening degree and a mode command received by the electric automobile is an automatic mode command; or when the mode instruction received by the electric automobile is an economic mode instruction, the electric automobile enters an economic mode;
s203: when the opening degree of an accelerator pedal is 0, the opening degree of a brake pedal is 0, the speed of the electric automobile is greater than or equal to the preset speed, and the received mode instruction is an automatic mode instruction, the electric automobile enters an energy recovery mode;
s204: when the opening degree of an accelerator pedal is 0, the speed of the electric automobile is less than the preset speed, and the received mode instruction is an automatic mode instruction; or when the opening degree of the brake pedal is greater than 0, the electric automobile enters a braking mode;
in step S300:
when the current working mode of the electric automobile is a motion mode, torque distribution is carried out on the front motor and the rear motor according to the optimal scheme of the power output of the whole automobile;
when the current working mode of the electric automobile is an economic mode, torque distribution is carried out on the front motor and the rear motor according to the optimal economic efficiency of the whole automobile;
when the current working mode of the electric automobile is an energy recovery mode, torque distribution is carried out on the front motor and the rear motor according to the optimal energy recovery efficiency;
when the current working mode of the electric automobile is a braking mode, torque distribution is carried out on the front motor and the rear motor in an optimal braking feeling on the premise of considering the strength of mechanical braking and the limitation of safe braking distribution;
the step S400 includes the steps of:
s401: when the steering angular speed of the steering wheel is greater than the preset steering angular speed and the direction of the steering angular speed of the steering wheel is consistent with the turning direction of the steering wheel, the electric automobile enters a bending mode;
s402: when the steering angular speed of the steering wheel is greater than the preset steering angular speed and the direction of the steering angular speed of the steering wheel is opposite to the turning direction of the steering wheel, the electric automobile enters a bending mode;
s403: and when the steering angular speed of the steering wheel is less than or equal to the preset steering angular speed and the steering angle of the steering wheel is greater than the preset steering angle, the electric automobile enters a curved road running mode.
2. The torque control method according to claim 1, further comprising the step of:
s600: and constraining the required torques of the front motor and the rear motor through a stability control strategy so as to output the torques of the front motor and the rear motor.
3. The torque control method according to claim 2, wherein in step S600, when the electric vehicle slips, the torques of the front motor and the rear motor are corrected according to an active anti-slip strategy; the active anti-skid strategy specifically comprises: acquiring a reference speed according to the wheel speed, the steering wheel angle and the yaw angular speed of the electric automobile, and further acquiring the slip rate of the electric automobile; and correcting the front and rear axle torques of the electric automobile according to the acceleration and the slip ratio of the electric automobile.
4. The torque control method according to claim 2, wherein in step S600, when the electric vehicle has a drift, the torques of the front motor and the rear motor are corrected according to a yaw control strategy; the yaw control strategy specifically comprises: the method comprises the steps of obtaining a reference vehicle speed according to the wheel speed, the steering wheel angle and the yaw velocity of the electric vehicle, obtaining a target yaw velocity according to the reference vehicle speed and the steering wheel angle of the electric vehicle, and correcting the front-rear shaft torque of the electric vehicle according to the deviation between the target yaw velocity and the actual yaw velocity.
5. An electric vehicle, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the torque control method of the two-motor electric vehicle of any one of claims 1-4.
6. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the torque control method of the two-motor electric vehicle according to any one of claims 1 to 4.
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| PCT/CN2022/086073 WO2022228096A1 (en) | 2021-04-28 | 2022-04-11 | Torque control method for dual-motor electric vehicle, and electric vehicle and storage medium |
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| CN113619584B (en) * | 2021-08-27 | 2024-06-14 | 中国第一汽车股份有限公司 | Electronic control rear wheel steering method and device, electronic equipment and storage medium |
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