46 results about "Electronic differential" patented technology

The invention relates to the technical field of forklift driving stability control, in particular to a forklift driving stability control system based on ultrasonic and laser composite ranging, which comprises a composite ranging module, a multi-modal data fusion module, a stability prediction and control module, an execution mechanism control module and an online learning system. The composite distance measuring module collects surrounding environment information and corrects motion errors through a dynamic compensation algorithm; the multi-modal data fusion module dynamically adjusts the weight of the sensor based on an environmental interference factor, and realizes space-time calibration in combination with extended Kalman filtering; the stability prediction and control module is fused with the vehicle dynamic characteristics to predict the rollover risk and generate a hierarchical control instruction; the actuating mechanism control module drives actuating components such as an active suspension and an electronic differential mechanism through a layered framework. The method can adapt to complex working conditions, the prediction precision and fault-tolerant capability are improved, safety and efficiency are balanced, the maintenance cost is reduced, and the method is suitable for various forklifts.

This invention relates to the field of vehicle transmission technology, and more particularly to a high-strength, highly responsive front and rear axle electronic differential lock, comprising a differential housing assembly, a differential gear mechanism, and a differential lock thrust actuator. The rear end of the differential housing mount and the front end of the differential housing cover of the differential housing assembly are connected by differential housing connecting bolts. The differential gear mechanism includes a left half-shaft gear, an embedded cross shaft, planetary gears, and a right locking half-shaft gear. The left half-shaft gear, planetary gears, and right locking half-shaft gear are sequentially meshing bevel gears. A differential lock thrust actuator is located on the rear side of the right locking half-shaft gear to prevent its rotation. In this invention, the differential lock thrust actuator, the embedded cross shaft, and the sliding track plate are all arranged on the differential housing cover, which not only improves the structural compactness of the differential lock but also significantly enhances the differential lock's response speed and locking stability, while reducing the complexity of installation and maintenance.

The utility model discloses an electronic differential lock actuating mechanism with a signal feedback function, which comprises an actuating mechanism, the actuating mechanism is positioned in a differential lock shell and movably sleeved on a horizontally arranged guide rod, an eccentric worm wheel is arranged at the upper end of the actuating mechanism, and an eccentric column is arranged at the lower end of the eccentric worm wheel. A sliding groove matched with the eccentric column is formed in the upper end face of the actuating mechanism, and the eccentric turbine drives the eccentric column to slide in the sliding groove when rotating, so that the actuating mechanism moves in the axial direction of the guide rod. A first magnet and a second magnet are respectively arranged on two sides of the upper end of the actuating mechanism; the differential lock shell is provided with a first magnetic control switch and a second magnetic control switch which are matched with the first magnet and the second magnet respectively. The position of the actuating mechanism of the electronic differential lock is accurately monitored through the cooperation of the magnetically controlled switch and the magnet, and signals indicating whether unlocking and locking of the differential lock are successful or not are continuously monitored and fed back, so that the actual state of the differential lock is accurately fed back, and the working reliability of the differential lock is effectively improved.

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.

The invention discloses a vehicle electronic differential, including a trigger mechanism and an actuator, wherein the trigger mechanism includes an electromagnet and a fixed block spaced axially; the actuator includes a sliding block, a combined toothed disc and an elastic member, wherein the combined toothed disc is embedded and fixed to the inner ring of the sliding block and is locked with the housing of the differential in the circumferential direction, the combined toothed disc and the right half-shaft gear of the differential are spaced axially, and the elastic member is clamped between the combined toothed disc and the right half-shaft gear; when the trigger mechanism is not triggered, the sliding block and the fixed block are clamped in the circumferential direction through a convex structure with a guiding function and rotate synchronously with the housing; when the trigger mechanism is triggered, the electromagnet is energized and attracts and locks the fixed block, and the sliding block rotates dislocated and moves toward the right half-shaft gear in the axial direction until it is locked and connected with the right half-shaft gear and presses the elastic member. The invention realizes the locking of the differential through the action of the contacting fixed block and the sliding block, and has a compact structure, a short action stroke and improves the triggering speed.

The utility model provides a kind of electronic differential coaxial three-section electric drive axle.The electronic differential coaxial three-section electric drive axle includes electric drive axle shell and the two groups of drive components symmetrically arranged therein, the drive component includes electric drive axle shell and the two groups of drive components symmetrically arranged therein, the drive component includes sequentially connected input unit, intermediate unit and output unit, the input unit includes multiple motors, converges to the same input shaft, and connects multiple intermediate units, multiple intermediate units converge to the same output unit, the intermediate unit is equipped with gear shifting mechanism and synchronously switches.The electronic differential coaxial three-section electric drive axle provided by the utility model solves the problem that the existing electric drive axle cannot meet the specific working condition use requirements.

This invention relates to the field of electronic differential pressure gauges, and provides an electronic differential pressure gauge with local calibration and zeroing functions. The gauge includes a body and a base box. The body includes a differential pressure display screen, a differential pressure sensor, a high-pressure interface, a low-pressure interface, a valve one, a valve two, and a microcontroller unit. The high-pressure interface is located at the positive pressure input end of the differential pressure sensor, and the low-pressure interface is located at the negative pressure input end of the differential pressure sensor. The high-pressure interface is connected to an external high-pressure interface via a pipeline. The low-pressure interface is connected to a calibration interface and an external low-pressure connection port via a pipeline. The external high-pressure interface and the external low-pressure connection port are used to connect to the environment under test. Both the calibration interface and the external low-pressure connection port are connected to the negative pressure input end of the differential pressure sensor via valve two. Valve one is connected between the pipelines of the positive and negative pressure input ends of the differential pressure sensor. This invention solves the problems of traditional differential pressure gauges requiring manual disassembly of pipelines, reliance on external equipment, or inability to be quickly operated on-site during calibration and zeroing.

The invention relates to the technical field of automobiles, in particular to an electronic differential control method for a four-wheel independent drive automobile. Firstly, rear wheel steering angle coefficients of a front wheel steering angle and a rear wheel steering angle are dynamically adjusted through the longitudinal speed of a vehicle; electronic differential models of same-direction steering and reverse-direction steering are obtained based on the rear wheel steering angle coefficient, the flexibility of the vehicle is improved under the low-speed working condition, and the high-speed stability of the vehicle is improved under the high-speed working condition; according to the electronic differential model, obtaining the expected speed and the proportional synchronization coefficient of each wheel; and creating a four-wheel synchronous control algorithm, calculating a tracking error and a synchronous error of each wheel, endowing the synchronous error with different weights, and outputting final control. According to the electronic differential control method, accurate regulation and control of the vehicle steering process can be achieved, and good dynamic performance and use value are achieved.

This invention provides a control method for an electronic differential limiting device that can temporarily increase the maximum torque. Even when the maximum torque of the electronic differential limiting device is applied and the wheel slip increases to a certain level or its rate of increase is relatively fast, by temporarily increasing the maximum torque upward to the design margin, the maximum wheel speed difference can be reduced and the time required for the wheel speed difference to converge can be reduced.

A machine equipped with a differential protection system includes an electronic differential lock, a control unit, and a knock sensor to convert detected vibrations into electrical signals. The control unit is programmed to receive and process the electrical signals generated by the knock sensor and to determine the risk of differential wear based on these signals. The program instructions include responding to signals indicating a risk of differential wear by preventing the differential lock from engaging for a defined period and by instructing the differential lock to engage once that period has elapsed. The control unit can also be programmed to instruct the differential lock to engage in response to a request to engage the differential lock and the fulfillment of certain engagement conditions.The existence of a risk of differential wear is derived from the frequency and amplitude of the processed signals.

This invention discloses an electronic control optimization method for modifying off-road chassis vehicles, specifically relating to the field of electronic control optimization technology. By statistically analyzing the number of times the electronic differential lock switches on and off within a fixed sliding window and calculating the moving locking frequency, short-term yaw rate abnormal fluctuation information under high-frequency locking is obtained, and a short-term yaw rate abnormal fluctuation coefficient is calculated. Simultaneously, wheel slip rate adjustment information is collected to calculate the wheel slip rate adjustment coefficient. Combined with the obtained steering angle change information, an abnormal steering angle change coefficient is calculated. Based on the short-term yaw rate abnormal fluctuation coefficient, wheel slip rate adjustment coefficient, and abnormal steering angle change coefficient, a vehicle stability system misjudgment interference model is constructed, and a vehicle stability system misjudgment interference index is output. This achieves real-time and accurate assessment of the degree of misjudgment interference to the vehicle stability system under high-frequency locking of the electronic differential lock, effectively reducing the risk of ESP system misjudgment caused by high-frequency locking.

The invention discloses an electric power-assisted tricycle with a semi-active electronic differential function and a control method. The electric power-assisted tricycle comprises an angle sensor, a VCU controller, a power module, a double-hub driving motor and a tricycle body. The vehicle main body is an electric power-assisted tricycle; the angle sensor is arranged on a middle chain plate of a front fork of the vehicle body and a vehicle frame, electrically connected with the VCU controller and used for capturing turning angle information and transmitting the turning angle information to the VCU controller when the vehicle body turns; the power supply module is electrically connected with the VCU controller, the power supply module supplies energy to the double-hub driving motor, and the double-hub driving motor drives the left rear driving wheel and the right rear driving wheel respectively; the VCU controller is used for distributing the current output to the double-hub driving motor by the power supply module according to the turning angle information; the problems that left and right wheels are not synchronous in the turning process of the tricycle, so that outer side wheels are prone to getting off the ground, and even rollover accidents occur are solved.

The utility model relates to the technical field of filter production, in particular to a pretreatment device for high-temperature-resistant filter production, which comprises supporting legs, a workbench is connected to the top ends of the supporting legs, a lower air inlet hopper is connected to the bottom end of the workbench, and a fan frame is connected to the inner side of the lower air inlet hopper. And the top end of the fan frame is connected with an air inlet fan. According to the utility model, through the arrangement of the placing rack and the antiskid sealing rubber ring, the sealing effect on two side frames of the filter can be ensured, the test accuracy is ensured, the filtering efficiency and the filtering pressure difference can be respectively detected through the electronic differential pressure gauge and the particle counter, and meanwhile, the sealing effect at the side frame before filtering can be detected through the downward pressing of the sealing plate; the functionality of detection processing is effectively improved, and the equipment consumption is reduced while the efficiency is improved.

The present invention provides a differential pressure control system. It relates to the technical field of differential pressure control. The system includes: real-time monitoring of the pressure data on the reaction chamber side and the pressure data on the bypass side according to a pre-deployed electronic differential pressure gauge and summarizing the data; when it is detected that the pressure data is inconsistent, sending a deviation control instruction to an electronic control valve according to a PID arithmetic unit to adjust the valve opening until the pressure data is consistent; when the control is abnormal, performing differential pressure control on the flow rate of the bypass side according to the flow controller on the bypass side, and when it is detected that the pressure data is consistent and the differential pressure control accuracy is not lower than the preset control accuracy, recording the flow rate on the bypass side as the optimized flow rate and applying the control; continuously monitoring and real-time feedback to adjust the pressure data on the reaction chamber side and the pressure data on the bypass side; achieving both pressure balance control and improving the differential pressure control accuracy.

The invention relates to the technical field of vehicle transmission, in particular to a high-strength and sensitive-response electronic differential lock for a front axle and a rear axle, which comprises a differential shell assembly, a differential gear mechanism and a differential lock thrust actuating mechanism, the rear end of a differential case seat of the differential case assembly is connected with the front end of a differential case cover through the differential case connecting bolt after being butted; the differential mechanism gear mechanism comprises a left half axle gear, an embedded cross axle, a planetary gear and a right locking half axle gear, and the left half axle gear, the planetary gear and the right locking half axle gear are bevel gears which are sequentially matched and meshed; a differential locking thrust executing mechanism capable of preventing the right locking half axle gear from rotating is arranged on the rear side of the right locking half axle gear. According to the differential lock, the thrust executing mechanism, the embedded cross shaft and the sliding rail disc are all arranged on the differential shell cover, so that the structural compactness of the differential lock is improved, the response speed and the locking stability of the differential lock are remarkably improved, and the complexity of installation and maintenance is reduced.

The invention belongs to the technical field of shuttle car differential control, and aims to solve the problems of vehicle steering interruption and tire wear caused by damage of a steering sensor. The electronic differential method for the left-right driving mining shuttle car comprises the following steps that a speed given signal output by an accelerator pedal of the shuttle car is obtained, and the running state of the shuttle car is judged based on the speed given signal; acquiring actual rotating speeds and actual currents of a left traction motor and a right traction motor of the shuttle car in the running state; calculating an absolute speed difference and an absolute pair current difference between the two, and comparing the absolute speed difference and the absolute pair current difference with a preset system allowable speed difference and a system allowable current difference; obtaining the type of the driving state of the shuttle car based on the comparison result; and the steering type and the speed of the shuttle car are judged based on the actual rotating speeds and the actual currents of the left traction motor and the right traction motor, the given speed signals are divided into two paths, and the given speed of the left traction frequency converter and the given speed of the right traction frequency converter are adjusted respectively. A steering sensor is omitted, and the underground operation progress can be effectively guaranteed.

This invention relates to the field of electric construction machinery drive control technology, specifically a multi-motor drive torque coordination control method for electric shovels; it includes data acquisition, model building, parameter mapping, and torque adjustment processes; the system constructs a virtual viscoelastic shaft model based on the Ackermann principle; its core is to map real-time steering angle, load, and speed difference into virtual stiffness and damping coefficients, calculate the coupling compensation torque, and superimpose it onto the base torque; this invention breaks the traditional opposition between electronic differential and anti-slip control, and achieves flexible connection between the left and right motors through the characteristics of the virtual shaft, effectively suppressing slippage without cutting off power, and taking into account both steering flexibility and driving stability under complex working conditions.

The utility model belongs to the technical field of environment-friendly air purification, and discloses a filter type oil mist purifier with a multi-channel electronic differential pressure signal acquisition sensor. Comprising a frame body, an air inlet section and a fan section are arranged on the frame body, and the fan section is arranged at the upper end of the air inlet section; a fan and a pressure difference signal acquisition sensor are arranged in the fan section, the pressure difference signal acquisition sensor is connected with a pressure difference acquisition module, a filter element body is arranged in the air inlet section, pitot tubes are arranged at the front end and the rear end of the filter element body, and the filter element body is connected with the pressure difference signal acquisition sensor used for detecting the front pressure and the rear pressure of the filter element body through the pitot tubes. And the air inlet section is arranged at the bottom of the filtering type oil mist purifier. The performance monitoring of the filter element body and the maintenance convenience of the equipment are realized.

Exemplary embodiments are disclosed of systems including electronic differential pressure sensors for electronically controlling stepper gas valves to modulate fuel flow in PAM combustion systems (e.g., PAM furnace systems, etc.). Also disclosed are exemplary methods for electronically modulating fuel flow in pressure augmented modulation (PAM) combustion systems.

The invention belongs to the technical field of electric vehicle control, and provides an electronic differential control method and related equipment for a wheel-side-driven electric vehicle, and the method comprises the steps: obtaining structure parameters and operation parameters of the wheel-side-driven electric vehicle; based on the Ackerman steering principle, the structure parameters and the operation parameters, scale factors of the wheel speeds of the inner side wheel and the outer side wheel during steering of the wheel-side-driven electric automobile are calculated; based on the mechanical differential principle, the scale factor and the actual vehicle speed, theoretical wheel speeds of inner and outer wheels of the wheel-side-driven electric vehicle are calculated; according to the theoretical wheel speed and the actual wheel speed, the slip rate of the inner and outer wheels is calculated; and according to the slip rate, the torque of the wheel edge driving electric automobile is controlled until the difference value between the actual wheel speed and the theoretical wheel speed is smaller than a preset difference value threshold value. The wheel wear can be reduced, and the vehicle stability is improved.

Symmetrical electronic differential electric drive axle, including two electric drive modules, with the output end of electric drive module half shaft and assembly in half shaft end wheel end planetary row, it is characterized in that: the electric drive module with half shaft coaxial alignment, two electric drive modules between two half shafts mirror image symmetry arrangement, electric drive module includes multiple motors, the power coupling of multiple motors coupling component and with the coaxial connection of coupling component reduction assembly, half shaft and the output end of reduction assembly are connected, coupling component is parallel axis structure, and reduction assembly is planetary reduction structure.The utility model quality distribution is even, improves the carrying capacity, promotes structural stability and security, fuses the efficient transmission of parallel axis and the compact split torsion characteristics of planetary wheel, shortens transmission chain, optimizes power distribution path, improves the power distribution accuracy between wheels under complex road conditions, improves the road condition adaptability of vehicle.

The application relates to the field of vehicle control, in particular to a fault processing method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring state information; the state information is used for indicating the current running state of an electronic differential lock controller, an electronic differential lock and an electronic differential lock switch; in the case that the state information is used for indicating a first fault, a first fault processing instruction is sent to the vehicle; the first fault processing instruction is used for indicating that the vehicle is speed-limited and for indicating that the vehicle displays first alarm information. Thus, the problem that, in the related art, only alarm is performed after the electronic differential lock is detected to have a fault and the consideration is not comprehensive can be solved.

The invention discloses an off-road chassis vehicle refitting electronic control optimization method, and particularly relates to the technical field of electronic control optimization. The number of times of opening and closing of an electronic differential lock is counted in a fixed sliding window, and the moving locking frequency is calculated; short-time yaw rate abnormal fluctuation information in the high-frequency locking state is obtained, a short-time yaw rate abnormal fluctuation coefficient is calculated, meanwhile, wheel slip rate adjustment information is collected to calculate a wheel slip rate adjustment coefficient, and then an abnormal steering angle change coefficient is calculated in combination with obtained steering angle change information; according to the short-time yaw rate abnormal fluctuation coefficient, the wheel slip rate adjustment coefficient and the abnormal steering angle change coefficient, a vehicle body stability system misjudgment interference model is constructed, and a vehicle body stability system misjudgment interference index is output; real-time and accurate evaluation of the misjudgment interference degree of the electronic differential lock in the high-frequency locking state on the vehicle body stabilization system is achieved, and the ESP system misjudgment risk caused by high-frequency locking is effectively reduced.

The present invention discloses an electric vehicle differential torque control method, device, terminal and storage medium in the technical field of distributed drive of electric vehicles, aiming to solve the problem that in the prior art, when controlling the rotational speeds of the inner and outer wheels during vehicle steering, there is usually a lack of slip control for the wheels, resulting in poor maneuverability of the whole vehicle, easy to cause overall torque imbalance, and affecting the stability during vehicle steering. It includes obtaining the torque distribution coefficient under preset working conditions; calculating the torque correction proportionality factor; calculating the torque of the inner wheel and the torque of the outer wheel; the present invention distributes torque proportionally with the equal slip ratio as the control target, and utilizes the characteristics of independent control of the torques of the two wheels to achieve the rotational speed difference between the inner and outer wheels during steering, while ensuring the slip control of the wheels and the maneuverability of the whole vehicle, thereby realizing the electronic differential control of the distributed drive electric vehicle, avoiding causing overall torque imbalance, and ensuring the stability during vehicle steering.

The present invention belongs to the technical field of heavy-duty vehicle travel control and provides an electronic differential control method and device for a heavy-duty shuttle vehicle. This method solves the problem of a large turning radius and slippage or dragging of some tires during pure hydraulic steering. The vehicle controller obtains the accelerator pedal opening of the target shuttle vehicle during the steering phase; the initial given speed of the shuttle vehicle during the steering phase is determined based on a mapping relationship; the length of the oil cylinder displacement sensor of the target shuttle vehicle during the steering phase is obtained; the steering angle of the shuttle vehicle during the steering phase is determined based on the mapping relationship; the turning radius of the target shuttle vehicle is determined by analyzing the mechanical structure based on the steering angle; and finally, the differential coefficient of each wheel is calculated. Finally, combined with the initial given speed, the actual given speed output of the travel motor is completed to realize electronic differential control of the shuttle vehicle. The present invention can improve the steering performance and driving stability of heavy-duty vehicles.

An electronic differential disconnect clutch includes a differential unit, a first flange, a hub, a second flange, a hub sleeve and a solenoid. The differential unit has a pair of splines arranged for receiving a pair of axle shafts. The first flange has a first face spline and is fixed to the differential unit. The hub is rotatable relative to the differential unit and arranged to receive an input torque. The second flange is rotationally fixed and axially displaceable on the hub and has a second face spline arranged for engaging the first face spline. The hub sleeve is arranged to axially displace the second flange to engage the second face spline with the first face spline. The solenoid is arranged to axially displace the hub sleeve.

The invention relates to the technical field of electric engineering machinery driving control, in particular to a multi-motor driving torque coordination control method of an electric forklift. The method comprises the steps of data acquisition, model construction, parameter mapping and torque adjustment. The system constructs a virtual viscoelastic axis model based on the Ackerman principle; the core of the method is that a real-time steering angle, a load and a rotating speed difference are mapped into virtual stiffness and a damping coefficient, and coupling compensation torque is solved and superposed to basic torque; the opposition of traditional electronic differential and anti-slip control is broken through, flexible connection of the left motor and the right motor is achieved through the virtual axis characteristic, slip is effectively restrained under the condition that power is not cut off, and steering flexibility and driving stability under the complex working condition are both considered.

A dual-motor two-gear electronic differential drive axle comprises an axle housing and hubs installed at the two ends of the axle housing, and further comprises two electric drive systems, the two electric drive systems are integrated on the front side and the rear side of the middle of the axle housing respectively and are arranged oppositely, one electric drive system is in transmission connection with the hub at one end of the axle housing, and the other electric drive system is in transmission connection with the hub at the other end of the axle housing. The electric drive system comprises a drive motor, an input gear assembly coaxially connected with an output shaft of the drive motor, a first-gear gear assembly connected with the input gear assembly, and a second-gear gear assembly connected with the input gear assembly and coaxially aligned with the first-gear gear assembly. The gear shifting mechanism is arranged between the first-gear gear assembly and the second-gear gear assembly and executes gear shifting action, the main reduction gear assembly is connected with the gear shifting mechanism, and the output end of the main reduction gear assembly is coaxially connected with the hub. Spatial arrangement of the drive axle is facilitated, moment equipartition of the drive axle is guaranteed, and power consumption economy is taken into account on the basis that the drive requirement of the heavy truck is met.

The invention discloses an integrated filtering system for a pump and a control method. The integrated filtering system for the pump comprises a filter, a safety valve, an electronic differential pressure valve, a controller and a variable control valve. An oil inlet of the filter is connected to an oil outlet of the oil supplementing pump, and an oil outlet of the filter is connected to a first opening and a second opening of the plunger pump. The electronic differential pressure valve is used for detecting the differential pressure between an oil inlet and an oil outlet of the filter; the controller is configured to obtain the pressure difference between the oil inlet and the oil outlet of the filter; comparing the pressure difference with a preset value; when the pressure difference is larger than or equal to a first set value, an alarm module is controlled to give an alarm; and in response to the fact that the pressure difference is larger than or equal to a second set value, electromagnets at the two ends of the variable control valve are controlled to lose power and return to the neutral position, the plunger pump swash plate swing angle is driven to return to the zero position, and the theoretical output flow of the plunger pump is zero. And predicting according to the pressure difference to obtain the residual service life of the filter element of the filter and displaying the residual service life to remind to replace the filter element.

The invention discloses a distributed multi-gear driving system with double central motors oppositely arranged and a control method, and belongs to the technical field of mechanical driving transmission, the distributed multi-gear driving system comprises two driving systems used for driving wheels, and the two driving systems are oppositely arranged in a mirror image mode with the driving axes of the driving systems as the center; and the two driving systems respectively comprise a motor and a speed reducing mechanism which are coaxially arranged. The two driving systems which are oppositely arranged in a mirror image mode with the driving axis as the center are adopted, driving shafts are centered and symmetrically output, and eccentricity is reduced; the motor and the speed reducing mechanism are coaxially arranged to save space; planetary transmission and cylindrical gear compound transmission realize a large transmission ratio; three speed ratios are conveniently switched through the compound gear mechanism and the gear shifting mechanism, and the performance of the motor is fully exerted; electronic differential is achieved by combining the eccentric design of the cylindrical gear assembly and motor control, and the efficient, smooth and multi-gear requirements of electric drive vehicle types under complex working conditions are met.