2326 results about "Motor torque" patented technology

The invention discloses a machine tool control method and system based on mechatronics, and the method comprises the steps: outputting an optimal cutting track sequence according to the three-dimensional model features and material attribute parameters of a machined workpiece; based on the optimal cutting track sequence, motion interference among shafts of the machine tool is eliminated through dynamic weight distribution, and an anti-interference optimization machining instruction is generated; constructing a nonlinear vibration wave propagation model according to the coupling relation between the spindle rotating speed and the feeding speed, and generating a steady speed regulation and control signal; generating an energy efficiency optimal parameter set including motor torque, cooling power and lubricating frequency based on the energy consumption efficiency constraint condition and the steady speed regulation and control signal; and outputting a closed-loop control signal and synchronously updating the three-dimensional machining precision thermodynamic diagram according to the real-time data in the machining process and the predicted deviation of the digital twin model. According to the embodiment of the invention, global optimization, dynamic adaptation and efficient operation of the machine tool can be realized, and technical support is provided for intelligent upgrading of the modern manufacturing industry.

The invention relates to the technical field of intelligent vehicle control, in particular to a loader vehicle control method and system, computer equipment and a storage medium. The method comprises the following steps: collecting multi-modal data of the loader, wherein the multi-modal data comprises working environment data, dynamic load state data and vehicle attitude data of the loader; constructing a three-dimensional operation scene digital twinborn model based on the multi-modal data, and predicting vehicle stability influence data of the influence of the load change on the vehicle stability based on the dynamic load state data; based on the digital twinborn model of the three-dimensional operation scene and the vehicle stability influence data, a dynamic control strategy is generated by utilizing a reinforcement learning algorithm, and cooperative actions of steering, lifting and walking mechanisms are synchronously optimized; according to operation environment data and a dynamic control strategy, hydraulic system pressure and motor torque distribution are adjusted in a self-adaptive mode, and operation efficiency and safety are ensured.

A method for cooperative vehicle operation includes receiving a first target angle signal associated with a handwheel of a vehicle, receiving a second target angle signal associated with an autonomous steering system of the vehicle, and, in response to a determination that a handwheel angle error between the first target angle signal and the second target angle signal is less than a handwheel error threshold: generating a handwheel motor torque command based on a position control motor torque command and a torque control motor torque command; and controlling a position of the handwheel of the vehicle based on the handwheel motor torque command.

The invention relates to an electric vehicle self-adaptive energy recovery method and system fusing driver behaviors, and the method comprises the following steps: analyzing the current driving data and historical driving data of a vehicle, judging a driving style, and predicting the occurrence probability of the driving style; according to the current driving data of the vehicle, the mass of the whole vehicle is estimated, and two values of the gradient are calculated through two different algorithms respectively; setting a weight according to a preset vehicle speed critical value, and weighting the two values to obtain a fusion gradient; according to the current driving data of the vehicle, the whole vehicle mass, the fusion gradient and the driving style occurrence probability, corresponding correction factors are determined respectively, the initial braking torque corresponding to the current motor rotating speed is corrected to obtain a reference braking torque, and the reference braking torque is compared with a preset motor torque range; and the optimal braking torque is obtained, braking is executed, and energy recovery is achieved. According to the method, distribution of regenerative braking energy is effectively optimized, and the energy recovery rate is increased.

The invention discloses an electromobile EMB system clamping force estimation method based on a non-pressure sensor, and relates to the technical field of distributed electric drive-by-wire automobiles, the viscous effect between a brake disc and a friction plate during actual braking is considered, and a clamping force dynamic stiffness model is established for predicting the clamping force; discretizing a description equation of the clamping force dynamic stiffness model, and establishing a discretized clamping force state space equation; according to the motor torque balance equation, designing a sliding-mode observer of the motor load torque for observing the load torque of the motor in real time in the braking process; according to a transmission model of the EMB system, a load torque observation value observed by the sliding mode observer in real time is converted into a clamping force observation value; and calculating an optimal clamping force estimated value at the current moment according to an optimal clamping force estimated value obtained at the previous moment by using a Kalman filtering algorithm in combination with the discretized clamping force state space equation and the clamping force observed value, so as to realize real-time optimal estimation of the clamping force. The problems that under the control of the pressure sensor, due to high temperature and high pressure during braking, the measuring precision of the pressure sensor is reduced, and even the whole pressure sensor is invalid are solved.

The invention discloses a design and control method of a wheel-leg balance robot capable of actively jumping. The design of the wheel-legged balance robot is based on a planar parallel five-bar mechanism, the leg structure design and the wheel train structure design of the wheel-legged balance robot suitable for active jumping are comprehensively considered, and various sensor modules are adopted for sensing, so that the robot can autonomously jump on complex obstacle road sections; meanwhile, the diameter of the wheel and the torque of the motor are designed in a matched mode, so that the robot has high trafficability; a joint motor connecting structure is improved, so that the design strength of a leg structure is improved; an inverted pendulum model containing a wheel-leg mixed structure is used for fitting robot motion, an LQR control algorithm is adopted for processing a nonlinear system through piecewise linearization, and reference input is added to achieve trajectory tracking.

Provided are a high-frequency road sense generation method and apparatus, a device, a medium, and a vehicle. The method comprises: obtaining rack force measurement data during vehicle driving; querying the correspondence between a rack force and the vibration intensity of a steering wheel, and determining the vibration intensity of the steering wheel corresponding to the rack force measurement data; determining a motor torque of the steering wheel corresponding to the vibration intensity of the steering wheel; and controlling a motor (42) of the steering wheel to act on the basis of the motor torque of the steering wheel. In a steer-by-wire-based vehicle, the rack force measurement data is used for reflecting high-frequency road sense excitation of a road surface, a driver controls the steering wheel on the basis of the vibration intensity of the steering wheel, and can make a control action responding to the high-frequency road sense excitation of an actual road surface, thereby ensuring driving safety.

The invention relates to the technical field of steering systems, in particular to an angle control method for smooth angle response and rapid intervention. An angle control method for smooth angle response and rapid intervention comprises an angular velocity feed-forward PID algorithm, and the angular velocity feed-forward PID algorithm comprises the steps that the difference between a request angle and an actual angle is obtained to obtain an angle difference, the angle difference is subjected to the PID algorithm to obtain target motor torque, the target motor torque is converted into actually-executed motor torque through gradient output, and a steering wheel is controlled to rotate. The method is characterized in that the angle smooth response comprises a low-frequency compensation strategy and a high-frequency compensation strategy. Compared with the prior art, the angle control method for smooth angle response and rapid intervention is provided, the torque of the motor is calculated by adopting an angular velocity feed-forward PID algorithm, a low-frequency and high-frequency compensation strategy and a rapid intervention strategy are introduced, and the purpose of controlling a steering wheel to smoothly and rapidly reach a target angle can be achieved.

The invention relates to the technical field of automobile brake control, in particular to a self-adaptive brake kinetic energy recovery control method and system based on multi-sensor fusion. Tire wear and road surface feature data are collected through a multi-source sensing fusion unit, and a tire wear coefficient and a road surface friction coefficient are generated through an intelligent decision calculation unit; the method comprises the following steps of: integrating the nonlinear correlation of the multi-source sensing fusion unit and the self-adaptive control execution unit through a rule and data fusion algorithm, outputting a comprehensive friction coefficient, and dynamically adjusting the braking kinetic energy recovery force and response time by the self-adaptive control execution unit according to the comprehensive friction coefficient. The system comprises a multi-source sensing fusion unit, an intelligent decision calculation unit, the self-adaptive control execution unit and a closed-loop feedback calibration unit. The closed-loop unit corrects data deviation through cross validation of the laser radar and the motor torque inversion model, the problems of poor working condition adaptation and unreliable data are solved, and the kinetic energy recovery efficiency, the braking safety and the driving smoothness are improved.

A concrete mortar mixing and stirring system belongs to the technical field of concrete production equipment. Aiming at the problems that an existing stirring system is difficult to accurately judge the mixing uniformity of concrete mortar and the quality is easily influenced due to excessive stirring or insufficient stirring, the system comprises a stirring tank, a vibration signal acquisition unit, a torque monitoring unit and a control unit, stirring blades in a stirring tank are driven by a motor, a vibration signal acquisition unit captures a tank body vibration signal, a torque monitoring unit detects the torque change of the motor, and a control unit decomposes the tank body vibration signal into a frequency domain signal and extracts a preset aggregate collision vibration frequency band energy value to generate a vibration energy sequence; and analyzing the torque change fluctuation intensity to generate a torque variation coefficient sequence, calculating a correlation coefficient sequence of the two, generating an adaptive shutdown threshold by a sliding time window, and cutting off a motor power supply when the correlation coefficient sequence is continuously lower than the threshold for a preset number of times. The device is mainly used for automatic stirring control of concrete mortar, and precise starting and stopping of the stirring process are achieved.

The invention discloses a hybrid power engineering machinery control method and system based on operation load identification, and belongs to the technical field of engineering machinery. Target torque of a driver and predicted torque of a hydraulic pump at the target moment are calculated; calculating a torque difference value; based on a fuzzy control algorithm, considering the optimal fuel consumption torque interval of the engine and the optimal efficiency torque interval of the ISG motor, and determining the target torque of the engine and the target torque of the ISG motor according to the target torque of the driver, the difference value between the target torque of the driver and the predicted torque of the hydraulic pump and the SOC of the battery; and jointly controlling the pressure of the hydraulic pump by using the target torque of the engine and the target torque of the ISG motor. The method has the advantages that the operation load prediction model is built through Markov, the operation load at the future moment is predicted, the driver target torque and the difference value of the two torque are introduced, the torque distribution fuzzy controller of the engine and the ISG motor is built by considering the SOC state of the battery, and the target torque of the engine and the ISG motor is dynamically adjusted.

The invention relates to the technical field of electric vehicles, in particular to an electric vehicle parking motor torque adjusting method. The problems that an existing electric automobile parking system is insufficient in parking force control precision, lagged in response and low in energy consumption efficiency under complex working conditions are solved. According to the method, a multi-dimensional vehicle running state, a driver instruction and environment sensing data are collected in real time, a vehicle-environment coupling dynamic model is established and updated in real time, then an adaptive model predictive control (AMPC) strategy is utilized, the future movement trend of a vehicle is predicted based on the dynamic model and a target parking demand, and the vehicle-environment coupling dynamic model is established and updated in real time. And the optimal torque instruction of the parking motor in the current control period is optimized and calculated, and the parking motor is driven to generate corresponding torque. High precision, high adaptability, high safety and high stability of parking torque adjustment can be achieved, the energy efficiency is effectively improved, the service life of parts is effectively prolonged, and the intelligent level is enhanced.

Systems and methods for clamping force estimation are provided. In one example, operations include generating a displacement-torque curve based on displacement data and motor torque data of an electric motor of the EMB system for a braking episode having a switchover time. The operations also include determining a high torque value and a low torque value at the switchover time from the displacement-torque curve. The operations further include calculating a friction coefficient based on the high torque value and the low torque value. The operations yet further include determining a non-linear coefficient from the displacement-torque curve. The operations include estimating a clamping force for a constant speed based on the friction coefficient and the non-linear coefficient.

A torque control apparatus in an electric vehicle includes a driving information detector that detects information indicating a vehicle driving state, a controller that generates a motor torque command for satisfying a demand torque based on vehicle driving information including the detected information, and a motor that is controlled according to the generated motor torque command. The controller determines whether there is a virtual shift demand according to the vehicle driving state in a drift mode, stops, when there is the virtual shift demand, determination and generation of a shift intervention torque for implementing a virtual shift feeling and determines a motor torque as a value that varies with a slope from a target torque before shift to a target torque after shift during virtual shifting in the drift mode, and generates the motor torque command using the determined motor torque as a command value.

The invention provides a new energy light truck energy distribution method and system, and the method comprises the steps: obtaining the position and track of a vehicle to obtain the road section data of a current driving road section, carrying out the data preprocessing of the road section data, and carrying out the fusion of the preprocessed data, so as to obtain the current load and driving state of the vehicle; inputting the preprocessed data into an initial energy consumption model, introducing a deep learning algorithm to dynamically adjust model parameters of the initial energy consumption model to obtain an iterated target energy consumption model, and obtaining energy consumption coefficient data according to the target energy consumption model; and a motor torque demand curve is generated in real time according to the current load, the road slope and the predicted endurance mileage, torque distribution data are adjusted in combination with an adaptive algorithm, the adjusted torque distribution data are transmitted into a vehicle power control system to obtain real-time operation data of the vehicle, and then energy distribution is conducted on the new energy light truck. According to the invention, the endurance prediction precision is improved, and the real-time adaptive optimization of torque distribution control is realized.

The invention discloses an electric locomotive three-dimensional digital-analog simulation teaching system constructed based on an unreal engine technology, and relates to the technical field of electric locomotive teaching. Comprising a three-dimensional model construction module which is used for generating a hierarchical three-dimensional model of electric locomotive equipment through combination of polygon modeling and parametric modeling; and the physical engine interaction module is integrated with an unreal engine physical system and is configured to process the real-time solution of the locomotive kinetic parameter equation set. According to the method, a highly accurate three-dimensional model is created by combining polygon modeling and parametric modeling on the complex equipment of the electric locomotive, the model can support detailed level-of-detail rendering so as to adapt to different observation distances, and in the physical engine interaction module, the model can be applied to the physical engine interaction module. Through the train longitudinal dynamics calculation unit, the traction transmission simulation unit and the braking system modeling unit, the system can simulate non-linear changes in the wheel-rail contact force, traction motor torque transmission and tread braking process in real time, so that various dynamic effects can be visually displayed in the teaching process.

A method for operating a steering system of a vehicle, wherein the steering system comprises a steering mechanism and at least one electric motor cooperating with the steering mechanism, and wherein a stiffness of a steering assembly of the steering mechanism and / or play in the steering mechanism is determined includes determining the stiffness of the steering assembly and / or play in the steering mechanism. The steering mechanism is brought into a defined test position and / or blocked in the test position and the electric motor is actuated with an excitation signal, and the stiffness of the steering assembly and / or play in the steering mechanism is determined in that, during the actuation of the electric motor with the excitation signal, a motor torque of the electric motor and a rotor orientation angle of the electric motor is monitored and a change in the motor torque is evaluated according to the rotor orientation angle.

The invention discloses an electro-magnetic doubly salient motor torque ripple suppression method based on harmonic double closed-loop control, and the method comprises the steps: constructing the harmonic double closed-loop control of a torque ripple outer ring and a current harmonic inner ring in an electro-magnetic doubly salient motor current source type drive system of a multiplexing excitation winding; a torque pulsation outer ring observes electromagnetic torque through a model reference adaptive method, pulsation components of the torque pulsation outer ring are extracted in combination with an adaptive notch filter, and a current harmonic inner ring given value is output through closed-loop regulation; the current harmonic inner ring extracts harmonic current by constructing a harmonic space decoupling transformation matrix and combining with a rotating coordinate system of corresponding subharmonics, current harmonics counteracting torque pulsation of the electro-magnetic doubly salient motor are generated through closed-loop adjustment, and the output characteristic of the motor is improved. According to the method provided by the invention, the torque ripple amplitude can be suppressed in a closed-loop manner, the given value of the harmonic current can be automatically adjusted, specific current harmonic injection is realized, the output torque ripple of the electro-magnetic doubly salient motor is eliminated, and the problems that a traditional harmonic injection method is not matched under different operation conditions of the motor and depends on motor parameters are solved.

The invention relates to the technical field of unmanned aerial vehicle control, and particularly provides a variable-load unmanned aerial vehicle control method and device, a medium and equipment, and the method can comprise the steps: carrying out the processing of an initial angular velocity parameter and an attitude angle parameter of an unmanned aerial vehicle through an outer ring observer, and obtaining an attitude angle estimation value and a first disturbance estimation value; determining target angular velocity data based on the attitude angle estimation value and the first disturbance estimation value; processing the system gain value, the angular velocity of the unmanned aerial vehicle and the motor torque by using an inner ring observer to obtain an angular velocity estimation value and a second disturbance estimation value; based on the angular velocity estimation value, the second disturbance estimation value and the system gain value, obtaining a flight control quantity; an unmanned aerial vehicle pulse signal is adjusted through the flight control quantity, and the unmanned aerial vehicle pulse signal is used for controlling the flight attitude of the unmanned aerial vehicle. According to the embodiment of the invention, effective control of the variable-load unmanned aerial vehicle can be realized.

The invention provides a torque distribution method and device for distributed driving, a vehicle and a medium, and relates to the technical field of vehicles. The method comprises the steps that when the driving mode of the vehicle is an out-of-trap mode, according to the opening degree of an accelerator pedal and state parameters of the whole vehicle, torque distribution is conducted; determining a first target demand torque of a target axle provided with the EDS, a first target torque of each wheel corresponding to the target axle and an allowable maximum driving torque; and when the first wheel of the target axle slips, calculating a second target demand torque of the target axle according to the first target demand torque of the target axle and the allowable maximum driving torque of each wheel corresponding to the target axle. And if the second wheel meets the preset condition, the motor torque capacity of the first wheel is transmitted to the second wheel, and therefore it is guaranteed that power is utilized to the maximum extent.

The invention belongs to the technical field of cold-rolled strip steel shearing control, and provides a silicon steel shearing unit coiling tension automatic control method which comprises the steps that S1, a coiling tension preset value preset strategy is compiled for silicon steel according to the strip steel incoming material thickness and the finished product width, and an automatic tension matching model and a taper control model are established; s2, optimizing a current tension preset value by using an automatic tension matching model; s3, outputting a tension taper coefficient in real time according to the actual value of the coiling diameter of the steel coil by using the taper control model; s4, according to the real-time actual rolling diameter value, the tension taper coefficient and the tension preset value, a motor torque set value dynamically changing along with the actual rolling diameter value is output; strict execution of coiling tension technologies of different strip steel products is ensured, and the problems that the electromagnetic performance of a steel plate is degraded due to the fact that the coiling tension of the shearing procedure is too large, and coil collapse is caused due to insufficient tension are solved.

The invention relates to the technical field of vehicle control, and provides an ultralow-temperature power generation control method and system for an extended-range vehicle. Comprising the following steps: acquiring a driving power consumption predicted value, an accessory power consumption predicted value and a battery discharge power predicted value under the condition that the temperature of a power battery cell is lower than a preset temperature threshold value; performing a feedforward operation based on the driving power consumption prediction value, the accessory power consumption prediction value, and the battery discharge power prediction value to generate a first generator torque; the actual consumed power and the actual generated power of the vehicle are obtained; pID operation is carried out based on the difference value between the actual consumed power and the actual generated power, and a second generator torque is generated; superposing the first generator torque and the second generator torque to generate a generator target torque; and controlling the generator to execute the generator target torque. The generated power and the consumed power are dynamically balanced, and the rapid maneuvering capability of the vehicle under the ultralow temperature condition is achieved.

The invention discloses an embedded motor torque ripple real-time compensation system based on deep learning, and relates to the technical field of motor control and artificial intelligence crossing, the system comprises a hardware data acquisition module, a signal feature extraction module, a deep learning compensation model module, an embedded real-time compensation module and a compensation effect verification module; a motor position and a current signal are acquired in real time through the hardware data acquisition module, dynamic analysis and multi-dimensional feature construction are performed on torque ripple related features by combining the signal feature extraction module, and the deep learning compensation model module learns a fluctuation rule in historical data by using a space-time sequence model to generate a high-precision compensation current. The model adapts to an embedded environment through lightweight design, real-time deployment and dynamic optimization of a compensation algorithm are achieved, compared with traditional PID control, the scheme can adapt to changes of motor operation conditions, the influence of torque fluctuation on system stability is reduced, and the smoothness and efficiency of motor operation are improved.

A method and device for controlling an engine of a hybrid vehicle, and a vehicle. The method comprises: when an engine of a hybrid vehicle is in a started and standby state, using an engine torque signal, a motor torque signal, a gear signal, a control pedal signal, and a parking state signal of the hybrid vehicle to determine a current activation mode of the engine; performing feedback adjustment calculation on a first rotating speed and a second rotating speed to obtain first torque, wherein the first rotating speed is a rotating speed of an input shaft of a gearbox of the hybrid vehicle, and the second rotating speed is a real-time rotating speed of the engine of the hybrid vehicle; performing difference calculation on the second rotating speed and a third rotating speed to obtain second torque, wherein the third rotating speed is a real-time rotating speed of a motor of the hybrid vehicle; determining target torque on the basis of the first torque, the second torque, and the current activation mode; and performing driving control on the engine on the basis of the target torque. The method for controlling the engine of the hybrid vehicle solves the technical problem of low control precision of a method for controlling an engine of a hybrid vehicle provided in related art.

The invention relates to a four-motor traction control method, device and equipment and a readable storage medium, and belongs to the field of control over vehicle transmission systems.The method comprises the steps that the target wheel speed of each wheel is calculated by obtaining the actual vehicle speed of a target vehicle at the current moment and the actual wheel speed and the wheel acceleration of each wheel; calculating the wheel speed change rate correction amount of each wheel based on the wheel acceleration of each wheel at the current moment and a plurality of historical wheel accelerations of each wheel at a set historical moment; determining the slippage control adjustment amount of each wheel and judging whether slippage occurs or not; if the wheels slip, target motor torque of the wheels is calculated based on the wheel speed change rate correction amount of the wheels and a preset motor torque calculation rule, and traction force of the wheels is controlled based on the target motor torque. According to the method, the effects of improving the traction force control precision and stability of the vehicle under different road conditions, reducing the slipping phenomenon and improving the driving safety and comfort are achieved.

The invention discloses a motor torque control method applied to a bilateral independent electrically-driven tracked vehicle. The method comprises the following steps: determining an instantaneous center position of a tracked vehicle during steering based on a kinematic model of the tracked vehicle independently driven by motors on two sides; determining a tracking position by searching a target point on a path, and calculating a current transverse deviation and a current course deviation in combination with the current position and course information of the tracked vehicle; the transverse deviation and the course deviation obtained through calculation serve as input, the yaw velocity of the vehicle during steering serves as output, and then the yaw velocity of the vehicle is obtained; then, the linear speeds of the two sides of the tracked vehicle are obtained through the established kinematics model of the tracked vehicle, and then the expected rotating speeds of motors on the two sides during steering are calculated; and finally, optimizing by adopting a fractional order PI lambda D mu controller and an improved particle swarm optimization algorithm, and calculating the optimal output torques of the motors on the left side and the right side of the tracked vehicle.

The invention relates to the technical field of driving control, and discloses a somatosensory driving control method and system of a scooter. The method comprises the following steps: acquiring an original somatosensory signal of the scooter; performing resonance amplification and multi-mode frequency mixing on the original somatosensory signal to obtain a somatosensory characteristic signal; establishing a scooter-rider coupling system dynamic model based on the somatosensory characteristic signal, and performing real-time state calculation to obtain a current state parameter and a state deviation value; performing motion sensing body weight distribution change mapping conversion on the current state parameter and the state deviation value to obtain a riding control demand parameter; and calculating a real-time driving control signal sequence according to the riding control demand parameters, and carrying out front and rear wheel motor torque dynamic distribution on the real-time driving control signal sequence to obtain a target motor driving execution instruction set. The problem of delay in traditional somatosensory control is eliminated, and safe and stable motor driving control is realized by combining dynamic torque distribution and a safety monitoring mechanism of road adhesion conditions.

A fault detection system of a motor belongs to the technical field of motor fault detection, and aims to solve the problems that the existing motor fault detection device is high in detection difficulty and inaccurate in fault reason judgment. The fault detection system comprises the steps that a frequency converter is adopted as a motor starter, and the input voltage of the motor is gradually increased; a harmonic detection module is adopted to detect the harmonic component of a current signal output by the motor, and the harmonic detection module outputs a harmonic waveform; detecting whether the motor is in a normal operation state, a winding short-circuit fault state, a winding open-circuit fault state or a bearing fault state according to the harmonic waveform; a built-in insulation monitoring module of the frequency converter is adopted to detect the insulation resistance value of the motor; judging a motor leakage state according to the insulation resistance value; a torque measuring module arranged in the frequency converter is used for detecting the torque of the motor; judging a motor torque fault state according to the torque; a temperature sensor arranged in the frequency converter is used for detecting the temperature of the motor; and judging a motor fault state according to the temperature. The method is used for motor fault detection.

The invention belongs to the field of rail traffic control, and provides a heavy-load group train wheel-rail adhesion cooperative control method which comprises the following steps: respectively establishing a heavy-load double-compiled group train dynamic model, a rail surface recognition model, a wheel-rail adhesion control model and a group operation control model; inputting the equivalent braking force or traction force of the wheel and the normal force of the wheel rail into the rail surface recognition model, calculating an estimated value of an adhesion coefficient, and inputting the estimated value into the group operation control model; and inputting the estimated value of the adhesion coefficient, the speed, time and wheel pair angular velocity of the pilot train and the speed, time and wheel pair angular velocity of the following train into a wheel-rail adhesion control model, calculating motor torque of the pilot train and the following train and an output logic decision value of the following train, inputting the motor torque and the output logic decision value into a group operation control model, and performing adjustment control to obtain the wheel-rail adhesion coefficient. The motor torques of the pilot train and the following train after adjustment and control are obtained; and inputting the adjusted and controlled motor torques of the pilot train and the following train into the heavy-load double-compiled group train dynamical model.

A method of controlling motor torque in a vehicle comprises receiving torque requests; determining first upper and lower torque thresholds based on vehicle sensor information; determining second upper and lower torque thresholds; if consecutive torque requests are received that are between the first and the second upper torque threshold or between the first and the second lower torque threshold, summing up over time the consecutive torque requests between the first the second upper torque thresholds or between the first and the second lower torque thresholds to find a summed-up torque value; and if the summed-up torque value exceeds a summed-up torque limit, adjusting the second upper torque threshold and / or the second lower torque threshold. The first upper and torque thresholds are indicative of a range of allowable torque, and the second upper and lower torque thresholds set upper and lower limits which the motor torque cannot exceed.