CN105774597A - Torque optimal distribution control method for distributed drive electric automobile - Google Patents

Torque optimal distribution control method for distributed drive electric automobile Download PDF

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Publication number
CN105774597A
CN105774597A CN201610179530.6A CN201610179530A CN105774597A CN 105774597 A CN105774597 A CN 105774597A CN 201610179530 A CN201610179530 A CN 201610179530A CN 105774597 A CN105774597 A CN 105774597A
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tire
electric automobile
torque
distribution control
distributed
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CN201610179530.6A
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CN105774597B (en
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杜玖玉
欧阳明高
马良峰
高明明
陈景夫
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Tsinghua University
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Tsinghua University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/44—Control modes by parameter estimation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention provides a torque optimal distribution control method for a distributed drive electric automobile and relates to a torque distribution control method for the distributed drive electric automobile. The problems that in the torque distribution manner of an existing distributed drive electric automobile under four-wheel drive and the like, tires are worn, and the running stability of the electric automobile is poor are solved. By the adoption of the torque optimal distribution control method, pressure sensors are adopted for detecting the vertical loads of tires, automobile speed sensors are adopted for detecting the transverse speeds of the tires, and rotation speed sensors are adopted for detecting the rotation speeds of the tires; signals are sent to a whole automobile controller; the whole automobile controller calculates related parameters and the tire wear power in the running process of the electric automobile according to the received signals; the obtained related parameters and the tire wear power are used for calculating the torque of four drive motors of the electric automobile, and when the tire wear power is minimum, an objective function for torque distribution control of the four motors is obtained; and according to restraint conditions, drive torque functions of the four motors are obtained. The method is suitable for torque distribution control for the distributed drive electric automobile.

Description

A kind of distributed-driving electric automobile torque optimized distribution control method
Technical field
The present invention relates to a kind of distributed-driving electric automobile torque distribution control method.
Background technology
Torque distribution is one of key technology of four-wheel drive distributed driving electric automobile, and different Torque-sharing strategies is bigger to every electrokinetic cell performance impact, for instance: energy efficiency, operation stability and tire wear etc..At present, the torque optimal control that main research is all target based on stability contorting.And existing four-wheel drive distributed to drive the torque method of salary distribution of electric automobile all to there is the effect of attrition to tire relatively big, poor stability, and tire wear is one of important sources of PM10 of motor vehicles contribution in air.
Summary of the invention
The present invention is the problem of the poor stability that the torque method of salary distribution all exists tire wear, electric automobile runs in order to solve existing four-wheel drive distributed driving electric automobile, it is proposed that a kind of distributed-driving electric automobile torque optimized distribution control method.
A kind of distributed-driving electric automobile torque optimized distribution control method of the present invention, concretely comprising the following steps of the method:
Step one, employing pressure transducer 7 detect tire vertical load, adopt vehicle speed sensor 8 to detect tire lateral velocity, adopt speed probe 9 to detect tire rotational speed；The tire vertical load gathered, tire lateral velocity and tire rotational speed are sent to entire car controller 6；
Step 2, entire car controller 6 utilize the tire vertical load, tire lateral velocity and the tire rotational speed that gather to calculate relevant parameter and tire wear power during electric automobile runs；
Described relevant parameter includes: the slip rate of each tire of electric automobile, the rotating speed of each tire of electric automobile, each tire lateral velocity, the frictional force that each tire is suffered in the horizontal, each tire is upper suffered frictional force longitudinally, the vertical load that each driving wheel tire bears；
Step 3, utilize parameter that step 2 obtains and and tire wear power, calculate the torque of four drive motors of electric automobile, it is thus achieved that during tire wear power minimum, the object function of the torque distribution control of four motors；
Step 4, according to constraints obtain four drive motors driving torque function, send torque control signal to four drive motors, it is achieved to distributed-driving electric automobile torque optimized distribution control.
The present invention is by carrying out torque distribution control to four-wheel driving electric vehicle, it is possible to effectively reduce the abrasion of electric automobile tire, can ensure that again the stability of electric automobile simultaneously.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention；
Fig. 2 is the flow chart of of the present invention kind of distributed-driving electric automobile torque optimized distribution control method.
Detailed description of the invention
Detailed description of the invention one, present embodiment is described in conjunction with Fig. 1, a kind of distributed-driving electric automobile torque optimized distribution control method described in present embodiment, concretely comprising the following steps of the method:
Step one, employing pressure transducer 7 detect tire vertical load, adopt vehicle speed sensor 8 to detect tire lateral velocity, adopt speed probe 9 to detect tire rotational speed；The tire vertical load gathered, tire lateral velocity and tire rotational speed are sent to entire car controller 6；
Step 2, entire car controller 6 utilize the tire vertical load, tire lateral velocity and the tire rotational speed that gather to calculate relevant parameter and tire wear power during electric automobile runs；
Described relevant parameter includes: the slip rate of each tire of electric automobile, the rotating speed of each tire of electric automobile, each tire lateral velocity, the frictional force that each tire is suffered in the horizontal, each tire is upper suffered frictional force longitudinally, the vertical load that each driving wheel tire bears；
Step 3, utilize parameter that step 2 obtains and and tire wear power, calculate the torque of four drive motors of electric automobile, it is thus achieved that during tire wear power minimum, the object function of the torque distribution control of four motors；
Step 4, according to constraints obtain four drive motors driving torque function, send torque control signal to four drive motors, it is achieved to distributed-driving electric automobile torque optimized distribution control.
Detailed description of the invention two, present embodiment are further illustrating a kind of distributed-driving electric automobile torque optimized distribution control method described in detailed description of the invention one, and the preparation method of the slip rate of each tire of electric automobile described in step 2 is: utilize speed probe detection tire rotational speed, tachogenerator to detect the concrete grammar of tire lateral velocity for passing through formula:
Obtaining, wherein s is slip rate, and ω is tire rotational speed, and R is tire effective rolling radius, and V is tire lateral velocity.
Detailed description of the invention three, present embodiment are further illustrating a kind of distributed-driving electric automobile torque optimized distribution control method described in detailed description of the invention one, and the concrete grammar of the frictional force that each tire described in step 2 is suffered in the horizontal is for passing through formula:
Fx=K Fz·S(2)
Obtain, wherein FxFor the frictional force that tire is suffered in the horizontal, FzFor the vertical load that tire bears, K is the coefficient of friction of tire material.
Detailed description of the invention four, present embodiment are further illustrating a kind of distributed-driving electric automobile torque optimized distribution control method described in detailed description of the invention one, and the concrete grammar calculating tire wear merit described in step 2 is for passing through:
Obtain；Wherein, d is the reduced value of tire thickness, and A is tire wear property coefficient, WfBeing done work by per unit area frictional force, α is regulation coefficient.
Detailed description of the invention five, present embodiment are further illustrating a kind of distributed-driving electric automobile torque optimized distribution control method described in detailed description of the invention one, described in step 3 utilize parameter that step 2 obtains and and tire wear merit, the method for the object function of the torque distribution control of four motors when tire wear power and minima thereof that calculates is:
Pass through formula:
Calculate the abrasion power P obtaining a tire unit aref；Wherein, FyFor tire longitudinally upper suffered frictional force, c is tyre width；T is the time；
Tire abrasion power includes horizontal sliding power and straight skidding power, the magnitude relationship according to horizontal sliding power and straight skidding power, is determined the abrasion power of four tires by formula 5, is straight skidding power:
Wherein, PfAlways wear and tear for tire merit, Fx1For the frictional force that electric automobile the near front wheel tire is suffered in the horizontal, Fx2For the frictional force that electric automobile left rear wheel tire is suffered in the horizontal, Fx3For the frictional force that electric automobile off-front wheel tire is suffered in the horizontal, Fx4For the frictional force that electric automobile off hind wheel tire is suffered in the horizontal, ω1For the rotating speed of electric automobile the near front wheel, ω2For the rotating speed of electric automobile left rear wheel, ω3For the rotating speed of electric automobile off-front wheel, ω4For the rotating speed of electric automobile off hind wheel, FZ1For the vertical load that electric automobile the near front wheel tire bears, FZ2For the vertical load that electric automobile left rear wheel tire bears, FZ3For the vertical load that electric automobile off-front wheel tire bears, FZ4For the vertical load that electric automobile off-front wheel tire bears；
During tire wear power minimum, the object function of the torque distribution control of four motors is:
Detailed description of the invention six, present embodiment are further illustrating a kind of distributed-driving electric automobile torque optimized distribution control method described in detailed description of the invention one, and in step 4, the driving torque function according to constraints four drive motors of acquisition is:
Constraints is:
Wherein, T1For the driving torque function of the near front wheel driver, T2For the driving torque function of left rear wheel driver, T3For off-front wheel driver drives torque function, T4For the driving torque function of off-front wheel driver, TdFor electric automobile whole requirement drive torque.
Detailed description of the invention seven, present embodiment are further illustrating a kind of distributed-driving electric automobile torque optimized distribution control method described in detailed description of the invention four, and tire wear property coefficient A is 0.3mm3/J。
Detailed description of the invention eight, present embodiment are further illustrating a kind of distributed-driving electric automobile torque optimized distribution control method described in detailed description of the invention four, and regulation coefficient α is 1.3.

Claims (8)

1. a distributed-driving electric automobile torque optimized distribution control method, it is characterised in that concretely comprising the following steps of the method:
Step one, employing pressure transducer (7) detection tire vertical load, adopt vehicle speed sensor (8) detection tire lateral velocity, adopt speed probe (9) to detect tire rotational speed；The tire vertical load gathered, tire lateral velocity and tire rotational speed are sent to entire car controller (6)；
Step 2, entire car controller (6) utilize the tire vertical load, tire lateral velocity and the tire rotational speed that gather to calculate relevant parameter and tire wear power during electric automobile runs；
Described relevant parameter includes: the slip rate of each tire of electric automobile, the rotating speed of each tire of electric automobile, each tire lateral velocity, the frictional force that each tire is suffered in the horizontal, each tire is upper suffered frictional force longitudinally, the vertical load that each driving wheel tire bears；
Step 3, utilize parameter that step 2 obtains and and tire wear power, calculate the torque of four drive motors of electric automobile, it is thus achieved that during tire wear power minimum, the object function of the torque distribution control of four motors；
Step 4, according to constraints obtain four drive motors driving torque function, send torque control signal to four drive motors, it is achieved to distributed-driving electric automobile torque optimized distribution control.
2. a kind of distributed-driving electric automobile torque optimized distribution control method according to claim 1, it is characterized in that, the preparation method of the slip rate s of each tire of electric automobile described in step 2 is: utilize speed probe detection tire rotational speed ω, tachogenerator to detect the concrete grammar of tire lateral velocity V for passing through formula:
Obtaining, wherein s is slip rate, and ω is tire rotational speed, and R is tire effective rolling radius, and V is tire lateral velocity.
3. a kind of distributed-driving electric automobile torque optimized distribution control method according to claim 1 and 2, it is characterised in that the concrete grammar of the frictional force that each tire described in step 2 is suffered in the horizontal is for passing through formula:
Fx=K Fz·S(2)
Obtain, wherein, FxFor the frictional force that tire is suffered in the horizontal, FzFor the vertical load that tire bears, K is the coefficient of friction of tire material.
4. a kind of distributed-driving electric automobile torque optimized distribution control method according to claim 1 and 2, it is characterised in that the concrete grammar calculating tire wear merit described in step 2 is for passing through:
Obtain；Wherein, d is the reduced value of tire thickness, and A is tire wear property coefficient, WfBeing done work by per unit area frictional force, α is regulation coefficient.
5. a kind of distributed-driving electric automobile torque optimized distribution control method according to claim 1, it is characterized in that, described in step 3 utilize parameter that step 2 obtains and and tire wear merit, the method for the object function of the torque distribution control of four motors when tire wear power and minima thereof that calculates is:
Pass through formula:
Calculate the abrasion power P obtaining tiref；Wherein, FyFor tire longitudinally upper suffered frictional force, c is tyre width；T is the time；
Tire abrasion power includes horizontal sliding power and straight skidding power, the magnitude relationship according to horizontal sliding power and straight skidding power, is determined the abrasion power of four tires by formula (5), is straight skidding power:
Wherein, Fx1For the frictional force that electric automobile the near front wheel tire is suffered in the horizontal, Fx2For the frictional force that electric automobile left rear wheel tire is suffered in the horizontal, Fx3For the frictional force that electric automobile off-front wheel tire is suffered in the horizontal, Fx4For the frictional force that electric automobile off hind wheel tire is suffered in the horizontal, ω1For the rotating speed of electric automobile the near front wheel, ω2For the rotating speed of electric automobile left rear wheel, ω3For the rotating speed of electric automobile off-front wheel, ω4For the rotating speed of electric automobile off hind wheel, FZ1For the vertical load that electric automobile the near front wheel tire bears, FZ2For the vertical load that electric automobile left rear wheel tire bears, FZ3For the vertical load that electric automobile off-front wheel tire bears, FZ4For the vertical load that electric automobile off-front wheel tire bears.
During tire wear power minimum, the object function of the torque distribution control of four motors is:
。
6. a kind of distributed-driving electric automobile torque optimized distribution control method according to claim 1, it is characterised in that in step 4, the driving torque function according to constraints four drive motors of acquisition is:
Constraints is:
Wherein, T1For the driving torque function of the near front wheel driver, T2For the driving torque function of left rear wheel driver, T3For off-front wheel driver drives torque function, T4For the driving torque function of off-front wheel driver, TdFor electric automobile whole requirement drive torque.
7. a kind of distributed-driving electric automobile torque optimized distribution control method according to claim 4, it is characterised in that tire wear property coefficient A is 0.3mm3/J。
8. a kind of distributed-driving electric automobile torque optimized distribution control method according to claim 4, it is characterised in that regulation coefficient α is 1.3.
CN201610179530.6A 2016-03-25 2016-03-25 A kind of distributed-driving electric automobile torque optimization distribution control method Active CN105774597B (en)

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Cited By (8)

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Publication number Priority date Publication date Assignee Title
CN106004523A (en) * 2016-07-22 2016-10-12 清华大学 Method for optimally controlling real-time torque of distributed type driving electric vehicle
CN106827972A (en) * 2017-02-13 2017-06-13 杨静 A kind of method of dynamic regulation Electricmotor car wheel wheel footpath
CN107487326A (en) * 2017-06-15 2017-12-19 宝沃汽车（中国）有限公司 The control method and device of vehicle traction
CN108241374A (en) * 2018-01-16 2018-07-03 广东电网有限责任公司电力科学研究院 A kind of four motorized wheels turn to the control system of robot
CN110035920A (en) * 2016-12-05 2019-07-19 日立汽车系统株式会社 The control method of the control device of electric vehicle, the control system of electric vehicle and electric vehicle
CN110979026A (en) * 2019-12-31 2020-04-10 厦门金龙联合汽车工业有限公司 Distributed driving bus torque distribution method based on real-time road conditions
CN111634195A (en) * 2020-05-12 2020-09-08 东南大学 Torque optimal distribution control method of four-wheel drive electric automobile
CN113386586A (en) * 2021-06-09 2021-09-14 山东理工大学 Driving control strategy based on fuel cell, lithium battery and electrodynamic flywheel battery composite energy system

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CN102849065A (en) * 2012-08-30 2013-01-02 重庆长安汽车股份有限公司 Control method and control system for optimal power allocation of CVT (continuously variable transmission) hybrid electric vehicle
CN104002699A (en) * 2014-05-26 2014-08-27 北京理工大学 Control method of distributed driving electric vehicle
CN104786804A (en) * 2015-04-30 2015-07-22 郑州宇通客车股份有限公司 Vehicle and wheel edge drive system and wheel edge drive torque distributing method thereof

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JP2006052822A (en) * 2004-08-16 2006-02-23 Wandaa Kikaku:Kk Differential gear interlocked with steering device
CN102849065A (en) * 2012-08-30 2013-01-02 重庆长安汽车股份有限公司 Control method and control system for optimal power allocation of CVT (continuously variable transmission) hybrid electric vehicle
CN104002699A (en) * 2014-05-26 2014-08-27 北京理工大学 Control method of distributed driving electric vehicle
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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106004523A (en) * 2016-07-22 2016-10-12 清华大学 Method for optimally controlling real-time torque of distributed type driving electric vehicle
CN110035920A (en) * 2016-12-05 2019-07-19 日立汽车系统株式会社 The control method of the control device of electric vehicle, the control system of electric vehicle and electric vehicle
CN110035920B (en) * 2016-12-05 2022-09-02 日立安斯泰莫株式会社 Control device for electric vehicle, control system for electric vehicle, and control method for electric vehicle
CN106827972A (en) * 2017-02-13 2017-06-13 杨静 A kind of method of dynamic regulation Electricmotor car wheel wheel footpath
CN106827972B (en) * 2017-02-13 2017-12-05 湖北脉辉科技有限公司 A kind of method of dynamic regulation Electricmotor car wheel wheel footpath
CN107554206A (en) * 2017-02-13 2018-01-09 杨静 A kind of wheel footpath regulating system for electric car
CN107487326A (en) * 2017-06-15 2017-12-19 宝沃汽车（中国）有限公司 The control method and device of vehicle traction
CN107487326B (en) * 2017-06-15 2019-11-22 宝沃汽车（中国）有限公司 The control method and device of vehicle traction
CN108241374A (en) * 2018-01-16 2018-07-03 广东电网有限责任公司电力科学研究院 A kind of four motorized wheels turn to the control system of robot
CN110979026A (en) * 2019-12-31 2020-04-10 厦门金龙联合汽车工业有限公司 Distributed driving bus torque distribution method based on real-time road conditions
CN111634195A (en) * 2020-05-12 2020-09-08 东南大学 Torque optimal distribution control method of four-wheel drive electric automobile
CN111634195B (en) * 2020-05-12 2022-03-08 东南大学 Torque optimal distribution control method of four-wheel drive electric automobile
CN113386586A (en) * 2021-06-09 2021-09-14 山东理工大学 Driving control strategy based on fuel cell, lithium battery and electrodynamic flywheel battery composite energy system

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