Distributed multi-gear driving system with central dual-motor parallel configuration and control method

Abstract

The invention discloses a central dual-motor parallel configuration distributed multi-gear driving system and a control method, and belongs to the technical field of mechanical driving transmission, the central dual-motor parallel configuration distributed multi-gear driving system comprises two driving systems used for driving wheels, and the two driving systems are symmetrically arranged in parallel; each driving system comprises a motor and a speed reducing mechanism which are arranged in parallel. According to the technical scheme, the two driving systems which are symmetrically arranged in parallel in the center and the cylindrical motors which are arranged in parallel are adopted, so that the axial space is saved; a compound gear transmission system combined by planetary transmission and cylindrical gears realizes large transmission ratio, simple structure and low cost, is matched with a gear shifting mechanism to realize multi-gear convenient switching so as to improve the transmission efficiency, and meanwhile, electronic differential is realized by utilizing the eccentric design of the cylindrical gears and motor control, so that the space is effectively utilized and the bearing capacity is improved.

Description

Technical Field

[0001] This invention belongs to the field of mechanical drive and transmission technology, specifically, it relates to a distributed multi-gear drive system and control method with a central dual-motor parallel configuration. Background Technology

[0002] Currently, distributed drive technology is evolving from centralized drive towards a more flexible and efficient direction. Its core lies in achieving more refined dynamic control of the vehicle by independently configuring a drive motor for each wheel. Existing distributed drive technologies, while pursuing high performance and flexible layout, face a series of fundamental structural challenges. First, at the layout level, both wheel-side drive and wheel-hub drive have stringent requirements for installation space and suffer from poor load-bearing capacity and large unsprung mass, resulting in complex structures and high costs. Coaxial distributed electric drives often lead to excessively large axial dimensions, while limited radial dimensions restrict the improvement of motor power. Furthermore, at the transmission system level, existing technologies offer multiple paths to match motor characteristics with wheel requirements, each with its own bottlenecks: while single-stage reducers offer structural simplicity, the fixed transmission ratio limits efficiency optimization, making it difficult for the motor to operate in its high-efficiency range for extended periods; and using planetary gears or compound gear transmissions to obtain larger speed ratios or torque significantly increases system design complexity and structural complexity. These technologies are mostly derived from internal combustion engine platforms and do not offer significant advantages in pure electric drive. Furthermore, at the assembly configuration level, even with eccentric or offset designs that attempt to optimize space, traditional mechanical differentials are usually still required, which further increases the complexity and size of the system.

[0003] No effective solution to the above problems has yet been found. Summary of the Invention

[0004] The technical problem this invention aims to solve is that existing distributed drive technologies using dual motors with wheel-side or hub drive suffer from stringent space requirements and poor load-bearing capacity. This invention provides a distributed multi-gear drive system and control method with a centrally located dual-motor parallel configuration. The symmetrical parallel dual-drive system, with the output shaft arranged parallel to the cylindrical motor, drives the wheels on both sides, effectively improving space utilization and load-bearing capacity. The transmission system innovatively combines a composite mechanism of planetary and cylindrical gears, achieving a large transmission ratio and multi-gear shifting, allowing the motor to continuously operate within its high-efficiency range.

[0005] To solve the above technical problems, the technical solution adopted by the present invention is as follows: A distributed multi-gear drive system with a central dual-motor parallel configuration includes two drive systems for driving the wheels, the two drive systems being arranged symmetrically in parallel. The two drive systems each include a motor and a reduction gear arranged in parallel.

[0006] Preferably, the motor is a cylindrical motor.

[0007] Preferably, the reduction mechanism includes a compound gear mechanism and a shifting mechanism; The composite gear mechanism includes a planetary transmission assembly and a cylindrical gear assembly.

[0008] Preferably, the planetary transmission assembly includes a P1 sun gear, a P1 planet gear, a P1 planet carrier, a P2 sun gear, a P2 planet gear, a P1 ring gear, a P2 planet carrier, a P2 ring gear, and a housing; The output shaft of the motor is connected to a cylindrical gear assembly, which is then connected to the P1 sun gear via a transmission. The P1 sun gear meshes externally with the P1 planet gear, the P1 planet gear is mounted on the P1 planet carrier, and the P1 planet gear meshes internally with the P1 gear ring. The P1 planetary carrier is coaxially connected to the P2 sun gear, and the P2 planetary gear is mounted on the P2 planetary carrier. The P2 sun gear meshes externally with the P2 planet gear, the P2 planet gear meshes internally with the P2 ring gear, the P2 ring gear is connected to the housing, the P2 planet carrier is coaxially connected to the output shaft, and the output shaft is coaxially connected to the wheel.

[0009] Preferably, the shifting mechanism includes a C1 shifting device and a C2 shifting device; The C1 shifting device is located on the P1 sun gear, and the C2 shifting device is located on the P1 gear ring. The C1 shifting device is provided with a first synchronization ring, and the C2 shifting device is provided with a second synchronization ring.

[0010] Preferably, the cylindrical gear assembly includes a driving gear and a driven gear; The driving wheel is connected to the output shaft of the motor, the driving wheel meshes with the driven wheel, and the driven wheel is coaxially connected to the P1 sun gear.

[0011] The control method for the distributed multi-gear drive system based on the aforementioned central dual-motor parallel configuration includes: a first-gear switching step, controlling the second synchronous ring to move to the left and connect with the housing, the C2 shifting device locking the housing, the P1 planetary gear rotating on its own axis and revolving around the P1 sun gear, the P1 sun gear driving the P1 planetary gear to rotate, the P1 planetary gear driving the P1 planetary carrier to rotate, the P1 planetary carrier driving the P2 sun gear to rotate, the P2 sun gear driving the P2 planetary gear to rotate, the P2 planetary gear driving the P2 planetary carrier to rotate, and outputting power at a reduced speed through the P2 planetary carrier.

[0012] Preferably, it further includes: a 2-speed switching step, controlling the second synchronous ring to move to the right and connect with the P2 planetary carrier, the P1 sun gear drives the P1 planetary gear to rotate, the P1 planetary gear drives the P1 planetary carrier and the P1 gear ring to rotate, the P1 planetary carrier is connected to the P2 sun gear and rotates together, the P2 sun gear drives the P2 planetary gear to rotate, the P2 planetary gear drives the P2 planetary carrier to rotate, the P1 gear ring is connected to the P2 planetary carrier and rotates together, and power is transmitted through the P2 planetary carrier.

[0013] Preferably, it also includes: a 3-speed switching step, controlling the first synchronous ring to move to the right and connect with the P1 gear ring, the P1 gear ring and the P1 sun gear to form a component, the P2 sun gear driving the P2 planet gear to rotate, the P2 planet gear driving the P2 planet carrier to rotate and transmitting power.

[0014] Preferably, it further includes: a neutral shifting step, in which the first synchronous ring is controlled to move to the left and be in a free state, the C1 shifting device locks the P1 sun gear, and the P1 planetary carrier and P1 ring gear are in a free state with no power transmission.

[0015] The present invention adopts the above technical solution and has the following advantages compared with the prior art: 1. The technical solution of the present invention uses two identical drive systems symmetrically arranged in parallel. The output of the drive system is parallel to the motor. The two drive systems drive the corresponding side wheels respectively, which effectively utilizes space and improves load-bearing capacity.

[0016] 2. The motor in the technical solution of this invention is a cylindrical motor, which is arranged parallel to the output shaft, saving axial dimensions and increasing the power of the motor.

[0017] 3. The drive system of the present invention uses a composite gear mechanism that combines planetary transmission components and cylindrical gear components, which can achieve a large transmission ratio, has a simple structure, and low cost.

[0018] 4. The technical solution of this invention uses a compound gear mechanism and a shifting mechanism to achieve multiple gears and make shifting simple, making full use of the high-efficiency range of the motor and improving transmission efficiency.

[0019] 5. The technical solution of this invention uses a cylindrical gear assembly to achieve an eccentric design and a motor to control the electronic differential. It does not have a differential, is lightweight, has a simple structure, and is relatively flexible in control. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the distributed multi-speed drive system with a central dual-motor parallel configuration in an embodiment of the present invention; Figure 2 This is a schematic diagram of the drive system for driving the right wheel in an embodiment of the present invention; Figure 3This is a schematic diagram of the drive system for driving the left wheel in an embodiment of the present invention; Among them: 1-drive system, 2-motor, 3-output shaft, 4-drive gear, 5-driven gear, 6-P1 sun gear, 7-P1 planetary gear, 8-P1 planetary carrier, 9-P2 sun gear, 10-P2 planetary gear, 11-P1 gear ring, 12-P2 planetary carrier, 13-P2 gear ring, 14-C1 shifting device, 15-C2 shifting device, 16-housing; 101-Drive system, 201-Motor, 301-Output shaft, 401-Driving gear, 501-Driven gear, 601-P1 Sun gear, 701-P1 Planetary gear, 801-P1 Planetary carrier, 901-P2 Sun gear, 110-P2 Planetary gear, 111-P1 Gear ring, 121-P2 Planetary carrier, 131-P2 Gear ring, 141-C1 Shifting device, 151-C2 Shifting device, 161-Housing. Detailed Implementation

[0021] The present invention will be further described below. Those skilled in the art should understand through the following embodiments that these embodiments are not intended to limit the technical solution of the present invention, but merely to fully illustrate how to implement it.

[0022] Implementation examples, by Figure 1-3 As shown, the distributed multi-speed drive system with a central dual-motor parallel configuration includes two drive systems for driving the wheels. The two drive systems are symmetrically arranged in parallel, namely drive system 1 for driving the right wheel and drive system 101 for driving the left wheel, which effectively utilizes space and improves load-bearing capacity.

[0023] The two drive systems have the same structure. This embodiment will take drive system 1 as an example for detailed description.

[0024] The drive system 1 includes a motor 2 and a reduction mechanism arranged in parallel, that is, the output shaft of the motor 2 is parallel to the input shaft of the reduction mechanism, which saves axial dimensions and increases the power of the motor 2.

[0025] Motor 2 is a cylindrical motor.

[0026] The speed reduction mechanism includes a compound gear mechanism and a shifting mechanism.

[0027] The compound gear mechanism includes a planetary transmission assembly and a cylindrical gear assembly. The planetary transmission assembly, combined with a shifting mechanism, enables multiple gears with simple shifting, fully utilizing the motor's high-efficiency range and improving transmission efficiency. Adjusting the relevant parameters of the cylindrical gear assembly and the planetary transmission assembly allows for various transmission ratios in the drive system; the transmission ratio in this embodiment is a preferred one.

[0028] The planetary transmission assembly includes a P1 sun gear (6), P1 planet gears (7), P1 planet carrier (8), P2 sun gear (9), P2 planet gears (10), P1 ring gear (11), P2 planet carrier (12), P2 ring gear (13), and a housing (16). The planetary transmission assembly features a compact layout, high strength, space saving, and improved overall load-bearing capacity. It provides continuous power transmission, high efficiency, smooth shifting, and is suitable for multi-gear switching.

[0029] The output shaft of motor 2 is connected to a cylindrical gear assembly, which is connected to the P1 sun gear 6 for transmission. The P1 sun gear 6 meshes externally with the P1 planet gear 7, and the P1 planet gear 7 meshes internally with the P1 ring gear 11. The P1 planet gear 7 is mounted on the P1 planet carrier 8, which is a rotating frame that supports the P1 planet gear 7 and transmits power.

[0030] The P1 planetary carrier 8 and the P2 sun gear 9 are coaxially connected. The P2 planetary gear 10 is mounted on the P2 planetary carrier 12, which is a rotating frame that supports the P2 planetary gear 10 and transmits power. The P2 sun gear 9 and the P2 planetary gear 10 are externally meshed, and the P2 planetary gear 10 is internally meshed with the P2 ring gear 13. The P2 ring gear 13 is connected to the housing 16. The P2 planetary carrier 12 is coaxially connected to the output shaft 3, which is coaxially connected to the wheel.

[0031] The shifting mechanism can be a clutch or a synchronizer, and includes a C1 shifting device 14 and a C2 shifting device 15. The C1 shifting device 14 is mounted on the P1 sun gear 6, and the C2 shifting device 15 is mounted on the P1 gear ring 11.

[0032] The C1 shifting device 14 is provided with a first synchronous ring, and the C2 shifting device 15 is provided with a second synchronous ring. Both the first and second synchronous rings are existing technologies and are not shown in the figure. When the drive system shifts gears, the first and second synchronous rings can achieve speed synchronization through friction.

[0033] The cylindrical gear assembly includes a driving gear 4 and a driven gear 5. The driving gear 4 is connected to the output shaft of the motor 2, and the driving gear 4 meshes with the driven gear 5. The driven gear 5 is coaxially connected to the sun gear 6 of P1.

[0034] The cylindrical gear assembly is eccentrically positioned, with the driving gear 4 meshing with the driven gear 5. By adjusting the transmission ratio and relative position of the driving gear 4 and driven gear 5, the entire cylindrical gear assembly achieves an eccentric rotation effect, thereby driving the entire drive system to realize its eccentric design. Through the eccentric setting of the cylindrical gear assembly, combined with motor control, electronic differential can achieve precise power distribution to each wheel.

[0035] By adjusting the relevant parameters of the cylindrical gear assembly and the planetary transmission assembly, multiple transmission ratios of the drive system can be achieved. The transmission ratio in this embodiment is a preferred one.

[0036] The control method for a distributed multi-speed drive system based on the central dual-motor parallel configuration of the above drive system includes: In the first gear shifting step, the second synchronous ring is controlled to move to the left and connect with the housing 16. The C2 shifting device 15 locks the housing 16, and the P1 gear ring 11 is fixed and cannot rotate. Power cannot be transmitted through the P1 gear ring 11. The P1 planetary gear 7 rotates on its own axis and revolves around the P1 sun gear 6. The P1 sun gear 6 drives the P1 planetary gear 7 to rotate. The P1 planetary gear 7 drives the P1 planet carrier 8 to rotate. The P1 planet carrier 8 drives the P2 sun gear 9 to rotate. The P2 sun gear 9 drives the P2 planetary gear 10 to rotate. The P2 planetary gear 10 drives the P2 planet carrier 12 to rotate. Power is output at a reduced speed through the P2 planet carrier 12.

[0037] The specific power transmission is as follows: Motor 2 transmits power to drive wheel 4, drive wheel 4 drives driven wheel 5 to rotate, driven wheel 5 transmits power to P1 sun gear 6, P1 sun gear 6 transmits power to P1 planet gear 7, since P1 ring gear 11 is fixed, P1 planet carrier 8 transmits power to P2 sun gear 9, P2 sun gear 9 transmits power to P2 planet gear 10, P2 planet gear 10 transmits power to P2 planet carrier 12, P2 planet carrier 12 transmits power to output shaft 3, and finally transmits power to the wheels through the output shaft 3, realizing the first gear shift with a transmission ratio of 26.4.

[0038] It also includes: a 2-speed switching step, controlling the second synchronous ring to move to the right and connect with the P2 planetary carrier 12, the P1 gear ring 11 is no longer fixed, since the P1 gear ring 11 and the P2 planetary carrier 12 are connected to form a component, the P1 planetary gear 7 no longer has a fixed component, the P1 sun gear 6 drives the P1 planetary gear 7 to rotate, the P1 planetary gear 7 drives the P1 gear ring 11 and the P1 planetary carrier 8 to rotate; the P1 planetary carrier 8 is connected to the P2 sun gear 9 and rotates together, the P2 sun gear 9 drives the P2 planetary gear 10 to rotate, the P2 planetary gear 10 drives the P2 planetary carrier 12 to rotate, the P1 gear ring 11 is connected to the P2 planetary carrier 12 and rotates together, and power is transmitted through the P2 planetary carrier 12.

[0039] The specific power transmission is as follows: Motor 2 transmits power to drive wheel 4, drive wheel 4 drives driven wheel 5 to rotate, then driven wheel 5 transmits power to P1 sun gear 6, P1 sun gear 6 transmits power to P1 planet gear 7, P1 planet gear 7 transmits power to P1 planet carrier 8 and P1 ring gear 11. Because C2 shifting device 15 is locked to P2 planet carrier 12, P1 planet carrier 8 transmits power to P2 sun gear 9 and P2 planet gear 10, P2 planet gear 10 transmits power to P2 planet carrier 12, P1 ring gear 11 rotates together with P2 planet carrier 12, P1 ring gear 11 transmits power to P2 planet carrier 12, P2 planet carrier 12 transmits power to output shaft 3, and finally, output shaft 3 transmits power to the wheels, thereby realizing 2-speed switching with a transmission ratio of 19.6.

[0040] It also includes: a 3-speed switching step, controlling the first synchronous ring to move to the right and connect with the P1 gear ring 11, the P1 gear ring 11 and the P1 sun gear 6 are connected to form a component, the P1 sun gear 6, the P1 planetary carrier 8 and the P1 gear ring 11 rotate as a whole; the P1 planetary gear 7 only revolves and does not rotate on its own axis, and does not change speed, forming a direct transmission; the P1 planetary carrier 8 drives the P2 sun gear 9 to rotate, the P2 sun gear 9 drives the P2 planetary gear 10 to rotate, the P2 planetary gear 10 drives the P2 planetary carrier 12 to rotate and transmit power.

[0041] The specific power transmission is as follows: Motor 2 transmits power to drive wheel 4, drive wheel 4 drives driven wheel 5 to rotate, and then driven wheel 5 transmits power to P1 sun gear 6. Because C1 shifting device 14 is locked to P1 ring gear 11, P1 ring gear 11 and P1 sun gear 6 are connected to form a component. P1 ring gear 11 rotates together with P1 planetary carrier 8. P1 sun gear 6 transmits power to P1 planetary gear 7, P1 ring gear 11 and P1 planetary carrier 8. P1 planetary carrier 8 transmits power to P2 sun gear 9. P2 sun gear 9 transmits power to P2 planetary gear 10. P2 planetary gear 10 transmits power to P2 planetary carrier 12. P2 planetary carrier 12 transmits power to output shaft 3. Finally, output shaft 3 transmits power to the wheels, thereby realizing 3-speed switching with a transmission ratio of 8.8.

[0042] It also includes: a neutral shifting step, in which the first synchronous ring is controlled to move to the left and is in a free state, the C1 shifting device 14 locks the P1 sun gear 6, and the P1 planetary carrier 8 and P1 ring gear 11 are in a free state, not rigidly connected as a whole, with no power transmission, thus forming neutral.

[0043] The specific power transmission is as follows: Motor 2 transmits power to drive wheel 4, drive wheel 4 drives driven wheel 5 to rotate, driven wheel 5 transmits power to P1 sun gear 6, P1 sun gear 6 drives P1 planetary carrier 8 and P1 ring gear 11 to rotate, C1 shifting device 14 is not locked with any component, P1 ring gear 11 is in a free state, P1 ring gear 11 has no constraint, P1 sun gear 6 drives P1 ring gear 11 to rotate freely, power cannot be transmitted to output shaft 3 through P1 planetary carrier 8 and P2 planetary carrier 12, power is interrupted at P1 ring gear 11, the vehicle is in neutral, and the transmission ratio is 0.

[0044] The drive system 101 includes a motor 201 and a reduction mechanism arranged in parallel, that is, the output shaft of the motor 201 is parallel to the input shaft of the reduction mechanism, which saves axial dimensions and increases the power of the motor 201.

[0045] Motor 201 is a cylindrical motor.

[0046] The speed reduction mechanism includes a compound gear mechanism and a shifting mechanism.

[0047] The compound gear mechanism includes a planetary transmission assembly and a cylindrical gear assembly. The planetary transmission assembly, combined with a shifting mechanism, enables multiple gears with simple shifting, fully utilizing the motor's high-efficiency range and improving transmission efficiency. Adjusting the relevant parameters of the cylindrical gear assembly and the planetary transmission assembly allows for various transmission ratios in the drive system; the transmission ratio in this embodiment is a preferred one.

[0048] The planetary transmission assembly includes a P1 sun gear 601, P1 planet gears 701, a P1 planet carrier 801, a P2 sun gear 901, a P2 planet gear 110, a P1 ring gear 111, a P2 planet carrier 121, a P2 ring gear 131, and a housing 161. The planetary transmission assembly features a compact layout, high strength, space saving, and improved overall load-bearing capacity. It provides continuous power transmission, high transmission efficiency, smooth shifting, and is suitable for multi-gear switching.

[0049] The output shaft of motor 201 is connected to a cylindrical gear assembly, which is connected to the P1 sun gear 601 for transmission. The P1 sun gear 601 meshes externally with the P1 planet gear 701, and the P1 planet gear 701 meshes internally with the P1 ring gear 111. The P1 planet gear 701 is mounted on the P1 planet carrier 801, which is a rotating frame that supports the P1 planet gear 701 and transmits power.

[0050] The P1 planetary carrier 801 is coaxially connected to the P2 sun gear 901. The P2 planetary gear 110 is mounted on the P2 planetary carrier 121, which is a rotating frame that supports the P2 planetary gear 110 and transmits power. The P2 sun gear 901 meshes externally with the P2 planetary gear 110, and the P2 planetary gear 110 meshes internally with the P2 ring gear 131. The P2 ring gear 131 is connected to the housing 161. The P2 planetary carrier 121 is coaxially connected to the output shaft 301, which is coaxially connected to the wheel.

[0051] The shifting mechanism can be a clutch or a synchronizer, and includes a C1 shifting device 141 and a C2 shifting device 151. The C1 shifting device 141 is mounted on the P1 sun gear 601, and the C2 shifting device 151 is mounted on the P1 gear ring 111.

[0052] The C1 shifting device 141 is provided with a first synchronous ring, and the C2 shifting device 151 is provided with a second synchronous ring. Both the first and second synchronous rings are existing technologies and are not shown in the figure. When the drive system shifts gears, the first and second synchronous rings can achieve speed synchronization through friction.

[0053] The cylindrical gear assembly includes a driving gear 401 and a driven gear 501. The driving gear 401 is connected to the motor 201 and meshes with the driven gear 501. The driven gear 501 is coaxially connected to the P1 sun gear 601.

[0054] The cylindrical gear assembly is eccentrically positioned, with the driving gear 401 meshing with the driven gear 501. By adjusting the transmission ratio and relative position of the driving gear 401 and the driven gear 501, the entire cylindrical gear assembly achieves an eccentric rotation effect, thereby driving the entire drive system to realize its eccentric design. Through the eccentric setting of the cylindrical gear assembly, combined with motor control, electronic differential speed can achieve precise power distribution to each wheel.

[0055] The control methods for drive system 1 and drive system 101 are the same, and will not be described again here.

[0056] The drive system of this invention adopts an eccentric arrangement of a compound gear mechanism. It achieves multi-gear transmission through the combination of planetary transmission components and cylindrical gear components, eliminating the traditional differential structure, making the system lighter and more flexible in control. The two drive systems are arranged in parallel and symmetrically, with the same shifting logic, which can quickly respond to the high-efficiency range requirements of the motor and improve transmission efficiency.

[0057] The above description provides examples of the preferred embodiments of the present invention. Parts not detailed herein are common knowledge to those skilled in the art. The scope of protection of the present invention is determined by the claims. Any equivalent modifications based on the technical teachings of the present invention are also within the scope of protection of the present invention.

Claims

1. A distributed multi-gear drive system with central dual motor side-by-side configuration, characterized in that: The two driving systems (1, 101) are symmetrically arranged side by side. Each of the two driving systems (1, 101) comprises a motor (2, 201) and a speed reduction mechanism arranged in parallel.

2. The distributed multi-gear driving system with a central double motor parallel configuration according to claim 1, wherein: The motor (2, 201) is a cylindrical motor.

3. The distributed multi-gear driving system with a central double motor parallel configuration according to claim 2, wherein: The speed reduction mechanism comprises a compound gear mechanism and a gear shifting mechanism. The compound gear mechanism comprises a planetary transmission assembly and a cylindrical gear assembly.

4. The distributed multi-gear driving system with a central double motor parallel configuration according to claim 3, wherein: The planetary transmission assembly comprises a P1 sun gear (6, 601), a P1 planetary gear (7, 701), a P1 planetary carrier (8, 801), a P2 sun gear (9, 901), a P2 planetary gear (10, 110), a P1 ring gear (11, 111), a P2 planetary carrier (12, 121), a P2 ring gear (13, 131), and a housing (16, 161); The output shaft of the motor (2, 201) is connected to the cylindrical gear assembly, which is in transmission connection with the P1 sun gear (6, 601); The P1 sun gear (6, 601) is in external meshing with the P1 planetary gear (7, 701), which is arranged on the P1 planetary carrier (8, 801), and the P1 planetary gear (7, 701) is in internal meshing with the P1 ring gear (11, 111); The P1 planetary carrier (8, 801) is coaxially connected with the P2 sun gear (9, 901), and the P2 planetary gear (10, 110) is arranged on the P2 planetary carrier (12, 121); The P2 sun gear (9, 901) is in external meshing with the P2 planetary gear (10, 110), which is in internal meshing with the P2 ring gear (13, 131), and the P2 ring gear (13, 131) is connected with the housing (16, 161); the P2 planetary carrier (12, 121) is coaxially connected with an output shaft (3, 301), which is coaxially connected with a wheel.

5. The distributed multi-gear driving system with a central double motor parallel configuration according to claim 4, wherein: The gear shifting mechanism comprises a C1 gear shifting device (14, 141) and a C2 gear shifting device (15, 151); The C1 gear shifting device (14, 141) is arranged on the P1 sun gear (6, 601), and the C2 gear shifting device (15, 151) is arranged on the P1 ring gear (11, 111); A first synchronizing ring is arranged on the C1 gear shifting device (14, 141), and a second synchronizing ring is arranged on the C2 gear shifting device (15, 151).

6. The distributed multi-gear driving system with a central double motor parallel configuration according to claim 4, wherein: The cylindrical gear assembly comprises a driving wheel (4, 401) and a driven wheel (5, 501). The driving wheel (4, 401) is connected with the output shaft of the motor (2, 201), the driving wheel (4, 401) is engaged with the driven wheel (5, 501), and the driven wheel (5, 501) is coaxially connected with the P1 sun gear (6, 601).

7. The control method of the distributed multi-gear drive system of the central dual motor side-by-side configuration according to claims 1 to 6, characterized in that, It comprises:

1. The gear shifting step controls the second synchronizing ring to move left and connect with the shell (16, 161), the C2 gear shifting device (15, 151) locks the shell (16, 161), the P1 planetary gear (7, 701) rotates around the P1 sun gear (6, 601), the P1 sun gear (6, 601) drives the P1 planetary gear (7, 701) to rotate, the P1 planetary gear (7, 701) drives the P1 planet carrier (8, 801) to rotate, the P1 planet carrier (8, 801) drives the P2 sun gear (9, 901) to rotate, the P2 sun gear (9, 901) drives the P2 planetary gear (10, 110) to rotate, and the P2 planetary gear (10, 110) drives the P2 planet carrier (12, 121) to rotate, and the power is output at a reduced speed through the P2 planet carrier (12, 121).

8. The control method according to claim 7, characterized by, It also comprises:

2. The gear shifting step controls the second synchronizing ring to move right and connect with the P2 planet carrier (12, 121), the P1 sun gear (6, 601) drives the P1 planetary gear (7, 701) to rotate, the P1 planetary gear (7, 701) drives the P1 planet carrier (8, 801) and the P1 ring gear (11, 111) to rotate, the P1 planet carrier (8, 801) rotates together with the P2 sun gear (9, 901), the P2 sun gear (9, 901) drives the P2 planetary gear (10, 110) to rotate, the P2 planetary gear (10, 110) drives the P2 planet carrier (12, 121) to rotate, the P1 ring gear (11, 111) rotates together with the P2 planet carrier (12, 121), and the power is transmitted through the P2 planet carrier (12, 121).

9. The control method according to claim 7, characterized by, It also comprises:

3. The gear shifting step controls the first synchronizing ring to move right and connect with the P1 ring gear (11, 111), the P1 ring gear (11, 111) and the P1 sun gear (6, 601) are connected as one component, the P2 sun gear (9, 901) drives the P2 planetary gear (10, 110) to rotate, and the P2 planetary gear (10, 110) drives the P2 planet carrier (12, 121) to rotate and transmit power.

10. The control method according to claim 7, characterized by, It also comprises: The neutral gear shifting step controls the first synchronizing ring to move left to a free state, the C1 gear shifting device (14, 141) locks the P1 sun gear (6, 601), the P1 planet carrier (8, 801) and the P1 ring gear (11, 111) are in a free state, and there is no power transmission.

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