Variable electric transmission system and method

Abstract

To provide a more efficient and flexible transmission system. [Solution] A planetary gear system for setting the drive ratio of a transmission includes an outer ring gear, a plurality of planetary gears, an inner sun gear, a first rotational input coupled to one of the outer ring gear, the plurality of planetary gears, and the inner sun gear, a second rotational input coupled to another one of the outer ring gear, the plurality of planetary gears, and the inner sun gear, and a rotational output coupled to the remaining one of the outer ring gear, the plurality of planetary gears, and the inner sun gear. In some cases, the planetary gear system is combined with a second planetary gear system, where the first rotational input of the planetary gear system and the first rotational input of the second planetary gear system are the same, making it possible to generate two independent outputs from three inputs.

Description

[Background technology]

[0001] Conventional gasoline and diesel vehicles emit greenhouse gases, and as more and more countries seek to reduce emissions, the requirements for electric vehicles and electrical equipment are increasing. Therefore, design and efficiency, including their transmission systems, are more critical than ever for electric vehicles and electrical equipment. To meet these increasing demands, electric vehicles require more efficient and flexible transmission systems. [Overview of the project] [Means for solving the problem]

[0002] A variable electro-electric transmission system and method are provided. Advantageously, the simple design of the variable electro-electric transmission system described herein makes it possible to independently control individual wheels (e.g., along the axle or in a single-wheel configuration) in electric vehicles and / or hybrid vehicles / equipment, while simultaneously obtaining a desired output speed using a method for selecting the most efficient (e.g., input) speed pair. In addition, some embodiments of the variable electro-electric transmission system and method described herein enable coupled designs that allow for input sharing for a 3-input 2-output design. Furthermore, torque increase is achieved by providing a moment offset supported by one or more bearings provided in some implementations of the variable electro-electric transmission system described herein.

[0003] A variable electric transmission system can be used to set the drive ratio of a transmission and includes a first gear system including a first gear, a second gear, and a third gear, each of which mechanically engages with at least one of the other gears of the first gear system. The system further includes a first rotational input coupled to the first gear, a second rotational input coupled to the second gear, and a first rotational output coupled to the third gear.

[0004] In some cases, the system further includes a second gear system comprising a fourth gear, a fifth gear, and a sixth gear, each of which mechanically engages with at least one of the other gears of the second gear system. In some cases, the system further includes a first rotational input coupled to the fourth gear on the opposite side of the first gear, a third rotational input coupled to the fifth gear, and a second rotational output coupled to the sixth gear.

[0005] In some cases, the system further includes a first spur gear and a second spur gear, where a first rotational input is coupled to the first gear via the first spur gear, and a second rotational input is coupled to the second gear via the second spur gear. In some cases, the system further includes a first rotational input bearing coupled to the first rotational input and a second rotational input bearing coupled to the second rotational input. In some cases, the system further includes one or more rotational output bearings coupled to the first rotational output. In some cases, the first gear system is configured to achieve moment offset to support torque forces on the first rotational input, the second rotational input, and the first rotational output. In some cases, the first and second rotational input bearings are not coaxial with the first rotational output bearing. In some cases, the first rotational input bearing, the second rotational input bearing, and the first rotational output bearing are coupled to a transmission mount.

[0006] In some cases, during operation, the first rotational input moves the first gear at the same peripheral speed as the second rotational input moves the second gear, for the neutral operation of the first rotational output via the third gear. In some cases, during operation, the first rotational input moves the first gear at a peripheral speed faster than the secondary rotational input moves the second gear, for the forward operation of the first rotational output via the third gear. In some cases, during operation, the first rotational input moves the first gear at a peripheral speed slower than the secondary rotational input moves the second gear, for the reverse operation of the first rotational output via the third gear.

[0007] In some cases, the first gear is an external ring gear, the second gear is an internal sun gear, and the third gear is a multi-planetary gear. In some cases, the first gear is an external ring gear, the second gear is an internal sun gear, and the third gear is an eccentric gear. In some cases, the system further includes a double eccentric gear that engages with the external ring gear and the internal sun gear, and the eccentric gear is coupled to the double eccentric gear. In some cases, the base diameters of the external ring gear and the internal sun gear are equal, and the double eccentric gear is conical and accommodates the equal base diameters of the external ring gear and the internal sun gear. In some cases, the system further includes teeth on each of the external ring gear, the internal sun gear, and the double eccentric gear. In some cases, the system further includes friction control for each of the external ring gear, the internal sun gear, and the double eccentric gear.

[0008] In some cases, during operation, the motion of the first and second rotational inputs is adjusted simultaneously until a desired output speed is reached. In some cases, during operation, the power transmission is reversed to provide a braking force to the first rotational output or to restore energy from the power source.

[0009] A method for controlling a variable electric transmission system includes the steps of: receiving a desired first rotational output speed; determining a constant speed line required to generate a desired first rotational output using a general speed line formula; measuring the actual output speed of the first rotational output of the transmission system; comparing the desired first rotational output speed with the actual output speed of the first rotational output of the transmission system; adjusting the first rotational input and the second rotational input of the transmission system until the desired first rotational output speed matches the actual output speed of the first rotational output of the transmission system; and optimizing the first rotational input and the second rotational input of the transmission system to the most efficient speed pair for the desired first rotational output based on an efficiency map.

[0010] In some cases, the method further includes the steps of: receiving a desired second rotational output speed; determining a constant speed line required to generate the desired second rotational output speed using a general speed line formula; measuring the actual output speed of the second rotational output of the transmission system; comparing the desired second rotational output speed with the actual output speed of the second rotational output of the transmission system; adjusting the third rotational input and the fourth rotational input of the transmission system until the desired second rotational output speed matches the actual output speed of the second rotational output of the transmission system; and optimizing the third rotational input and the fourth rotational input of the transmission system to the most efficient speed pair for the desired second rotational output based on an efficiency map.

[0011] In some cases, the method further includes the step of matching the actual output speed of a first rotational output of the transmission system with the actual output speed of a second rotational output of the transmission system for linear driving motion. In some cases, the method further includes the step of receiving an instruction for a left turn motion and, in response to the instruction for a left turn motion, reducing the actual speed of the first rotational output of the transmission system relative to the actual speed of the second rotational output of the transmission system. In some cases, the method further includes the step of receiving an instruction for a right turn motion and, in response to the instruction for a right turn motion, increasing the actual speed of the first rotational output of the transmission system relative to the actual speed of the secondary rotational output of the transmission system.

[0012] In some cases, a first rotational input of a variable transmission system is coupled to a first motor, and a second rotational input of a transmission system is coupled to a second motor, and the method further includes the step of starting the first motor or the second motor under zero torque load. In some cases, the method further includes the step of reducing the transmission of motor torque ripple.

[0013] A variable transmission system in the form of a coupling system for setting the drive ratio of a transmission includes a left gear system, a right gear system, a first rotational input coupled to the left and right gear systems, a second left rotational input coupled to the left gear system, a second right rotational input coupled to the right gear system, a left rotational output coupled to the left gear system, and a right rotational output coupled to the right gear system. In some cases, during operation, the speed of the left rotational output does not depend on the speed of the right rotational output.

[0014] This summary is provided to briefly introduce selected concepts that will be further discussed in the detailed description below. This summary is not intended to identify any important or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

Brief Description of the Drawings

[0015] [Figure 1] It is a diagram showing a non-fixed planetary gear set. [Figure 2A] It is a diagram showing an eccentric gear set. [Figure 2B] It is a diagram showing an eccentric gear set. [Figure 3A] It is a diagram showing a double eccentric gear set. [Figure 3B] It is a diagram showing a double eccentric gear set. [Figure 3C] It is a diagram showing a double eccentric gear set. [Figure 3D] It is a diagram showing a double eccentric gear set. [Figure 4] It is a diagram showing a symmetric tooth profile double eccentric gear set. [Figure 5] It is a diagram showing a graph of speed pairs for a non-fixed planetary gear set having a sun gear as an output. [Figure 6] It is a diagram showing an efficiency map used to select the motor speed as a function of the desired power. [Figure 7] It is a diagram showing a moment offset supported by a bearing attached to a non-fixed planetary gear set. [Figure 8A] It is a diagram showing an asymmetric tooth profile supported by a bearing attached to an eccentric gear set. [Figure 8B] It is a diagram showing an asymmetric tooth profile supported by a bearing attached to an eccentric gear set. [Figure 9] It is a diagram showing an asymmetric tooth profile supported by a bearing attached to a non-fixed planetary gear set. [Figure 10] It is a diagram showing two moment offsets supported by a bearing attached to an asymmetric tooth profile non-fixed planetary gear set. [[ID=5l]] [Figure 11] It is a diagram showing a moment offset supported by a bearing attached to a T-configuration gear set. [Figure 12]This figure shows two sets of non-fixed planetary gears coupled to the same first rotational input but to different second rotational input sources. [Figure 13] This figure shows the moment offset supported by bearings mounted on two non-fixed planetary gear sets, which are coupled to the same first rotational input but to different second rotational input sources. [Figure 14] This diagram shows how to control the transmission system. [Figure 15] This is a block diagram showing the components of a controller used in several embodiments. [Modes for carrying out the invention]

[0016] Various electric transmission systems and methods are provided. Advantageously, the simple design of the variable electric transmission systems described herein allows for independent control of individual wheels (e.g., along the axle or in a single-wheel configuration) in electric vehicles and / or hybrid vehicles / electrical equipment and / or hybrid equipment, while simultaneously achieving a desired output speed using a method for selecting the most efficient (e.g., input) speed pair. In addition, some embodiments of the variable electric transmission systems and methods described herein allow for coupled designs that enable input sharing for a 3-input 2-output design. Furthermore, torque increases are achieved by resulting in a moment offset supported by one or more bearings provided in some implementations of the variable electric transmission systems described herein.

[0017] There are numerous different gear sets that can be used in the variable electric transmission system described, including the configurations shown in Figures 1, 2A, 2B, 3A-3D, and 4.

[0018] Figure 1 shows a non-fixed planetary gear set. Referring to Figure 1, the non-fixed planetary gear set 100 includes an outer ring gear 102, a plurality of planetary gears 104, and an inner sun gear 106. In some cases, the outer ring gear 102 is coupled to a first rotational input, the inner sun gear 106 is coupled to a second rotational input, and the plurality of planetary gears 104 are coupled to a rotational output (for example, via a planetary gear carrier).

[0019] With the inputs and outputs configured in this way, during operation, the planetary gear set 100 has, via the multiple planetary gears 104, a first rotational input that moves the outer ring gear 102 at the same peripheral speed and / or rotational speed (for example, in opposite directions to each other) for the neutral operation of the rotational output, and a second rotational input that moves the inner sun gear 106; via the multiple planetary gears 104, a first rotational input that moves the outer ring gear 102 at a faster peripheral speed and / or rotational speed than the second rotational input that moves the sun gear 106 for the forward operation of the rotational output, and via the multiple planetary gears 104, a first rotational input that moves the outer ring gear 102 at a slower peripheral speed and / or rotational speed than the second rotational input that moves the sun gear 106 for the reverse operation of the rotational output.

[0020] Figures 2A and 2B show an eccentric gear set. Referring to Figures 2A and 2B, the eccentric gear set 200 includes an outer ring gear 202, an inner sun gear 204 having an input side 206 and an output side 208, an eccentric crank gear 210 coupled to the output side 208 of the inner sun gear 204, a first rotational input coupled to the outer ring gear 202, a second rotational input coupled to the input side 206 of the inner sun gear 204, and a first rotational output coupled to the eccentric crank gear 210.

[0021] With the inputs and outputs configured in this way, during operation, the eccentric gear set 200 has a first rotational input that moves the outer ring gear 202 at the same peripheral speed and / or rotational speed (for example, in opposite directions) for the neutral operation of the eccentric crank gear 210 (for example, without orbital motion of the eccentric crank gear 210), and a second rotational input that moves the inner sun gear 204; for the forward operation of the eccentric crank gear 210 (for example, orbital motion of the eccentric crank gear 210), it has a first rotational input that moves the outer ring gear 202 at a peripheral speed and / or rotational speed faster than the second rotational input that moves the inner sun gear 204; and for the reverse operation of the eccentric crank gear 210 (for example, orbital motion of the eccentric crank gear 210), it has a first rotational input that moves the outer ring gear 202 at a peripheral speed and / or rotational speed slower than the second rotational input that moves the inner sun gear 204.

[0022] Figures 3A to 3D show a double eccentric gear set. Referring to Figures 3A and 3B, the double eccentric gear set 300 includes an outer ring gear 302, an inner sun gear 304, a double eccentric gear 306 that engages the outer ring gear 302 and the inner sun gear 304, an eccentric crank gear 308 coupled to the double eccentric gear 306, a first rotational input coupled to the outer ring gear 302, a second rotational input coupled to the inner sun gear 304, and a first rotational output coupled to the eccentric crank gear 308.

[0023] With the inputs and outputs configured in this way, during operation, the eccentric gear set 300 has a first rotational input that moves the outer ring gear 302 at the same peripheral speed and / or rotational speed (for example, in opposite directions) for the neutral operation of the eccentric crank gear 308, and a second rotational input that moves the inner sun gear 304; a first rotational input that moves the outer ring gear 302 at a peripheral speed and / or rotational speed faster than the second rotational input that moves the inner sun gear 304 for the forward operation of the eccentric crank gear 308; and a first rotational input that moves the outer ring gear 302 at a peripheral speed and / or rotational speed slower than the second rotational input that moves the inner sun gear 304 for the reverse operation of the eccentric crank gear 308.

[0024] Referring to Figures 3C and 3D, the double eccentric gear 320 is coupled to the eccentric crank gear 322 (for example, the internal sun gear or external ring gear is not shown). The double eccentric gear 320 includes internal teeth 324 for engaging with the internal sun gear (for example, the internal sun gear 304 in Figure 3A) and external teeth 326 for engaging with the external ring gear (for example, the external ring gear 302 in Figure 3A). In other cases, the double eccentric gear 320 includes friction control (for example, the double eccentric gear, internal sun gear, and / or external ring gear are moved relative to each other via friction). It should be understood that the eccentric gear set 200 and planetary gear set 100 described above may also include internal and external teeth and / or friction control. Furthermore, friction control refers to using the frictional force generated by the surfaces of objects moving relative to each other (for example, gears), where the frictional force is large enough to move objects that are otherwise stationary without significant sliding.

[0025] Figure 4 shows a symmetrical tooth profile double eccentric gear set. Referring to Figure 4, the symmetrical tooth profile double eccentric gear set 400 includes an outer ring gear 402, an inner sun gear 404, a conical double eccentric gear 406 that engages with the outer ring gear 402 and the inner sun gear 404, an eccentric crank gear 408 coupled to the conical double eccentric gear 406, a first rotational input coupled to the outer ring gear 402, and a second rotational input coupled to the inner sun gear 404. In some cases, due to the conical double eccentric gear 406, the diameters of the outer ring gear 402 and the inner sun gear 404 are the same, which advantageously allows the input speeds to be brought closer than with other configurations and balance loads. In other words, the conical shape of the conical double eccentric gear 406 accommodates the equal base diameters of the outer ring gear 402 and the inner sun gear 404.

[0026] The outputs, as well as the first and second inputs, are defined for each of the systems / configurations described above, but it should be understood that the outputs, as well as the first and / or second inputs, may be coupled to any one of the gears described with each system.

[0027] Figure 5 shows a graph of constant velocity lines for a non-fixed planetary gear set with a sun gear as its output. Each line consists of an infinite number of velocity pairs. A velocity pair refers to a pair of numbers representing the velocity of the input (e.g., a first rotational input and a second rotational input). Theoretically, the range of velocity pairs is infinite, but in practical applications, velocity pairs are limited by the bearings, gear system, and maximum rotational input speed. Velocity pairs are generated by general control laws for a particular mechanical configuration (e.g., planetary gear set, eccentric gear set, double eccentric gear set, and / or symmetrical tooth profile double eccentric gear set, as well as the number of teeth and / or diameter of each gear in the gear set). General control laws are defined by the gears / elements used for the output.

[0028] A non-fixed planetary gear set has three potential outputs (e.g., an internal sun gear, multiple planetary gears, and an external ring gear), with the remaining two gears used as inputs. The internal sun gear (S) is used as an output. sun) The circumferential speed and / or rotational speed, and a plurality of planetary gears (S as output planar ) The circumferential speed and / or rotational speed, and the outer ring gear (S as output ring ) The general control law for the circumferential speed and / or rotational speed is as follows. S sun = ((T sun + T ring ) / T sun ) × S planet - (T ring / T sun ) × S ring S planet = (T ring / (T sun + T ring )) × S ring + (T sun / (T sun + T ring )) × S sun S ring = ((T sun + T ring ) / T ring ) × S planet - (T sun / T ring ) × S sun

[0029] It should be understood that "S" refers to the circumferential speed and / or rotational speed, and "T" refers to the number of teeth of the gear. However, in the friction control design, the number of teeth can be replaced by the circumference of its components.

[0030] The general control law for the orbital motion speed of the eccentric crank gear of the eccentric gear set is as follows. S orbit = S Ring - S Sun × (T Sun / T Ring )

[0031] As an example, the general control law for the circumferential speed and / or rotational speed of a plurality of planetary gears (S planar ) as output results in a general speed linear equation. Y = ((T Ring + T Sun ) / T Ring ) X - S (T Ring / T Sun )

[0032] This formula allows us to obtain a velocity line for any desired output velocity. The constant velocity line contains an infinite number of velocity pairs for any desired output velocity. In fact, this allows for the separation of input velocity and output velocity, enabling the setting of maximum efficiency with respect to the rotational input source. It should be understood that the X and Y variables are the same variables obtained from the slope-intercept equation of the line (Y=mX+b). In either case, in the general velocity line equation, when the output velocity is zero, the final term (for example, "-S(T)") is zero. Ring / T Sun The )") is removed, and the neutral velocity line for a specific number of teeth is obtained by the formula.

[0033] Referring to Figure 5, a graph 500 of velocity pairs for a non-fixed planetary gear set with a sun gear as the output is illustrated. Graph 500 includes inputs for the outer ring gear velocity (e.g., along the Y-axis 502) and inputs for the multiple planetary gear velocities (e.g., along the X-axis 504). By arbitrarily combining the outer ring gear velocity and the multiple planetary gear velocities along the neutral line 506, the output velocity for the sun gear becomes zero. For example, a velocity pair (e.g., shown as point 508) with inputs of -100 units for the multiple planetary gear velocities and -140 units for the outer ring gear velocity results in a zero output velocity for the sun gear. Similarly, a velocity pair (e.g., shown as point 510) with inputs of 100 units for the multiple planetary gear velocities and 140 units for the outer ring gear velocity also results in a zero output velocity for the sun gear. In fact, any velocity pair seen along the neutral line 506 results in a zero output velocity for the sun gear.

[0034] Any combination of the outer ring gear speed and multiple planetary gear speeds along the 850-unit speed line 512 will result in an output speed of 850 units for the sun gear. The units may be revolutions per minute (RPM), ° / s, etc. For example, a speed pair (e.g., shown as point 514) with an input of 180 units for the multiple planetary gear speeds and an input of -100 units for the outer ring gear speed will result in an output speed of 850 units for the sun gear. A speed pair (e.g., shown as point 516) with an input of 320 units for the multiple planetary gear speeds and 100 units for the outer ring gear speed will result in an output speed of 850 units for the sun gear. In fact, any speed pair seen along the 850-unit speed line 512 will result in an output speed of 850 units for the sun gear. The slope is determined by the number of teeth in the gear set and / or the circumference of the gear set, so the slope is 1.4 for both the neutral line 506 and the 850-unit speed line 512. Please understand that if any of the inputs change, the output speed will change.

[0035] As shown in Table 1 below, the output changes nonlinearly by changing the inputs. For example, with a speed pair of 6000 units for multiple planetary gears and 8400 units for the outer ring gear (and 20 teeth for the internal sun gear and 50 teeth for the outer ring gear), the output speed for the sun gear becomes zero. Increasing the planetary input speed by 1 increases the output speed for the sun gear by 3.5 (e.g., from 0 to 3.5). Increasing both input speeds by 1 increases the output speed for the sun gear by only 1 (e.g., from 0 to 1), indicating that both input speeds changed simultaneously until the desired output speed was reached (e.g., enabling finer control of the output speed). However, simply changing the speed of the outer ring gear (e.g., from 8400 units) to 8000 units while leaving everything else unchanged changes the output of the internal sun gear by 1000 units.

[0036] Table 1 further illustrates the full operating range of the electric transmission, from reverse operation (10 unit speed) to high forward speed (-1000 unit speed). The high nonlinearity aspect of the device is also shown. When the primary input changes from 9001 to 9500 (5.5%), the output speed changes from -2 to -1000, an increase of 50000%.

[0037] [Table 1]

[0038] As shown in Table 2 below, the output speed changes (in some cases, significantly) when a variable (for example, the gear used as the output, the speed of any input, and / or the number of teeth on the gear) changes.

[0039] [Table 2]

[0040] The table above illustrates the control of output speed via two rotational inputs, but the required functionality depends on the type of control method used. In some applications, the control may specify input motor power, allowing the system to find a natural setpoint between three opposing torques (two inputs and one output). If both speed inputs are specified (as described above), the system is controlled in the positive direction. If one speed input is specified and the other input power is specified, the system is controlled in the quasi-positive direction. If both inputs are power-controlled, the system is float-controlled. In fact, there are three main types of system control: power-based control, efficiency-based control, and speed-based control. Any one of the inputs may use a common or different control method, and the control method may be changed during operation.

[0041] Speed-based control specifies the input speed (as described above). Power-based control is achieved by directly limiting the available power of the drive motor (for example, via pulse-width modulation similar to how a driver of a gasoline car controls speed via a throttle). Efficiency-based control requires controlling the input using the motor's efficiency map. This map is plotted using a constant power curve and the intersection of each curve with its highest efficiency. Using the resulting curve, the motor speed is specified as a function of the desired power.

[0042] Figure 6 shows an efficiency map used to select motor speed as a function of desired power. Referring to Figure 6, the efficiency map 600 of the motor is shown. Constant power curves for 20 horsepower 602 and 30 horsepower 604 are plotted along with the efficiency map 600. The optimal efficiency curve 606 is also plotted. Thus, for any desired speed and / or power input, the point of highest efficiency along the optimal efficiency curve 606 can be selected. For example, if 20 horsepower is required, the intersection 608 of the optimal efficiency curve 606 and the constant power curve for 20 horsepower 602 can be selected as the input.

[0043] As an example, efficiency-based control may be used as the first input, and power-based control as the second input. If 30% power output is required, the first input operates at a speed associated with the highest efficiency at that power level. The secondary input is simply provided with 30% of the maximum power. In this case, the system floats to the system's natural output speed for a given input and output load (this is quasi-forward control). This should be at or close to the torque level associated with the highest efficiency of the primary input and the optimal efficiency of the secondary input. To achieve this, the system balances the torque requirements of the input motors by selecting the correct planetary gear ratio.

[0044] The three types of control described above can be modified according to different applications. Soft start and more precise speed control can be implemented through compound speed adjustment, which is a modified form of positive control. In this case, both the primary and secondary input speeds are changed together and in coordination. This allows for more precise control of the output speed. For low-speed operation of the vehicle, the system may select compound speed adjustment to perform better control, and then switch to another mode for acceleration and high-speed operation.

[0045] Sawtooth control is another modification of positive control. In this case, the second input speed is adjusted and the first input speed is fixed. After the second input speed reaches the desired maximum value, both the first and second input speeds are adjusted along a constant speed line to the desired minimum second input speed. The second input speed is then increased while the first input speed remains fixed, and the process is repeated. This allows both inputs to operate within a narrower speed range.

[0046] Support control is an extension of sawtooth control. In this case, the sawtooth control is amplified by the system and designed to be "felt." This simulates the shifting in a conventional transmission.

[0047] Regenerative braking is achieved by using the motor as input for the generator. In this case, the mechanical output becomes the system input. The motor is controlled to counteract this input by moving along the velocity line and reaching the neutral velocity line. In some cases, the power transmission is reversed during operation, resulting in braking and energy recovery.

[0048] Positive control selection of a speed pair always specifies the speeds of both the first and second inputs. A system performing positive control selection of a speed pair first uses a general speed line equation to determine the constant speed line required to produce the desired output speed. Next, the current output speed is measured and compared to the desired output speed. The speed pair is then adjusted by accelerating or decelerating the input speeds to produce the desired output speed. The power supplied or removed from the input (e.g., a motor) is proportional to the difference between the measured speed and the desired speed. The system calculates and controls the power based on its control algorithm, which depends on the specific application (e.g., sports car vs. truck). The system also monitors the progress of each input speed toward the speed line and adjusts the relative power so that the input speeds move collectively. After the desired speed is achieved, the system optimizes for the most efficient speed pair for the current conditions (e.g., based on an efficiency map). The power supplied to the primary drive is measured and compared to a power-to-efficiency curve created from the efficiency map. The velocity of the first input is adjusted to this velocity, and the second input is adjusted to the corresponding value for its velocity pair, so that both inputs are maintained on a constant velocity line.

[0049] Figure 7 shows a moment offset supported by bearings mounted on a non-fixed planetary gear set. Referring to Figure 7, the non-fixed planetary gear set 700 includes a first rotational input 702 coupled to a first spur gear 704, the first spur gear 704 mechanically engaging with a planetary gear carrier 706 (for example, the first rotational input 702 drives the planetary gear carrier 706 via the first spur gear 704). In some cases, the planetary gear carrier 706 is mechanically engaged with the first spur gear 704 via external teeth, and in some cases, the planetary gear carrier 706 is mechanically engaged with the first spur gear 704 via friction control. The planetary gear carrier 706 also includes a plurality of planetary gears 708 mechanically engaged with an outer ring gear 710 and an inner sun gear 712 (for example, via external teeth or friction control). A first rotational input bearing 714 coupled to the first rotational input 702 is included to support the torque force on the first rotational input 702.

[0050] The non-fixed planetary gear set 700 further includes a second rotary input 716 coupled to a second spur gear 718, the second spur gear 718 being mechanically engaged with an outer ring gear 710 (for example, the second rotary input 716 drives the outer ring gear 710 via the second spur gear 718). In some cases, the outer ring gear 710 is mechanically engaged with the second spur gear 718 via external teeth, and in some cases, the outer ring gear 710 is mechanically engaged with the second spur gear 718 via friction control. The outer ring gear 710 is also mechanically engaged with a plurality of planetary gears 708 (for example, via internal teeth or friction control). A second rotary input bearing 719 coupled to the second rotary input 716 is included to support the torque force on the second rotary input 716. In this example, the second rotary input 716 is hollow, which allows the first rotary input 702 to be placed inside the second rotary input, thereby aligning and / or operating the first rotary input 702 and the second rotary input 716 along the same axis.

[0051] The non-fixed planetary gear set 700 further includes a first rotational output 720 coupled to an internal sun gear 712, the internal sun gear 712 being mechanically engaged with a plurality of planetary gears 708 (e.g., via external teeth or friction control). As described above, the motion of the internal sun gear 712 depends on the rotational motion (e.g., RPM) of the plurality of planetary gears 708 / planetary gear carriers 706 and the external ring gear 710. One or more output bearings 722 coupled to the first rotational output 720 are also included to support torque forces on the first rotational output 720. As shown in the figure, the first rotational input bearing 714 and the second rotational input bearing 719 are not coaxial with one or more first rotational output bearings 722, thereby allowing torque forces to be applied radially on the bearings 714, 719, and 722. In some cases, bearings 714, 719, and 722 are coupled to a transmission mount, allowing them to transmit torque forces to the machine frame (for example, the frame of a vehicle).

[0052] Advantageously, this configuration provides a moment offset 724 that results in increased torque and a speed range required for use in automotive applications. In fact, without the moment offset 724, the torque balance for the non-fixed planetary gear set 700 is merely the sum of the input motor torque (e.g., torque supplied via the first rotational input 702 and the second rotational input 716) and the torque on the first rotational output 720, thereby resulting in no torque increase as these forces substantially cancel each other out. Thus, the moment offset 724 is realized in the non-fixed planetary gear set 700 by adding a first spur gear 704, a second spur gear 718, and bearings (e.g., a first rotational input bearing 714, a second rotational input bearing 719, and one or more output bearings 722). As can be seen in the diagram, the moment offset 724 is equal to the sum of the radius of the first spur gear 704 and the radius of the outer ring gear 710, or the sum of the radius of the second spur gear 718 and the radius of the planetary gear carrier 706.

[0053] Figures 8A and 8B illustrate the asymmetry supported by bearings mounted on the eccentric gear set. Referring to Figures 8A and 8B, the eccentric gear set 800 includes an outer ring gear 802, a planetary gear 804 having an input side 806 and an output side 808, an eccentric crank gear 810 coupled to the output side 808 of the planetary gear 804, and a first rotational output 812 coupled to the eccentric crank gear 810. The first rotational output 812 includes a first rotational output bearing 814 coupled to the first rotational output 812 and supporting a torque force on the first rotational output 812. Although not shown, the eccentric gear set 800 may further include a first rotational input coupled to the outer ring gear 802 and a second rotational input coupled to the input side 806 of the planetary gear 804, and the first rotational input and / or the second rotational input may include bearings supporting the torque force.

[0054] In either case, the asymmetry formed within the eccentric gear set 800 (for example, note that the center of the planetary gear 804 is never aligned with the first rotational output 812 regardless of the position of the first rotational output 812 around the outer ring gear 802) allows for an increase in torque in the eccentric gear set 800, similar to the torque increase of the moment offset 724 shown in Figure 7. Thus, the asymmetry supported by the bearings mounted on the eccentric gear set 800 can be considered a moment offset. Specifically, when power is supplied to the first and second rotational inputs, a force is applied to the eccentric crank gear 810. This force rotates with the eccentric crank gear 810 and can therefore be considered a phasor (for example, similar to a phasor in an eccentric motor). This phasor is counteracted by phasors generated in the bearings (for example, the first rotational output bearing 814 and the bearings coupled to the first and / or second rotational inputs). These reaction phasers generate a reaction force that enables increased torque in the eccentric gear set 800. Thus, this eccentric gear set 800 effectively forms a moment offset that supports increased torque and the speed range required for use in automotive applications.

[0055] Figure 9 illustrates the asymmetry supported by bearings mounted on a non-fixed planetary gear set. Referring to Figure 9, the non-fixed planetary gear set 900 includes an outer ring gear 902, a single planetary gear 904 (for example, compared to the multiple planetary gears shown in Figures 1 and 7), and an internal sun gear 906. Not shown, this non-fixed planetary gear set 900 further includes a planetary gear carrier coupled to the single planetary gear 904, a first rotational output coupled to the planetary gear carrier, a first rotational input coupled to the output ring gear, a second rotational input coupled to the internal sun gear 906, and bearings coupled to the first and second rotational inputs and the first rotational output. Thus, by including only a single planetary gear 904, this non-fixed planetary gear set 900 supports increased torque and the speed range required for use in automotive applications by generating phasor reactions similar to those described above with respect to Figures 8A and 8B.

[0056] Figure 10 shows two moment offsets supported by bearings mounted on an asymmetric non-fixed planetary gear set. Referring to Figure 10, the asymmetric non-fixed planetary gear set 1000 includes a first rotary input 1002 coupled to a first spur gear set 1004, the first spur gear set 1004 being mechanically engaged with an internal sun gear 1006 via a first rotary input shaft 1008 (for example, the first rotary input 1002 drives the internal sun gear 1006 via the first spur gear set 1004 and the first rotary input shaft 1008). The first rotary input is driven by a first motor 1010. The internal sun gear is mechanically engaged with a plurality of planetary gears 1012 (for example, via external teeth or friction control). A first rotary input bearing 1014 and a first rotary input shaft bearing 1016 are included to support torque forces on the first rotary input 1002 and the first rotary input shaft 1008.

[0057] The asymmetric non-fixed planetary gear set 1000 further includes a second rotational input 1018 coupled to a second spur gear 1020, the second spur gear 1020 being mechanically engaged with an outer ring gear 1022 (for example, the second rotational input 1018 drives the outer ring gear 1022 via the second spur gear 1020). Specifically, the outer ring gear 1022 includes external teeth 1024 mechanically engaged with the second spur gear 1020. In some cases, the outer ring gear 1022 is mechanically engaged with the second spur gear 1020 via friction control. The second rotational input 1018 is driven by a second motor 1026. The outer ring gear 1022 is mechanically engaged with a plurality of planetary gears 1012 (for example, via external teeth or friction control). A second rotary input bearing 1028, coupled to the second rotary input 1018, is included to support the torque force on the second rotary input 1018.

[0058] The asymmetric non-fixed planetary gear set 1000 further includes a first rotational output 1030 coupled to a planetary carrier 1032. The planetary carrier 1032 is coupled to a plurality of planetary gears 1012. The plurality of planetary gears 1012 are mechanically engaged with an outer ring gear 1022 and an inner sun gear 1006 (e.g., via external teeth or friction control). As described above, the motion of the planetary carrier 1032 / the plurality of planetary gears 1012 depends on the rotational motion (e.g., RPM) of the inner sun gear 1006 and the outer ring gear 1022. One or more rotational output bearings 1034 coupled to the first rotational output 1030 are also included to support torque forces on the first rotational output 1030. As shown in the figure, the first rotary input bearings 1014 and 1028 are not coaxial with one or more first rotary output bearings 1034, thereby allowing torque forces to be applied radially to the bearings 714, 719, and 722. In some cases, the bearings 714, 719, and 722 are coupled to a transmission mount, allowing the torque forces to be transmitted to the frame of the machine (e.g., the frame of a vehicle).

[0059] Advantageously, this configuration provides a first moment offset 1036 (e.g., the vertical distance between the first rotational input 1002 and the first rotational output 1030) and a second moment offset 1038 (e.g., the vertical distance between the second rotational input 1018 and the first rotational output 1030) which result in increased torque and a speed range that needs to be used in automotive applications.

[0060] Figure 11 shows the moment offset supported by bearings mounted on a T-configuration gear set. Referring to Figure 11, the T-configuration gear set 1100 includes a first rotational input 1102 that drives a carrier / bevel gear system 1104 and a second rotational input 1106 that also drives the carrier / bevel gear system 1104. The first rotational input 1102 is driven by a first motor 1108, and the second rotational input 1106 is driven by a second motor 1110. A first rotational input bearing 1112 coupled to the first rotational input 1102 is included to support the torque force on the first rotational input 1102, and a second rotational input bearing 1114 coupled to the second rotational input 1106 is included to support the torque force on the second rotational input 1106. The T-configuration gear set 1100 further includes a first rotational output 1116 driven by the carrier / bevel gear system 1104. Advantageously, this configuration provides a moment offset 1118 (for example, the distance between the first rotary input bearing 1112 and the second rotary input bearing 1114) that results in increased torque and a speed range that needs to be used in automotive applications, including tricycle and / or motorcycle applications.

[0061] Figure 12 shows two planetary gear sets coupled to the same first rotation input but to different second rotation input sources. Referring to Figure 12, the left planetary gear set 1200 and the right planetary gear set 1210 share a common / same first rotation input 1220, but the left planetary gear set 1200 includes a different second rotation input 1202 than the right planetary gear set 1210, and the right planetary gear set 1210 also includes a separate second rotation input 1212 (e.g., a third rotation input). Thus, each planetary gear set includes two inputs and one output, and since each planetary gear set includes a common first rotation input, the system as a whole (e.g., both planetary gear sets and their rotation inputs and rotation outputs) includes three inputs and two outputs. In some cases, a shared / common first rotation input applies to a common gear type (for example, a shared / common first rotation input applies to the internal sun gear on each of two planetary gear sets).

[0062] For example, the left planetary gear set 1200 includes an outer ring gear, a plurality of planetary gears, an inner sun gear, a first rotational input 1220 coupled to one of the outer ring gear, the plurality of planetary gears, and the inner sun gear, a second rotational input 1202 coupled to another of the outer ring gear, the plurality of planetary gears, and the inner sun gear, and a rotational output coupled to the remaining one of the outer ring gear, the plurality of planetary gears, and the inner sun gear. The right planetary gear set 1210 includes a second outer ring gear, a second plurality of planetary gears, a second internal sun gear, a first rotational input 1220 of the second planetary gear system coupled to one of the second outer ring gear, the second plurality of planetary gears, and the second internal sun gear, a third rotational input 1212 coupled to another of the second outer ring gear, the second plurality of planetary gears, and the second internal sun gear, and a second rotational output coupled to the remaining one of the second outer ring gear, the second plurality of planetary gears, and the second internal sun gear.

[0063] As an example, this embodiment enables an e-axle configuration having two driven wheels. If the wheels need to turn at different speeds (for example, to turn the front wheels on a car), the system can determine the optimal speed pair for each of the left planetary gear set 1200 and the right planetary gear set 1210, and the speed of the first rotational input 1220 will be the same for each speed pair.

[0064] Figure 12 shows two planetary gear sets coupled to the same first rotational input but to different second rotational input sources. In some cases, two eccentric gear systems, two double eccentric gear systems, or two offset double eccentric gear systems may be coupled to the same first rotational input but to different second rotational input sources. In some cases, different types of gear systems may be coupled to the same first rotational input but to different second rotational input sources (e.g., any combination of two gear sets including planetary gear sets, eccentric gear sets, double eccentric gear sets, and offset double eccentric gear sets). In some cases, moment offsets are further included to provide increased torque and speed ranges that need to be used in automotive applications (e.g., as described with respect to Figure 13).

[0065] Figure 13 shows the moment offset supported by bearings mounted on two non-fixed planetary gear sets, which are coupled to the same first rotational input but to different second rotational input sources. Referring to Figure 13, the left non-fixed planetary gear set 1310 and the right non-fixed planetary gear set 1340 share a common / same first rotational input 1302, but the left non-fixed planetary gear set 1310 includes a separate second left rotational input 1304 from the right planetary gear set 1340, and the right planetary gear set 1340 also includes a separate second right rotational input 1306 (e.g., a third rotational input). In this embodiment, the first rotation input 1302 is located within the second left rotation input 1304 / second right rotation input 1306 (similar to the first rotation input shown in Figure 7, for example; the second left rotation input 1304 and the second right rotation input 1306 are each hollow), so the second left rotation input 1304 is labeled as the left portion of the first rotation input 1302, and the second right rotation input 1306 is labeled as the right portion of the first rotation input 1302. Thus, each non-fixed planetary gear set includes two inputs and one output, and since each planetary gear set includes a common first rotation input 1302, the system as a whole (for example, both planetary gear sets 1310, 1340 and their rotation inputs and rotation outputs) includes three inputs and two outputs. In some cases, a shared / common first rotation input 1302 applies to a common gear type (for example, a shared / common first rotation input applies to an internal sun gear on each of two planetary gear sets).

[0066] In detail, the left non-fixed planetary gear set 1310 includes a first rotational input 1302 coupled to a first left spur gear 1312, the first left spur gear 1312 being mechanically engaged with a left outer ring gear 1314 (for example, the first rotational input 1302 drives the left outer ring gear 1314 via the first left spur gear 1312). In some cases, the left outer ring gear 1314 is mechanically engaged with the first left spur gear 1312 via external teeth, and in some cases, the left outer ring gear 1314 is mechanically engaged with the first left spur gear 1312 via friction control. The left outer ring gear 1314 is mechanically engaged with a plurality of left planetary gears 1316 (for example, via external teeth or friction control). A first left rotational input bearing 1318 coupled to the first rotational input 1302 is included to support the torque force on the first rotational input 1302.

[0067] As described above, the left non-fixed planetary gear set 1310 includes a second left rotation input 1304 coupled to a second left spur gear 1320, the second left spur gear 1320 being mechanically engaged with a left planetary gear carrier 1322 (for example, the second left rotation input 1304 drives the left planetary gear carrier 1322 via the second left spur gear 1320). In some cases, the left planetary gear carrier 1322 is mechanically engaged with the second left spur gear 1320 via external teeth, and in some cases, the left planetary gear carrier 1322 is mechanically engaged with the second left spur gear 1320 via friction control. The left planetary gear carrier 1322 is coupled to a left multiple planetary gear 1316, the left multiple planetary gear 1316 being mechanically engaged with a left outer ring gear 1314 and a left inner sun gear 1326 (for example, via external teeth or friction control). A second left-rotating input bearing 1328, coupled to the second left-rotating input 1304, is included to support the torque force on the second left-rotating input 1304.

[0068] The left non-fixed planetary gear set 1310 further includes a left rotational output 1330 coupled to a left internal sun gear 1326, the left internal sun gear 1326 being mechanically engaged with the left multiple planetary gears 1316 (e.g., via external teeth or friction control). As described above, the motion of the left internal sun gear 1326 depends on the rotational motion (e.g., RPM) of the left multiple planetary gears 1316 / left planetary gear carrier 1322 and the left external ring gear 1314. One or more left rotational output bearings 1332 coupled to the left rotational output 1330 are also included to support the torque force on the left rotational output 1330. This configuration provides a moment offset 1334 (e.g., the vertical distance between the first rotational input 1302 / second left rotational input 1304 and the left rotational output 1330) that results in increased torque and a speed range that needs to be used in automotive applications. As shown in the figure, the first left-rotating input bearing 1318 and the second left-rotating input bearing 1328 are not coaxial with one or more left-rotating output bearings 1332, thereby allowing torque forces to be applied radially to the bearings 1318, 1328, and 1332. In some cases, the bearings 1318, 1328, and 1332 are coupled to a transmission mount, allowing the torque forces to be transmitted to the frame of the machine (e.g., the frame of a vehicle).

[0069] The right non-fixed planetary gear set 1340 includes a first rotational input 1302 coupled to a first right spur gear 1342, the first right spur gear 1342 being mechanically engaged with a right outer ring gear 1344 (for example, the first rotational input 1302 drives the right outer ring gear 1344 via the first right spur gear 1342). In some cases, the right outer ring gear 1344 is mechanically engaged with the first right spur gear 1342 via external teeth, and in some cases, the right outer ring gear 1344 is mechanically engaged with the first right spur gear 1342 via friction control. The right outer ring gear 1344 is mechanically engaged with a plurality of right planetary gears 1346 (for example, via external teeth or friction control). A first right rotational input bearing 1348 coupled to the first rotational input 1302 is included to support the torque force on the first rotational input 1302.

[0070] The right non-fixed planetary gear set 1340 further includes a second right rotation input 1306 coupled to a second right spur gear 1350, the second right spur gear 1350 being mechanically engaged with a right planetary gear carrier 1352 (for example, the second right rotation input 1306 drives the right planetary gear carrier 1352 via the second right spur gear 1350). In some cases, the right planetary gear carrier 1352 is mechanically engaged with the second right spur gear 1350 via external teeth, and in some cases, the right planetary gear carrier 1352 is mechanically engaged with the second right spur gear 1350 via friction control. The right planetary gear carrier 1352 is engaged with a right multiple planetary gear 1346, the right multiple planetary gear 1346 is mechanically engaged with a right outer ring gear 1344 and a right inner sun gear 1356 (for example, via external teeth or friction control). A second right-hand input bearing 1358, coupled to the second right-hand input 1306, is included to support the torque increase on the second right-hand input 1306.

[0071] The right non-fixed planetary gear set 1340 further includes a right rotational output 1360 coupled to a right internal sun gear 1356, the right internal sun gear 1356 being mechanically engaged with a right multiple planetary gear 1346 (e.g., via external teeth or friction control). As described above, the motion of the right internal sun gear 1356 depends on the rotational motion (e.g., RPM) of the right multiple planetary gear 1346 / right planetary gear carrier 1352 and the right external ring gear 1344. One or more right rotational output bearings 1362 coupled to the right rotational output 1360 are also included to support the torque force on the right rotational output 1360. This configuration provides a moment offset 1364 (e.g., the vertical distance between the first rotational input 1302 / second right rotational input 1306 and the right rotational output 1360) that results in increased torque and a speed range that needs to be used in automotive applications.

[0072] Figure 14 shows a method for controlling a transmission system (for example, any variable electric transmission system described herein). For example, the transmission system may include a first gear system including a first gear, a second gear, and a third gear, each of which is mechanically engaged with at least one of the other gears. The transmission system may further include a first rotational input coupled to the first gear, a second rotational input coupled to the second gear, and a first rotational output coupled to the third gear.

[0073] Referring to Figure 14, a method 1400 for controlling a variable electric transmission system includes the steps of: receiving a desired first rotational output speed (1402); determining a constant speed line required to generate the desired first rotational output speed using a general speed line formula (1404); measuring the actual output speed of the first rotational output of the transmission system (1406); comparing the desired first rotational output speed with the actual output speed of the first rotational output of the transmission system (1408); adjusting the first rotational input and the second rotational input of the transmission system until the desired first rotational output speed matches the actual output speed of the first rotational output of the transmission system (1410); and optimizing the first rotational input and the second rotational input of the transmission system to the most efficient speed pair for the desired first rotational output based on an efficiency map (1412).

[0074] In some cases, a first rotational input of the transmission system is coupled to a first motor, and a second rotational input of the transmission system is coupled to a second motor. In some cases, method 1400 further includes the step of starting the first motor and / or the second motor under zero torque load. In some cases, method 1400 further includes the step of reducing the transmission of motor torque ripple.

[0075] In some cases, the transmission system further includes a second gear system comprising a fourth gear, a fifth gear, and a sixth gear, each of which is mechanically engaged with at least one of the other gears in the second gear system. The transmission system may further include a first rotational input coupled to the fourth gear on the opposite side of the first gear, a third rotational input coupled to the fifth gear, and a second rotational output coupled to the sixth gear.

[0076] In some cases, method 1400 further includes the steps of: receiving a desired second rotational output speed; determining a constant speed line required to generate the desired second rotational speed using a general speed line formula; measuring the actual output speed of the second rotational output of the transmission system; comparing the desired second rotational output speed with the actual output speed of the second rotational output of the transmission system; adjusting the third rotational input and the fourth rotational input of the transmission system until the desired second rotational output speed matches the actual output speed of the second rotational output of the transmission system; and optimizing the third rotational input and the fourth rotational input of the transmission system to the most efficient speed pair for the desired second rotational output based on an efficiency map.

[0077] In some cases, method 1400 further includes the step of matching the actual output speed of the first rotational output of the transmission system with the actual speed of the second rotational output of the transmission system for linear drive motion. In some cases, method 1400 further includes the step of receiving an instruction for a left turn motion and, in response to the instruction for a left turn motion, reducing the actual speed of the first rotational output of the transmission system with respect to the actual speed of the second rotational output of the transmission system. In some cases, method 1400 further includes the step of receiving an instruction for a right turn motion and, in response to the instruction for a right turn motion, increasing the actual speed of the first rotational output of the transmission system with respect to the actual speed of the secondary rotational output of the transmission system.

[0078] Figure 15 shows a block diagram illustrating the components of a controller used in several embodiments. Referring to Figure 15, the controller 1500 may include at least one processor 1505 connected to the components via a system bus 1510, a storage device 1515 also connected to the controller components via the system bus 1510, and an input / output ("I / O") interface 1520 connected to the controller components via the system bus 1510.

[0079] Examples of processor 1505 include general-purpose central processing units (CPUs), graphics processing units (GPUs), field-programmable gate arrays (FPGAs), application-specific processors, and logic devices, as well as any other types of processing devices, combinations thereof, or variations thereof.

[0080] The storage device 1515 stores instructions 1517 for implementing methods of controlling the transmission system (e.g., method 1400 in Figure 14 and the various implementations described above) and one or more efficiency maps 1519 (e.g., efficiency map 600 in Figure 6). The storage device 1515 includes system memory (e.g., integrated or removable) and / or mass storage devices. Examples of the storage device 1515 include, but are not limited to, removable and non-removable storage media, including random access memory, read-only memory, magnetic disks, optical disks, CDs, DVDs, flash memory, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other suitable storage medium. For example, the system memory of the storage device 1515 may include random access memory ("RAM") and / or read-only memory ("ROM"). RAM generally provides local storage and / or cache during processor operation, and ROM generally stores basic routines that help transfer information between elements in the computer architecture, such as during startup. The memory device 1515 does not consist of propagated signals or carrier waves.

[0081] The input / output interface 1520 connects to elements of the transmission system described herein, including, but not limited to, a first rotation input, a second rotation input, a third rotation input, a first rotation output, and a second rotation output. The input / output interface 1520 may also connect to a user interface system that enables communication between the user and the controller 1500. The user interface system may include, but not limited to, one or more input devices such as a touch device for receiving touch gestures from the user, a motion input device for detecting non-touch gestures and other movements by the user, a microphone for detecting sound, a steering wheel, a joystick, an accelerator pedal, a brake pedal, and other types of input devices, and processing elements associated with the above input devices that can receive user input. The user interface system may also include, but not limited to, one or more output devices such as a display screen, a speaker, a contact device for tactile feedback, and other types of output devices. In some cases, the input devices and output devices may be combined as a single device, such as a touchscreen display that draws images and receives touch gesture input from the user.

[0082] Some of the techniques described herein may be explained in the general context of computer executable instructions, such as program modules executed by one or more computing devices. Generally, program modules include routines, programs, objects, components, and data structures that perform a particular task or implement a particular abstract data type.

[0083] Some embodiments of the controller may be implemented as a computer process, a computing system, or a manufactured product such as a computer program product or computer-readable medium. Some methods and processes described herein can be embodied as code and / or data, such code and / or data may be stored on one or more computer-readable media. In some embodiments of the present invention, the use of a machine in the form of a computer system is intended, within the computer system, a set of instructions, when executed, can cause the system to perform any one or more of the methods described above. Some computer program products may be one or more computer-readable storage media that are readable by the computer system and encode a computer program of instructions for executing a computer process.

[0084] In this specification, the terms “storage medium,” “computer-readable storage medium,” or “computer-readable storage medium” should be understood as not consisting of transient carrier waves or propagating signals. Instead, “storage” medium refers to non-transient media.

[0085] The functional block diagrams, operating scenarios and sequences, and flowcharts presented in the figures represent exemplary systems, environments, and methods for carrying out novel embodiments of this disclosure. For the sake of simplicity, the methods included herein may be in the form of functional diagrams, operating scenarios or sequences, or flowcharts, and may be described as a series of actions, but it should be understood that the methods are not limited by the order of actions, and some actions may be performed in different orders according to the method and / or simultaneously with other actions illustrated and described herein. For example, a person skilled in the art will understand that, alternatively, the method may be represented as a series of interrelated states or events in a state diagram, for example. Furthermore, not all actions shown in the method may be necessary for a novel implementation.

[0086] In one implementation, the controller 1500 can be conceptually considered a digital-to-analog converter, in which digital information (e.g., 100, 150 RPM speed input) is converted into an analog signal, and the analog signal is processed by attempting to reach the output speed to produce such a speed.

[0087] In an exemplary implementation, a system for setting the drive ratio of a transmission system includes a first gear system comprising a first gear, a second gear, and a third gear, each of which is mechanically engaged with at least one of the other gears of the first gear system. The system further includes a first rotational input coupled to the first gear, a second rotational input coupled to the second gear, and a first rotational output coupled to the third gear, the first gear system being configured to provide moment offsets to support torque forces on the first rotational input, the second rotational input, and the first rotational output.

[0088] The transmission system described herein completely isolates the rotation of the input motor from the resulting output. This provides several advantages to the motor. Firstly, the motor can be started under zero load, and therefore motors without high starting torque can be applied. Secondly, only one motor in the system must self-start. When one or more motors rotate, a combination gear set introduces rotation to all additional motors, thus achieving the starting function. Thirdly, isolation reduces motor torque ripple in two ways. Firstly, it allows the motor to operate at higher rotational speeds, reducing torque ripple through inertial characteristics, and secondly, the transmission of torque ripple is attenuated by the isolation of the mechanical connection. Finally, isolation allows the motor to operate within a limited range of rotational speeds, while still achieving the full range of output speeds, so the motor can be designed to achieve optimal efficiency within this limited speed range.

[0089] While the subject matter has been described using language specific to structural features and / or actions, it should be understood that the subject matter as defined in the attached claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are disclosed as examples of implementing the claims, and other equivalent features and actions are intended to be within the scope of the claims. [Explanation of symbols]

[0090] 100 Non-Fixed Planetary Gear Set 102 External ring gear 104 Planetary gear 106 Internal Sun Gear 200 Eccentric Gear Set 202 External ring gear 204 Internal Sun Gear 206 Input side 208 Output side 210 Eccentric crank gear 300 Double Eccentric Gear Set 302 External ring gear 304 Internal Sun Gear 306 Double eccentric gear 308 Eccentric crank gear 320 Double eccentric gear 322 Eccentric crank gear 324 Inner teeth 326 External teeth 400 Double Eccentric Gear Set 402 External ring gear 404 Internal Sun Gear 406 Double eccentric gear 408 Eccentric crank gear 700 Non-fixed planetary gear set 702 First rotation input 704 First spur gear 706 Planetary Gear Carrier 708 Planetary gear 710 External ring gear 712 Internal Sun Gear 714 First Rotational Input Bearing 716 Second rotation input 718 Second spur gear 719 Second Rotating Input Bearing 720 First rotational output 722 Output bearing 724 Moment Offset 800 Eccentric Gear Set 802 External ring gear 804 Planetary gear 806 Input side 808 Output side 810 Eccentric crank gear 812 First rotational output 814 First Rotary Output Bearing 900 Non-fixed planetary gear set 902 External ring gear 904 Planetary gear 906 Internal Sun Gear 1000 Asymmetrical Non-Fixed Planetary Gear Set 1002 First rotation input 1004 First spur gear set 1006 Internal Sun Gear 1008 First Rotating Input Shaft 1010 First motor 1012 Planetary gear 1014 First Rotating Input Bearing 1016 First Rotating Input Shaft Bearing 1018 Second rotation input 1020 Second spur gear 1022 External ring gear 1024 External teeth 1026 Second motor 1028 Second Rotating Input Bearing 1030 First rotational output 1032 Planetary Carrier 1034 Rotary output bearing 1036 First moment offset 1100 T-type gear set 1102 First rotation input 1104 Carrier / Bevel Gear System 1106 Second rotation input 1108 First motor 1110 Second motor 1112 First Rotating Input Bearing 1114 Second Rotating Input Bearing 1116 First rotational output

Claims

1. A system for setting the drive ratio of a transmission, wherein the system is A left-hand gear system including a first gear coupled to a first rotational input, a second gear coupled to a second rotational input, and a third gear coupled to a left-hand rotational output, A right-hand gear system including a fourth gear coupled to the first rotation input, a fifth gear coupled to the third rotation input, and a sixth gear coupled to the right-hand rotation output, Equipped with, During operation, When the first rotation input moves the first gear at a peripheral speed faster than the second rotation input moves the second gear, the forward movement of the left rotation output occurs, and when the first rotation input moves the fourth gear at a peripheral speed slower than the third rotation input moves the fifth gear, the backward movement of the right rotation output occurs. When the second rotation input and the third rotation input are equal to each other, and the first rotation input is not zero, then for linear drive motion, the left rotation output and the right rotation output become equal to each other. A system in which, when the transmission of power from the left-rotating output to the right-rotating output is reversed, braking force and energy transmission are provided to the right-rotating output.

2. A system for setting the drive ratio of a transmission, wherein the system is A left-hand gear system including a first gear coupled to a first rotational input, a second gear coupled to a second rotational input, and a third gear coupled to a left-hand rotational output, A right-hand gear system including a fourth gear coupled to the first rotation input, a fifth gear coupled to the third rotation input, and a sixth gear coupled to the right-hand rotation output, Equipped with, A system in which, during operation, the first rotation input moves the first gear at a faster peripheral speed than the second rotation input moves the second gear for the forward movement of the left rotation output, and the first rotation input moves the fourth gear at a slower peripheral speed than the third rotation input moves the fifth gear for the reverse movement of the right rotation output.

3. The system according to claim 2, wherein the first rotation input is zero during operation.

4. During operation, The system according to claim 3, wherein the second rotation input is negative and the third rotation input is positive.

5. During operation, For the backward rotation of the left rotation output, the first rotation input moves the first gear at a peripheral speed slower than the second rotation input moves the second gear, and for the forward rotation of the right rotation output, the first rotation input moves the fourth gear at a peripheral speed faster than the third rotation input moves the fifth gear. The system according to claim 2, wherein the second rotation input is positive and the third rotation input is negative.

6. The system according to claim 2, further comprising a first spur gear and a second spur gear, wherein the first rotational input is coupled to the first gear via the first spur gear, and the second rotational input is coupled to the second gear via the second spur gear.

7. The system according to claim 6, further comprising a first rotation input bearing coupled to the first rotation input and a second rotation input bearing coupled to the second rotation input.

8. The system according to claim 7, further comprising one or more rotary output bearings coupled to the left-rotating output.

9. The system according to claim 8, wherein the first rotary input bearing, the second rotary input bearing, and the one or more rotary output bearings are coupled to a transmission mount.

10. The system according to claim 2, wherein during operation, for the neutral operation of the left rotation output, the first rotation input moves the first gear at the same peripheral speed as the second rotation input moves the second gear, and for the neutral operation of the right rotation output, the first rotation input moves the fourth gear at the same peripheral speed as the third rotation input moves the fifth gear.

11. The system according to claim 2, wherein during operation, for the reversal of the left rotation output, the first rotation input moves the first gear at a peripheral speed slower than the second rotation input moves the second gear, and for the forward movement of the right rotation output, the first rotation input moves the fourth gear at a peripheral speed faster than the third rotation input moves the fifth gear.

12. The system according to claim 2, wherein the first gear is a sun gear, the second gear is one or more planetary gears, and the third gear is a ring gear.

13. The system according to claim 12, wherein the fourth gear is a second sun gear, the fifth gear is a second planetary gear or more, and the sixth gear is a second ring gear.

14. The system according to claim 2, wherein, during operation, if the second rotation input and the third rotation input are zero and the first rotation input is not zero, the left rotation output and the right rotation output become equal to each other for linear drive operation.

15. The system according to claim 2, wherein, during operation, when the transmission of power from the left rotation output to the right rotation output reverses, braking force and energy transmission are provided to the right rotation output.

16. A system for setting the drive ratio of a transmission, The aforementioned transmission system is A left-hand gear system including a first gear coupled to a first rotational input, a second gear coupled to a second rotational input, and a third gear coupled to a left-hand rotational output, A right-hand gear system including a fourth gear coupled to a first rotational input, a fifth gear coupled to a third rotational input, and a sixth gear coupled to a right-hand rotational output, Equipped with, A system in which, during operation, if the second rotation input and the third rotation input are equal to each other and the first rotation input is not zero, the left rotation output and the right rotation output are equal to each other for linear drive operation.

17. The system according to claim 16, further comprising a first spur gear and a second spur gear, wherein the first rotational input is coupled to the first gear via the first spur gear, and the second rotational input is coupled to the second gear via the second spur gear.

18. The system according to claim 17, further comprising a first rotation input bearing coupled to the first rotation input and a second rotation input bearing coupled to the second rotation input.

19. The system according to claim 17, further comprising one or more rotary output bearings coupled to the left rotation output, wherein the first rotary input bearing, the second rotary input bearing, and the one or more rotary output bearings are coupled to a transmission mount.

20. The system according to claim 16, wherein during operation, the second rotation input and the third rotation input are fixed input ratios of the first rotation input, and if the first rotation input is not zero, the left rotation output and the right rotation output become equal to each other for linear drive operation.

Images