The invention relates to a driving torque distribution method and device for an all-wheel distributed vehicle. The driving torque distribution method comprises the following steps that 1, the transverse force Fynn (n = 1, 2, 3, 4) of each wheel is obtained; 2, the optimal total adhesion rate RAs is given to be a first preset value, and the motor torque Tn of any two wheels is given to be fixed values, namely the first torque T1 and the second torque T2; step 3, based on the first torque T1 and the second torque T2, obtaining a third torque T3 and a fourth torque T4 of the remaining two wheels and a longitudinal force Fxn (n = 1, 2, 3, 4) of each wheel; 4, based on the transverse force Fyn, the longitudinal force Fxn and the wheel gravity Gn of each wheel, the total adhesion rate RA is obtained; and 5, traversing the first torque T1 and the second torque T2 until the maximum torque T1max and the maximum torque T2max are reached, selecting the minimum value in all the total adhesion rates RA in the traversing process as the optimal total adhesion rate RAs, taking the motor torque Tn of each wheel corresponding to the optimal total adhesion rate RAs as the optimal motor torque Tns, and distributing the motor torque of each wheel according to the optimal motor torque Tns.
本公开涉及一种全轮分布式车辆的驱动扭矩分配方法及装置,包括以下步骤:步骤1获取每个车轮的横向力Fyn(n=1,2,3,4);步骤2赋予最优总附着率RAs为第一预设值,赋予任意两个车轮的电机扭矩Tn为固定值,分别为第一扭矩T1和第二扭矩T2;步骤3基于第一扭矩T1和第二扭矩T2,获取剩余两个车轮的第三扭矩T3和第四扭矩T4以及每个车轮的纵向力Fxn(n=1,2,3,4);步骤4基于每个车轮的横向力Fyn、纵向力Fxn和车轮重力Gn,获取总附着率RA;步骤5遍历第一扭矩T1和第二扭矩T2均直至达到最大扭矩T1max和T2max,选取遍历过程中所有总附着率RA中最小值为最优总附着率RAs,且最优总附着率RAs对应的每个车轮的电机扭矩Tn为最优电机扭矩Tns,以最优电机扭矩Tns对每个车轮的电机扭矩进行分配。
Driving torque distribution method and device for all-wheel distributed vehicle
全轮分布式车辆的驱动扭矩分配方法及装置
2024-03-01
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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