Method for controlling three electric machines in an automobile

Abstract

The invention relates to a method for controlling a motor vehicle comprising a computer and three electric machines, including the steps of: - acquiring a total torque that the three electric machines must produce together, - dividing said general request into specific instructions (Tem1opt, Tem2opt, Tem3opt), and - controlling the three electric machines according to said specific instructions. According to the invention, in the distribution step, it is provided that: - a type of optimal torque distribution scenario between the three electric machines is determined, and - said specific instructions are calculated as a function of the type of optimal torque distribution scenario. Figure for the abstract: Fig. 2

Description

Title of the invention: Method for controlling three electric machines in an automobile Technical field of the invention

[0001] The present invention relates generally to the control of motor vehicle powertrains.

[0002] It relates more particularly to a method for controlling three electrical machines, the control method comprising steps implemented by the computer of: - acquisition of a general request relating to a total torque that the three electrical machines must produce, - division of said general request into specific instructions, each assigned to one of the three electrical machines, and - operation of the three electrical machines according to the aforementioned specific instructions.

[0003] It relates in particular to a method for controlling a motor vehicle comprising a computer and three electrical machines.

[0004] It also relates to a motor vehicle adapted to implement this process. State of the art

[0005] A car generally has four wheels distributed over two axles. Such a car may have two or four drive wheels.

[0006] In the case of four-wheel drive cars, it was common to use a driveshaft between the two axles to connect them to a single internal combustion engine. However, this design does not allow for torque distribution between the axles.

[0007] Now, the advent of hybrid or electric vehicles has led to the adoption of innovative drive configurations, with a powertrain on each axle.

[0008] It is thus known to use three electric machines (or "electric motors"), two on one of the axles and one on the other axle.

[0009] Typically, in a hybrid vehicle, the powertrain coupled to the front axle may include two electric machines and an internal combustion engine, whereas the powertrain coupled to the rear axle includes a single electric machine.

[0010] In all cases, the difficulty then lies in controlling the different electrical machines, which generally have different characteristics, in order to ensure a distribution of torque that minimizes electrical consumption. Presentation of the invention

[0011] In this context, the present invention proposes a control method as defined in the introduction, in which it is intended to: - determine a type of optimal torque distribution scenario between the three electrical machines, and - calculate the said specific instructions according to the type of optimal torque distribution scenario.

[0012] Thus, thanks to the invention, it is possible to take into account the characteristics of the electric machines and how they are coupled to the wheels in order to develop a strategy to start these electric machines at the best times in order to satisfy the torque demand of the driver, while minimizing the electrical power supplied by the battery of accumulators.

[0013] Other advantageous and non-limiting features of the process according to the invention, taken individually or in all technically possible combinations, are as follows: - to calculate said specific instructions, it is planned to determine values ​​of coefficients of equations linking said specific instructions to the general request, by means of mathematical formulas which depend on the type of optimal distribution scenario. - said specific instructions are each linked to the general request by a linear equation with two coefficients, and said mathematical formulas allow the two coefficients of each linear equation to be determined. - the three electrical machines being each adapted to exert a maximum torque, each type of optimal torque distribution scenario corresponds, when the general demand increases, to a different order of start-up and reaching of the maximum torques of the electrical machines. - the start-up and reaching of the maximum pairs defining limit thresholds when the general request increases, the said specific instructions are calculated according to the limit thresholds. - when the general demand increases, the said specific instructions vary linearly between the threshold limits. - The types of optimal torque distribution scenarios are distinguished according to whether they fulfill one or the other of the following combinations of conditions: ttuti (Tem, , Temr), \ lim “lim Temefy^ T emefy} J 11 Tem3 1 > H ' lim / FT T 1emefv 2I ET Tem f e. / y^ ■Um emefy3 •lim T emefn Him 'T* e™efy^ emefy> ' ^0 ' ' mm emefy ' -'o T emefy, Him. T emefy, 'Jim ' J7T T emefy ni i emgf y, mm hm * ITT1 T emefy 1 emefy 2r ' hm emefy^ Ayec: Temio, Tem20, Tem3o are the minimum values ​​at which the three electric machines start. Temiiim, Tem2iim, Tem3iim are the maximum values ​​at which the three electric machines reach their maximum torques. Temefyiiim, Temefy20, Temefy2iim, Temefy30 being each equal to one of the said minimum and maximum values, depending on the order of start-up and attainment of the maximum torque of the said electrical machines. - the general request is equal to the total torque to be applied to the wheels of the motor vehicle, and the specific instructions are equal to the torques that the electrical machines must apply to the wheels of the motor vehicle to which they are coupled.

[0014] The invention also proposes a motor vehicle comprising three electric machines and a computer programmed to implement a process as described above.

[0015] Preferably, the motor vehicle comprises at least two axles, two of the electric machines being coupled to one of the axles and the third of the electric machines being coupled to the other of the axles.

[0016] Preferably also, it includes an internal combustion engine coupled to the first axle.

[0017] Of course, the various features, variants, and embodiments of the invention can be combined in various ways, provided they are not incompatible or mutually exclusive. Detailed description of the invention

[0018] The following description with regard to the attached drawings, given by way of non-limiting examples, will make it clear what the invention consists of and how it can be carried out.

[0019] On the attached drawings:

[0020] [Fig-1] is a schematic view of a motor vehicle according to the invention;

[0021] [Fig.2] is a graph representing an example of the evolution of the torques exerted by the electrical machines of the motor vehicle in [Fig.1] as a function of the total torque to be exerted, for a first type of torque distribution scenario;

[0022] [Fig.3] is a diagram illustrating different blocks of a process for calculating the optimal torques that electrical machines must exert; and

[0023] [Fig.4] illustrates five other graphs similar to that of [Fig.2], for five other types of torque distribution scenario.

[0024] In [Fig.1], a motor vehicle 1 is shown.

[0025] It could be any type of vehicle, for example a truck, a bus...

[0026] This is a car conventionally comprising a chassis, four wheels including two front steering wheels 11 located on a front axle 10 and two rear wheels 21 located on a rear axle 20, and two powertrains respectively coupled to the two axles.

[0027] Each of the powertrains may be of the purely thermal, hybrid or purely electric type. In all cases, these powertrains shall comprise a total of at least three electric machines EM1, EM2, EM3 (and preferably exactly three electric machines).

[0028] In the example shown, the vehicle is hybrid, but alternatively it could be electric.

[0029] Therefore, the powertrain of one of the axles, here the front axle 10, comprises exactly one internal combustion engine 4 and two electric machines EM1, EM2, while the other powertrain comprises exactly one electric machine EM3.

[0030] These three electric machines EM1, EM2, EM3 are preferably all supplied with electric current by the same battery of accumulators 5.

[0031] These three electric machines EM1, EM2, EM3 are coupled to their respective axles by coupling systems that can be of very different types. These coupling systems offer gear ratios that can be identical or different from one electric machine to another.

[0032] Typically, this vehicle may include an "e-tech" type hybrid architecture, marketed by the company RENAULT.

[0033] The motor vehicle also includes a computer 30 designed to control the three electrical machines EM1, EM2, EM3.

[0034] This calculator 30 includes a processor, a memory and a data exchange interface, connected for example to a CAN network of the vehicle.

[0035] Thanks to this interface, the computer is adapted to receive different information, for example the operating speed of each electrical machine.

[0036] Thanks to this interface also, the computer is adapted to control the EM1, EM2, EM3 electrical machines.

[0037] Thanks to its memory, the computer 30 stores maps and a computer application, consisting of computer programs including instructions whose execution by the processor allows the implementation by the computer of the process described below.

[0038] This method is intended to determine specific instructions for the three electric machines EM1, EM2, EM3 according to a general request relating to the torque requested by the driver (or by a computer) to move the motor vehicle 1 forward.

[0039] These instructions and requests will be expressed here in the form of "wheel torques." Thus, the general request will correspond to the overall torque that the wheels must receive from the electric machines EM1, EM2, EM3 to satisfy the driver's intent. The specific instructions will correspond to the optimal torques that the electric machines must exert on the wheels, taking into account, in particular, the gear ratios of the coupling systems.

[0040] Thus, the process is designed here to determine the optimal torques Temiopt, Tem2opt, Tem3opt that each of the three electric machines EM1, EM2, EM3 must exert to produce together a target overall torque Teiwhi, while minimizing electrical consumption (i.e. the electrical power supplied by the battery of accumulators 5).

[0041] Before briefly describing the process that will be executed by the computer 30 to implement the invention itself, we will be able in the first part of this presentation to describe in detail the calculations which led to the invention, so as to understand where these calculations come from, on what springs they are based, and how to parameterize the system.

[0042] The idea of ​​this first part of the presentation is indeed to describe how it is possible to parameterize the computer 30, so that the latter can determine at each instant the optimal torques Temiopt, Tem2Opt, Tem3Opt according to the conditions encountered, and more precisely here according to the overall target torque Teiwhi and the regimes of the electrical machines EM1, EM2, EM3.

[0043] First of all, we can define the notations used in the following.

[0044] The optimal torque achieved by any one of the electrical machines EM1, EM2, EM3 will be respectively noted, in the first part of the presentation, Tem b Tem 2, Tem 3.

[0045] By torque produced, we mean both torque developed by the electrical machine and torque absorbed by that electrical machine. In the remainder of this discussion, we will consider that the electrical machines operate in "motor" mode, that is to say, that they exert torques. As will be described at the end of this discussion,

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[0056] They could also operate in "generator" mode, in which case the calculations will need to be adapted. The electrical power consumed by any one of the electrical machines EM1, EM2, EM3 will be denoted respectively as Pcsmem i, PCSmem 2- PCSmem 3- The gear ratio between any one of the electric machines EM1, EM2, EM3 and the wheels driven by this electric machine will be denoted respectively Ratem b Ratem 2, Ratem 3. The maximum torque that any one of the electrical machines EM1, EM2, EM3 is capable of developing will be denoted respectively Tiimem b Tiimem 2, Tiimem 3* We will consider here that we can calculate the electrical power Pcsmem i, Pcsmem 2- Pcsmem 3 consumed by any one of the electrical machines EM1, EM2, EM3 in function of the torque produced by this electrical machine EM1, EM2, EM3, here by means of a polynomial, for example a polynomial of order 2, which can be written: [Math.l] csmem 1 P 1 csmenû. csmem3 p(\ * ^csmemi PO csmeml PO * ^csmemi PI T * Lcsmeml'* eml PA T 1 Csmemi-* ern2 p] t Lcsnwm?>' em3 4- pi ^csmem i T ~ eml 4- P? ~ 1 ^csmemi T “ em2 + P7 T 2 ' * ^csmem3 • em3 The values ​​of the nine coefficients used in these polynomials are assumed to be known. It should be noted that they vary depending on the operating conditions of the associated electrical machine. The three gear ratios are also assumed to be known and constant. The process for determining the optimal pairs TemiOpt, Tem2opt, and Tem3Opt involves several steps, each fulfilling a specific function. These different functions—FIA, F1B, F2A, F2B, F3A, F3B, F4, F5, and F6—are illustrated in details on [Fig.3] and can now be described. The applicant has found that the optimal torque Tem b Tem 2 exerted by any one of the electric machines EM1, EM2 of the front axle 10 is an affine function of a torque target on the front axle TeiWhifr, which can be written here as: [Math.2] ^««1 “ ^Teml '^elwMJr 4" Pfem} [Math.3] Teml ^Teml 'P elwMfr "f P Teml The first FIA function allows the calculation of the coefficients of these two affine functions, called the first coefficients of optimal torque distribution on the electrical machines EM1 and EM2, and respectively noted ATemb BTemb ATem 2, BTem 2.

[0057] After solving equations, it was calculated that these first coefficients ATemi, BTemi, ATem 2, BTem 2 can be calculated using the following equations:

[0058] [Math.4] R&lemt T'm “ P2m*Ratem?+ F2csmem*Rat^

[0059] [Math.5] PRuton P^csnlem* R^ani P™ 2^P2esntem*Ratem.~+ P2csmem^ Rtâem'}

[0060] [Math.6] 1- ATtll*Rateni, APe™, Slow Motion

[0061] [Math.7] "BT".* R^tem, ^Temi = ~ RM^,

[0062] The applicant also noted that the variation of the optimal torque Temi, Tem2, Tem3 exerted by any one of the electrical machines EM1, EM2, EM3 can be modeled by an affine function of the overall target torque Teiwhi, which can be written here as:

[0063] [Math. 8] ein\ ~ ^Tem\cs elwld ^Ternies

[0064] [Math.9] T = *T, ,, + Bt em2 lemlcs elwhl lemics

[0065] [Math. 10] Teml ~ gm^cs 'Te[whl + ^Ternies

[0066] The second function F1B, which uses as input the results of the function FIA, then allows the calculation of the coefficients of these three affine functions, called second coefficients of optimal torque distribution on the three electric machines EM1, EM2, EM3, and respectively noted ATemics, B|em|C,, ATem2CS, BTem2CS, A |em3c,, B |ein3c,.

[0067] After solving equations, it was calculated that these second coefficients can be calculated using the following equations:

[0068] [Math. 11] = At^ ~ Ap^AT^Rate^

[0069] [Math. 12] Bp^ = Bp,^ - Ap^Bp^ Ratemy

[0070] [Math. 13] At^ = ATem2 - ATem^ATmiJ'Ratem3

[0071] [Math. 14] Bpemi — BTemi- AT^BTein^ Ratem3

[0072] [Math. 15] ~*Ratemf+P2csmem^ ~''Ratem^ P2amm*AT„a:-*Ratem.~+P2^^

[0073] [Math. 16]

[0074] It can be observed here that the target torque on the front axle Teiwhifr disappears from the calculations of these second coefficients. However, only these second coefficients will be used subsequently, so this target torque will never have to be determined independently.

[0075] The electric machines EM1, EM2, EM3 have different technical characteristics and / or are coupled to the axles using different gear ratios.

[0076] Also, they are not all usable at the best performance under the same conditions.

[0077] Typically, when starting the vehicle, it may be more advantageous to use one of the electric machines rather than another.

[0078] Similarly, when the overall target torque TeiWhi increases, the electrical machines will not all reach their maximum torques Tiimem b Tiimem 2, Tiimem 3 at the same instant.

[0079] Thus, when the overall target torque Teiwhi increases, each electric machine EM1, EM2, EM3 can be associated with: - a minimum value Temi 0,0, Tem2 0,0, Tem3 0,0 from which this electric machine will begin to participate in achieving the overall target torque Teiwhi (in other words, this is the wheel torque from which either machine begins to produce torque), and - a maximum value Temi nm ,0, Tem2 nm ,0, Tem3 nm j0 from which this electrical machine will no longer be able to participate in achieving the overall target torque Teiwhi since it will have reached its maximum torque.

[0080] It should be noted that the notion of maximum value Temi Um >0, Tem2 iim ,0, Tem3 Um >0 will be different from that of maximum couple Tiimem i, Tiimem 2, Tiimem 3.

[0081] Indeed, the minimum and maximum values ​​are equal to the sum of the torques exerted by the three electrical machines, that is to say to the overall target torque Teiwhi at a given instant.

[0082] To illustrate these values ​​well, an example of a torque distribution scenario has been shown in [Fig.2] in which, when the overall target torque TeiWhi increases, the electric machines EM1, EM2, EM3 begin to be used successively.

[0083] In this example: - the minimum torque Temi0 >0 is equal to Liml2, and the maximum torque Temi Um >0 is equal to at Lim45, - the minimum torque Tem2o ,o is equal to Lim23, and the maximum torque Tem2iim ,o is equal to Lim34, - the minimum torque Tem30 >0 is equal to 0 Nm, and the maximum torque Tem3iim >0 is not

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[0089] represented. The function F2A, which uses the results of the function F1B as input, allows us to determine a ranking of the electrical machines EM1, EM2, EM3, giving the order in which it is preferable to successively use these electrical machines when the overall target torque TeiWhi increases (in order to best reduce the electrical consumption of the electrical machines). This ranking is stored in a vector EMefyrnk. The values ​​stored in this vector will be the digits (1, 2 and 3) of the references of the electrical machines EM1, EM2, EM3, stored in the defined order. Typically, in the example illustrated in [Fig.2], this vector will take the value [3 1 2] since, in the context of optimal efficiency operation, the electric machine EM3 is the one that will provide torque earliest and the electric machine EM2 is the one that will provide torque latest. In practice, to determine this vector, we only consider the second coefficients. Therefore, given the aforementioned equations, we can write: [Math. 17]

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[0093] '0 bt Tem-y ~ "X *•() 1 envj bt 0 Here we understand that these terms Temio, Tem2o, Tem3o correspond to the intersections between the x-axis and the lines illustrating the aforementioned linear equations. In the example described above, the vector takes the value [3 1 2] if: [Math. 18] Tem30 < ^emlO < ^emlQ The function F2B, which uses the results of the function F1B as input, allows us to determine a ranking of the electrical machines EM1, EM2, EM3, giving the order in which they reach their maximum torques.

[0094] This ranking is stored in a vector EMiimrnk. Here again, the values ​​stored in this vector will be the digits (1, 2 and 3) of the references of the electrical machines EM1, EM2, EM3.

[0095] Typically, in the example illustrated in [Fig. 2], this vector will take the value [2 1 3] since the electric machine EM2 is the one that will reach its maximum torque earliest and the electric machine EM3 is the one that will reach its maximum torque latest. In other words, in this case, the machine that will be able to participate in achieving the target overall torque increase TeiWhi latest will be the electric machine EM3, and the one that will cease to participate earliest will be the electric machine EM2.

[0096] To determine this vector, we only consider the second coefficients and the maximum pairs T^mem i, T^mem 2, T^mem 3.

[0097] In practice, it is necessary to define the limit values ​​of wheel torques Temi nm, Tem2 lin» Tem3 Um for which the electrical machines EM1, EM2, EM3 have reached these maximum torques Tiimem b Tiimem 2, Tiimem 3, which can be written:

[0098] [Math. 19] TUm,™- B?

[0099] In the example described above, the vector takes the value [2 1 3] if:

[0100] [Math.20] T c T < T 1 enûlim 1 eiMim ' 1 em ilim

[0101] At this stage, the idea will be to reassign the characteristics of the machines according to the classifications made by the functions F2A, F2B so as not to be constrained by the randomly chosen reference numbers (1, 2 and 3) of the electrical machines EM1, EM2, EM3.

[0102] The function F3A, which uses as input the results of the functions F1B and F2A, thus has the function of assigning the parameters of the machines EM1, EM2, EM3 according to the vector EMefyrnk- We consider for this that the three machines are now referenced EMefyi, EMefy2, EMefy3, such that EMefyrnk= [EMefyi, EMefy2, EMefy3].

[0103] The parameters of these machines EMefyi, EMefy2, EMefy3 are now referenced in the following way.

[0104] The second coefficients of optimal torque distribution on the three electric machines, formerly denoted A-rem cs, B-rem cs, A-rem 2cs, B-rem 2cs, A-rem 3cs, B-rem 3cs,

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[0115] are now written (given the order defined by the vector EMefyrnk): ATemefyi, ByemefyU Ayemefy2, B'|eme[y2, A'|eme[y3, ByemefyS* Typically, in the given example where the vector EMUmrnk is equal to [3 1 2], we can write ATem lefy 1 — Ayem 3CS, Byem efy 1 — Byem 3CS, Ayem efy 2— Ayem lcs. • • The coefficients of the polynomials representing the electrical power consumed by each electrical machine are now denoted: PO P1 A '-^csmemefyB A 1 PO P1 -1- '-,csmemefy2? -1- 1 P? A ■^'csmemefyB P? -1- ■^'csmemefy2? csmemefyB csmemefy2? P0csmemefy3, P1 csmemefyS, P2csmemefy3* The gear ratios, formerly denoted Ratem b, Ratem 2, Ratem 3, are now denoted Ratemefyb, Ratemefy2, Ratemefy3* Finally, the limit values ​​of wheel torques, formerly noted Tem llim, Tem 2iim, Tem 3iim, are now noted Tkmbfy, Tkm2efy, Tkm3efy. Similarly, the function F3b, which takes as input the results of functions F1B and F2B, assigns the parameters of machines EM1, EM2, and EM3 based on the vector EMiimrnk. For this purpose, the three machines are now considered to be referenced as EMUmi, EMiim2, and EMiim3, such that EMiimrnk = [EMUmi, EMiim2, EMiim3]. ]• The parameters of these machines EMiim b EMiim 2, EMiim 3 are now referenced as follows. The second coefficients of optimal torque distribution on the three electric machines, formerly noted ATemj cs, BTemj cs, ATem 2CS, BTem 2CS, ATem 3CS, BTem 3CS, are now noted (taking into account the order defined by the vector EMUm rnk): ATem Um b BTem lim 1» Ayem km 2, Byem km 2, Ayem lim 3, Byem km 3. Typically, in the given example where the vector EMUmrnk is equal to [2 1 3], we can write ATem lim 1 — Aient 2cs, Blem üm 1 — Byem 2cs, Aiem üm 2 — Aiem lcs. . . The coefficients of the polynomials representing the electrical power consumed by each electrical machine are now denoted: PO P1 P? A ^csmem lim BA ^-csmem lim BA -^csmem lim B PO P1 P? -1- ^csmem lim 2? -1- ^-csmem lim 2? -1- -^csmem lim Pôcsmem lim 3, Plcsmem lim 3, P2csmem lim 3. The gear ratios, formerly denoted Ratem b, Ratem 2, Ratem 3, are now notes Ratem lim B Ratem lim 2, Ratem lim 3* Finally, the limit values ​​of wheel torques, formerly noted Tem nim, Tem 2iim, Tem 3iim? are now noted T^mi nm, T^m2 nm, T^m3 nm.

[0116] The function F4, which uses as input the results of the functions F2A, F2B, F3A and F3B, makes it possible to determine the type of optimal torque distribution scenario between the electrical machines.

[0117] An "EMdistcase optimal distribution scenario type" corresponds to a particular distribution of the minimum values ​​Temi 0, Tem2 0, Tem3 0 and maximum values ​​Temi Hm, Tem2 lim, TemS lim*

[0118] The applicant has indeed sought the different scenarios that could be considered for distributing the torque between the three electric machines EM1, EM2, EM3 when the overall target torque Teiwhi increases.

[0119] Thus, one scenario will correspond to a successive start-up of the three electrical machines EM1, EM2, EM3, followed by a successive attainment of their maximum torques. Another scenario will correspond to a start-up of one of the electrical machines, followed by the attainment of its maximum torque, followed by the start-up of a second electrical machine, followed by the attainment of its maximum torque, followed by the start-up of a third electrical machine, followed by the attainment of its maximum torque.

[0120] It should be noted that the scenarios do not take into account the identifiers of the electrical machines. In other words, a scenario defines how the electrical machines are used (successively, overlapping, etc.), but it does not define the order in which these electrical machines are used.

[0121] Here, six types of optimal torque distribution scenario EMdistcase were distinguished.

[0122] Depending on the type of optimal distributions in which we find ourselves, the calculation of the optimal pairs Tem i opt, Tem 2 opt, Tem 3 opt will be done differently.

[0123] In [Fig.2], a first type of optimal distribution scenario is shown, according to which: - when the overall target torque Teiwhi varies from zero to a threshold Liml2, only one of the electrical machines (here EM3) exerts an increasing torque, then - when the overall target torque Teiwhi varies from the threshold Liml2 to another threshold Lim23, another of the electrical machines (here EM1) also exerts an increasing torque, - when the overall target torque TeiWhi varies from the threshold Lim23 to another threshold Lim34, the third of the electrical machines (here EM2) also exerts an increasing torque, then - when the overall target torque Teiwhi reaches the threshold Lim34, the torque exerted by one of the electrical machines (here EM2) reaches its limit, so that only the other two torques continue to increase, then

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[0132] - when the overall target torque Teiwhi reaches a final threshold Lim45, the torque exerted by another of the electrical machines (here EM1) reaches its limit, so that only the last torque continues to increase. This first type of optimal distribution scenario EMdistcase is referenced 1 in the table below. It corresponds to the case where all the minimum values ​​Temio, Tem2o, Tem3o are less than the maximum values ​​Temnim, Tem2iim, Tem3iim, so we can write: [Math.21] whh Tem^ , Tem^^ , Tem^ > max Tem^ Tem^^ In [Fig.4], the five other types of optimal distribution have been represented, in a more schematic way. The second type of optimal distribution scenario EMdistcase, referenced 2 in the table below, corresponds to the case where the minimum values ​​Tem 2 o ,o and maximum Tem2iim ,0 for one of the electrical machines are greater than the minimum values ​​Tem io ,o and maximum Tem i Um >0 of one of the electrical machines and less than the minimum values ​​Tem 3 o ,o and maximum Tem 3 nm .0 of the other of the electrical machines. The other types of optimal distribution correspond to cases where these values ​​overlap. Thus, the third type of optimal distribution scenario EMdistcase, referenced 3 in the table below, corresponds to the case where the minimum values ​​Tem 10.0 and maximum Tem 1 nm .0 for one of the electrical machines are less than the minimum and maximum values ​​of the other two electrical machines, and where the minimum values ​​Tem 3 0.0 and maximum Tem 3 Um >0 of one of these two other electrical machines are between the minimum values ​​Tem 2 0.0 and maximum Tem 2 nm ,0 of the last of the electrical machines. The fourth type of optimal distribution scenario EMdistcase, referenced 4 in the table below, corresponds to the case where the minimum values ​​Tem 10,0, Tem 2 0,0 of two of the electrical machines are less than the minimum value of the third machine, where the minimum value Tem 3 0,0 of this third machine is between the maximum values ​​Tem 1 nm,0, Tem 21™,0 of the first two machines, and where the maximum value Tem 3 Um >0 of the third electrical machine is between the maximum values ​​Tem 1 Um >0, Tem 2 nm,0 of the other two electrical machines. The fifth type of optimal distribution scenario EMdistcase, referenced 5 in the table below, corresponds to the case where the minimum values ​​Tem 3 0,0 and maximum Tem 3 nm ,0 for one of the electrical machines and the minimum value Tem 2 o ,o of a second of the electrical machines are between the minimum values ​​Tem io ,o and maximum Tem i nm ,0 of the last of the electrical machines.

[0133] The sixth type of optimal distribution scenario EMdistcase, referenced 6 in the table below, corresponds to the case where the minimum values ​​Tem 2 0 ,o and maximum Tem 2 iim ,0 for one of the electrical machines are greater than the minimum and maximum values ​​of the other electrical machines, and where the minimum values ​​Tem 3 0 ,o and maximum Tem 3 nm .0 of another of the electrical machines are between the minimum values ​​Tem 1 0 ,0 and maximum Tem 1 Um >0 of the last of the electrical machines.

[0134] With reference to [Fig.2], a "threshold limit" (Liml2, Lim 23, Lim34, Lim45) can be defined as a torque value where one of the electrical machines begins to supply torque or where one of the electrical machines reaches its maximum torque.

[0135] In the EMdistcase optimal distribution scenario type of [Fig.2], four threshold limits are distinguished and therefore five torque distribution intervals II, 12,13, 14,15.

[0136] In the optimal distribution scenario type for which EMdistcase = 2, we will distinguish two threshold limits and therefore three torque distribution intervals.

[0137] To determine which type of EMdistcase optimal distribution scenario to apply, it is planned to perform three steps.

[0138] In a first step, the maximum torque values ​​at the wheels are acquired for which the first two electric machines EMefyi, EMefy2 of the vector EMefyrnk have reached their maximum torques Temefyiiim, Temefy2iim- Alternatively, they can be recalculated using the following equations:

[0139] [Math.22] rr\ ' z L Jy\im TlUn'em2efy-BTemef^

[0140] In a second step, the minimum torque values ​​at the wheels are acquired for which the last two electric machines EMUm2, EMiim3 of the vector EMiimrnk have a value of zero. Alternatively, they can be recalculated using the following equations:

[0141] [Math.23] f

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[0153] In a third step, the type of optimal EMdistcase torque distribution scenario between the electric machines is determined by checking which of the following combinations of conditions is satisfied. [Table 1] EMdistcase Combination of conditions 1 min( Tem , Tem„ , Tem~ । > max / 7 em , Tem^, Tem~ ] \ him ~liin 'lim 1 \ H) ~0 -n / 2 T <” T WT1 TT ^.fy^ emefy2r €m*fy^ 3 Tan f < Tan r AND Tem f > Tem f efy. ^efyr, emejy7 emefy^ Him ^iim A) 4 T AND T c T 1 ^efy, 1 emefy- 1,1 emefy 1 emefy yim 4) ' Vim -¾ 5 T ^. T VT T \T 1 emefy > 1 emefy.y 1 €mefy. €mefy\ 6 Tan f > Tem f AND Tan f < Tan f Him ” ^ïim Him A > Function F5, which uses the results of functions F4, F3A, and F3B as input, allows us to determine: - the threshold limits Liml2, Lim23, Lim34, Lim45 of the intervals II, 12, 13, 14, 15, here in the form of a vector denoted VectTelwhlbound, and - the coefficients A, B to be applied in each interval II, 12,13,14,15 to calculate the optimal pairs, here in the form of vectors noted VectATeml, VectBTeml, VectATem2, VectBTem2, VectATem3, VectBTem3. We can write here: VectTelwhlbound = [0, Lhnl2, Lhn23, Lhn34, Lhn45] These different vectors will be determined differently depending on the type of EMdistcase optimal distribution scenario. We can first consider the case of the first type of optimal distribution scenario (EMdistcase=l). In this scenario, the first step is to determine the optimal distribution of couples in the intervals 12 and 14. We can write this: [Math.24] Temefy = AoT *Te! . + B2t Avec: Pïvsfn&nyft „ ______L2____2_____-___-J____— )

[0154]

[0155]

[0156]

[0157]

[0158]

[0159]

[0160]

[0161]

[0162]

[0163]

[0164]

[0165]

[0166]

[0167]

[0168]

[0169] [Math.25] Terrier,, — A7T *Te[ + Bn-r Avec: 1- .. c}>i ^Tern^ Rûtefneff? * Ratcmerr [Math.26] Temiiim — A^^ + Avec P^csmem^'^^em-^, Tem^, Plcs^a^Rate,^ +P2cim<^ItâCm^ P^sniem^P^em^'P^m^^Plcm^^jTlhnan^Ratm^ l^Plcsmtm^ *Ratem,Ji~+P2csman}lJfRatem?li„~) [Math.27] Tem?™ = A4Tcm^^ + B^ With D _ Ratan*°^ “Rot™';!™ We can then define the threshold limits and optimal distributions of the torques of the electrical machines EM1, EM2, EM3 as a function of the vectors EMefyrnk and EMlimmk, using the vectors of coefficients A and B. In the table below, each vector of coefficients A or B includes the three coefficients Ayemi cs, Ayem 2cs, A |em 3CS, or B |eih| cs, Byem 2cs, B |em 3CS. Note that in the table below, vector products are shown, which ensures the clarity of this table and also guarantees a reduction in the workload that the vehicle's computer 30 will have to bear to implement the invention. [Table 2] AB II (aao) 12 EMefyrnk ( 0 ) EMefv (B2t ,B,r ;0] 13 ( Aff- s / 4.77 s / 4 T7 1 t *em\ 1 em^ 1 em\ I \ lCS -'CS / 14 E^limrnk(^ ) EM^T^B^B^J 15 0 ' 0 ' Raîem„im ) E ^limrnk 1

[0170] The optimal torque distribution vectors VectATeml, VectBTeml, VectATem2, VectBTem2, VectATem3, VectBTem3 for the three electric machines EM1, EM2, EM3 can therefore be deduced from this table.

[0171] This deduction is carried out as a function of the vectors EMefymk and EMlimrnk.

[0172] Typically, in the case of interval II, the coefficient A is determined as follows: if the vector EMefyrnk is defined as having the value [2 13], then the first of the values ​​defined in interval II for the coefficient A should be assigned to the vector VectATem2, the second value (0) to the vector VectATeml and finally the third value (0) to the vector VectATem3.

[0173] The same applies to the parameter B of the interval II.

[0174] To go further, we can also take the example of the interval 14. If the vector EMlimrnk is defined as having the value [3 2 1], then the first of the values ​​defined in the interval 14 (0) for the coefficient A should be assigned to the vector VectATem3, the second value (A4Tem2iim) to the vector VectATem2, and finally the third value (A4Tem3iim) to the vector VectATem3. The same applies to the parameter B.

[0175] It is noted that in the interval 13, the coefficient A is not defined by the vectors EMefyrnk and Emlimmk, so that its values ​​are directly assigned in order to VectATeml, VectATem2 and VectATem3 for the factor A with the values ​​ATemics, ^Tem2cs ^t A4em3cs.

[0176] The limit thresholds will be determined using the following table:

[0177] [Table 3] Liml2 «~l te 1 | 1 1 Lim23 fl f as H Lim34 Lim45 Tgm . -$4-

[0178] Thus, in this first case, the vector VectTelwhlbound is expressed as follows:

[0179] [Math. 28]

[0180] VectTelwhlbound = [0; Liml2; Lim23; Lim34; Lim45]

[0181] We can then consider the case of the second type of optimal distribution scenario (EMdistcase=2).

[0182] In this scenario, it is first planned to determine the optimal distribution of couples in the interval 12.

[0183] It is then planned to define the optimal distributions of the torques of the electrical machines EM1, EM2, EM3 as a function of the vectors EMefyrnk and EMlimrnk, using the vectors of coefficients A and B.

[0184] [Table 4] AB II EMef, AA, ;°;°) rnk\ / (aao) 12 EMgfy^yTlimem^y, Rat^y >0 / 13 TliWemigfy^ ' EMg fy J rnk ---------—----—----— \ Ratem^f, /

[0185] Finally, we define the threshold limits, which are given in the following table:

[0186] [Table 5] Liml2 T litnem^fy^Rütem ^fy Lim23 Tliinem^fy^'Rütemigfy + Tliniemi^fy^Rüten^fy

[0187] Thus, in this second case, the vector VectTelwhlbound is expressed as follows:

[0188] [Math. 29]

[0189] VectTelwhlbound = [0; Liml2; Lim23]

[0190] We can then consider the case of the third type of optimal distribution scenario (EMdistcase=3).

[0191] In this scenario, it is first planned to determine the optimal torque distribution in the interval 13.

[0192] We can then write:

[0193] [Math.30] Tem31im - Aa^ +

[0194] .

[0195] P^m^^Ratan^Ratcm^-VPl^^^Tlimeni^Ratem^Ratem.j,,-^ "aKæ"' 2^P2en*M*J,-RatemMlI )

[0196] [Math.31] Tem2!jm = A3Temam*Teiwhl + Bv

[0197] With

[0198] ,

[0199] „ _

[0200] It is then planned to define the optimal distributions of the torques of the electrical machines EM1, EM2, EM3 as a function of the vectors EMefyrnk and EMlimrnk, using the vectors of coefficients A and B.

[0201] [Table 6] AB II EM.ty S J'rnk \ ' ■" > / (0,0,0) 12 EMefyrn](\Tlimemtfy. Ratem,^ ) 13 E^limnrk( Tlimern^ 14 / Tlimem^ Tlimetn^ EMlim -TUm^Rat^-W^ 1 iujn Uwt Airn Zîifîi \ ) 1 *•'".vm /

[0202] Finally, we define the threshold limits, which are given in the following table:

[0203] [Table 7] Liml2 Tlimem^'Ratem^ Lim23 Ri, _______ Lim34

[0204] Thus, in this third case, the vector VectTelwhlbound is expressed as follows:

[0205] [Math. 32]

[0206] VectTelwhlbound = [0; Liml2; Lim23; Lim34]

[0207] We can then consider the case of the fourth type of optimal distribution scenario (EMdistcase=4).

[0208] In this scenario, it is first planned to determine the optimal distribution of couples in the intervals 12 and 14.

[0209] We can then write:

[0210]

[0211]

[0212]

[0213]

[0214]

[0215]

[0216]

[0217]

[0218]

[0219]

[0220]

[0221]

[0222]

[0223]

[0224]

[0225]

[0226] [Math.33] Terrier,, = A?T *Tej + Bv, With : P^esmem«fx * ---------:------r---------------to PK'xmwncfx ' R«lent..., Rcitemxjv - Pîe^wm^ v Rotétne^ 2,'^P2i:smemr^^Raiéi)f,fyy + P2CSntcl^fv* Ratem, / ,^ j [Math.34] Terrier,, — *Te[ + B,T ^"■2 clwM ^lenr.tt. With 1- ^Ratemef.. ^■Tcoi^ C^i = Rate^ R({tcmer.. R^Fin^jy^ [Math.35] Tem2iiItl = A^ JTeiwhl + 1- À4-. *R <ltem.. IfM'f R^teiihK To v'**Jbw B±r * Rdtetnv Al lifîtgmu ^Rtâemu tttn^ ".vim ""wx *■' *uv>t Rütemu v'-h>n Terri,;;,,, '^^whi With P'Zsmem w„* ^"'vh Plamem^ ^Rutem.>Jim +P2csmcm^!sR{ltemi!ll,l B4t P^:siitem,l^Rtitem!ll, / 'Rlltem2lji>-2>P2csm<;m ^Tlimein^^Ratciai / i.J'Ratem^^-P^esinem^R^terii,^,, 2'-{P2csmemii^J''Ratem! / iai +P2csmar!x ''RatcmXill ) The next step is to define the optimal distributions of the torques of the electrical machines EM1, EM2, EM3 as a function of the vectors EMefyrnk and EMlimrnk, using the vectors with coefficients A and B.

[0227] [Table 8] AB II ;0;0) (Q0;0) 12 EMÿfo f J ^2T ' EMefv (Bit ;0\ 13 EM,f) .(<> rnk\ '^2 / / -TUtHemef^Riltemefi, \ \Tlimemefy, Ratem(i. ) * rn]c \ t / 14 E^l'mrnk^ ) EMlim , llmrnk V ''"U™' J 15 E^limmk( 0 ' 0 ' Raîem„im ) EM[im 1 umrnk ' TEm^Tlimem^ 1, ^ak:mXtll )

[0228] Finally, we define the threshold limits, which are given in the following table:

[0229] [Table 9] Lhnl2 > 1 t*l fl 1 f1 eq H Lim23 Lim34 Lim45 Tlmiem,, ~B4t A4t

[0230] Thus, in this fourth case, the vector VectTelwhlbound is expressed as follows:

[0231]

[0232]

[0233]

[0234]

[0235]

[0236]

[0237]

[0238]

[0239]

[0240]

[0241]

[0242] [Math. 37] VectTelwhlbound = [0; Lhnl2; Lim23; Lhn34; Lhn45] We can then consider the case of the fifth type of optimal distribution scenario (EMdistcase=5). In this scenario, the first step is to determine the optimal distribution of couples in the intervals 12 and 14. We can then write: [Math.38] TenVv = Aot *Te} + Bit With =----------- 'Raient.' Rctte»iejv -Plénum f ' Riltém..^ B —--:——------— ---——--- 2*(P'2csmem^fy*Ratem,fy~+ P2csmemr),* Ridem,f,^ [Math.39] Temefv = A^-,■ ':Tel + B^t zl«»ayà el»M zleiiL-r,, With 1- ^Rutëniej-y With

[0243] B2T^Rat^ ^2Tem^ = " Rat™..

[0244]

[0245] [Math.40] = + ^4^^

[0246] With

[0247]

[0248] P2Csmllm.jllM Rnteuj^^K

[0249] Pïrsmw^Ratem^Rlrtem^-l^Plcsn^,,^^^ l*(P2csman^

[0250] [Math.41] Tem^,- —-Aa-t *Tei + B,T Km2km Tem-,1^ etKM Tem7tim

[0251] With

[0252] _ 4Tem^ ~

[0253] „ _ RatnnxJ-TRm^

[0254] It is then planned to define the optimal distributions of the torques of the electrical machines EM1, EM2, EM3 as a function of the vectors EMefyrnk and EMlimrnk, using the vectors of coefficients A and B.

[0255] [Table 10] AB II ( 0,0,0) 12 EMe fx ( A?™ A^r jO'I J 'rnk \ em*tyx em^y., ) ™efy ( rnk B^r \B2t ;0I 13 EM.f, 3^:0:0) rnk\ 'fyi / EMefy 1 Ratemrfy ' Tli rnk jnk, \00 '"i ” / 14 EMUn. , ( 01A4,, ; ) lanntk^ ' Tem^ Te^3ii„JE^limrnk( ) 15 EM,im ,(0;0;^—) ,mrnk\ KatTM^, JE^ii iUftrnk Tlimem^ Tlinien^ -Tlirn^m^Ratem^-Tlirnem^

[0256] The thresholds are finally defined, which are given in the following table:

[0257] [Tab. 11] Liml2 1 .°5 £ ~ 1 Lim23 TUmem,ry -B>r Lim34 R4 ....ATM*” " A47- Lim45

[0258] Thus, in this fifth case, the VectTelwhlbound vector is expressed as follows:

[0259]

[0260]

[0261]

[0262]

[0263]

[0264]

[0265]

[0266]

[0267]

[0268]

[0269]

[0270]

[0271] [Math. 42] VectTelwhlbound = [0; Lhnl2; Lim23; Lhn34; Lhn45] Finally, we can consider the case of the sixth and last type of optimal distribution scenario (EMdistcase=6). In this scenario, the first step is to determine the optimal distribution of couples in the intervals 12 and 14. We can then write: [Math.43] Ternes = Aot *Te^ + Bv, With P^csmem«rv * Ratemery. ---------------:-------------------------------------- -hm.... + P^smzmefv^ Ratemrly^ ' Ralem.Ratemeyv - , ■ Raton^^ ÿ — ----;---U_______J____,-- 2Tem.fyi 2^2^,.ï^smcmgfy^ Ri^em^fy^ j [Math.44] Teniefv — A *Te[ + With I ly Rl ti W,. . -Maybe, Mr. Raton... I>'T * Rataner,

[0272] It is then planned to define the optimal distributions of the torques of the electrical machines EM1, EM2, EM3 as a function of the vectors EMefyrnk and EMlimrnk, using the vectors of coefficients A and B.

[0273] [Table 12] AB II EM.fy ;0;0) ' rnk \ J mo) 12 EMefyrnk ( ) EMefy ( 'r , T1 ? 0 \ 13 EMefv ;0;ü) rnk\ / EMefv Jymk ( Ratem,, 1 14 EMlim ) EMljm t lunmk \ Ratallslini /

[0274] Finally, we define the threshold limits, which are given in the following table:

[0275] [Table 13] Liml2 B.. -i Lim23 Lim34 Tlimem^Ratem^,, + Tlimem^Ratem^

[0276] Thus, in this sixth case, the vector VectTelwhlbound is expressed as follows:

[0277] [Math. 45]

[0278] VectTelwhlbound = [0; Liml2; Lim23; Lim34]

[0279] At the end of this step, we know the optimal distribution of torques between the different electrical machines, for each overall target Telwhl torque and each electrical machine regime.

[0280] At this stage, the function F6, which uses as input the results of the function F5, makes it possible to determine, taking into account the overall target torque Telwhl, the optimal torques Temiopt, Tem2opt, Tem3opt of the electrical machines, namely the torques which minimize the electrical power required supplied by the battery of accumulators 5.

[0281] For this, the global target couple Telwhl is compared with the values ​​contained in the vector VectTelwhlbound to know in which interval II, 12,13,14,15 this global target couple is located.

[0282] Next, the optimal distribution coefficients of couple ATemfini, BTemfini, ATemfin2, BTemfin2, ATemfin3, BTemfin3 are read in the vectors VectATeml, VectBTeml, VectATem2, VectBTem2, VectATem3, VectBTem3.

[0283] Finally, the optimal pairs Temiopt, Tem2opt, Tem3Opt are calculated using the following linear equations:

[0284] [Math.46] Temi„,s = ATemfi„i*Teiwh[ +

[0285] [Math.47] Tem^ — ATem,.m2*TeiwHi "b

[0286] [Math.48] Temv — At™.. *Tel u+ 81™,

[0287] We can now describe how, in practice, the invention is implemented by the computer 30 embedded in the standard motor vehicle 1.

[0288] To do this, the calculator 30 executes in a loop (with a regular and reduced time step) the following five steps.

[0289] In a first step, the calculator calculates the coefficients ATemics, BTemics, ATem2cs? Byem2CS, Ayem3CS, Bfem3CS (function F1B).

[0290] In a second step, it calculates the vectors EMefyrnk, EMiimrnk.

[0291] In a third step, it reassigns the characteristics of the machines of the method taught in functions F3A and F3B.

[0292] In a fourth step, it determines the type of EMdistcase optimal distribution scenario to apply.

[0293] In a fifth step, it calculates the vectors VectATeml, VectBTeml, VectATem2, VectBTem2, VectATem3, VectBTem3 and the vector VectTelwhlbound.

[0294] Finally, in a final step, he deduces the optimal pairs Temiopt, Tem2Opt, TA em3opt*

[0295] The present invention is in no way limited to the embodiment described and represented, but a person skilled in the art will be able to make any variation in accordance with the invention.

[0296] Thus, the invention could be applied to the case where the electric machines are used in generator mode, to brake the vehicle and recharge the battery of accumulators 5. In this event, it will be possible in particular to reverse the maximum and minimum values, and reverse the signs in the equations defined in the functions FIA and Fl B.

[0297] In another variant, the variation of electrical power consumed as a function of the torque achieved could have been modeled differently (for example, by a third-order polynomial). The variations of the optimal torques exerted by the electrical machines as a function of the overall torque target could also have been modeled differently (for example, by a second-order polynomial).

Claims

Demands

1. A method for controlling three electric machines (EM1, EM2, EM3), the control method comprising the steps of: - acquiring a general request relating to a total torque (Teiwhl) that the three electric machines (EM1, EM2, EM3) must produce together, - distributing said general request into specific instructions (Temiopt, Tem2opt, Tem3opt) each assigned to one of the three electric machines (EM1, EM2, EM3), and - controlling the three electric machines (EM1, EM2, EM3) according to said specific instructions (Temjopt, Tem2opt, Tem3opt), characterized in that, in the distribution step, it is provided that: - a type of optimal torque distribution scenario (EMdistcase) is determined between the three electric machines (EM1, EM2, EM3), and - said specific instructions (Temiopt, Tem2opt, Tem3opt) are calculated as a function of the type of distribution scenario optimal torque (EMdistcase).

2. A control method according to claim 1, wherein, in order to calculate said particular setpoints (Temiopt, Tem2opt, Tem3opt), it is provided to determine values ​​of coefficients of equations relating said particular setpoints (Temiopt, Tem2opt, Tem3opt) to the general request, by means of mathematical formulas which depend on the type of optimal distribution scenario (EMdistcase).

3. A control method according to claim 2, wherein said particular instructions (Temiopt, Tem2opt, Tem3opt) are each linked to the general request by a linear equation with two coefficients (^TemfinB Rremfinb ^Temfin 2, Rlenifin 2, ^Temfin 3, Rlenifin 3), and said mathematical formulas allow the determination of the two coefficients (Ayemfin|, ByenifinB ^Temfin 2, ^Temfin 2, ^Temfin 3, ^Temfin 3) ^0 for each linear equation.

4. A control method according to any one of claims 1 to 3, wherein, the three electric machines (EM1, EM2, EM3) each being adapted to exert a maximum torque (Tiimem, Tiimem2, Tiimem3), each type of optimal torque distribution scenario (EMdistcase) corresponds, as the overall demand increases, to an order different from starting and reaching maximum torques (Tiimem, Tiimem2, Tiimem3) of electrical machines (EM1, EM2, EM3).

5. A control method according to claim 4, wherein, the start-up and the attainment of maximum torques (Tiimem, Tiimem2, Tiimem3) defining limit thresholds (Liml2, Lim23, Lim34, Lim45) when the general demand increases, said particular instructions (TemioPt, Tem2opt, Tem3opt) are calculated as a function of the limit thresholds (Liml2, Lim23, Lim34, Lim45).

6. A control method according to claim 5, wherein, when the general demand increases, said particular instructions (Temiopt, Tem2opt, Tem3opt) vary linearly between the limit thresholds (Liml2, Lim23, Lim34, Lim45).

7. A control method according to any one of claims 4 to 6, wherein the optimal torque distribution scenario types (EMdistcase) are distinguished according to whether they fulfill one or the other of the following combinations of conditions: min ( Tem, Tem., Tem.1 > max / Tem1, Tem^, Tem^'j \ Hun Him him) \ *0 m A) / 71 ET TT Tem f < Tem f ET Tem r > Tem r vmcjy~ ef3iejy^ Vint ' ' *'0 Temefy. >Temefy2 ET T<™e fy <T<™efy T *> T AND TT emefy, *emefy 1 emefy. emefy^ Vint " * 7 A) 'Vtm Tetnefy > ET Temej. <temejavec : vim                7,.                     vint             * a) temi0, tem20, tem30 des valeurs minimales pour lesquelles les trois machines électriques (em1, em2, em3) démarrent, temiiim, tem2iim, tem3iim maximales atteignent leurs couples maximum (tlimeml? tlimem2, tlimemsx temefyllim, temefy2(b temefy21im, temefyso étant cgales chacune a 1 uuc desdites et maximales, en fonction de l’ordre démarrage d’atteinte du couple (tiimemi, tiimem2, tiimem3) em3).

8. A control method according to claims 1 to 7, wherein the general request is equal to the total torque (Teiwhi) to be applied to the wheels of a motor vehicle (1), and the specific instructions (Temiopt, Tem2opt, Tem3opt) are equal to the torques that the electrical machines (EM1, EM2, EM3) must apply to the wheels of said motor vehicle (1) to which they are coupled.

9. Motor vehicle (1) comprising three electrical machines (EM1, EM2, EM3) and a computer (30) programmed to implement a method according to any one of claims 1 to 8.

10. Motor vehicle (1) according to claim 9, comprising at least two axles (10, 20) and in which two of the electric machines (EM1, EM2) are coupled to one of the first of the axles (10) and the third of the electric machines (EM3) is coupled to the other of the axles (20).

11. Motor vehicle (1) according to claim 10, comprising an internal combustion engine (4) coupled to the first axle (10).< / temejavec>

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