CN107696913A - A kind of double drive non-driven magnetoes of axle electric car of bi-motor, which drag, turns control method - Google Patents
A kind of double drive non-driven magnetoes of axle electric car of bi-motor, which drag, turns control method Download PDFInfo
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- CN107696913A CN107696913A CN201710822126.0A CN201710822126A CN107696913A CN 107696913 A CN107696913 A CN 107696913A CN 201710822126 A CN201710822126 A CN 201710822126A CN 107696913 A CN107696913 A CN 107696913A
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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
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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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/10—Electrical machine types
- B60L2220/18—Reluctance machines
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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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
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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
- 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
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- 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
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
A kind of bi-motor is double to be driven the non-driven magnetoes of axle electric car and drags and turns control method, it is characterised in that by reasonably controlling motor, non-driven motor and clutch, solves non-driven magneto and drag to turn to adversely affect to caused by vehicle performance.The invention belongs to electrical vehicular power control field, involved technical scheme is：Under coasting mode, controlled by the separation of clutch with combining, can solve non-driven magneto and drag to turn the adverse effect to caused by road-ability and security；Under single excitation electromotor drive pattern, according to vehicle working condition, by carrying out various modes control to motor, non-driven motor and clutch, can solve non-driven magneto and drag to turn the adverse effect to caused by vehicle economy, improve vehicle drive efficiency, extend vehicle continual mileage.
Description
Technical field
The invention belongs to electrical vehicular power control field, is related to a kind of bi-motor pair that is used for and drives axle power system of electric automobile
Control method.
Background technology
At present, develop efficient, safe electric automobile turns into Domestic Automotive Industry strategic decisions.The double drive axles of bi-motor are electronic
Car is due to advantages such as good dynamic property, economy and handling stability, it has also become the emerging study hotspot of electric automobile industry.It is right
In the double drive axle electric cars of the bi-motor of a kind of matching magneto and excitation electromotor, according to vehicle working condition vehicle can be controlled to transport respectively
Row gives full play to different type motor and efficiently driven in single magneto, single excitation electromotor and bi-motor four-wheel drive pattern
Dynamic advantage.But, under actual condition, when vehicle runs on single excitation electromotor drive pattern, non-driven magneto can be by car
Drag transhipment to go, dragged when dragging rotary speed relatively low, caused by it and turn resistance and can influence vehicle economy；When dragging rotary speed higher,
It can run on non-controllable braking mode, influence vehicle security.In addition, when vehicle is switched to coasting mode by driving,
If it is higher to slide speed, non-controllable regenerative braking force caused by inside non-driven magneto can influence road-ability and safety
Property.
Clutch is matched between magneto and speed change system, control is combined and separated by clutch, is that solution is driven by no means
Dynamic magneto, which drags, turns one of effective ways of problem.But, under different operating modes, the clutch involved by above-mentioned technical proposal moves
Control, non-driven magneto dallies/dragged and turns control, drives excitation electromotor direct torque still indefinite.Therefore, for one kind
The double drive axle electric cars of bi-motor of magneto and excitation electromotor are matched, control method reasonable in design, solve non-driven permanent magnetism
Motor, which drags, turns problem, is to ensure efficient vehicle, safety, the key comfortably run.Therefore, the present invention proposes a kind of bi-motor pair
Drive the non-driven magneto of axle electric car and drag and turn control method.
The content of the invention
Deficiency of the prior art, the problem to be solved in the present invention are more than：It is proposed that a kind of bi-motor is double and drive axle electricity
The non-driven magneto of motor-car, which drags, turns control method, solves under the driving of single excitation electromotor and coasting mode pattern, it is non-driven forever
Magneto, which drags, to be turned to adversely affect problem to caused by vehicle economy, security and comfortableness.
The technical scheme is that:A kind of double drive non-driven magnetoes of axle electric car of bi-motor, which drag, turns control method,
Realizing the control system of the control algolithm includes entire car controller, front axle electric machine controller, rear axle electric machine controller and clutch
Controller.The double drive non-driven magnetoes of axle electric car of entire car controller operation bi-motor, which drag, turns control method, according to vehicle work
Condition feature, the control instruction that output is adapted therewith；Forward and backward electric machine controller and clutch controller receive, perform vehicle control
The control instruction that device processed is sent, and feedback element related status information parameter.Wherein, the double drive axle electric cars of bi-motor are non-driven forever
Magneto, which drags, to be turned control method and is characterised by：
（1）Control method program design is used to detect whether vehicle will run on single excitation electromotor drive pattern or slide work
Condition pattern, if detecting, vehicle will run on single excitation electromotor drive pattern, call subroutine 2, with solve it is non-driven forever
Magneto, which drags, turns the adverse effect to caused by vehicle economy；If detecting that vehicle will be run on slides mode of operation, call
Subprogram 1, a turn influence to caused by road-ability and security is dragged to solve non-driven magneto.
（2）The size that control method subprogram 1 is first depending on sliding speed selects different control modes, when sliding speed
No more than setting speed limit value 1 when, non-driven magneto will not run on non-controllable regenerative braking force, and less drag turns resistance
Power is to road-ability and safety effects very little；On this basis, further whether detection clutch is in bonding state, if
It is clutch state holding, the control instruction that excitation electromotor torque is 0 and magneto torque is 0 then to be sent, to avoid clutch
Device is frequently separated with reference to action, extending clutch service life；If clutch is in released state, to ensure vehicle by sliding
Driving force when row state is switched to driving condition quickly intervenes, or regeneration when vehicle is switched to on-position by sliding state
Power processed quickly intervenes, and subprogram 1 further detection can slide the limit value 2 that the whether little row of speed is set（Speed limit value 1 is more than car
Speed limit value 2）, if so, then combining clutch in advance；If it is not, then keep clutch current state.
When sliding speed more than the speed limit value 1 set, due to dragging rotary speed higher, meeting inside non-driven magneto
Non-controllable regenerative braking force is produced, now, in order to avoid larger uncontrollable power is to road-ability, security and driving
Member coasting distance judge adversely affect, need to further detect clutch current state, if bonding state, subprogram 1 to
Clutch sends the control instruction of clutch separation；If released state, subprogram 1 sends state to clutch and keeps control to refer to
Order；In addition, when clutch is in released state, driving force when being switched to driving condition by sliding for guarantee vehicle is quickly situated between
Enter, or regenerative braking force when vehicle is switched to on-position by sliding quickly is intervened, subprogram 1 can further detect sleigh
Speed whether little row setting limit value 3（Speed limit value 1 is more than speed limit value 3）, if so, then combining clutch in advance；If it is not,
Then keep clutch current state.
（3）Control method subprogram 2 is tabled look-up and reads the person's of sailing requirement drive torque T1 under current working, non-driven first
Magneto, which drags, turns moment of resistance T2, and excitation electromotor level of torque is driven for calculating；Further, under step by step calculation Three models
Dual motors system is lost, and is respectively：Pattern 1, clutch combines, non-driven magneto dallies and motor torque T1 patterns
Under dual motors system loss；Pattern 2, under clutch separation, non-driven magneto torque 0 and motor torque T1 patterns
Dual motors system loss；Pattern 3, clutch combination, non-driven permanent-magnet torque 0 and motor torque（T1+T2）Under pattern
Dual motors system loss；Further, program judges to drag whether rotary speed is less than set velocity constraint 1, if so, explanation is non-
Driving magneto will not run on non-controllable braking mode, call subroutine 3；If it is not, illustrate non-driven permanent magnetism
Motor can run on non-controllable braking mode, call subroutine 4.
（4）Subprogram 3 first determines whether clutch current operating state, if released state, in order to avoid clutch is frequent
Separation with combine control, control clutch keep current state；If it is not, from driving economy aspect, more different moulds are needed
Dual motors system loss under formula, selects the optimal control mode of economy；If pattern 1 can realize optimal driving economy, journey
Sequence sends clutch state holding, the idle running of non-driven motor and motor torque T1 control instructions；If 2 times bi-motor systems of pattern
System loss is small, and program then sends clutch separation, non-driven magneto torque 0 and motor torque T1 control instructions；If
3 times dual motors system losses of pattern are minimum, and to ensure motor safe and reliable operation, program need to judge that motor output turns
Whether square is less than maximum permissible value, if so, program is then sent, clutch state is kept, non-driven motor normally drags and turns and drive electricity
Machine torque（T1+T2）Control instruction；If it is not, then select the minimum control mode of system loss in slave pattern 1 and pattern 2.
（5）Program enters subprogram 3, illustrates to drag speed of changing trains or buses higher, can be produced inside non-driven magneto it is uncontrollable again
Raw brake force, now, process priority considers vehicle security, and therefore, subprogram 3 judges whether clutch is released state, if
It is then to send clutch state holding, non-driven motor torque 0 and motor torque T1 control instructions；If it is not, then send
Clutch separation, non-driven motor torque 0 and motor torque T1 control instructions.
The advantage of the invention is that：
1st, control method proposed by the invention, can solve non-driven magneto under coasting mode drag turn to vehicle ride comfort and
Not expectable negative effect caused by security, lifting driving ride comfort and security；
2nd, control method proposed by the invention, can solve under single excitation electromotor drive pattern, non-driven magneto drag turn pair
Negative effect caused by vehicle economy, improves vehicle drive efficiency, extends vehicle continual mileage；
3rd, control method proposed by the invention, clutch can be avoided frequently to separate with making with reference to action, extension clutch
Use the life-span；
4th, control method proposed by the invention, the quick intervention of motor driving force or brake force under coasting mode can be realized,
Optimize power performance and regenerative braking economy.
Brief description of the drawings
Fig. 1, which is that a kind of bi-motor is double, drives axle electric vehicle control system structural representation；
Fig. 2 drags for a kind of double drive non-driven magnetoes of axle electric car of bi-motor turns control method main program；
Fig. 3 drags for a kind of double drive non-driven magnetoes of axle electric car of bi-motor turns control method subprogram 1；
Fig. 4 drags for a kind of double drive non-driven magnetoes of axle electric car of bi-motor turns control method subprogram 2；
Fig. 5 drags for a kind of double drive non-driven magnetoes of axle electric car of bi-motor turns control method subprogram 3；
Fig. 6 drags for a kind of double drive non-driven magnetoes of axle electric car of bi-motor turns control method subprogram 4.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings：
A kind of double axle whole electric vehicle control systems of driving of Fig. 1 bi-motor include:Entire car controller, battery management system, preceding electricity
Machine controller, rear electric machine controller and clutch controller.Wherein, entire car controller is used to collect vehicle and critical component state
Parameter, control vehicle run on different slide and single excitation electromotor drive pattern；Forward and backward electric machine controller and clutch control
Device processed, receive, perform vehicle control unit controls instruction, and feedback element correlation behavior parameter.
Fig. 2 is that a kind of double non-driven magnetoes of axle electric car that drive of bi-motor drag the main program for turning control method, its feature
It is：
First, main program step S01 detects whether vehicle will run on single motor drive pattern；If it is not, then perform step
S03, whether detection vehicle, which will run on, is slided mode of operation, if so, then performing step S04, call subroutine 1, if it is not, then
Jump to step S01；If detecting that vehicle will run on single motor drive mode, step S02 can determine whether non-driven electricity
Whether machine is magneto, if so, then performing step S05；If not, jumping to step S01, continue to detect whether vehicle will be transported
Row is in sliding mode of operation.
Fig. 3 is that a kind of double non-driven magnetoes of axle electric car that drive of bi-motor drag the subprogram 1 for turning control method, its feature
It is：
（1）Whether step S11 judges to slide speed no more than setting limit value 1, if so, then performing step S12, otherwise, performs step
Rapid S17；
（2）Step S12 be on the basis of speed is slided no more than setting speed limit value 1, determine whether clutch whether be
Released state, if it is not, step S13 is then performed, the holding of program output clutch state, magneto torque 0 and excitation electromotor
The control instruction of torque 0；If so, then performing step S14, whether program determines whether to slide speed no more than the speed set
Limit value 2, if so, to ensure that vehicle from sliding the response speed to dynamical system when driving or on-position switching, performs step
S15, program send the control instruction of clutch combination, magneto torque 0 and excitation electromotor torque 0；If it is not, perform step
S16, program send the control instruction of clutch state holding, magneto torque 0 and excitation electromotor torque 0；
（3）Step S17 is on the premise of sliding speed and being more than setting speed limit value 1, judges whether clutch is released state,
If it is not, perform step S112；If so, performing step S18, program sends clutch state holding, non-driven magneto turns
Square 0 and the control instruction of driving excitation electromotor torque 0；Further, it is that guarantee vehicle is switched from sliding to driving or on-position
When dynamical system response speed, routine executing step S19, detection slide speed whether no more than setting limit value 3, if so,
Step S110 is performed, program sends the control instruction of clutch combination, magneto torque 0 and excitation electromotor torque 0；If no
It is to perform step S111, the control of the holding of program output clutch state, magneto torque 0 and excitation electromotor torque 0 refers to
Order；
（4）Step S112 is the performed rate-determining steps in the case where sliding speed and being more than setting limit value 1 and clutch bonding state,
Send clutch separation, magneto torque 0 and the control instruction of excitation electromotor torque 0；Further, be ensure vehicle by sliding
Whether row slides speed to the response speed of dynamical system when driving or on-position switching, routine executing step S113, detection
No more than the limit value 3 of setting, if so, performing step S114, program sends clutch combination, magneto torque 0 and excitation electricity
The control instruction of machine torque 0；If it is not, perform step S115, program output clutch state keep, magneto torque 0 and
The control instruction of excitation electromotor torque 0.
Fig. 4 is that a kind of double non-driven magnetoes of axle electric car that drive of bi-motor drag the subprogram 2 for turning control method, its feature
It is：
（1）First, step S21, S22 reads operator demand's driving torque T1 respectively and non-driven magneto drags and turns the moment of resistance
T2；Further, step S23, S24 and S25 distinguishes computation schema 1（Clutch combines, the idle running of non-driven magneto and driving are electric
Machine torque T1）, pattern 2（Clutch separation, non-driven magneto torque 0 and motor torque T1）And pattern 3（Clutch
With reference to, non-driven magneto torque 0 and motor torque（T1+T2））Under dual motors system loss P1, P2 and P3；
（2）Further, step S26 is judged under single excitation electromotor drive pattern, drags whether speed of changing trains or buses is less than the limit value 1 of setting, if
It is then to perform step S27, call subroutine 3；If it is not, then perform step S28, call subroutine 4.
Fig. 5 is that a kind of double non-driven magnetoes of axle electric car that drive of bi-motor drag the subprogram 3 for turning control method, its feature
It is：
（1）First, step S31 judges whether clutch is released state, if so, then performing step S32, sends clutch state
The control instruction of holding, non-driven magneto torque 0 and driving excitation electromotor torque T1；If it is not, then perform step S33；
（2）Whether the dual motors system loss under step S33 judgment models 1 is not more than the dual motors system loss under pattern 2, if
It is to perform step S34；Otherwise step S39 is performed；
（3）Step S34 determines whether the dual motors system loss under pattern 1 is not more than the dual motors system under pattern 3
Loss, if so, illustrating that the dual motors system loss under pattern 1 is minimum, step S35 is performed, sends clutch state holding, non-drive
Dynamic magneto idle running, driving excitation electromotor torque T1 control instructions；If it is not, then performing step S36, determine whether to drive
Whether motor output torque is less than maximum permissible value, if so, then performing step S37, output clutch state is kept, non-driven electricity
Machine torque 0 and motor torque（T1+T2）Control instruction；If it is not, then performing step S38, send clutch state and protect
Hold, non-driven motor dallies and motor torque T1 control instruction；
（4）Step S39 is on the premise of the loss of the dual motors system of pattern 1 is set up no more than the loss of the dual motors system of pattern 2, is entered
Whether the loss of the dual motors system of one step judgment model 2 is lost no more than the dual motors system of pattern 3, if so, then illustrating that pattern 2 can be real
Existing simulation loss, performs step S310, and program sends clutch separation, non-driven motor torque 0 and motor torque
T1 control instruction；If it is not, to ensure motor safe and reliable operation, step S311 is performed, judges that motor exports
Whether torque is less than maximum permissible value, if so, then performing step S312, output clutch state is kept, non-driven motor torque 0
And motor torque（T1+T2）Control instruction；If it is not, then performing step S313, clutch separation, non-driven electricity are sent
Machine torque 0 and motor torque T1 control instructions.
Fig. 6 is that a kind of double non-driven magnetoes of axle electric car that drive of bi-motor drag the subprogram 4 for turning control method, its feature
It is：
（1）First, step S41 judges whether clutch is released state, if so, then without carrying out action control to clutch,
Step S42 is performed, sends clutch state holding, non-driven motor torque 0 and motor torque T1 control instruction；If no
It is that, in order to ensure vehicle economy and security, clutch need to be separated, routine executing step S43, sends clutch separation, non-
Motor torque 0 and motor torque T1 control instruction.
Claims (1)
1. a kind of double drive non-driven magnetoes of axle electric car of bi-motor, which drag, turns control method：Characterized in that, can be according to car
Operating mode, different Schema controls is carried out to excitation electromotor, magneto and its clutch, solve vehicle sliding and single excitation electricity
Non-driven magneto under machine drive pattern, which drags, turns the adverse effect to caused by vehicle economy, ride comfort and security performance,
Specifically rate-determining steps are：
（1）Main program rate-determining steps are：
Step S01 is used to detect whether vehicle will run on the control instruction of single motor drive pattern, is then, to perform step
S02；Otherwise, step S03 is performed；
Step S03 is used to detect whether vehicle will run on sliding state, is then, to perform step S04, call subroutine 1；It is no
Then, step S01 is jumped to, continues to detect whether vehicle will run on single motor drive pattern；
Step S02 is used to detect whether non-driven motor is magneto, is then, to perform step S05, call subroutine 2；It is no
Then, step S01 is jumped to, continues to detect whether vehicle will run on single motor drive pattern；
（2）The rate-determining steps of subprogram 1 are：
Whether step S11 judges to slide speed no more than the speed limit value 1 set, if so, performing step S12；Otherwise, step is performed
Rapid S17；
Step S12 judges whether clutch is released state, if so, performing step S14；Otherwise, step S13 is performed；
Whether step S14 judges to slide speed no more than the speed limit value 2 designed, if so, performing step S15；Otherwise, step is performed
Rapid S16；
Step S17 judges whether clutch is released state, if so, performing step S18；Otherwise, step S112 is performed；
Whether step S19 judges to slide speed no more than the limit value 3 set, is then, to perform step S110；Otherwise, step is performed
S111；
Whether step S113 judges to slide speed no more than the speed limit value 3 set, is then, to perform step S114；Otherwise, perform
Step S115；
（3）The rate-determining steps of subprogram 2 are：
Step S21 reads operator demand's driving torque T1；
Step S22, which reads non-driven magneto and dragged, turns moment of resistance T2；
It is the bi-motor under T1 patterns that step S23, which calculates clutch combination, the idle running of non-driven magneto and motor torque,
System loss；
Step S24 calculates clutch separation, non-driven magneto torque is 0 and motor torque is double electric under T1 patterns
Machine system loss；
Step S25 calculates clutch combination, non-driven magneto torque is 0 and driving magneto torque is（T1+T2）Mould
Dual motors system loss under formula；
Step S26 judges the speed limit value 1 for dragging speed of changing trains or buses whether to be less than setting, is then, to perform step S27, call subroutine 3；
Otherwise, step S28, call subroutine 4 are performed；
（4）The rate-determining steps of subprogram 3 are：
Step S31 judges whether clutch is released state, if so, then performing step S32；Otherwise step S33 is performed；
Step S33 judges that clutch combines, non-driven magneto dallies and motor torque is the bi-motor under T1 patterns
Whether system loss is not more than clutch separation, non-driven magneto torque is 0 and motor torque is under T1 patterns
Dual motors system is lost, and is then, to perform step S34；Otherwise, step S39 is performed；
Step S34 judges that clutch combines, non-driven magneto dallies and motor torque is the bi-motor under T1 patterns
Whether system loss combines no more than clutch, non-driven magneto torque is 0 and driving magneto torque is（T1+T2）
Dual motors system loss under pattern, it is that then, execution is not S35；Otherwise step S36 is performed；
Step S36 judges whether motor torque is less than its maximum allowable output torque, is then, to perform step S37；Otherwise hold
Row step S38；
Step S39 judges that clutch separation, non-driven magneto torque are 0 and motor torque is double electric under T1 patterns
Whether machine system loss combines no more than clutch, non-driven magneto torque is 0 and driving magneto torque is（T1+
T2）Dual motors system loss under pattern, it is then, to perform step S310；Otherwise step S311 is performed；
Step S311 judges whether motor torque is less than its maximum allowable output torque, is then, to perform step S312；Otherwise
Perform step S313；
（5）The rate-determining steps of subprogram 4 are：
Step S41 judges whether clutch is released state, if so, performing step S42；Otherwise, step S43 is performed.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110535395A (en) * | 2019-09-19 | 2019-12-03 | 四川虹美智能科技有限公司 | A kind of control method and device of motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110535395A (en) * | 2019-09-19 | 2019-12-03 | 四川虹美智能科技有限公司 | A kind of control method and device of motor |
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