A method to control a first, second, third and fourth reversible electric machine of a motor-vehicle, comprising:
- store a table that associates a target torque that simulates the effect of the engine brake with a forward speed of said motor-vehicle;
- operatively connecting a first and a second electric machine respectively with a first and a second wheel of said motor-vehicle forming a first axle of said motor-vehicle arranged at a rear of the motor vehicle in use;
- operatively connecting a third and a fourth electric machine respectively with a third and a fourth wheel of said motor-vehicle forming a second axle of said motor-vehicle arranged at a front of the motor vehicle in use;
- electrically connecting a rechargeable electrical power source electrically connected with said first, second, third and fourth electric machines;
- operating each said first, second, third and fourth electric machines as an electric motor to exert respectively a first and second, third and fourth driving torque respectively on said first, second, third and fourth wheels, in the case of actuating a first accelerator command of said motor-vehicle;
- operating each said first, second, third and fourth electric machines as an electric generator to use at least a portion of the kinetic energies of respective said first, second, third and fourth wheels and to generate an electrical current that recharges, in use, said rechargeable electrical power source, upon actuating a second brake command of said motor-vehicle;
- wherein the method further comprises, upon release of said first command, of:
- processing values of a first, second, third and fourth electrical power available for a regenerative simulation of an engine brake for respective said first, second, third and fourth electric machines based on an amount of electrical power still storable in said rechargeable electrical power source and first operating parameters of said motor-vehicle, upon release of said first command;
- communicate said first, second, third and fourth electrical power available for the regenerative simulation to the respective said first, second, third and fourth electric machines and receive from said first, second, third and fourth electric machines respective values of a first, second, third and fourth available torque for the regenerative simulation of said engine brake associated with second operating parameters of respective said first, second, third and fourth electric machines themselves;
- and
- distribute said target torque over said first, second, third and fourth electric machines, so as to process respective first, second, third and fourth target torques;
- and
- process a first, second, third and fourth torque to be implemented for the regenerative simulation of the engine brake for the respective first, second, third and fourth electric machines;
- wherein said first, second, third and fourth torques are to be implemented as a minimum value between absolute values of each said first, second, third and fourth target torques and the corresponding said first, second, third and fourth available torques for the regenerative simulation of said engine brake;
- each said first, second, third and fourth torque to be implemented for the respective first, second, third and fourth electric machines being associated with the corresponding said first, second, third and fourth available torque values for the regenerative simulation of said engine brake.