Method and system for controlling one or two electically-driven axles having two electric motors

A method for controlling two electrically driven axles of a vehicle, each with an electric motor, wherein the first electric motor is connected to a first output via at least one first power transmission path and the second electric motor is connected to a second output via at least a second power transmission path, or

• for controlling an electrically driven axle with two electric motors which jointly drive an output, wherein the first electric motor is connected to the output via at least one first power transmission path and the second electric motor is connected to the output via at least a second power transmission path,
• comprising the following steps:
• determining values for a speed and a torque applied to at least one mechanical component of the power transmission paths and/or the electric motors;
• determining a value of a damage input in relation to the at least one mechanical component depending on the value of the applied speed and the value of the applied torque, and determining a value of a damage condition of the at least one mechanical component resulting from damage inputs over a predefined period of time;
• in the case of two electrically driven axles, controlling the electrically driven axles or, in the case of one electrically driven axle, controlling the electrically driven axle, taking into account the damage condition or a relative damage condition of the at least one mechanical component, wherein,
• in the case of two electrically driven axles, the electrically driven axles are controlled in such a way or,
• in the case of one electrically driven axle, the electrically driven axle is controlled in such a way that:
• the damage condition or the relative damage condition of different power transmission paths in relation to each other is taken into account, in particular that the damage condition or the relative damage condition of different power transmission paths is as balanced as possible.