CN107618402B - Distribution driving Automobile shaft load calculation method and driving moment control method - Google Patents
Distribution driving Automobile shaft load calculation method and driving moment control method Download PDFInfo
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Abstract
The present invention provides a kind of distributed driving Automobile shaft load calculation method and driving moment control methods.The described distributed driving Automobile shaft load calculation method by corresponding calculation formula, calculates the current load of each axle during above-mentioned distributed driving running by acquiring the longitudinal acceleration during distributed driving running in real time.The distributed driving Automobile drive Torque Control method, calculate the load of distributed driving each axle of automobile in real time by the axle load calculation method, and the load of each axle left and right sidesing driving wheel is calculated in conjunction with the loadometer of calculated each axle, and the ratio between the load of each driving wheel of vehicle is calculated according to the loadometer of the resulting each axle left and right sidesing driving wheel of above-mentioned calculating, it is based ultimately upon the ratio between the current load of the resulting each driving wheel of above-mentioned calculating, realizes the dynamic allocation of driving moment.The present invention improves the power performance and control stability of vehicle.
Description
Technical field
The present invention relates to electric car field, specifically a kind of distributed driving Automobile shaft load calculation method and driving
Torque Control method.
Background technique
Electric car (BEV) refers to using vehicle power supply as power, with motor driven wheels travel, meets road traffic, peace
The vehicle of full regulation requirements.According to the difference of driving wheel installation site, electric car is divided into centralization driving electric car
And distributed-driving electric automobile.Compared to orthodox car, electric car has extensive hair because effect on environment is relatively small
Open up space, especially distributed-driving electric automobile.
Distributed-driving electric automobile, each of which wheel are respectively equipped with driving motor, avoid gearbox, clutch,
The use of the devices such as main reducing gear and differential mechanism, with response quickly, driving transmission chain is short, it is efficient, compact-sized etc. excellent to be driven
Point.
The driving moment that each wheel of distributed-driving electric automobile corresponds to driving motor is controllable, but distributed driving is electronic
The controllable actuator quantity of automobile is relatively more thus also varied to the method for salary distribution of an equal amount of driving moment,
For the power performance for further increasing vehicle, related work person has been devoted to grinding to the method for salary distribution of vehicle driving moment
Study carefully, for preferably carrying out the driving moment control of distributed driving automobile, and then improves the stability of vehicle manipulation.
In addition, distributed-driving electric automobile is in driving moment control process, it will usually use the load of each axle of vehicle
Lotus, but it is typically more complicated to the calculating of axle load in the prior art, and calculate the parameter used and much require based on real
When the variable that acquires often restricted because of measurement error the reason of final and using the relatively large number of variable acquired in real time
The precision of calculated result controls the distribution of driving moment to will affect entire car controller to a certain extent.
This is in place of the deficiencies in the prior art.
Summary of the invention
The technical problem to be solved by the present invention is in view of the deficiencies of the prior art, provide a kind of distributed driving automobile
Axle load calculation method and driving moment control method, for improving the power performance of distributed driving automobile.
In order to solve the above technical problems, the present invention provides a kind of distributed driving Automobile shaft load calculation method,
It is characterized in that, comprising steps of
Longitudinal acceleration during the distributed driving running of acquisition in real time；
The vehicle body for defaulting the distributed driving automobile is rigid body, each axle two sides rigidity unanimously and in the inclination of each axle
The heart on the same axis, is based on following calculation formula later, and each axle is worked as during calculating above-mentioned distributed driving running
Preceding load:
Wherein in above-mentioned formula, FiIndicate the load on i-th of axle of above-mentioned distributed driving automobile, kiIndicate above-mentioned point
Cloth drives the rigidity of i-th of axle of automobile, and a is the longitudinal acceleration of above-mentioned acquisition, XiIndicate above-mentioned distributed driving vapour
Offset of i-th of the axle of vehicle in vehicle traveling process relative to its corresponding static equilibrium position, LiIndicate described point
Cloth drives i-th of axle of automobile relative to the offset of the mass center of the distributed driving automobile, and m indicates above-mentioned distribution
Driving the gross mass of automobile, h indicates the height of center of mass of above-mentioned distributed driving automobile, and g indicates acceleration of gravity, i=1,2,
3 ..., n, the n indicate the axle sum of above-mentioned distributed driving automobile, wherein the of multiaxis distribution driving automobile
1 axle is located at the side of other axles on vehicle.
The present invention also provides a kind of distributed driving Automobile drive Torque Control methods, comprising steps of
Calculate the load of distributed driving each axle of automobile in real time using axle load calculation method as described above；
The left and right sidesing driving wheel lotus transfer amount that the distribution drives each axle during running is calculated in real time；
Calculating the distributed driving automobile using following formula, each axle left and right sidesing driving wheel is currently right when driving
The load answered:
Wherein, F in formulaiLIndicate the load of the left driving wheel on i-th of axle of the distributed driving automobile, FiRTable
Show the load of the right driving wheel on i-th of axle of the distributed driving automobile, Δ WiIndicate above-mentioned calculated described point
Cloth drives the left and right sidesing driving wheel lotus transfer amount of i-th of axle of automobile, FiIndicate i-th of vehicle of above-mentioned distributed driving automobile
Load on axis, i=1,2,3 ..., n, the n indicate the quantity of the axle of above-mentioned distributed driving automobile；
Based on the above-mentioned load for currently calculating resulting each left driving wheel and right driving wheel, the distributed driving vapour is calculated
The ratio between the current load of each driving wheel of vehicle；
Based on the ratio between the current load of the resulting each driving wheel of above-mentioned calculating, to the corresponding driving electricity of each driving wheel
Machine is corresponding to distribute driving moment of corresponding size.
Wherein, the distributed driving Automobile drive Torque Control method further include: driving motor operating point optimization control
Step processed.
Wherein, the driving motor operating point optimal control step includes:
A motor torque restrictive curve is preset, the every bit on the motor torque restrictive curve indicates specific electricity
Corresponding motor torque under machine revolving speed；According to each respective electric efficiency of driving motor in the distributed driving running
MAP chart obtains each driving motor in current corresponding operating point respectively；
By each driving motor of above-mentioned acquisition actual torque value corresponding to its current working point, with it is above-mentioned in advance
Actual torque value corresponding to corresponding motor tachometer value carries out size comparison in the motor torque restrictive curve of setting；
For each axle of the distributed driving automobile, if the corresponding driving motor of axle left driving wheel and right driving
It takes turns the corresponding actual torque value of corresponding driving motor current working point and is respectively less than above-mentioned preset motor torque limit
Corresponding torque value in koji-making line, then the driving moment for controlling the corresponding each driving motor of the axle is zero, and the axle is existed
Driving moment before driving moment zero setting distributes to other driving motors, other described driving motor current working points are respectively right
The actual torque value answered is all larger than or is equal to corresponding torque value in above-mentioned preset motor torque restrictive curve.
Wherein, the motor torque restrictive curve corresponds to the part in motor middle and slow speed of revolution region and is straight line, corresponds in motor
High engine speed range is inverse proportion function line.
Wherein, the left and right sidesing driving wheel lotus transfer amount of each axle during the distributed driving running is calculated in real time
Method and step are as follows:
The distributed side acceleration during driving running is acquired in real time；
Each axle roll center for defaulting the distributed driving automobile is identical with height of center of mass, is based on following calculating later
Formula calculates the left and right sidesing driving wheel lotus transfer amount of above-mentioned distributed driving each axle of automobile in real time:
Wherein in formula, Δ WiIndicate the load of the left and right sidesing driving wheel on i-th of axle of above-mentioned distributed driving automobile, ay
For the above-mentioned side acceleration acquired in real time, g indicates acceleration of gravity, BiIndicate the of the distributed driving automobile of above-mentioned acquisition
Wheelspan on i axle between left and right sidesing driving wheel, m indicate the gross mass of above-mentioned distributed driving automobile, hgIndicate above-mentioned distribution
Formula drives the height of center of mass of automobile, i=1,2,3 ..., n.
Compared with the prior art, the advantages of the present invention are as follows:
(1) the present invention provides a kind of new distributed driving Automobile shaft load calculation method, this method is for calculating
The parameter of axle load is in spite of ki、a、Xi、Li, m, h and g, but only parameter XiIt is variable with parameter a, and passes through this method meter
The size of the axle load of calculating actually with parameter XiNot related, i.e. the present invention need to only acquire a variable when realizing
The value of parameter a is without obtaining variable parameter XiValue, the load of each axle of vehicle can be calculated, this not only simplifies to vehicle
The calculating of axle load, and practice have shown that, the essence of the calculating to the load of each axle of vehicle is also ensured to a certain extent
Degree；
(2) distributed driving Automobile drive Torque Control method of the present invention, which employs the distributions to drive
Electrical automobile axle load calculation method calculates the load of vehicle each left driving wheel and right driving wheel, and has calculated institute based on this
The ratio between the load of each driving wheel of distributed driving automobile is stated, finally the ratio between the load according to the resulting each driving wheel of the calculating,
To each corresponding driving motor correspondence distribution of driving wheel driving moment of corresponding size, this improves whole to a certain extent
Vehicle can improve the power performance of vehicle, and can be to a certain degree to the precision of the control of driving moment to a certain extent
The upper stability for improving vehicle manipulation；
(3) distributed driving Automobile drive Torque Control method of the present invention, further includes that driving motor operating point is excellent
Inefficient motor can in time be closed under the premise of meeting duty requirements by changing rate-determining steps, and inefficient by what is closed
Corresponding driving moment distributes to other motors to rate motor before closing, this keeps the operating point of other motors more efficient,
Also capacity usage ratio is improved to a certain extent.
It can be seen that compared with prior art, the present invention implementing with substantive distinguishing features outstanding and significant progress
Beneficial effect be also obvious.
Detailed description of the invention
Fig. 1 is a kind of distributed driving automobile state principle schematic diagram that axle load shifts under longitudinal acceleration effect；
Fig. 2 is a kind of curve synoptic diagram of motor torque restrictive curve.
Specific embodiment
To keep technical solution of the present invention and advantage clearer, below in conjunction with attached drawing, to technical solution of the present invention
It is clearly and completely described.The driving automobile of distribution involved in the present invention is multiaxis distribution driving automobile.
A kind of distributed driving Automobile shaft load calculation method of the invention, comprising steps of
Longitudinal acceleration during the distributed driving running of acquisition in real time；
The vehicle body for defaulting the distributed driving automobile is rigid body, each axle two sides rigidity unanimously and in the inclination of each axle
The heart on the same axis, is based on following calculation formula later, and each axle is worked as during calculating above-mentioned distributed driving running
Preceding load:
,
Wherein in above-mentioned formula, FiIndicate the load on i-th of axle of above-mentioned distributed driving automobile, FjIndicate above-mentioned point
Cloth drives the load on j-th of axle of automobile, kiIndicate the rigidity of i-th of axle of above-mentioned distributed driving automobile, a is
The longitudinal acceleration a, X of above-mentioned acquisitioniIndicate that i-th of axle of above-mentioned distributed driving automobile is opposite in vehicle traveling process
In the offset of its corresponding static equilibrium position, LiIndicate i-th of axle of the distributed driving automobile relative to described
The offset of the mass center of distribution driving automobile, LjIndicate j-th of axle of the distributed driving automobile relative to described point
Cloth drives the offset of the mass center of automobile, and m indicates the gross mass of above-mentioned distributed driving automobile, and h indicates that above-mentioned distribution is driven
The height of center of mass of electrical automobile, g expression acceleration of gravity, i=1,2,3 ..., n, j=2,3 ..., n, the n indicate above-mentioned point
Cloth drives the axle sum of automobile, wherein the 1st axle of multiaxis distribution driving automobile is located at other vehicles on vehicle
The side of axis.
Fig. 1 be default vehicle body be that rigid body, each axle two sides rigidity is consistent and each axle roll center on the same axis after
Distributed driving automobile a kind of state principle that axle load shifts under longitudinal acceleration effect illustrate and be intended to.In practical behaviour
In work, the longitudinal acceleration a is obtained by being mounted on the acceleration transducer measurement that the center of mass goes out；Parameter ki、
Li, m, h be the intrinsic parameter of vehicle, be stored in advance in the driving force tuning controller of distributed driving automobile.In use, only needing
The value that a variable parameter a is acquired by sensor, can calculate the load of each axle of vehicle, this considerably reduce measured values
Use, simplify calculating, improve computation rate, and be easy to implement.In addition, although the present invention is under based on implied terms
The calculating of progress, and the condition of the default is a kind of condition for assuming to set up, but practice have shown that, calculated result and variable parameter
XiIt is unrelated, it is seen that ensure the computational accuracy of the load to each axle of vehicle to a certain extent.
In addition, the present invention also provides a kind of distributed driving Automobile drive Torque Control methods, comprising steps of
Calculate the load of distributed driving each axle of automobile in real time using axle load calculation method as described above；
Calculate the left and right sidesing driving wheel lotus transfer amount of each axle in the distributed driving running；
The load of each axle left and right sidesing driving wheel in the distributed driving running is calculated using following formula:
Wherein, F in formulaiLIndicate the load of the left driving wheel on i-th of axle of the distributed driving automobile, FiRTable
Show the load of the right driving wheel on i-th of axle of the distributed driving automobile, Δ WiIndicate above-mentioned calculated described point
Cloth drives the left and right sidesing driving wheel lotus transfer amount of i-th of axle of automobile, FiIndicate i-th of vehicle of above-mentioned distributed driving automobile
Load on axis, i=1,2,3 ..., n, the n indicate the quantity of the axle of above-mentioned distributed driving automobile；
Based on the above-mentioned load for currently calculating resulting each left driving wheel and right driving wheel, the distributed driving vapour is calculated
The ratio between the current load of each driving wheel of vehicle；
Based on the ratio between the current load of the resulting each driving wheel of above-mentioned calculating, to the corresponding driving electricity of each driving wheel
Machine is corresponding to distribute driving moment of corresponding size.
When implementation, whole vehicle information decision is merged by entire car controller and goes out total driving moment, is sent to driving force coordination
Controller；Longitudinal acceleration a described in driving force tuning controller real-time reception, and according to built-in respective formula and vehicle
Intrinsic parameter (such as ki、Li, m, h etc.), calculate the ratio between the load of each driving wheel of vehicle, and in real time according to current calculated whole
The ratio between the load of each driving wheel of vehicle calculates the current corresponding target drives torque of each driving motor and sends to each electricity
Machine controller, and then realize the dynamic allocation that the driving moment of driving motor is respectively corresponded to vehicle driving wheel.
Wherein, the left and right sidesing driving wheel lotus transfer amount of each axle during the distributed driving running is calculated in real time
Method and step are as follows:
Current side acceleration a in the distributed driving running of acquisitiony；
Defaulting each axle roll center of the distributed driving automobile, identical with height of center of mass (plane of reference is horizontally
Face), it is based on following calculation formula later, calculates the left and right sidesing driving wheel lotus transfer of above-mentioned distributed driving each axle of automobile in real time
Amount:
Wherein in formula, Δ WiIndicate the load of the left and right sidesing driving wheel on i-th of axle of above-mentioned distributed driving automobile, ay
For the above-mentioned side acceleration a acquired in real timey, g expression acceleration of gravity, BiIndicate the distributed driving automobile of above-mentioned acquisition
Wheelspan on i-th of axle between left and right sidesing driving wheel, m indicate the gross mass of above-mentioned distributed driving automobile, hgIndicate above-mentioned point
Cloth drives the height of center of mass of automobile, i=1,2,3 ..., n.It is same with above-mentioned distributed driving Automobile shaft load calculation method
Reason, although the method for the left and right sidesing driving wheel lotus transfer amount of the above-mentioned distributed driving each axle of automobile of the calculating is based on default item
The calculating carried out under part, and the condition of the default is also a kind of condition for assuming to set up, but practice have shown that, calculated result also has
There is certain reliability, and is easy to implement.
Distributed driving Automobile drive Torque Control method of the present invention, which employs above-mentioned distributed driving automobiles
Axle load calculation method calculates the load of vehicle each left driving wheel and right driving wheel, and has calculated the distribution based on this
Formula drives the ratio between the load of each driving wheel of automobile, finally the ratio between the load according to the resulting each driving wheel of the calculating, Xiang Gesuo
The corresponding distribution driving moment of corresponding size of the corresponding driving motor of driving wheel is stated, this improves the dynamic of vehicle to a certain extent
Power performance, and the stability of vehicle manipulation is improved to a certain extent.
In the present embodiment, the distributed driving Automobile drive Torque Control method further include: driving motor work
Condition point optimal control step.Specifically, which includes: to preset a motor
Torque limit curve, the every bit on the motor torque restrictive curve indicate that corresponding motor turns under particular motor revolving speed
Square；According to each respective electric efficiency MAP chart of driving motor in the distributed driving running, each drive is obtained respectively
Dynamic motor is in current corresponding operating point；By each driving motor of above-mentioned acquisition reality corresponding to its current working point
Actual torque value corresponding to corresponding motor tachometer value carries out in torque value, with above-mentioned preset motor torque restrictive curve
Size compares.Specifically, the respective electric efficiency MAP chart of each driving motor in running is driven according to the distribution,
Each driving motor actual torque value corresponding under its current motor tachometer value is obtained respectively；By each institute of above-mentioned acquisition
Driving motor actual torque value corresponding under its current motor tachometer value is stated, is limited with above-mentioned preset motor torque
Actual torque value corresponding to corresponding motor tachometer value carries out size comparison in curve.The distributed driving Automobile drive
Torque Control method further includes, for each axle of the distributed driving automobile, if the corresponding driving of axle left driving wheel
Currently corresponding actual torque value is respectively less than above-mentioned preset motor for motor and the corresponding driving motor of right driving wheel
Corresponding torque value in torque limit curve, then the driving moment for controlling the corresponding each driving motor of the axle is zero, and should
Driving moment of the axle before driving moment zero setting distributes to other driving motors, other described driving motors are current respectively right
The actual torque value answered is corresponding to be greater than or equal to corresponding torque value in above-mentioned preset motor torque restrictive curve.It can
See that distributed driving Automobile drive Torque Control method of the present invention can be in due course under the premise of meeting duty requirements
Ground closes inefficient motor and optimizes its operating point to keep the operating point of other motors more efficient.
Wherein, the motor torque restrictive curve corresponds to the part in motor middle and slow speed of revolution region and is straight line, corresponds in motor
High engine speed range is inverse proportion function line, as shown in curve 2 in Fig. 2.Wherein, curve 1 is to correspond to electricity referring to curve in Fig. 2
The external characteristic curve of machine.Electric efficiency map figure and external characteristics of the present invention according to above-mentioned distributed driving each driving motor of automobile
Curve, formulates motor torque restrictive curve, the shape of the motor torque restrictive curve similar to motor external characteristic curve, in low turn
Fast region is straight line, middle high engine speed range is inverse proportion function line, is easy to implement.
Embodiment of above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned implementation
Invention is explained in detail for mode, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are repaired
Change or replaces, the range for each embodiment technical solution of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (4)
1. a kind of distributed driving Automobile shaft load calculation method, the axle load for multiaxis distributed-driving electric automobile
It calculates, which is characterized in that comprising steps of
Longitudinal acceleration during the distributed driving running of acquisition in real time；
The vehicle body for defaulting the distributed driving automobile is rigid body, each axle two sides rigidity unanimously and each axle roll center exists
On same axis, it is based on following calculation formula later, it is current to calculate each axle during above-mentioned distributed driving running
Load:
Wherein in above-mentioned formula, FiIndicate the load on i-th of axle of above-mentioned distributed driving automobile, kiIndicate above-mentioned distribution
The rigidity of i-th of axle of automobile is driven, a is above-mentioned current collected longitudinal acceleration, XiIndicate above-mentioned distributed driving
Offset of i-th of the axle of automobile in vehicle traveling process relative to its corresponding static equilibrium position, LiDescribed in expression
Offset of i-th of the axle of distribution driving automobile relative to the mass center of the distributed driving automobile, m indicate above-mentioned distribution
Formula drives the gross mass of automobile, and h indicates the height of center of mass of above-mentioned distributed driving automobile, and g indicates acceleration of gravity, i=1, and 2,
3 ..., n, the n indicate the axle sum of above-mentioned distributed driving automobile, wherein the of multiaxis distribution driving automobile
1 axle is located at the side of other axles on vehicle.
2. a kind of distributed driving Automobile drive Torque Control method, the driving moment for multiaxis distributed-driving electric automobile
Control, which is characterized in that comprising steps of
Calculate the load of distributed driving each axle of automobile in real time using axle load calculation method described in the claims 1
Lotus；
The left and right sidesing driving wheel lotus transfer amount that the distribution drives each axle during running is calculated in real time；
Using following formula, calculating the distributed driving automobile, each axle left and right sidesing driving wheel is currently corresponding when driving
Load:
Wherein, F in formulaiLIndicate the load of the left driving wheel on i-th of axle of the distributed driving automobile, FiRDescribed in expression
The load of right driving wheel on i-th of axle of distribution driving automobile, Δ WiIndicate the above-mentioned calculated distributed drive
The left and right sidesing driving wheel lotus transfer amount of i-th of axle of electrical automobile, FiOn i-th of axle for indicating above-mentioned distributed driving automobile
Load, i=1,2,3 ..., n, the n indicate the quantity of the axle of above-mentioned distributed driving automobile；
Based on the above-mentioned load for currently calculating resulting each left driving wheel and right driving wheel, the distributed driving automobile is calculated
The ratio between the current load of each driving wheel；
Based on the ratio between the current load of the resulting each driving wheel of above-mentioned calculating, to the corresponding driving motor pair of each driving wheel
Driving moment of corresponding size should be distributed；
The described side for calculating the left and right sidesing driving wheel lotus transfer amount of each axle during the distributed driving running in real time
Method step are as follows:
The distributed side acceleration during driving running is acquired in real time；
Each axle roll center for defaulting the distributed driving automobile is identical with height of center of mass, public based on following calculating later
Formula calculates the left and right sidesing driving wheel lotus transfer amount of above-mentioned distributed driving each axle of automobile in real time:
Wherein in formula, Δ WiIndicate left and right sidesing driving wheel of i-th of the axle of above-mentioned distributed driving automobile in vehicle driving conditions
Lotus transfer amount, ayFor the above-mentioned side acceleration acquired in real time, g indicates acceleration of gravity, BiIndicate that the distributed of above-mentioned acquisition drives
Wheelspan on i-th of axle of electrical automobile between left and right sidesing driving wheel, m indicate the gross mass of above-mentioned distributed driving automobile, hgTable
Show the height of center of mass of above-mentioned distributed driving automobile, i=1,2,3 ..., n.
3. distributed driving Automobile drive Torque Control method according to claim 2, which is characterized in that further include: it drives
Dynamic motor operating point optimal control step；
The driving motor operating point optimal control step includes:
A motor torque restrictive curve is preset, the every bit on the motor torque restrictive curve indicates that particular motor turns
Corresponding motor torque under speed；
According to each respective electric efficiency MAP chart of driving motor in the distributed driving running, obtain respectively each described
Driving motor is in current corresponding operating point；
By each driving motor of above-mentioned acquisition actual torque value corresponding to its current working point, preset with above-mentioned
Motor torque restrictive curve in actual torque value corresponding to corresponding motor tachometer value carry out size comparison；
For each axle of the distributed driving automobile, if the corresponding driving motor of axle left driving wheel and right driving wheel pair
It is bent that the corresponding actual torque value of driving motor current working point answered is respectively less than above-mentioned preset motor torque limitation
Corresponding torque value in line, then the driving moment for controlling the corresponding each driving motor of the axle is zero, and the axle is being driven
Driving moment before torque zero setting distributes to other driving motors, other described driving motor current working points are corresponding
Actual torque value is all larger than or is equal to corresponding torque value in above-mentioned preset motor torque restrictive curve.
4. distributed driving Automobile drive Torque Control method according to claim 3, which is characterized in that the motor turns
Square restrictive curve corresponds to that the part in motor middle and slow speed of revolution region is straight line, high engine speed range is inverse proportion function in corresponding motor
Line.
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| CN109100651B (en) * | 2018-07-27 | 2020-08-11 | 北京新能源汽车股份有限公司 | Method and device for determining performance of motor system and test equipment |
| CN109130889B (en) * | 2018-10-19 | 2020-03-31 | 北京理工大学 | Networked control system and scheduling method for multi-axis distributed driving electric vehicle |
| CN111027132B (en) * | 2019-08-08 | 2022-08-23 | 中国第一汽车股份有限公司 | Vehicle roll control method, device, equipment and storage medium |
| CN111071260B (en) * | 2019-11-22 | 2021-08-06 | 浙江中车电车有限公司 | Method for calculating axle load of articulated three-axle passenger car |
| CN113536469B (en) * | 2021-08-03 | 2023-10-10 | 中国航空工业集团公司沈阳飞机设计研究所 | Output torque calculation method of driving device |
| CN117485346B (en) * | 2024-01-02 | 2024-03-19 | 中国重汽集团济南动力有限公司 | Multi-axis distributed driving vehicle road surface driving condition identification method, device and equipment |
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