23 results about "Four-wheel drive" patented technology

An auxiliary driving apparatus of a four-wheel drive (4WD) hybrid electric vehicle is provided. The auxiliary driving apparatus is a series-type driving apparatus to which a longitudinal engine is applied, and a driving mechanism including an engine, a motor, and a plurality of clutches is applied to the front wheel side of a hybrid electric vehicle with a motor applied to the rear wheel side as a main driving source, so that the series mode can be implemented in the rear wheel 2WD mode, and the 4WD (AWD) EV mode can be driven when the engine is stopped.

The present application relates to a four-wheel drive eco-friendly vehicle, a method of distributing driving force thereof, and a recording medium. A method of distributing driving force of a four-wheel drive (4WD) eco-friendly vehicle includes determining a first allowable range of driving force of each driving force based on determination of travel stability, determining a second allowable range of driving force of each driving wheel based on a system limit of at least one of a first driving source and a second driving source, determining a range of available driving force of a first driving wheel based on the first allowable range of driving force and the second allowable range of driving force, determining a first target driving force of the first driving wheel in the range of available driving force, considering efficiency of the first driving source, and determining a second target driving force of a second driving wheel based on the first target driving force and a requested torque.

The present invention relates to a platform structure of an electric tractor in which a battery is installed at the bottom front side of a cab and a hydraulic system is installed at the rear side to control a work machine, so that the tractor can be stably controlled, and to a platform structure of an electric tractor capable of stably maintaining a center of gravity while working, comprising: a front wheel part (10) and a rear wheel part (20) for transmitting power by four-wheel drive; a cab (30) installed between the front wheel part (10) and the rear wheel part (20) and mounted to allow a worker to ride; a battery part (40) for supplying power to the electric tractor; a hydraulic system (50) for driving a work machine; and a three-point linkage (70) installed at the rear of the hydraulic system (50) to allow the work machine to be attached thereto.

A battery charging device is disclosed which extends the range and mileage of an electric vehicle by approximately 500 percent. The battery charging device comprises a two-way battery with fixed generators. The device essentially increases the distance an electric vehicle can travel before needing its battery recharged. Two or four wheel driven generators are connected to a charging and discharging battery and to the motor and systems on an electric vehicle to generate power via wheel rotation.

The application provides a method, device, vehicle and storage medium for controlling vehicle reversing, which belongs to the technical field of vehicles. The method comprises the following steps: in the case that the actual operation mode of the vehicle is a power split mode, if the actual gear of a gear lever of the vehicle is switched to R gear, the actual gear of a gearbox of the vehicle is switched to R gear; during the switching of the actual gear of the gearbox to R gear, it is judged whether the R gear of the gearbox is available; in the case that the R gear of the gearbox is unavailable, the vehicle is controlled to switch from the power split mode to an idle pure electric four-wheel drive mode, so that the front-wheel motor of the vehicle outputs power to drive the front wheels of the vehicle to reverse. The method can drive the front wheels of the vehicle through the front-wheel motor when the R gear of the gearbox is unavailable, so that the vehicle reversing is realized, and the power during vehicle reversing is improved.

The present invention provides a vehicle control device that can reduce sudden fluctuations in driving force in a vehicle while appropriately protecting the electric motor from thermal load. [Solution] The vehicle 10 includes a front motor MGf that drives a pair of front wheels 14 and a rear motor MGr that drives a pair of rear wheels 54. The electronic control unit 90 switches to a normal four-wheel drive mode when (a) the rear motor temperature THmgr rises to a first determination temperature TH1 or higher in the MGr two-wheel drive mode, (b) the high-temperature four-wheel drive mode when the rear motor temperature THmgr rises to a second determination temperature TH2 or higher in the normal four-wheel drive mode, and (c) the protective control mode when the rear motor temperature THmgr rises to a third determination temperature TH3 or higher in the high-temperature four-wheel drive mode.

This invention belongs to the field of vehicle control technology and relates to a vehicle motion control system based on angular module dynamics. The system constructs a two-degree-of-freedom driver control system including steering wheel input and vehicle posture lever input, used to represent path curvature tracking requirements and vehicle posture adjustment requirements, respectively. Based on the driver control input, ideal yaw rate control targets and ideal center-of-gravity sideslip angle control targets are constructed, and the four-wheel steering angle feedforward control quantities are determined through vehicle kinematics methods of pure yaw motion and pure lateral motion. Through feedback optimization control, the additional yaw moment and four-wheel steering angle control quantities are coordinated under composite operating conditions. Based on adaptive adjustment of control weights and constraints under operating conditions, the distribution control of four-wheel drive / braking torque and four-wheel steering angle is achieved. This invention achieves decoupled control of vehicle yaw motion and lateral motion by constructing a two-degree-of-freedom driver control system and combining feedforward kinematics and feedback dynamics control.

A drive wheel and equipment attachment combination for self-propelled hydro-static wheel drive lawn care equipment platforms that converts rear two-wheel drive zero turn equipment with a mower deck to a four-wheel drive with a universal front implement mount lawncare equipment platform and articulated front steering drive frame and equipment mount.

The all-electric multi-modular vehicle system of the present invention consists of a drive module and different types of non-drive vehicle modules, such as enhanced capacity modules for more passengers, sport utility modules, truck bed modules, recreational vehicle modules, four-wheel drive modules, and freight truck modules, etc. When given a command, the vehicle modules should automatically configure into one vehicle, or separate back into individual vehicle modules according to the command. The entire coupling and configuration, and decoupling and deconfiguration can be operated with a wireless user device. The modular vehicle system provides different capabilities and functional options for the user, as well as cost savings and more efficient vehicle utilization. The vehicle owner can purchase a specific set of modules, while renting or leasing or swapping other non-drive modules through a vehicle rental service or a media network of connected modular vehicle owners when needed.

This invention relates to a sensor fusion indoor positioning method for an unmanned ground vehicle, comprising the following steps: 1. Establishing a discretized kinematic model of a four-wheel drive vehicle; 2. Establishing a visual measurement model based on camera and inertial measurement unit (IMU) measurement data; 3. Designing a model based on the visual measurement model and an extended H... ∞ 4. Design a visual estimator for the filter; 5. Design a lidar estimator based on the adaptive Monte Carlo localization method; 6. Design a fusion estimator based on the visual estimator and lidar estimator; The method of this invention is based on the establishment of a visual estimator, a lidar estimator and a fusion estimator, which realizes the robustness of indoor localization for unmanned ground vehicles and solves the problems of camera information loss, noise model uncertainty and poor localization reliability of lidar in similar map scenes in the prior art.

The invention relates to a method for controlling the wheelsets (12, 17) of a powertrain in a four-wheel-drive motor vehicle, the method comprising the following steps: determining: – a driver torque setpoint; – a distribution ratio for the torque setpoint between the wheelsets (12, 17); – a derivative of the distribution ratio; – whether the motor vehicle is in sled mode; – derivatives of torque gradients to be applied to the wheelsets (12, 17) depending on whether the vehicle is in sled mode or not; filtering the torque gradient derivatives to avoid oscillations in the wheelsets (12, 17); and controlling the torques applied to the wheelsets (12, 17) according to the filtered torque gradient derivatives. The invention also relates to a program, a control means and a vehicle based on such a method.

The application relates to an electric drive assembly, a four-wheel drive system and a vehicle, the electric drive assembly comprising a first motor, a first planetary gear deceleration mechanism, a second motor and a second planetary gear deceleration mechanism; the first planetary gear deceleration mechanism comprises a first input element, a first output element and a first intermediate element, and the second planetary gear deceleration mechanism comprises a second input element, a second output element and a second intermediate element; the first motor is connected with the first input element, and the second motor is connected with the second input element; and the first intermediate element is fixedly connected with the second intermediate element. The electric drive assembly solves the problem that the existing four-wheel independent drive system has a large control difficulty of left and right torque consistency.

The utility model provides a kind of passivation pool, including pool body, pool body is separated into passivation chamber and cleaning chamber by vertical partition, the both sides of the upper end of pool body are provided with slide rail along its length direction, and passivation hanging bracket is provided with the upper of pool body, passivation hanging bracket is rotatably connected with two support arms on the side of each slide rail, the lower end of each support arm is rotatably connected with the roller that rolls on corresponding slide rail, and the lower end of each support arm is equipped with the drive motor for driving corresponding roller rotation;The both sides of pool body in cleaning chamber are provided with vertical water baffle upwards, the upper end of each vertical water baffle is provided with horizontal water baffle inward, the lower side of each horizontal water baffle is provided with water jet, and each water jet is communicated with multiple cleaning spray head distributed along its length direction, and each cleaning spray head is inward and downwardly inclined. The utility model realizes workpiece efficient automation passivation treatment using four-wheel drive, satisfies the demand of modern industry to efficient, safe operation.

The utility model provides a four wheel drive chassis structure, including frame, set up front drive axle and rear drive axle on the frame still including setting up transmission, the rear transmission axle of connection setting between transmission and the input end of speed reducer in rear drive axle, the front transmission axle of connection setting between transmission and the input end of speed reducer in front drive axle, the steering gear connected with front drive axle, transmission's output shaft both ends are connected with front drive axle and rear drive axle respectively, and transmission's input end is connected with drive motor. The four wheel drive chassis structure provided by the utility model rotates the output shaft of transmission through drive motor, and the structure is compact and the output torque is higher, through the meshing sleeve one in gear three and the meshing sleeve two in gear four are slid to respectively to gear, realize the drive to the front wheel in front drive axle and the rear wheel in rear drive axle, and transmission's transmission efficiency is higher, satisfies the demand of high torque output scene such as agricultural machinery and engineering vehicle.

A disconnector apparatus with a limited-slip differential includes a casing, a support ring provided in the casing and configured to surround a pinion gear, and a clutch ring connected to a sleeve configured to be operated by an operation of an actuator, the clutch ring being configured such that when the clutch ring moves in an engagement direction when the sleeve is operated by the actuator, a first engagement part, which is provided at one end positioned in the casing, engages with a second engagement part, which is provided on one surface of the support ring, to implement four-wheel drive.

The application discloses a longitudinal instantaneous slip rate estimation method based on adaptive filtering, which comprises the following steps: 1, acquiring the vehicle driving state, four-wheel wheel speed original signals, vehicle longitudinal acceleration signals, four-wheel driving / braking torque signals and four-wheel tire pressure signals; 2, estimating the vehicle speed, four-wheel tire longitudinal slip stiffness and four-wheel tire body longitudinal stiffness values; 3, calculating four-wheel filter coefficients and cut-off frequencies and selecting filter types and filter coefficients in combination with the inherent frequency characteristics of vehicle system vibration; and 4, filtering the four-wheel original longitudinal slip rate to obtain four-wheel longitudinal instantaneous slip rate estimation values. The application considers the influence of tire dynamic deformation on wheel longitudinal slip rate estimation, can improve the wheel longitudinal slip rate estimation precision and further improve the control precision of the wheel slip control system, and has the advantages of simple realization, good robust performance and the like.

The application discloses a time-sharing four-wheel drive hydraulic gearbox with high sealing performance, which comprises a gearbox mechanism, wherein the gearbox mechanism comprises a gearbox shell, a transmission shaft, a transmission gear, a transmission gear hub sleeve, a transmission part, a gear hub sleeve I, a low-speed gear I, a medium-speed gear II, a gear hub sleeve II and a high-speed gear II. The time-sharing four-wheel drive hydraulic gearbox with high sealing performance has the advantages that it can adapt to various driving conditions of site environment and climate change, and the driver can freely switch between two-wheel drive and four-wheel drive modes by connecting or disconnecting the transmission gear and the transmission gear hub sleeve according to the road conditions, so that the function is more powerful and the practicality is stronger. In addition, the sealing mechanism can increase the sealing effect, avoid the existence of gaps between the sealing disc and the gearbox, cause poor sealing effect, and avoid the sealing ring from being not clamped in place and being twisted and deformed, thereby affecting the sealing effect.

Arrangement for a passenger vehicle, normally having front-wheel drive and selectable four-wheel drive, the arrangement comprising: a transversely mounted transmission (7) in the vehicle, driven by a transversely mounted vehicle engine (8); a front axle differential (60) driven by the transmission (7), which has a front axle differential housing (100) extending transversely to the vehicle's main axis, the front axle differential (60) having front wheel shafts (64, 66) connected to first axle shaft gears for driving the front wheels (103, 113) of the vehicle; a rear axle drive shaft (110) connected to the front axle differential housing (100) and surrounding at least one of the front wheel shafts (64, 66); a rear axle drive pinion (120) rotatably mounted on the rear axle drive shaft (110) to engage a torsionally connected driveshaft (140). to drive;A rear axle differential (150) with a ring gear (146) torsionally connected to the driveshaft (140), the ring gear (146) being connected to a housing (152) having drive gears (154) that drive second axle shaft gears (156) connected to the rear wheel shafts, the rear wheel shafts driving the rear wheels (160) of the vehicle, the housing (152) also having a coupling connection (162) with one of the rear wheels (160), the rear axle differential (150) having a first operating state in which it differentially drives the rear wheels (160), and the rear axle differential (150) having a second state in which the housing (152) has a decoupled coupling connection (162) with one of the rear wheels (160) to allow the rear wheels (160) to be disengaged and in relation to to run freely towards each other;a shift sleeve (180) mounted in a frame of a power takeoff unit (170) to selectively couple the rear axle drive pinion (120) with the rear axle drive shaft (110); wherein the shift sleeve (180) has a first position in which it torsionally couples the rear axle drive pinion (120) to the rear axle drive shaft (110), and wherein the shift sleeve (180) has a second position in which it decouples the rear axle drive pinion (120) from the rear axle drive shaft (110); a hydraulic actuator (190) for displacing the shift sleeve (180) which includes a piston (194) which is mounted in the frame of the power takeoff unit (170), wherein the piston (194) has a seal (334) which separates an engagement pressure chamber (336) and a disengagement pressure chamber (342), wherein the piston (194), which has a buffer connection with the shift sleeve (180), is made of aluminium and the shift sleeve (180) is made of steel;a hydraulic pump (210) torsionally connected to and driven by the rear axle drive pinion (120) to drive the hydraulic actuator (190); and a pressure accumulator (230) fluidically connected to the pump (210) and the hydraulic actuator (190) to supply pressurized hydraulic fluid to the hydraulic actuator (190) when the rear axle drive pinion (120) is disengaged from the rear axle drive shaft (110).

This invention relates to the field of motor technology, specifically to a multi-mode motor torque distribution method and system. The method includes: a drive system based on dual front axle motors and a single rear axle motor; constructing an economy control module and a power control module based on a hierarchical control architecture; calculating the driver's driving intention based on the accelerator pedal opening; if the driving intention is within the standard range of the economy control module, obtaining the optimal torque distribution coefficient by minimizing instantaneous energy consumption power, and obtaining the reference torque for the rear axle and front axle motors; if the driving intention is within the standard range of the power control module, calculating the compensation torque for the front axle and rear axle motors based on a preset fuzzy control algorithm according to vehicle speed and accelerator pedal opening change rate, and superimposing the compensation torque onto the reference torque for the front axle and rear axle motors respectively to obtain the final drive torque command; this invention solves the balance problem between economy and dynamics in four-wheel drive multi-motor electric vehicles.

The application relates to a four-wheel drive electric wheelchair all-terrain adaptive system, belonging to the technical field of electric wheelchairs, which comprises a control module and a wheelchair body, wherein the wheelchair body comprises a wheel module and a sensing module which are electrically connected with the control module; the direction in which the occupant of the wheelchair body faces is the front, the wheel module comprises two front wheels arranged at the front of the wheelchair and two rear wheels arranged at the rear of the wheelchair, the two front wheels and the two rear wheels each comprise a driving motor, and a plurality of driving motors are electrically connected with the control module; the sensing module comprises four sensing sub-modules, the four sensing sub-modules are arranged on the two front wheels and the two rear wheels, any sensing sub-module is used for monitoring the bearing pressure of the wheel and transmitting the bearing pressure data to the control module, and the control module instructs the corresponding driving motor of the remaining wheels to increase the output power when one of the bearing pressure data is lower than a threshold.

Embodiments of the disclosure provide an all-wheel drive all-terrain vehicle that includes a substantially rigid frame member that is elongated and includes a battery compartment and a standing area for a rider positioned above the battery compartment. A rear suspension assembly is positioned at a first elongated end of the frame, the independent rear suspension configured to independently support and allow suspension travel to two separate rear wheels and a front suspension assembly is positioned at a second elongated end of the frame that is opposite the first end of the frame, the front suspension assembly configured to independently support and allow suspension travel to two separate front wheels. The vehicle includes an electric motor positioned in each of the front two wheels and each of the rear two wheels and configured to provide motive force thereto, a a battery positioned in the battery compartment, and a a front wheel electric controller positioned in the battery compartment and in electrical communication with the battery to receive electrical power therefrom and in electrical communication with the electric motors positioned in the front two wheels and configured to selectively provide electrical power thereto along with a separate rear wheel electric controller positioned in the battery compartment and in electrical communication with the battery to receive electrical power therefrom and in electrical communication with the electric motors positioned in the rear two wheels and configured to selectively provide electrical power thereto. A rotatable steering column extends upward from the rigid frame member proximate the front suspension assembly, the steering column having a plurality of operational controls positioned that are positioned above a front portion of the standing area.

The present application belongs to the field of vehicle control technology, and relates to a kind of automobile motion control system based on angle module dynamics.System construction contains two degrees of freedom driver control system of steering wheel input and vehicle body posture lever input, for respectively representing path curvature tracking demand and vehicle body posture adjustment demand;Based on driver control input, ideal yaw rate control target and ideal mass side slip angle control target are constructed, and four-wheel steering angle feedforward control amount is determined through pure yaw motion and pure lateral motion vehicle kinematics;Through feedback optimization control, additional yaw torque and four-wheel steering angle control amount are carried out compound working condition coordinated control, based on working condition self-adaptive adjustment control weight and constraint, four-wheel drive / braking torque and four-wheel steering angle distribution control are realized.The present application realizes the decoupling control of vehicle yaw motion and lateral motion by constructing two degrees of freedom driver control system and combining feedforward kinematics and feedback dynamics control.

Described herein are methods and systems for controlling differential wheel speeds of multi-independent-wheel vehicles, such as four-wheel-drive electric tractors (4WD-ETs). Specifically, a method comprises determining a target speed for each wheel of the vehicle based on at least the steering input. The linear travel speeds (corresponding to these target speeds) of any two wheels are different when the vehicle turns (steering input deviates from a no-steering baseline) or the same when the vehicle travels in a straight line (steering input is at the no-steering baseline). Each target wheel speed is then used to control the rotational speed of the corresponding electric motor, which independently drives one of the vehicle's wheels. This process of determining the target wheel speeds and independently controlling all electric motors is frequently repeated such that the vehicle can be propelled through the turn at the desired speed with minimal wheel slip.