The invention relates to a four-motor traction control method, device and equipment and a readable storage medium, and belongs to the field of control over vehicle transmission systems.The method comprises the steps that the target wheel speed of each wheel is calculated by obtaining the actual vehicle speed of a target vehicle at the current moment and the actual wheel speed and the wheel acceleration of each wheel; calculating the wheel speed change rate correction amount of each wheel based on the wheel acceleration of each wheel at the current moment and a plurality of historical wheel accelerations of each wheel at a set historical moment; determining the slippage control adjustment amount of each wheel and judging whether slippage occurs or not; if the wheels slip, target motor torque of the wheels is calculated based on the wheel speed change rate correction amount of the wheels and a preset motor torque calculation rule, and traction force of the wheels is controlled based on the target motor torque. According to the method, the effects of improving the traction force control precision and stability of the vehicle under different road conditions, reducing the slipping phenomenon and improving the driving safety and comfort are achieved.

    本发明涉及一种四电机牵引力控制方法、装置、设备及可读存储介质,属于车辆传动系统的控制领域,其方法包括:通过获取目标车辆在当前时刻的实际车速、各车轮的实际轮速及轮加速度,计算各车轮的目标轮速;并基于各车轮在当前时刻的轮加速度和各车轮在设定历史时刻的多个历史轮加速度,计算各车轮的轮速变化率修正量;进而确定各车轮的滑移控制调整量并判断是否发生滑移;若车轮发生滑移,则基于车轮的轮速变化率修正量和预设的电机扭矩计算规则,计算车轮的目标电机扭矩,并基于目标电机扭矩控制车轮的牵引力。本申请达到了提高车辆在不同路况下的牵引力控制精度和稳定性,减少打滑现象,提升驾驶安全性和舒适性的效果。


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    Title :

    Four-motor traction force control method, device and equipment and readable storage medium


    Additional title:

    一种四电机牵引力控制方法、装置、设备及可读存储介质


    Contributors:
    FEI DANDAN (author) / YAN MINGSHI (author) / HUANG LIANG (author) / QI JIANING (author) / TANG JIANGHU (author) / YANG PING'AN (author) / HUANG GANG (author) / REN HONGBING (author) / LYU GUANGHUA (author)

    Publication date :

    2025-03-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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