Control method for a road vehicle with independent engines acting on the wheels of the same axle and relative road vehicle
A method to control a road vehicle driven by a driver and provided with at least a first drive wheel and a second driver wheel belonging to a same axle, each drive wheel being independently operated by a respective first and second electric motor; the control method comprises the step of controlling the torque delivered by each respective motor to the first drive wheel or to the second drive wheel as a function of a torque requested by the driver and independently of the difference in angular speed between the first and the second wheel.
1. Control method for a road vehicle ( 1 ) driven by a driver and provided with at least a first driving wheel ( 3 ) and a second drive wheel ( 3 ) belonging to an axle (RA), each drive wheel ( 3 ) being operated independently by a respective first and second half-shaft ( 7 );
the control method comprises controlling the torque (T L , T R ) delivered to each respective first and second half-shaft ( 7 ) towards the first drive wheel ( 3 ) with a first motor ( 5 ) mechanically coupled to the first shaft ( 7 ) or towards the second drive wheel ( 3 ) with a second motor ( 5 ) mechanically coupled to the second shaft ( 7 ) as a function of a torque requested by the driver and independently of the difference in angular velocity between the first and second drive wheel ( 3 ).
2. The method according to claim 1 , and comprising the further step of determining the variation (B′) of an attitude angle (B) of the road vehicle ( 1 ), namely the angle (B) between the longitudinal axis (x) of the road vehicle ( 1 ) and the direction of the velocity (V) of progress of the road vehicle ( 1 ) at the center of gravity (B), wherein the torque (T L , T R ) delivered by each respective engine ( 5 ) towards the first or second drive wheel ( 3 ) is calculated as a function of the variation (B′) of the angle (B) of attitude.
3. The method according to claim 2 , wherein the variation (β′) of the attitude angle (β) is calculated without resorting to a numerical derivative of the attitude angle (β) of the vehicle ( 1 ); in particular by means of a non-linear combination of yaw rate (ψ″), lateral acceleration and linear velocity (Vx) of the vehicle ( 1 ).
4. The method according to claim 1 , and comprising the further step of detecting, by means of at least one inertial measurement unit, a velocity (ψ″) of yaw of the road vehicle ( 1 ), wherein the torque (T L , T R ) delivered by each respective motor ( 5 ) towards the first or second driving wheel ( 3 ) is calculated as a function of the velocity (ψ″) of yaw.
5. The method according to claim 1 , and comprising the further step of detecting the vertical forces (F Z ) acting on the drive wheels ( 3 ), in particular rear wheels, measured with appropriate sensors or estimated by modeling the road vehicle ( 1 ); wherein the torque (T L , T R ) delivered by each respective motor ( 5 ) towards the first or second driving wheel ( 3 ) is calculated as a function of the distribution (F Z %) of the vertical forces between the driving wheels.
6. The method according to claim 1 , and comprising the further step of limiting the torque output (T L , T R ) from each respective engine ( 5 ) to the first or second drive wheel ( 3 ) if a desired output exceeds a limit determined by the grip of a respective tire installed on the first or second drive wheel ( 3 ).
7. The method according to claim 1 , wherein the torque (TL, TR) to be delivered to the first and second drive wheels ( 3 ) comprises the sum of a contribution (ATLIN) and a yawing contribution (ATNL).
8. The method according to claim 7 , wherein the adverse-yawing contribution (ΔT LIN ) is calculated as a function of the variation (β′) of an attitude angle (β) of the road vehicle ( 1 ), the yawing speed (ψ″) and the longitudinal speed (V X ) of the road vehicle ( 1 ) itself.
9. The method according to claim 7 , wherein the yawing contribution (ΔT NL ) is calculated as a function of the difference (T R -T L ) of torque delivered by each respective motor ( 5 ) of the same axle (RA); in particular according to a geometric relation function of track width of said axle (RA) and radius of the first and second drive wheels ( 3 ).
10. The method according to claim 1 , wherein the control is carried out on the first and second wheels ( 3 ) of a rear axle (RA) of the road vehicle ( 1 ).
11. The method according to claim 1 , further comprising controlling the torque (T L , T R ) delivered by the first motor ( 5 ) towards the first drive wheel ( 3 ) so as to compensate for any failure of the second motor ( 5 ) acting on the second drive wheel ( 3 ) and vice versa.
12. The method according to claim 1 and comprising the further steps of monitoring one or more actuators ( 8 , 9 ) other than the first and second motors ( 5 ) and the step of controlling the torques (T L , T R ) delivered towards the first and/or to the second driving wheel ( 3 ) so as to compensate for any failure of the one or more actuators ( 8 , 9 ) while maintaining a desired trajectory (T) of the road vehicle ( 1 ).
13. Road vehicle ( 1 ) comprising:
at least one first drive wheel ( 3 ) and one second drive wheel ( 3 ) belonging to the same axle (RA);
at least one first and one second electric motor ( 5 ) configured to respectively and independently drive the first and second drive wheels ( 3 );
the vehicle ( 1 ) comprising a control unit ( 10 ) configured to control the torque (T L , T R ) delivered towards the first electric motor ( 5 ) and the second electric motor ( 5 ) by performing the method according to claim 1 .