Method for dual-motor control on electric vehicle based on adaptive dynamic programming

A method for dual-motor control on an electric vehicle based on adaptive dynamic programming, comprising the following steps:

• S1) obtaining, by a controller, data information of the electric vehicle under various driving conditions, and calculating total torque required by two motors of the electric vehicle based on the obtained data information and a corresponding accelerator pedal opening and/or brake pedal opening;
• S2) establishing an execution network and an evaluation network for the electric vehicle, conducting offline training based on the data information obtained in S1, and dynamically distributing total torque of the two motors of the electric vehicle under various driving conditions by using an adaptive dynamic programming method to obtain an efficiency MAP database of a dual-motor high-efficiency operating area of the electric vehicle;
• S3) obtaining data information of the electric vehicle under a real-time driving condition, and conducting online learning on the execution network and the evaluation network based on the obtained real-time data information of the electric vehicle to find an optimal control law of the electric vehicle under the real-time driving condition, and optimize the dual-motor control on the electric vehicle;
• wherein the data information corresponding to the two motors of the electric vehicle under various driving conditions in S1 are obtained by a torque sensor, a rotational speed sensor, a voltage sensor, and a current sensor;
• and
• wherein the total torque Te required by the two motors of the electric vehicle in S2 can be expressed by the following formula:
• Te=T′e+T″e (1), wherein
• T′e denotes total output torque of the motors of the electric vehicle under a current operating condition, and T′e=F/k, wherein F denotes driving force required by the electric vehicle under the current operating condition, and k denotes efficiency during kinetic energy transmission;
• T″e denotes torque that is calculated from the opening and closing of the accelerator pedal of the electric vehicle, and T″e=A*Temax, wherein A denotes an accelerator pedal opening of the electric vehicle per unit time, and Temax denotes maximum torque of the two motors;
• and
• F=Froll+Fair+Faccel+Fgrad, wherein Froll denotes rolling resistance of the electric vehicle, Fair denotes air resistance when the electric vehicle is driving, Faccel denotes acceleration resistance when the electric vehicle accelerates, and Fgrad denotes gradient resistance when the electric vehicle drives uphill.