The invention discloses a distributed three-motor driving torque vector distribution method and device and an electric vehicle, and relates to the technical field of electric vehicles. The direct yaw moment required by the vehicle is calculated according to the centroid vehicle speed, the front wheel rotation angle and the actual yaw velocity, and the front axle motor driving torque, the left rear wheel motor driving torque and the right rear wheel motor driving torque are determined according to the required driving torque and the direct yaw moment. Driving torque can be reasonably distributed to the front axle motor and the two hub motors, different tire longitudinal force is obtained, vehicle yaw torque control is achieved, vehicle response delay can be effectively reduced, yaw velocity steady-state gain is improved, a steering wheel peak turning angle is reduced, the operation burden of a driver is relieved, meanwhile, speed loss is reduced, and the service life of the vehicle is prolonged. And the vehicle handling stability is improved.
本发明公开了分布式三电机的驱动转矩矢量分配方法及装置、电动汽车,涉及电动汽车技术领域。本发明根据质心车速、前轮转角及实际横摆角速度,计算车辆所需的直接横摆力矩,根据需求驱动转矩及直接横摆力矩,确定前轴电机驱动转矩、左后轮电机驱动转矩和右后轮电机驱动转矩,可以给前轴电机和两个轮毂电机合理分配驱动转矩,得到不同的轮胎纵向力,实现车辆横摆转矩控制,能够有效减小车辆响应迟滞、提高横摆角速度稳态增益、减少转向盘峰值转角、减轻驾驶员操作负担等功能,同时降低速度损失,提高了车辆操纵稳定性。
Distributed three-motor driving torque vector distribution method and device and electric vehicle
分布式三电机的驱动转矩矢量分配方法及装置、电动汽车
2022-07-12
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
Driving motor torque distribution method and device, and electric vehicle
European Patent Office | 2021
|Distributed driving electric vehicle torque coordination control distribution method
European Patent Office | 2024
|Torque vector control method and device of distributed hub motor driving system
European Patent Office | 2024
|Transverse torque vector transmission of three-motor hybrid electric vehicle
European Patent Office | 2025
|