A reconfigurable electric drive topology

Abstract

This invention belongs to the field of vehicle transmission technology, specifically relating to a reconfigurable electric drive topology. This topology is based on four drive motors, four clutches, and six planetary gear sets. By freely combining different drive motors, control components, and planetary gear sets, it achieves modular commonality between different platforms of wheeled and tracked vehicles, and between platforms with different power levels, significantly improving the commonality rate and reducing the logistical support pressure on the armed forces. This reconfigurable electric drive topology achieves four transmission schemes through the free combination of different components, meeting the needs of different application scenarios: a light-duty wheel hub electric drive transmission scheme, a heavy-duty wheel hub electric drive transmission scheme, a light-duty tracked vehicle electric drive transmission scheme, and a heavy-duty tracked vehicle electric drive transmission scheme. This structure effectively overcomes the disadvantage of transmission systems requiring heating to engage wet clutches for gear shifting in low-temperature conditions, greatly improving the adaptability of the transmission system in low-temperature conditions.

Description

Technical Field

[0001] This invention belongs to the field of vehicle transmission technology, specifically relating to a reconfigurable electric drive topology that can be used for transmission of wheeled and tracked vehicles of different tonnages through the combination of different units. Background Technology

[0002] Electric drive systems have overcome the limitations of traditional transmission systems that rely solely on mechanical energy, achieving the dual function of both high-speed propulsion and providing ample electrical power, thus possessing broad application value. However, current electric drive solutions suffer from strong specificity and narrow application scope, necessitating urgent research into reconfigurable novel topology configurations. With military transformation placing ever-increasing demands on equipment supportability, the requirements for generalization, independent controllability, and modular design are becoming increasingly stringent. Platform-driven transmission system topology design methods struggle to adapt to the rapidly changing needs under new technological conditions. Therefore, a new open-configuration concept is proposed: a reconfigurable electric drive topology with an open and scalable architecture, universally portable modules, and rapid integration of new technologies. This adaptability to the rapid evolution of various new combat platforms has become a key technological bottleneck for the industry's forward-looking strategic planning. Summary of the Invention

[0003] (a) Technical problems to be solved

[0004] The technical problem to be solved by this invention is: based on the above analysis, how to provide a novel reconfigurable electric drive topology, which is based on four drive motors, four clutches and six planetary gear sets. By freely combining different drive motors, different control components and planetary gear sets, it can achieve module commonality between different platforms of wheeled and tracked vehicles, and module commonality between platforms of different power levels, which can greatly improve the commonality rate and reduce the logistical support pressure of the troops.

[0005] (II) Technical Solution

[0006] To solve the above technical problems, the present invention provides a reconfigurable electric drive topology, which includes: a planetary mechanism, a shift control component, and a drive motor;

[0007] The planetary arrangement includes: planetary arrangement P1, planetary arrangement P2, planetary arrangement P3, planetary arrangement P4, planetary arrangement P5, and planetary arrangement P6; wherein planetary arrangement P1 and planetary arrangement P6 are the same, planetary arrangement P2 and planetary arrangement P5 are the same, and planetary arrangement P3 and planetary arrangement P4 are the same.

[0008] The gear shifting control components include: clutch C1, clutch C2, clutch C3, and clutch C4; wherein clutch C1 and clutch C4 are the same, and clutch C2 and clutch C3 are the same.

[0009] The drive motors include: motor AL, motor BL, motor AR, and motor BR;

[0010] Among them, motor AL and motor AR are the same, and motor BL and motor BR are the same;

[0011] Motors AL and BL, planetary gear set P1 and P2, clutches Cl and C2 are located on the left side of the topology; both motors are connected to the two planetary gear sets and the two clutches.

[0012] Motor AR, motor BR, planetary gear set P5, planetary gear set P6, clutch C3, and clutch C4 are located on the right side of the topology; both motors are connected to the two planetary gear sets and the two clutches.

[0013] Planetary row P3 is placed on the left side of the middle of the topology, connecting planetary row P2 and planetary row P4 respectively;

[0014] Planetary row P4 is placed in the middle right of the topology, connecting planetary row P5 and planetary row P3 respectively;

[0015] By combining the above drive motors, clutches, and planetary gear sets, four transmission schemes are achieved to meet the needs of different application scenarios: light-duty wheel hub electric drive transmission scheme, heavy-duty wheel hub electric drive transmission scheme, light-duty tracked vehicle electric drive transmission scheme, and heavy-duty tracked vehicle electric drive transmission scheme.

[0016] The lightweight wheel hub electric drive transmission scheme is achieved by combining motor AL, clutch C2, and planetary gear P2. The output power of motor AL is used to achieve the first-stage reduction of planetary gear P2 through clutch C2, and the power is output. The forward and reverse movement of the vehicle is achieved by controlling the forward and reverse rotation of motor AL.

[0017] The heavy-duty wheel hub electric drive transmission scheme is realized by combining motor AL, motor BL, clutch C1, planetary gear set P1, and planetary gear set P2. When clutch C1 is a wet clutch, the connection between clutch C1 and the housing is achieved by filling the transmission system with oil. When clutch C1 is a one-way clutch, the engagement or disengagement of clutch C1 is achieved by adjusting the speed and torque of motor AL and motor BL. When clutch C1 is engaged, the transmission system achieves low speed; when clutch C1 is disengaged, the transmission system achieves high speed.

[0018] In the heavy-duty wheel hub electric drive transmission scheme, when a one-way clutch is used in the low speed gear, both motors AL and BL adopt torque control mode, and the target torque of the motor is analyzed according to the driving operation signal; the torque of motors AL and BL is the same, the torque direction of motor AL is positive, and the torque direction of motor BL is negative.

[0019] When using a one-way clutch in high-speed gear, both motors AL and BL adopt speed control mode, and the two motors rotate at the same speed. The target speed of the motor is determined based on the driving control signal.

[0020] In a heavy-duty wheel hub electric drive transmission scheme, during downshifting, the speed of motor AL is kept constant while the speed of motor BL is adjusted. When n B =-n A At / k1, the inner ring speed of clutch C1 located on planetary carrier P1 drops to 0, and the corresponding output speed of the transmission system also decreases. Then, the control modes of motors AL and BL are switched to torque control, entering a low-speed gear, so that the output torques of motors AL and BL are equal, with motor AL's torque direction being positive and motor BL's torque direction being negative, to ensure that the inner ring torque of clutch C1 is less than 0, and clutch C1 is in the engaged state; where n A Indicates the output speed of motor AL, n B This indicates the output speed of motor BL, and k1 and k2 represent the characteristic parameters of planetary gear set P1, respectively.

[0021] In the heavy-duty wheel hub electric drive transmission scheme, during upshifting, the control mode of motors AL and BL is switched from torque control to speed control. The speed of motor AL remains constant, while the direction of motor B's speed is changed. This is achieved as long as the absolute value of motor B's speed is slightly greater than n. A / k1, the speed of the inner ring of clutch C1 is greater than zero, and the one-way clutch is in the disengaged state; continue to increase the speed of motor BL, and when its speed direction and speed are the same as those of motor AL, then shift to high speed.

[0022] Specifically, an electric drive transmission scheme for light tracked vehicles is achieved by combining motors AL and AR, clutches C2 and C3, planetary gear set P2, and planetary gear set P5. The output power of motors AL and AR is used to achieve first-stage reduction of planetary gear set P2 and planetary gear set P5 through the combination of clutches C2 and C3, thus outputting power. In straight-line driving conditions, the forward and reverse rotation of motors AL and AR is controlled to achieve forward and reverse movement of the vehicle. In steering conditions, the speed difference between motors AL and AR is controlled to achieve steering at different vehicle speeds and center steering.

[0023] Among them, the electric drive transmission scheme for heavy tracked vehicles is realized by combining motors AL, BL, AR, and BR; clutches C1 and C4; and planetary gear sets P1, P2, P3, P4, P5, and P6.

[0024] When clutches C1 and C4 are wet clutches, the connection between clutches C1 and C4 and the housing is achieved by filling the transmission system with oil.

[0025] When clutches C1 and C4 are one-way clutches, clutch C1 is engaged or disengaged by adjusting the speed and torque of motors AL and BL on the left, and clutch C4 is engaged or disengaged by adjusting the speed and torque of motors AR and BR on the right.

[0026] In the electric drive transmission scheme for heavy tracked vehicles, under straight-driving conditions, the motors AL and BL are controlled in the same way, as are the motors AR and BR, and the clutches C1 and C4 are operated in the same way. The system's low-speed and high-speed gears are achieved by engaging or disengaging C1 and C4. The strategies for switching between low-speed and high-speed gears are consistent with those in the heavy-duty wheel hub electric drive transmission scheme.

[0027] In the electric drive transmission scheme of heavy tracked vehicles, during steering, the speed and torque of the left motors AL and BL are controlled respectively, and the speed and torque of the right motors AR and BR are controlled respectively, so as to realize the speed difference between the planetary gear set P3 frame and the planetary gear set P4 frame, thereby realizing steering at different vehicle speeds and center steering.

[0028] (III) Beneficial Effects

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] (1) By utilizing six planetary gear sets, four clutches, and four motors to construct a reconfigurable electric drive topology, a free combination of light-duty wheel hub electric drive transmission schemes, heavy-duty wheel hub electric drive transmission schemes, light-duty tracked vehicle electric drive transmission schemes, and heavy-duty tracked vehicle electric drive transmission schemes can be achieved. In specific series of products, structural components can be made more universal, increasing the generalization rate. This invention innovates the design method of vehicle electric drive topology configuration scheme from the perspective of a generalized system, realizing functional reuse and reconfigurability between large and small platforms, and modular universality and reconfigurability between wheeled and tracked platforms, meeting the requirements of rapid response and flexible deployment of highly mobile land-based platforms.

[0031] (2) The electric drive topology of the present invention controls the speed difference between the two ends of clutch C1 and clutch C4 to ensure that the vehicle can smoothly connect the high-speed segment and the low-speed segment without cutting off the vehicle's power during the forward segment change operation, thereby reducing the impact of the whole vehicle segment change and meeting the high mobility requirements of heavy wheel hub electric drive and heavy tracked electric drive vehicles.

[0032] (3) If clutches C1 and C4 are one-way clutches, it can avoid configuring complex hydraulic systems such as pressure cylinders, effectively optimize the traditional design scheme that the transmission system in low-temperature conditions needs to be heated to combine with wet clutches C1 and C4 to achieve gear shifting and thus transmit power, and greatly improve the adaptability of the transmission system in low-temperature conditions. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of a lightweight wheel hub electric drive transmission structure.

[0034] Figure 2 This is a schematic diagram of a heavy-duty wheel hub electric drive transmission structure.

[0035] Figure 3 This is a schematic diagram of the electric drive transmission structure for a light tracked vehicle.

[0036] Figure 4 This is a schematic diagram of the electric drive transmission structure for a heavy-duty tracked vehicle.

[0037] Figure 5 This is a schematic diagram of the theoretical rotational speed of the transmission components during gear shifting. Detailed Implementation

[0038] To make the objectives, contents, and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0039] To solve the above technical problems, the present invention provides a reconfigurable electric drive topology, which includes: a planetary mechanism, a shift control component, and a drive motor;

[0040] The planetary arrangement includes: planetary arrangement P1, planetary arrangement P2, planetary arrangement P3, planetary arrangement P4, planetary arrangement P5, and planetary arrangement P6; wherein planetary arrangement P1 and planetary arrangement P6 are the same, planetary arrangement P2 and planetary arrangement P5 are the same, and planetary arrangement P3 and planetary arrangement P4 are the same.

[0041] The gear shifting control components include: clutch C1, clutch C2, clutch C3, and clutch C4; wherein clutch C1 and clutch C4 are the same, and clutch C2 and clutch C3 are the same.

[0042] The drive motors include: motor AL, motor BL, motor AR, and motor BR;

[0043] Among them, motor AL and motor AR are the same, and motor BL and motor BR are the same;

[0044] Motors AL and BL, planetary gear set P1 and P2, clutches Cl and C2 are located on the left side of the topology; both motors are connected to the two planetary gear sets and the two clutches.

[0045] Motor AR, motor BR, planetary gear set P5, planetary gear set P6, clutch C3, and clutch C4 are located on the right side of the topology; both motors are connected to the two planetary gear sets and the two clutches.

[0046] Planetary row P3 is placed on the left side of the middle of the topology, connecting planetary row P2 and planetary row P4 respectively;

[0047] Planetary row P4 is placed in the middle right of the topology, connecting planetary row P5 and planetary row P3 respectively;

[0048] By combining the above drive motors, clutches, and planetary gear sets, four transmission schemes are achieved to meet the needs of different application scenarios: light-duty wheel hub electric drive transmission scheme, heavy-duty wheel hub electric drive transmission scheme, light-duty tracked vehicle electric drive transmission scheme, and heavy-duty tracked vehicle electric drive transmission scheme.

[0049] The lightweight wheel hub electric drive transmission scheme is achieved by combining motor AL, clutch C2, and planetary gear P2. The output power of motor AL is used to achieve the first-stage reduction of planetary gear P2 through clutch C2, and the power is output. The forward and reverse movement of the vehicle is achieved by controlling the forward and reverse rotation of motor AL.

[0050] The heavy-duty wheel hub electric drive transmission scheme is realized by combining motor AL, motor BL, clutch C1, planetary gear set P1, and planetary gear set P2. When clutch C1 is a wet clutch, the connection between clutch C1 and the housing is achieved by filling the transmission system with oil. When clutch C1 is a one-way clutch, the engagement or disengagement of clutch C1 is achieved by adjusting the speed and torque of motor AL and motor BL. When clutch C1 is engaged, the transmission system achieves low speed; when clutch C1 is disengaged, the transmission system achieves high speed.

[0051] In the heavy-duty wheel hub electric drive transmission scheme, when a one-way clutch is used in the low speed gear, both motors AL and BL adopt torque control mode, and the target torque of the motor is analyzed according to the driving operation signal; the torque of motors AL and BL is the same, the torque direction of motor AL is positive, and the torque direction of motor BL is negative.

[0052] When using a one-way clutch in high-speed gear, both motors AL and BL adopt speed control mode, and the two motors rotate at the same speed. The target speed of the motor is determined based on the driving control signal.

[0053] In a heavy-duty wheel hub electric drive transmission scheme, during downshifting, the speed of motor AL is kept constant while the speed of motor BL is adjusted. When n B =-n AAt / k1, the inner ring speed of clutch C1 located on planetary carrier P1 drops to 0, and the corresponding output speed of the transmission system also decreases. Then, the control modes of motors AL and BL are switched to torque control, entering a low-speed gear, so that the output torques of motors AL and BL are equal, with motor AL's torque direction being positive and motor BL's torque direction being negative, to ensure that the inner ring torque of clutch C1 is less than 0, and clutch C1 is in the engaged state; where n A Indicates the output speed of motor AL, n B This indicates the output speed of motor BL, and k1 and k2 represent the characteristic parameters of planetary gear set P1, respectively.

[0054] In the heavy-duty wheel hub electric drive transmission scheme, during upshifting, the control mode of motors AL and BL is switched from torque control to speed control. The speed of motor AL remains constant, while the direction of motor B's speed is changed. This is achieved as long as the absolute value of motor B's speed is slightly greater than n. A / k1, the speed of the inner ring of clutch C1 is greater than zero, and the one-way clutch is in the disengaged state; continue to increase the speed of motor BL, and when its speed direction and speed are the same as those of motor AL, then shift to high speed.

[0055] Specifically, an electric drive transmission scheme for light tracked vehicles is achieved by combining motors AL and AR, clutches C2 and C3, planetary gear set P2, and planetary gear set P5. The output power of motors AL and AR is used to achieve first-stage reduction of planetary gear set P2 and planetary gear set P5 through the combination of clutches C2 and C3, thus outputting power. In straight-line driving conditions, the forward and reverse rotation of motors AL and AR is controlled to achieve forward and reverse movement of the vehicle. In steering conditions, the speed difference between motors AL and AR is controlled to achieve steering at different vehicle speeds and center steering.

[0056] Among them, the electric drive transmission scheme for heavy tracked vehicles is realized by combining motors AL, BL, AR, and BR; clutches C1 and C4; and planetary gear sets P1, P2, P3, P4, P5, and P6.

[0057] When clutches C1 and C4 are wet clutches, the connection between clutches C1 and C4 and the housing is achieved by filling the transmission system with oil.

[0058] When clutches C1 and C4 are one-way clutches, clutch C1 is engaged or disengaged by adjusting the speed and torque of motors AL and BL on the left, and clutch C4 is engaged or disengaged by adjusting the speed and torque of motors AR and BR on the right.

[0059] In the electric drive transmission scheme for heavy tracked vehicles, under straight-driving conditions, the motors AL and BL are controlled in the same way, as are the motors AR and BR, and the clutches C1 and C4 are operated in the same way. The system's low-speed and high-speed gears are achieved by engaging or disengaging C1 and C4. The strategies for switching between low-speed and high-speed gears are consistent with those in the heavy-duty wheel hub electric drive transmission scheme.

[0060] In the electric drive transmission scheme of heavy tracked vehicles, during steering, the speed and torque of the left motors AL and BL are controlled respectively, and the speed and torque of the right motors AR and BR are controlled respectively, so as to realize the speed difference between the planetary gear set P3 frame and the planetary gear set P4 frame, thereby realizing steering at different vehicle speeds and center steering.

[0061] Example 1

[0062] This embodiment presents a novel reconfigurable electric drive topology, comprising: a planetary mechanism, a shift control component, a drive motor, and a hydraulic reduction component. The planetary mechanism includes: planetary gear sets P1, P2, P3, P4, P5, and P6; wherein planetary gear sets P1 and P6 are identical, planetary gear sets P2 and P5 are identical, and planetary gear sets P3 and P4 have the same characteristic parameters. The shift control component includes: clutches C1, C2, C3, and C4; wherein clutches C1 and C4 are identical, and clutches C2 and C3 are identical. The drive motor includes: motor AL, motor BL, motor AR, and motor BR; wherein motors AL and AR are identical, and motors BL and BR are identical. By combining the above drive motors, clutches, and planetary gear sets, four transmission schemes can be implemented to meet the needs of different application scenarios: a light-duty wheel hub electric drive transmission scheme, a heavy-duty wheel hub electric drive transmission scheme, a light-duty tracked vehicle electric drive transmission scheme, and a heavy-duty tracked vehicle electric drive transmission scheme.

[0063] Lightweight wheel hub electric drive transmission scheme: Lightweight wheel hub electric drive is achieved by combining motor AL, clutch C2, and planetary gear set P2. The output power of motor AL is used to achieve the first-stage reduction of planetary gear set P2 through clutch C2, thus outputting power. The forward and reverse movement of the vehicle is achieved by controlling the forward and reverse rotation of motor AL.

[0064] Heavy-duty wheel hub electric drive transmission scheme: Heavy-duty wheel hub electric drive is achieved by combining motor AL, motor BL, clutch C1, planetary gear set P1, and planetary gear set P2. If clutch C1 is a wet clutch, it can be connected to the housing by filling the system with oil. If clutch C1 is a one-way clutch, its engagement or disengagement is achieved by adjusting the speed and torque of motors AL and BL. When clutch C1 is engaged, the system operates in low gear; when clutch C1 is disengaged, the system operates in high gear.

[0065] When using a one-way clutch in low gear, both motors operate in torque control mode, interpreting the target torque based on the driving control signals. Motors AL and BL have the same torque magnitude, with motor AL's torque direction being positive and motor BL's torque direction being negative.

[0066] When using a one-way clutch in high speed mode, both motors use speed control mode and the two motors rotate at the same speed. The target speed of the motors is determined based on the driving control signal.

[0067] When clutch C1 is a one-way clutch, the switching strategy between low gear and high gear is as follows:

[0068] During the switching process, both motor AL and motor BL are controlled by speed, such as Figure 5 As shown. Where k1 and k2 represent the characteristic parameters of planetary arrays P1 and P2, respectively, and n... A Indicates the output speed of motor AL, n * Indicates the motor AL output speed before gear shift, n B Indicates the output speed of motor BL, n out This indicates the output speed of the planetary gear set P2 ring gear, n. j1 This indicates the output speed of the planetary carrier P1. The time period t1 to t2 represents the downshifting process from high gear to low gear. The time period t3 to t4 represents the upshifting process from low gear to high gear.

[0069] The time interval t1 to t2 is the downshifting process. While keeping the motor AL speed constant, the motor BL speed is adjusted. When n B =-n A At / k1, the speed of the inner ring of the clutch (planetary carrier P1) drops to 0, and the corresponding system output speed also decreases. Afterwards, the control mode of both motors is switched to torque control, entering a low-speed gear to make the output torque of both motors equal, with motor AL's torque direction positive and motor BL's torque direction negative, ensuring that the clutch inner ring torque is less than 0 and the clutch is engaged. The time period t3 to t4 is the upshifting process, where the control mode of both motors is switched from torque control to speed control, keeping the speed of motor AL constant while changing the speed direction of motor B, as long as the absolute value of motor B's speed is slightly greater than n. A / k1, the speed of the inner ring of the clutch is greater than zero, and the one-way clutch is in the disengaged state. Continue to increase the speed of motor BL. When its speed direction and speed are the same as those of motor AL, shift to high speed.

[0070] The electric drive transmission scheme for light tracked vehicles: Electric drive for the light tracked vehicle is achieved by combining motors AL and AR, clutches C2 and C3, and planetary gear set P2 and P5. The output power of motors AL and AR is used to achieve first-stage reduction in the speed of planetary gear set P2 and P5 through clutches C2 and C3, thus outputting power. In straight-line driving conditions, forward and reverse movement of the vehicle is achieved by controlling the forward and reverse rotation of motors AL and AR. In steering conditions, steering at different speeds and center-point steering is achieved by controlling the speed difference between motors AL and AR.

[0071] The electric drive transmission scheme for heavy-duty tracked vehicles achieves power transmission through a combination of motors AL, BL, AR, and BR; clutches C1 and C4; and planetary gear sets P1, P2, P3, P4, P5, and P6. If clutches C1 and C4 are wet clutches, they can be connected to the housing by filling the system with oil. If clutches C1 and C4 are one-way clutches, clutch C1 is engaged or disengaged by adjusting the speed and torque of the left-side motors AL and BL, and by adjusting the speed and torque of the right-side motors AR and BR.

[0072] In straight-drive conditions, the control of motors AL and BL is the same, as are the control of motors AR and BR, and the operation of clutches C1 and C4 is identical. Low-speed and high-speed gears are achieved by engaging or disengaging C1 and C4. The strategies for switching between low-speed and high-speed gears are consistent with those in the heavy-duty wheel hub electric drive transmission system.

[0073] During steering, the speed and torque of the left motors AL and BL are controlled respectively, and the speed and torque of the right motors AR and BR are controlled to achieve the speed difference between the P3 planetary gear set frame and the P4 planetary gear set frame, thereby achieving steering at different vehicle speeds and center steering.

[0074] In summary, this invention belongs to the field of vehicle transmission technology, specifically relating to a reconfigurable electric drive topology. This topology is based on four drive motors, four clutches, and six planetary gear sets. By freely combining different drive motors, control components, and planetary gear sets, it achieves modular commonality between different platforms of wheeled and tracked vehicles, and between platforms with different power levels, significantly improving the commonality rate and reducing the logistical support pressure on the armed forces. This invention's reconfigurable electric drive topology can achieve four transmission schemes through the free combination of different components, meeting the needs of different application scenarios: a light-duty wheel hub electric drive transmission scheme, a heavy-duty wheel hub electric drive transmission scheme, a light-duty tracked vehicle electric drive transmission scheme, and a heavy-duty tracked vehicle electric drive transmission scheme. This invention innovates the design method of vehicle electric drive topology configuration schemes from the perspective of a generalized system, achieving functional reuse and reconfigurability between large and small platforms, and modular commonality and reconfigurability between wheeled and tracked platforms, meeting the requirements of rapid response and flexible deployment of highly mobile land-based platforms. The control mechanism uses a one-way clutch, which avoids the need for complex hydraulic systems such as pressure cylinders. This effectively changes the disadvantage of transmission systems in low-temperature conditions that require heating to engage the wet clutch for gear shifting, greatly improving the adaptability of the transmission system in low-temperature conditions.

[0075] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A reconfigurable electric drive topology, characterized in that, The reconfigurable electric drive topology includes: a planetary mechanism, a shift control component, and a drive motor; The planetary arrangement includes: planetary arrangement P1, planetary arrangement P2, planetary arrangement P3, planetary arrangement P4, planetary arrangement P5, and planetary arrangement P6; wherein planetary arrangement P1 and planetary arrangement P6 are the same, planetary arrangement P2 and planetary arrangement P5 are the same, and planetary arrangement P3 and planetary arrangement P4 are the same. The gear shifting control components include: clutch C1, clutch C2, clutch C3, and clutch C4; wherein clutch C1 and clutch C4 are the same, and clutch C2 and clutch C3 are the same. The drive motors include: motor AL, motor BL, motor AR, and motor BR; Among them, motor AL and motor AR are the same, and motor BL and motor BR are the same; Motors AL and BL, planetary gear set P1 and P2, clutches Cl and C2 are placed on the left side of the topology; motor AL is connected to planetary gear set P1 and P2 respectively, and motor AL is connected to clutches Cl and C2 respectively; motor BL is connected to planetary gear set P1 and P2 respectively, and motor BL is connected to clutches Cl and C2 respectively. Motor AR, motor BR, planetary gear set P5, planetary gear set P6, clutch C3, and clutch C4 are placed on the right side of the topology; motor AR is connected to planetary gear set P5 and planetary gear set P6 respectively, motor AR is connected to clutch C3 and clutch C4 respectively, motor BR is connected to planetary gear set P5 and planetary gear set P6 respectively, and motor BR is connected to clutch C3 and clutch C4 respectively. Planetary row P3 is placed on the left side of the middle of the topology, connecting planetary row P2 and planetary row P4 respectively; Planetary row P4 is placed in the middle right of the topology, connecting planetary row P5 and planetary row P3 respectively; By combining the above drive motors, clutches, and planetary gear sets, four transmission schemes are achieved to meet the needs of different application scenarios: light-duty wheel hub electric drive transmission scheme, heavy-duty wheel hub electric drive transmission scheme, light-duty tracked vehicle electric drive transmission scheme, and heavy-duty tracked vehicle electric drive transmission scheme.

2. The reconfigurable electric drive topology as described in claim 1, characterized in that, A lightweight wheel hub electric drive transmission scheme is realized by combining motor AL, clutch C2, and planetary gear P2. The output power of motor AL is used to achieve the first-stage reduction of planetary gear P2 through clutch C2, and the power is output. The forward and reverse movement of the vehicle is realized by controlling the forward and reverse rotation of motor AL.

3. The reconfigurable electric drive topology as described in claim 1, characterized in that, A heavy-duty wheel hub electric drive transmission scheme is achieved by combining motor AL, motor BL, clutch C1, planetary gear set P1, and planetary gear set P2. When clutch C1 is a wet clutch, the connection between clutch C1 and the housing is achieved by filling the transmission system with oil. When clutch C1 is a one-way clutch, the engagement or disengagement of clutch C1 is achieved by adjusting the speed and torque of motor AL and motor BL. When clutch C1 is engaged, the transmission system achieves low speed; when clutch C1 is disengaged, the transmission system achieves high speed.

4. The reconfigurable electric drive topology as described in claim 3, characterized in that, In the heavy-duty wheel hub electric drive transmission scheme, when a one-way clutch is used in the low gear, both motors AL and BL adopt torque control mode, and the target torque of the motor is analyzed according to the driving operation signal; the torque of motors AL and BL is the same, the torque direction of motor AL is positive, and the torque direction of motor BL is negative. When using a one-way clutch in high-speed gear, both motors AL and BL adopt speed control mode, and the two motors rotate at the same speed. The target speed of the motor is determined based on the driving control signal.

5. The reconfigurable electric drive topology as described in claim 4, characterized in that, In a heavy-duty wheel hub electric drive transmission scheme, during downshifting, the speed of motor AL is kept constant while the speed of motor BL is adjusted. At this time, the inner ring speed of clutch C1 located on planetary carrier P1 drops to 0, and the corresponding output speed of the transmission system also decreases; then, the control modes of motors AL and BL are switched to torque control, entering a low-speed gear, so that the output torques of motors AL and BL are equal, with the torque direction of motor AL being positive and the torque direction of motor BL being negative, to ensure that the torque of the inner ring of clutch C1 is less than 0, and clutch C1 is in the engaged state; where n A Indicates the output speed of motor AL, n B BL represents the output speed of motor BL, and k1 represents the characteristic parameters of planetary gear set P1.

6. The reconfigurable electric drive topology as described in claim 5, characterized in that, In the heavy-duty wheel hub electric drive transmission scheme, during upshifting, the control mode of motors AL and BL is switched from torque control to speed control. The speed of motor AL remains constant, while the direction of motor BL's speed is changed. As long as the absolute value of motor BL's speed is slightly greater than... When the inner ring of clutch C1 rotates at a speed greater than zero, the one-way clutch is disengaged. Continue to increase the speed of motor BL. When its rotational direction and speed are the same as those of motor AL, shift to high speed.

7. The reconfigurable electric drive topology as described in claim 1, characterized in that, By combining motors AL and AR, clutches C2 and C3, and planetary gear set P2 and P5, an electric drive transmission scheme for light tracked vehicles is realized. The output power of motors AL and AR is used to achieve first-stage reduction of planetary gear set P2 and P5 through the combination of clutches C2 and C3, thus outputting power. In straight-line driving conditions, the forward and reverse rotation of motors AL and AR is controlled to achieve forward and reverse movement of the vehicle. In steering conditions, the speed difference between motors AL and AR is controlled to achieve steering at different speeds and center steering.

8. The reconfigurable electric drive topology as described in claim 6, characterized in that, By combining motors AL, BL, AR, and BR; clutches C1 and C4; and planetary gear sets P1, P2, P3, P4, P5, and P6, an electric drive transmission scheme for heavy-duty tracked vehicles is achieved. When clutches C1 and C4 are wet clutches, the connection between clutches C1 and C4 and the housing is achieved by filling the transmission system with oil. When clutches C1 and C4 are one-way clutches, clutch C1 is engaged or disengaged by adjusting the speed and torque of motors AL and BL on the left, and clutch C4 is engaged or disengaged by adjusting the speed and torque of motors AR and BR on the right.

9. The reconfigurable electric drive topology as described in claim 8, characterized in that, In the electric drive transmission scheme for heavy tracked vehicles, under straight-driving conditions, the motors AL and BL are controlled in the same way, as are the motors AR and BR, and the clutches C1 and C4 are operated in the same way. The system's low-speed and high-speed gears are achieved by engaging or disengaging C1 and C4. The strategies for switching between low-speed and high-speed gears are consistent with those in the heavy-duty wheel hub electric drive transmission scheme.

10. The reconfigurable electric drive topology as described in claim 9, characterized in that, In the electric drive transmission scheme of heavy tracked vehicles, during steering, the speed and torque of the left motors AL and BL are controlled respectively, and the speed and torque of the right motors AR and BR are controlled respectively, so as to realize the speed difference between the planetary gear set P3 frame and the planetary gear set P4 frame, thereby realizing steering at different vehicle speeds and center steering.

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