1528 results about "High torque" patented technology

Systems and methods for clamping force estimation are provided. In one example, operations include generating a displacement-torque curve based on displacement data and motor torque data of an electric motor of the EMB system for a braking episode having a switchover time. The operations also include determining a high torque value and a low torque value at the switchover time from the displacement-torque curve. The operations further include calculating a friction coefficient based on the high torque value and the low torque value. The operations yet further include determining a non-linear coefficient from the displacement-torque curve. The operations include estimating a clamping force for a constant speed based on the friction coefficient and the non-linear coefficient.

The invention provides a magneto-rheological brake integrating a shearing working mode and a shearing valve working mode. The magneto-rheological brake comprises a mounting sleeve set, a braking structure and a driven structure. The driven structure comprises a first driven ring, a second driven ring and a reel, the first driven ring and the second driven ring are both connected with the reel, and a magnet exciting coil is wound on the reel; the brake structure comprises a rotating shaft and a brake disc, the brake disc is arranged on the rotating shaft in a sleeving mode, and the brake disc is connected with the reel through a cylindrical cam structure; axial damping gaps are reserved between the two opposite side walls of the first driven ring and the two opposite side walls of the second driven ring and the two opposite side walls of the installation sleeve set respectively. Radial damping gaps are reserved between the two opposite side walls of the brake disc and the two opposite side walls of the installation sleeve set respectively. According to the invention, on the premise of not changing the structural size, a higher torque volume ratio can be provided, and the application is beneficial for meeting the occasion that the installation space is small and the larger output torque can be provided.

The invention provides a direct connection type P1 hybrid commercial vehicle gear shifting coordination control method and device and a vehicle. The method comprises the steps that a vehicle gear shifting request is received, assembly torque reduction is achieved through an engine and a motor, and a gearbox is made to reverse to a neutral gear; the rotating speed of the power assembly is adjusted through an engine and a motor according to the vehicle operation condition and the gear shifting time, so that the rotating speeds of the clutch before and after gear shifting are synchronous; and an assembly torque returning request is received, and the output torque of the engine and the output torque of the motor are dynamically distributed according to the accelerator response characteristic curve. The torque response speed can be increased, rotating speed overshoot and clutch contact impact are avoided, the torque returning speed is increased, and the dynamic property and comfort of a vehicle are improved.

The utility model discloses a planetary disc type joint module and a robot with the same, the planetary disc type joint module comprises a shell, a planetary reducer assembly, a motor assembly and an electrical cabin, the planetary reducer assembly, the motor assembly and the electrical cabin are arranged in the shell, a hollow shaft and an inner gear ring are arranged in the shell, and the planetary reducer assembly and the motor assembly are arranged in a nested mode; an output end magnetic ring and a motor end magnetic ring are arranged on the hollow shaft, the two magnetic rings are installed in an embedded mode, signals of the two magnetic rings can be detected through one code disc reading head, and the motion of the output end of the planetary reducer assembly is transmitted to an electric cabin of the joint through the hollow shaft. The signals of the motor end and the output end can be detected at the same time without additionally installing an output end encoder assembly, and the control precision of the joint output end is improved; the planetary reducer assembly adopts multi-stage speed reduction, the speed reduction ratio is large, the torque density of the joint is high, the rotational inertia is small, and the overall integration degree is high.

A torque limiting coupling assembly shields a valve actuator from abnormally high levels of torque. In normal operation, an actuator coupling transfers a driving torque from an actuator coupling to a valve shaft coupling and the valve shaft coupling engenders a shaft torque on a shaft of a valve. In torque actuated operation, when a counter torque applied to the shaft coupling exceeds a threshold value, the actuator coupling freely rotates relative to the valve shaft coupling and the driving torque is transferred to a biasing element of the torque limiting coupling assembly rather than to the valve shaft coupling, thereby shielding the valve or the actuator from high levels of torque.

The invention discloses a magnetic adjusting assembly, a motor, an electric drive system and a vehicle, and the magnetic adjusting assembly comprises a magnetic conductive part which is suitable for being movably disposed on one side of a rotor in the radial direction, so as to adjust the magnetic flux passing through the rotor. According to the magnetic adjusting assembly, the magnetic flux passing through the rotor is adjusted to change the magnetic flux of the magnetic flux short-circuit loop formed by the magnetic conductive piece and the rotor, so that the adjustment of the magnetic flux of the main magnetic field is realized, the adjustment is convenient, and the motor applying the magnetic adjusting assembly has the advantages of a constant torque area and a constant power area; and a constant-power operation region and a high-efficiency region are effectively widened while high torque density and power density are ensured.

A cam-type clutch is provided, featuring a torque limiting function. It is adaptable to high torque applications with a simple structure, excellent accuracy, stability, and durability, and can be miniaturized for extended service life. The cam-type clutch comprises: multiple cams arranged circumferentially between at least one pair of inner and outer rings, which are coaxial and rotatable relative to each other; and preloading devices for preloading the multiple cams so that they come into contact with the inner and outer rings. Each cam has an inclination limiting section that restricts the cam's inclination in an engagement direction by coming into contact with a locking section located in a different section of the cam-type clutch than the cam-receiving surfaces of the inner and outer rings.

According to the technical scheme, the underwater rotary hydraulic proportional valve is characterized in that the underwater rotary hydraulic proportional valve comprises a valve body, a steel sleeve, a shell, a coil, a magnet yoke, a stator iron core, an inner end cover, a sealing ring a, a dustproof screw, a sealing ring b, a rotary transformer, a permanent magnet, a sealing ring c, a valve sleeve, a valve element, a bearing and a sealing ring d, and is characterized in that a plurality of hydraulic oil ports are formed in the valve body; the hydraulic oil port is communicated with the oil port through the multiple valve cavities, the shell is installed at one end of the valve body, a driving cavity is formed in the shell, and the valve element and a rotating shaft of the motor are integrated. The wet-type limited angle torque motor is adopted to drive the rotary valve and the valve element to rotate, a motion conversion device is omitted, the valve element and the valve sleeve rotate relatively, friction force is small, the anti-pollution capacity is high, the axial leakage problem does not exist, a motor shaft of the limited angle torque motor can rotate within a limited angle range, and the advantages of being convenient to control, large in torque density, high in reliability and the like are achieved. And the method is simple and reliable.

The invention relates to a powder metallurgy high-performance copper-based alloy friction plate for a torque limiter of a wind power coupler and a preparation method of the friction plate. The friction plate is composed of, by mass, 9%-14% of carbon, 1%-3% of tin, 2%-8% of friction components, 12%-18% of iron, 0%-3% of nickel and the balance copper. The preparation method comprises the steps of burdening, mixing, forming, sintering and machining. The prepared high-performance copper-based alloy friction plate is particularly suitable for a torque limiter of a wind power generation coupler. The alloy disclosed by the invention is reasonable in component design, simple and controllable in preparation process, easy to realize batch, large-scale and automatic production, high in production efficiency, energy-saving and moderate in cost; the obtained product is excellent in performance, and can greatly improve the torque control precision, save the maintenance cost and improve the operation safety and reliability of wind power equipment when being applied to a wind power coupling torque limiter.

The invention discloses a three-dimensional magnetic flux disc type motor with axial and radial mixed magnetic flux, which belongs to the technical field of permanent magnet motors, and comprises a rotor mechanism and a stator mechanism, the stator mechanism comprises an iron core, the iron core is mounted on a mounting position, the iron core is provided with axial stator teeth, and the axial stator teeth are provided with axial windings. The iron core is provided with radial stator teeth, and the radial stator teeth are provided with radial windings. The axial rotor comprises an axial rotating disc and first permanent magnets, and the first permanent magnets are evenly arranged on the axial rotating disc at intervals in the circumferential direction. The radial rotor comprises a radial rotating disc and second permanent magnets, and the second permanent magnets are evenly arranged on the inner wall face of the radial rotating disc at intervals in the circumferential direction. According to the three-dimensional magnetic flux disc type motor with the axial and radial mixed magnetic flux, it can be ensured that the motor has high power and high torque density, the motor can meet the high-power working requirement, and the whole motor can be lightened while the structural size of the motor is reduced as much as possible.

The present invention relates to a differential modulation vernier permanent magnet motor with high torque density, and its structure includes two parts: an outer stator and an inner rotor. The outer stator is composed of a stator yoke 1, stator teeth and an armature winding 4 from the outside to the inside. The stator yoke 1 is a metal cylinder, and a "V"-shaped stator tooth is connected inside. The armature winding 4 is between adjacent stator teeth. There is an air gap between the stator teeth and the outer surface of the inner rotor. The inner rotor is composed of a rotor permanent magnet 5, a rotor core 6, and a rotor shaft 7 from the outside to the inside. The rotor permanent magnet 5 and the rotor core 6 are cylindrical, and the rotor shaft 7 is cylindrical. The three are tightly connected and can rotate synchronously. Through the design of the "V-shaped" stator teeth, the tooth top space position of the stator teeth is offset by 180 electrical degrees compared with the conventional tooth top position, which solves the technical problems of low torque density and small pole slot matching selection range of the differential modulation vernier permanent magnet motor, broadens the pole slot matching selection range of the vernier permanent magnet motor, and eliminates the pole slot quantity relationship restriction of the design work.

Aspects of the present invention relate to a method for reducing high torque levels and / or high rates of change of torque in a wind turbine generator that comprises a machine-side converter and a line-side converter connected by a DC link, and, wherein the line-side converter is operated according to a virtual synchronous machine control scheme. The method comprises: determining a generator torque; determining a torque surplus indicating the amount that the generator torque exceeds a torque limit; determining an active power surplus corresponding to the torque surplus; controlling the line-side converter according to the virtual synchronous machine control scheme using an input parameter configured to reduce the active power output of the line side converter by the active power surplus.

The invention provides a torque optimization type flat axial magnetic flux motor which comprises a main body assembly, and the main body assembly comprises two stator iron cores, an electromagnetic ring, a mounting frame, an electromagnetic coil, a rotor disc, a mounting seat, two limiting blocks, two fixing plates, two upper magnetic blocks, two limiting grooves, two limiting rods, a supporting spring and a through groove. And the through grooves are symmetrically formed in the rotor disc. When the robot needs to bear a large load, the electromagnetic ring pushes the sliding block through the lower magnetic block, the sliding block drives the clamping blocks, the two clamping blocks get close to each other, then the electromagnetic ring works, the upper magnetic block is pushed through magnetic force to move in the direction away from the mounting frame, meanwhile, the mounting base drives the magnetic steel, and due to the fact that the mounting base generates displacement, the magnetic steel is driven to rotate. And the torque of the axial magnetic flux motor is in direct proportion to the cube of the radius of the rotor, so that the torque can be remarkably improved by increasing the radius of the rotor, the motor is further suitable for a scene with a relatively large load, and the motion performance of the robot is ensured.

The invention relates to the technical field of suspension conveying systems, in particular to a servo-driven intelligent suspension conveying system, and solves the problems that when a servo motor suspension conveying system accelerates or decelerates, due to inertia of goods at the bottom, the power output power of a suspension system of a servo motor and the burden of a brake system are heavy, and the service life is short. And the service life of a servo motor and a brake system is shortened after long-time work. A servo-driven intelligent suspension conveying system comprises a conveying guide rail module, a guide rail sliding block, a sliding block driving module, a conveying suspension module and a control module, and the sliding block driving module is located on the outer side of the guide rail sliding block. When the guide rail sliding block is started, magnetic repulsion of the electromagnet to the guide rail sliding block is adjusted, the output torque of the double-shaft servo motor and the rotating load of the driving shaft are reduced, the situation that the double-shaft servo motor is damaged or breaks down due to high torque and high load when the double-shaft servo motor is started is avoided, and the service life of the double-shaft servo motor is prolonged.

The invention discloses a torque monitoring method, system and device, a controller, a storage medium and a product. The torque monitoring method comprises the steps that energy conversion data of a vehicle and motion data of the vehicle are acquired; determining a first actual output torque of the motor according to the energy conversion data of the vehicle; determining a second actual output torque of the motor according to the motion data of the vehicle; performing rationality verification on the first actual output torque and the second actual output torque to obtain a rationality verification result; comparing at least one of the first actual output torque and the second actual output torque with a target output torque expected to be output by the motor to obtain a torque comparison result under the condition that the rationality verification result is that verification is passed; and executing a corresponding control strategy according to the torque comparison result. According to the embodiment of the invention, the accuracy and safety of torque monitoring are improved under the condition that the hardware cost is saved.

A rotating sprinkler for irrigation is disclosed. The sprinkler can include a stator spaced upstream from a turbine to form a mixing region therebetween. The stator can define a primary flow path and a bypass flow path. The primary flow path is aligned relative to the plurality of blades so that water exiting the primary flow path traverses the mixing region and impinges on the plurality of blades at a first angle of attack. The bypass flow path is aligned relative to the primary flow path so that water exiting the bypass flow path intersects the water exiting the primary flow path in the mixing region to cause the water exiting the primary flow path to impinge on the plurality of blades at a second angle of attack. The sprinkler can further include a valve configured to regulate flow between the primary flow path and the bypass flow path.

The utility model relates to the technical field of linear push rods, in particular to a large-torque linear push rod. Comprising a rear end assembly; the sleeve assembly is arranged on one side of the rear end assembly; the motor assembly is arranged in the rear end assembly; the lead screw assembly is connected with the motor assembly, and the lead screw assembly is arranged in the sleeve assembly; the telescopic pipe assembly is arranged between the sleeve assembly and the lead screw assembly, and the motor assembly is fixedly connected with the lead screw assembly through a coupler; the coupler comprises a motor frame arranged at the output end of the motor assembly; the fixing base is arranged close to the motor frame, and the fixing base is arranged on the periphery of an inner lead screw of the lead screw assembly; and the fixed seat is in spline connection with the motor frame. The utility model has the advantages of larger thrust, good stability, simple structure, convenience in use and the like.

The invention discloses a torque sensor and an implementation method thereof, the torque sensor comprises a composite elastomer and a sensing strain gauge, the composite elastomer comprises an outer fixing ring, an inner fixing ring, a spoke strain beam and a Y-shaped strain beam, the outer fixing ring and the inner fixing ring are of a concentric ring structure, the spoke strain beam is radially connected with the outer fixing ring and the inner fixing ring, and the Y-shaped strain beam is connected with the outer fixing ring and the inner fixing ring. The Y-shaped strain beams are arranged between the adjacent spoke strain beams, and the sensing strain gauges are printed on the Y-shaped strain beams and are connected to form a Wheatstone bridge. The anti-interference capability of the torque sensor can be improved, and the torque sensor can be widely applied to the technical field of sensors.

The invention discloses a finger joint driving device which is used for being directly connected with finger joints of a robot dexterous hand and driving the finger joints to act. The working voltage of the finger joint driving device is smaller than or equal to 12V, and the rotating speed is smaller than 30000 rpm. The motor comprises a housing, a stator and a rotor. The stator is fixedly arranged in the machine shell, and the stator and the machine shell are coaxially arranged. The rotor penetrates through the stator, and the rotor and the stator are coaxially arranged; the stator comprises a winding and an iron core, the winding is cylindrical, the iron core is completely cylindrical, the winding is fixed on the inner wall of the iron core, the iron core is fixed with the casing, two axial end surfaces of the winding are respectively flush with two axial end surfaces of the iron core, and the ratio of the wall thickness of the winding to the wall thickness of the iron core is 3.3: 1; the rotor comprises magnetic steel and a rotating shaft, the rotating shaft penetrates through the magnetic steel and is fixed with the magnetic steel, and the ratio of the number of the magnetic steel to the number of virtual slots of the stator is 2: 3. Compared with the prior art, under the limitation that the working voltage is smaller than or equal to 12 V and the target rotating speed is smaller than 30000 rpm, the torque of 5.2 mN * m is output, and fingers of the dexterous hand can be directly driven.

The invention relates to the technical field of electric vehicle driving control, and particularly discloses a driving control system and method for intelligent transfer equipment. The driving control method is used for solving the driving control problems of large current tracking error, high torque ripple and noise vibration, unstable regeneration and poor low-speed micro-climbing and ramp restarting response caused by sampling and inverter time lag, parameter drift, bus fluctuation and degradation faults of a six-phase permanent magnet synchronous motor of intelligent transfer equipment under the complex working condition of a port. The system comprises an AT-AGV, a PMSM, a six-phase inverter, a DC bus, a controller and a planning module. Through midpoint sampling, two-beat equivalent time-delay modeling and limited deadbeat voltage optimization, and in combination with xy harmonic compensation, online parameter identification, three-section regeneration trajectory and fault-tolerant SVPWM, robust stability and high-efficiency recovery under low-overshoot rapid torque establishment, low ripple and low NVH, bus fluctuation and fault are realized; accurate current tracking and smooth traction are realized during micro-crawling and ramp restarting.

The utility model discloses an electronic door lock device and a cabinet door. The electronic door lock device comprises a lock body and a lock catch. A driving component, a speed reduction component and a lock rod component are arranged in the lock body, a lock hole communicated with an inner cavity of the lock body is formed in the side wall of the lock body, the output end of the driving component is connected with the input end of the speed reduction component, the output end of the speed reduction component is connected with the lock rod component, and the driving component can drive the lock rod component to move to a first position or a second position. The lock catch is connected with a spring bolt, the spring bolt is provided with a lock groove, and the lock catch can move up and down relative to the lock body, so that the spring bolt is inserted into the lock body through the lock hole. The speed reduction component can convert high rotating speed and low torque of the driving component into low rotating speed and high torque and then output the low rotating speed and the high torque to the lock rod component, and therefore the lock rod component is driven to move. According to the electronic door lock device, the driving part with lower cost can be adopted, so that the manufacturing cost is reduced.

The underwater two-stage planet corner speed reducer comprises a box body, an input flange and an output flange, an input shaft is vertically installed on the inner wall of the input flange through a bearing, a first bevel gear is installed at the end, extending into the box body, of the input shaft, and a sun gear tooth shaft is further transversely installed in an inner cavity of the box body; the outer wall of the sun gear shaft is sleeved with a second bevel gear meshed with the first bevel gear. A plurality of second-level planet gears are installed on the circumference of the tooth portion of the left end of the sun gear shaft in a meshed mode, a core shaft is installed in an inner hole of each second-level planet gear through a bearing, and each core shaft is fixedly connected with an output planet carrier. Sealing rings are installed in the input end cover and the output end cover, lubricating grease is filled in the input end cover and the output end cover, sealing performance of equipment is enhanced, and the sealing rings are prevented from being abraded by silt through baffles. And secondly, a two-stage planetary gear structure is adopted, two-stage speed reduction is achieved, and high-torque output is provided. Finally, due to the fact that the input shaft and the output shaft are vertically arranged, the structure is compact, and the problem of space limitation is adapted and relieved.

A gear speed change device. The gear speed change device comprises a first planetary gear train (100). The first planetary gear train (100) comprises a first ring gear (101), a first planetary carrier (102), first planetary gears (103), a solar idle gear (104), and a planetary idle gear (105). The planetary idle gear (105) and the first planetary gears (103) are all mounted on the first planetary carrier (102); each first planetary gear (103) comprises a pinion (103a) and a large gear (103b) coaxially connected to the pinion (103a); the planetary idle gear (105) and the pinion (103a) are both engaged with the inside of the first ring gear (101) and are both engaged with the outside of the solar idle gear (104); the pinion (103a) can float along the radial direction thereof relative to the first planetary carrier (102), and the maximum radial floating amount of the pinion (103a) is greater than the maximum radial floating amount of the planetary idle gear (105); and the large gears (103b) of at least two first planetary gears (103) are arranged in a staggered manner in the axial direction, and projections thereof on a plane perpendicular to the axial direction overlap with each other. The gear speed change device has a relatively high torque load density, and can give consideration to a small volume, a large transmission speed ratio and a high torque load capability.

The invention discloses a low-noise direct-current motor for an electric drive system of a new energy automobile, belongs to the technical field of motors, and aims to solve the problem that an existing motor can only break through the limitation of counter electromotive force on the rotating speed through complex design and complex control. A second coil is electrified to generate magnetism to attract a permanent magnet ring, at the moment, the permanent magnet ring moves downwards, a connecting rod, a sliding seat, an extrusion plate and a locking mechanism move downwards together, a neodymium iron boron magnet moves outwards under the action of centrifugal force and the electrified mutual exclusion action of a stator coil, an air gap is increased after movement, and back electromotive force is reduced. When climbing or manually controlled speed reduction occurs, the current direction of a second coil is changed, a permanent magnet ring, a connecting rod and a sliding seat move upwards, an extrusion plate extrudes a pressed plate towards the inner side, so that the pressed plate, a sliding shaft and a neodymium-iron-boron magnet move towards the inner side, at the moment, the rotating speed is in a low-rotating-speed state, and the high-torque state is still kept; the structure is simple and control is convenient.

A surgical tool configured to receive rotary inputs from a robotic surgical system. The surgical tool comprises a distal end effector comprising jaws for clamping tissue therebetween, an intermediate shaft portion coupled to the distal end effector, and a proximal housing coupled to the intermediate shaft portion. The proximal housing comprises an arrangement of rotary drives comprising a first rotary drive. The first rotary drive comprises an input shaft configured to receive a rotary input from the robotic surgical system, a transition nut slidably positioned on the input shaft, and an output gear. The first rotary drive further comprises a high-speed gear configured to selectively drive the output gear, a high-torque gear configured to selectively drive the output gear, and a spring arrangement configured to bias the transition nut along the input shaft from a high-speed operating state to a high-torque operating state upon obtaining a threshold torque.

The invention discloses a built-in cycloid speed reducer of a humanoid robot joint pin type output structure and a joint module. The problems that an existing robot joint module is large in size, complex in structure, insufficient in transmission reliability and bearing capacity and the like are solved. According to the invention, the frameless torque motor and the cycloidal-pin wheel speed reducer are designed in an integrated built-in manner, so that the structure is highly compact; an output mechanism of the cycloidal speed reducer adopts a pin type output structure, a plurality of transmission pin shafts arranged on an output flange are directly meshed with pin holes in a cycloidal gear, planetary motion of the cycloidal gear is accurately converted into pure rotation motion of the output flange, and the pin type output structure has the advantages of being simple in structure, reliable in transmission and high in bearing capacity. In addition, a parabola modification method is adopted for the tooth profile of the cycloidal gear, the meshing characteristic of the gear is optimized, the transmission stability is improved, and noise is reduced. The joint module has the advantages of being high in integration degree, high in torque density, high in rigidity, high in impact resistance and the like, and is particularly suitable for humanoid robot joints with strict requirements for space and performance.

The invention relates to the technical field of motors, in particular to a double-drive coaxial motor which comprises a main drive motor, an auxiliary drive motor and a motor shell, the main drive motor is arranged at the front end of the motor shell, and the auxiliary drive motor is arranged at the rear end of the motor shell. The main driving motor and the auxiliary driving motor are coaxially connected through a main shaft and synchronously output power; the two ends of the motor shell are connected with a front end cover and a rear end cover respectively, the front end cover is provided with a main drive motor rotary transformer device, and the rear end cover is provided with an auxiliary drive motor rotary transformer device. Through the coaxial integrated design of the main drive motor and the auxiliary drive motor, dual-power superposition output is achieved under the same size, the torque and power density are remarkably improved, the main drive motor and the auxiliary drive motor share the same shell, rotating shaft and cooling system, the overall size and weight are greatly reduced, and the problem of space occupation of a traditional split type dual-motor system is solved.

Winding grooves are formed in a stator iron core in the circumferential direction, the winding grooves comprise outer-layer stator grooves on the yoke portion side and inner-layer stator grooves on the side close to a permanent magnet rotor, harmonic windings are embedded in the outer-layer stator grooves, and the harmonic windings are double-layer short-pitch windings; a fundamental wave winding is embedded in the inner-layer stator slot, and the fundamental wave winding is a centralized winding; a plurality of modulation teeth are arranged in the stator iron core along the circumferential direction in a non-equidistant manner; the number pf of pole pairs of the fundamental wave winding is consistent with the number pf of pole pairs of the permanent magnet rotor, the number ph of pole pairs of the harmonic wave winding is different from the number pf of pole pairs of the fundamental wave winding, and the number Ns of poles of the modulation teeth meets the condition that Ns = pf + ph, Ns = (1 + 2n) ph or Ns = (1 + 3n) ph. The technical defects that a traditional permanent magnet motor cannot utilize harmonic waves and a conventional magnetic gear effect permanent magnet motor cannot efficiently utilize harmonic waves and fundamental waves to do work can be overcome, the torque density of the motor is greatly improved while the power factor is not degraded, and the complexity, the system cost and the additional loss of a magnetic field modulation structure are reduced.

The invention provides a torque control method, device and equipment and a computer readable storage medium. The method comprises the steps that the current slip angle and the current yaw velocity of a target vehicle are obtained; according to the current slip angle, a preset expected slip angle, the current yaw velocity and a preset expected yaw velocity, a target sliding mode control function is solved, a target control quantity is obtained, and the target control quantity comprises a torque difference value of the left side and the right side of the target vehicle; the target sliding mode control function is obtained according to a target sliding mode surface function and a target reaching law function; and controlling the target vehicle according to the torque difference value. Compared with traditional PID control, the physical state and the physical characteristics of the vehicle meet the sliding mode control function, and the stability and the accuracy of torque control can be improved in the face of external interference or parameter change.

The invention discloses a stator permanent magnet type rotor skewed slot magnetic flux switching motor which comprises a motor stator which comprises a stator iron core, a plurality of main teeth and a plurality of auxiliary teeth are arranged on the inner side of the stator iron core in the circumferential direction at intervals in a staggered mode, and the number of the main teeth is the same as that of the auxiliary teeth; each main tooth and the adjacent auxiliary tooth form a wire embedding groove, a coil winding is arranged in each wire embedding groove, each main tooth is provided with a first set of permanent magnets, the end part of each auxiliary tooth is provided with a pole shoe, and the pole shoe is provided with a second set of permanent magnets; the motor rotor and the motor stator are coaxially arranged, a plurality of rotor teeth are arranged on the outer side of the motor rotor in the circumferential direction at intervals, and the number of the rotor teeth is an even number. According to the invention, the torque of the motor is improved, and the motor is suitable for application occasions with higher torque requirements under the same volume.