A method to control a first, second, third and fourth reversible electric machine (RL, RR, FL, FR) of a motor-vehicle (1), comprising the steps of:
- i) operatively connecting a first and a second electric machine (RL, RR) respectively with a first and a second wheel (4, 5) of said motor-vehicle (1) forming a first axle (12) of said motor-vehicle (1) arranged at the rear in use:
- ii) operatively connecting a third and a fourth electric machine (FL, FR) respectively with a third and a fourth wheel (2, 3) of said motor-vehicle (1) forming a second axle (11) of said motor-vehicle (1) arranged at the front in use;
- iii) electrically connecting a rechargeable electrical power source (6) electrically connected with said first, second, third and fourth electric machines (RL, RR, FL, FR);
- iv) operating each said first, second, third and fourth electric machines (RL, RR, FL, FR) 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 (4, 5;
- 2, 3), in the case of actuating a first accelerator command (7) of said motor-vehicle (1);
- v) operating each said first, second, third and fourth electric machines (FL, FR, RL, RR) as an electric generator to use at least a portion of the kinetic energies of respective said first, second, third and fourth wheels (4, 5;
- 2, 3) and to generate an electrical current that recharges, in use, said source (6), in the case of actuating a second brake command (8) of said motor-vehicle (1);
- characterized in that it comprises the further steps, in the case of release of said first command (7), of:
- vi) processing values of a first, second, third and fourth electrical power available for the regenerative simulation (Power Available to FrMot for EM RL;
- Power Available to FrMot for EM RR;
- Power Available to FrMot for EM FL;
- Power Available to FrMot for EM FR) of the engine brake for respective said first, second, third and fourth electric machines (RL, RR, FL, FR) based on the amount of electrical power still storable (Lim Recharge VCU) in said source (6) and first operating parameters (Split of FrMot Rear right-left, Split of FrMot Rear right-left) of said motor-vehicle (1), in the case of release of said first command (7) (steps 3, 7);
- vii) communicate said first, second, third and fourth electrical power available for the regenerative simulation (Power Available to FrMot for EM RL;
- Power Available to FrMot for EM RR;
- Power Available to FrMot for EM FL;
- Power Available to FrMot for EM FR) to the respective said first, second, third and fourth electric machines (RL, RR, FL, FR) and receive from said first, second, third and fourth electric machines (RL, RR, FL, FR) respective values of a first, second, third and fourth available torque (Torque Available to FrMot for EM RL;
- Torque Available to FrMot for EM RR;
- Torque Available to FrMot for EM FL;
- Torque Available to FrMot for EM FR) for the regenerative simulation of said engine brake associated with second parameters of respective said first, second, third and fourth electric machines (RL, RR, FL, FR) themselves (steps 4, 8);
- and
- viii) process a first, second, third and fourth torque to be implemented for the simulation of the engine brake (RL Torque regenerated via engine brake;
- RR Torque regenerated via engine brake;
- FL Torque regenerated via engine brake;
- FR Torque regenerated via engine brake) (RL Torque regenerated via engine brake;
- RR Torque regenerated via engine brake;
- FL Torque regenerated via engine brake;
- FR Torque regenerated via engine brake) for the respective first, second, third and fourth electric machines (RL, RR, FL, FR) (steps 5, 9);
- each said first, second, third and fourth torque to be implemented (RL Torque regenerated via engine brake;
- RR Torque regenerated via engine brake;
- FL Torque regenerated via engine brake;
- FR Torque regenerated via engine brake) for the respective first, second, third and fourth electric machines (RL, RR, FL, FR) being associated with the corresponding said first, second, third and fourth available torque values (Torque Available to FrMot for EM RL;
- Torque Available to FrMot for EM RR;
- Torque Available to FrMot for EM FL;
- Torque Available to FrMot for EM FR) for the regenerative simulation of said engine brake.