The invention discloses a vehicle and a control method and device thereof and a computer readable storage medium, the vehicle comprises a front axle driving motor and a rear axle driving motor, and the control method comprises the steps that it is determined that the vehicle enters an escape mode; determining a front axle driving motor demand torque according to the front axle driving motor target rotating speed and the front axle driving motor actual rotating speed, and determining a rear axle driving motor demand torque according to the rear axle driving motor target rotating speed and the rear axle driving motor actual rotating speed; correcting the required torque of the front axle driving motor and the required torque of the rear axle driving motor according to the front wheel speed and the rear wheel speed so as to obtain the output torque of the front axle driving motor and the output torque of the rear axle driving motor; and front wheels and rear wheels are controlled according to the output torque of the front axle driving motor and the output torque of the rear axle driving motor. Therefore, the method realizes the closed-loop control of the rotating speed of the motor, shortens the information interaction time, and can effectively solve the problems of slipping and vehicle sinking under the sand working condition.
本发明公开了一种车辆及其控制方法、控制装置以及计算机可读存储介质,所述车辆包括前桥驱动电机和后桥驱动电机,所述控制方法包括:确定车辆进入脱困模式;根据前桥驱动电机目标转速和前桥驱动电机实际转速确定前桥驱动电机需求扭矩,并根据后桥驱动电机目标转速和后桥驱动电机实际转速确定后桥驱动电机需求扭矩;根据前轮轮速和后轮轮速对前桥驱动电机需求扭矩和后桥驱动电机需求扭矩进行修正,以获得前桥驱动电机输出扭矩和后桥驱动电机输出扭矩;根据前桥驱动电机输出扭矩和后桥驱动电机输出扭矩对前轮和后轮进行控制。由此,该方法实现了电机转速闭环控制,同时缩短了信息交互时间,能有效解决沙地工况打滑陷车问题。
Vehicle, control method and control device thereof and computer readable storage medium
车辆及其控制方法、控制装置以及计算机可读存储介质
2025-01-03
Patent
Electronic Resource
Chinese
IPC: | 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 / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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