The invention provides a distributed driving torque distribution method and device, equipment and a medium. In the scheme, a controller determines a total target driving torque and a target yawing torque according to basic parameters of a whole vehicle, and calculates a torque distribution proportion of a front axle and a torque distribution proportion of a rear axle according to input axle load/wheel load parameters. For each wheel of the vehicle, the yaw torque conversion coefficient of the wheel is calculated according to the rolling radius of a wheel tire, the wheel tread, the distance from the mass center to the shaft where the wheel is located and the rotating angle, and finally the yaw torque conversion coefficient of the wheel is calculated according to the target driving torque, the target yaw torque, the torque distribution proportion of a front shaft, the torque distribution proportion of a rear shaft and the yaw torque conversion coefficient. And the motor request torque of each wheel is calculated, and a control signal is sent to the motor controller of each wheel. The torque of each wheel is calculated by combining the axle load change, the motor state and the limitation of a power system, it is ensured that the vehicle is in the optimal dynamic performance, and the torque distribution efficiency is improved.
本申请提供一种分布式驱动的扭矩分配方法、装置、设备及介质。在该方案中,控制器根据整车基础参数,确定总的目标驱动扭矩和目标横摆扭矩,根据输入的轴荷/轮荷参数,计算出前轴的扭矩分配比例以及后轴的扭矩分配比例。针对车辆的每个车轮,根据车轮轮胎滚动半径、车轮轮距、质心到车轮所在轴的距离,转角计算出车轮的横摆扭矩转换系数,最后根据目标驱动扭矩,目标横摆扭矩,前轴的扭矩分配比例,后轴的扭矩分配比例,以及横摆扭矩转换系数,计算出每个车轮的电机请求扭矩,向每个车轮的电机控制器发送控制信号。结合轴荷变化,电机状态以及动力系统的限制,分别计算每个车轮的扭矩,确保车辆处于最佳动态性能,提高扭矩的分配效率。
Distributed driving torque distribution method, device, equipment and medium
分布式驱动的扭矩分配方法、装置、设备及介质
2023-04-18
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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