2553 results about "Three-Wheeler Vehicles" patented technology

The invention provides an electric tricycle rear axle welding quality control system and method, and relates to the technical field of welding, a welding seam parameter preprocessing module is used for conducting welding seam analysis on an electric tricycle rear axle, and an initial welding parameter combination is determined; the simulation welding analysis module carries out simulation welding according to the initial welding parameter combination and draws a welding change trend chart; the welding path planning and evaluating module traverses the welding change trend chart to plan a plurality of welding paths and performs welding evaluation to generate a welding state value; the welding defect analysis module performs welding detection and defect analysis according to the welding state value and the welding change trend chart to generate a welding quality score; and the welding parameter optimization module adjusts the initial welding parameter combination according to the welding quality score to generate a welding optimization scheme. The technical problem that the welding quality cannot be effectively controlled due to the fact that the prior art is difficult to adapt to dynamic changes of the welding environment and workpiece conditions is solved, and control over the welding quality of the rear axle is improved.

The invention belongs to the field of battery monitoring, and particularly relates to a battery health state on-line evaluation system considering a temperature-current coupling effect, which comprises an acquisition module, a coupling module, an on-line evaluation module and an early warning module, the acquisition frequency and the window length of current and temperature data are adaptively adjusted through reinforcement learning and a federated frame in the acquisition module; the coupling module constructs a consistency interval based on the current and temperature slope sequence, calculates a segmented current thermal stress factor and a segmented temperature gradient factor, and further generates a temperature-current coupling feature vector; the online evaluation module performs health state evaluation and life decay rate calculation in combination with dynamic weight distribution and principal component analysis; the early warning module gives an alarm in a grading manner according to an evaluation result, and feeds back an attenuation rate to the front-end acquisition module and the online evaluation module to realize closed-loop optimization; according to the method, the accuracy and reliability of battery health state evaluation of the electric two-wheeled vehicle and the tricycle under complex working conditions are effectively improved.

The invention discloses a motor operation abnormity monitoring method and system for an electric tricycle, and relates to the technical field of electric vehicles, and the method comprises the steps: arranging an action instruction analysis module between a starting device and a motor, the module comprises a plurality of monitoring analysis units, and each unit corresponds to a group of action instructions; the action instruction of the electro-tricycle is acquired in real time, the corresponding monitoring unit is activated to extract the real-time action parameter, and the load state is predicted. State data of a motor and associated components are obtained through a multi-source sensing device, abnormal risk assessment is carried out by combining load state prediction and the state data, and motor operation parameters are dynamically adjusted according to an assessment result. The technical problem that in the prior art, the mutual influence between the motor and other assemblies is neglected, so that the abnormity of the motor of the electro-tricycle under the complex load change cannot be accurately predicted and monitored is solved, and the technical effects of accurate monitoring and early warning of the abnormity of the motor of the electro-tricycle are achieved.

The invention relates to the technical field of electric vehicle power control, and provides a real-time dynamic power distribution optimization method for an electric vehicle controller. The method comprises the steps that after an input destination is received, a navigation route is generated according to the real-time position of the electric tricycle and the destination; performing global road condition analysis on the navigation route to obtain M local road sections and road condition information; the interactive load sensor obtains a real-time load; analyzing a power demand according to the real-time load and the M pieces of local road condition information, and outputting M power distribution modes; and when the electric vehicle controller runs along the navigation route, power distribution dynamic optimization and mode smooth switching are executed according to a local road section connection sequence until the electric vehicle arrives at a destination. The technical problems of low power distribution efficiency and insufficient cruising ability of the electric vehicle under complex road conditions and dynamic loads are solved, and the effects of automatically adapting to different road sections and load conditions through global road condition analysis and load sensing and improving the power distribution efficiency and the cruising ability of the electric vehicle are achieved.

The invention discloses a fireproof flame-retardant technology for electric vehicles. The invention relates to the technical field of fire prevention and flame retardance of electric vehicles (non-new energy electric vehicles). Along with increasing quantity of various electric two-wheeled vehicles, tricycles and four-wheeled vehicles, spontaneous combustion of the electric vehicles and ignition of surrounding vehicles occur occasionally, and serious property loss is caused. Corresponding flame retardants are added into raw materials for manufacturing parts such as plastic parts, rubber parts, sponge parts and leather parts of the electric vehicle to manufacture the parts with flame retardance, fireproof paint is sprayed on the inner surfaces and the outer surfaces of metal parts and the plastic parts of the electric vehicle, and fireproof electric wires are adopted as wires of electric elements of the electric vehicle. And a series of measures such as sleeving the fireproof wire with a fireproof cloth sleeve and protecting the battery compartment by using a fireproof heat-insulating material are taken, so that the whole electric vehicle has fireproof and flame-retardant functions. When electric vehicle wires are short-circuited and on fire, batteries are spontaneously combusted or adjacent vehicles are combusted, the battery is not ignited.

The invention relates to the technical field of electric tricycle safety, and discloses an electric tricycle safety collision early warning system and method, and the system comprises a multi-source sensor module, a feature extraction and fusion module, a collision risk assessment module, a path optimization module and a grading early warning control module. The method comprises the steps that the multi-source sensor module collects real-time environment and vehicle state data; the convolutional neural network extracts fusion environment data features to generate vectors, and the vectors are input into a Bayesian network model to output a collision risk probability value; constructing a multi-target path optimization model according to the probability value, and searching an optimal obstacle avoidance path by using an improved particle swarm optimization algorithm; and establishing a grading early warning control model according to the path data, and outputting brake pressure and sound-light alarm signals through a fuzzy logic controller. The system can accurately sense the environment, accurately evaluate the risk, optimize the obstacle avoidance path and perform graded early warning control, improves the driving safety of the electro-tricycle, also has sensor self-inspection and hot backup functions, and enhances the system reliability.

The invention relates to the technical field of carriage machining, and discloses a semi-automatic welding device for electro-tricycle carriage plate production and a using method thereof.The semi-automatic welding device comprises a mounting frame, a fixing frame is arranged above the mounting frame, and a first rotating shaft and a second rotating shaft are fixedly mounted on the right side and the left side of the fixing frame correspondingly; the first rotating shaft and the second rotating shaft are rotationally connected with the mounting frame, the right end of the second rotating shaft extends out of the mounting frame, the fixing mechanism comprises a plurality of L-shaped movable blocks and a movable assembly, and the movable assembly is used for driving the L-shaped movable blocks to descend. An L-shaped hollow fixing plate drives a triangular plate to make contact with a carriage plate, the center of the carriage plate is parallel to the center of a containing circular plate, at the moment, a limiting spring is stretched and deformed, if the carriage plate is thick, the carriage plate is pushed by the L-shaped hollow fixing plate, and if the carriage plate is thin, the carriage plate is pushed by the triangular plate, so that the carriage plates with different thicknesses are flexibly corrected, and the correction efficiency is improved. And it is guaranteed that the carriage plate can be accurately corrected in the welding process.

A mmWave radar sensor module is proposed, to have a specific structure enabling a 180° field of View (FoV) with an affordable system cost. The proposed mmWave radar sensor module is put to use in passenger vehicles, commercial vehicles, automated guided vehicles (AGVs), as well as motorcycles and bikes, enabling a variety of application features: smart parking assistance, replacing PDC sensors, determining the distance, speed and angle of targets, including their tracking, detection of people, tracking of people, tailgate and door protection by restricting opening, gesture and kick sensing, and other applications. In the case of two-wheelers and three-wheelers, the same apparatus may cover also blind sport detection application in the affordable system manner.

A transportation device is disclosed. One aspect includes a rear assembly that further includes a rear frame, and a first rear wheel and a second rear wheel mounted to the rear frame. The rear assembly may also include a first electric motor and a second electric motor mechanically connected to the first rear wheel and the second rear wheel respectively, and an electrical power source comprising a battery, configured to power the first electric motor and the second electric motor. The transportation device may also include a front assembly that includes a saddle and a front wheel connected to the saddle via a wheel hub and a fork. An aspect includes an elastomeric torsional element connecting the front assembly and the rear assembly.

The utility model relates to a novel electro-tricycle bearing type frame structure, which belongs to the technical field of tricycle frames and comprises a right bent pipe, an upper-layer frame camber beam and a lower-layer frame camber beam which are oppositely arranged. An upper-layer frame front beam is connected between the two upper-layer frame camber beams and extends to the outer sides of the upper-layer frame camber beams, upper-layer frame vertical supports are connected between the upper-layer frame camber beams and the lower-layer frame camber beams, the bent positions of the upper-layer frame camber beams are connected with the upper surfaces of the lower-layer frame camber beams, a middle beam is connected between the front cross support and the connecting beam, and a lower cross support is connected between the middle beam and the lower-layer frame camber beams. And a front vertical beam is mounted on the middle beam. After the structure is adopted, the tricycle frame has the advantages that the upper-layer frame camber beam and the lower-layer frame camber beam are connected through the connecting beam, the front cross brace, the reinforcing cross brace and the upper-layer frame front beam according to a tricycle frame produced according to a novel tricycle type, the tricycle frame is formed in a welding mode, the strength is greatly improved, the surface is smooth after forming, and the weight is well borne.

The invention relates to the technical field of motor protection, in particular to a protection device for an electric tricycle motor, which comprises a motor body, a transmission mechanism mounted on the motor body, a protection mechanism mounted on the transmission mechanism, a cleaning mechanism mounted on the protection mechanism, a connecting mechanism mounted on the motor body, and a locking mechanism mounted on the motor body. A sealing mechanism is mounted on the connecting mechanism; the bottom of the motor body is shielded and protected through the protection mechanism, sundries on the protection mechanism are scraped through the cleaning mechanism, corrosion of the motor body is reduced, heat dissipation is facilitated, the motor body and the transmission mechanism are quickly disassembled and assembled through matched installation of the connecting mechanism and the locking mechanism, follow-up maintenance is facilitated, and the sealing mechanism is installed, so that the sealing performance of the motor is improved. And the sealing mechanism is driven by the connecting mechanism, so that the sealing mechanism is tightly sealed.

The utility model discloses a tricycle rear wheel seat damping stabilizing mechanism which comprises a tricycle body, a tricycle frame is arranged at the bottom of the tricycle body, two damping mechanisms are fixedly connected to the lower end of the tricycle frame, a rear axle is fixedly connected to the bottoms of the two damping mechanisms, and wheels are installed at the two ends of a rotating shaft of the rear axle. The middle part of the upper end of the rear axle is fixedly connected with a buffer mechanism; the buffering mechanism comprises a mounting plate and a first spring shock absorber, the mounting plate is fixedly connected to the middle of the upper end of the rear axle, the upper end of the mounting plate is fixedly connected with second rotating frames, the two second rotating frames are perpendicular to the rear axle, and the other end of the first spring shock absorber is rotationally connected with a first rotating frame. The buffering effect of the tricycle during uphill or downhill can be improved, the situation that the damping effect on the tricycle is reduced due to the fact that the weight borne by one end of the plate spring is too large is avoided, meanwhile, the return speed of the plate spring is reduced, and the stability of the tricycle during running on a slope is improved.

The utility model relates to the technical field of electro-tricycle braking, in particular to a linkage braking assembly and an electro-tricycle. The linkage brake assembly comprises a linkage valve, the linkage valve comprises a valve body, a first elastic piece and a transmission structure, the valve body is provided with a first containing cavity used for containing hydraulic oil, and a plunger structure is connected into the first containing cavity in a sliding mode. According to the utility model, by treading the pedal plate, the pedal plate drives the plunger structure to move through the transmission structure, and hydraulic oil in the first chamber is extruded to finish pressure buildup from the first oil outlet pump to the oil path input port of the front disc brake; the hydraulic oil in the second cavity is extruded to complete pressure buildup from the second oil outlet pump to the oil way input port of the rear drum brake, due to the arrangement of the first sealing structure and the second sealing structure, the first cavity and the second cavity are not communicated with each other, even if pressure buildup of one oil way fails, operation of the other oil ways cannot be affected, and the service life of the rear drum brake is prolonged. And the safety is higher.

The utility model provides a turnover opening and closing structure for a carriage of an electric tricycle, and relates to the field of electric tricycles. The electro-tricycle comprises a tricycle frame, a carriage frame and a carriage, a driving position is arranged at the front end of the tricycle frame, the carriage frame is arranged at the rear end of the tricycle frame, and the bottom of the front end of the carriage is movably connected to the front end of the carriage frame through a turnover opening-closing structure. The turnover opening and closing structure comprises a rotating shaft, a driving lever and a clamping plate; the rotating shaft is rotationally arranged at the bottom of the carriage; one end of the deflector rod is connected with one end of the rotating shaft, and the other end of the deflector rod penetrates through the front end face of the carriage and extends to one side of a driving position; the number of the clamping plates is at least two, and the two clamping plates are arranged at the two ends of the rotating shaft correspondingly. Clamping grooves are formed in the sides, facing the rear end of the compartment, of the clamping plates; lock rods are arranged on the two sides of the front end of the carriage frame respectively, and the clamping grooves are connected with the lock rods in a matched and clamped mode. The carriage can be overturned through a pure mechanical structure, the structure is simple, operation is easy, energy consumption is avoided, the electric power of the electric tricycle can be saved, and the cruising ability of the electric tricycle is improved.

The invention provides a controller strategy optimization method for user behavior analysis, and relates to the technical field of controllers, and the method comprises the steps: collecting user driving parameters; speed risk level and speed change feature recognition segmentation is carried out according to the driving speed, and a speed adaptive interval is determined; according to the braking and steering force and frequency, steering and braking risk evaluation is conducted on the speed self-adaption interval; performing controller strategy matching analysis according to the stability risk coefficient, determining an optimization adjustment coefficient, and adding the optimization adjustment coefficient to a speed adaptive interval; matching is carried out according to the monitored current driving speed and the speed self-adaptive interval, an optimization adjustment coefficient is obtained, and controller strategy adjustment is carried out. The technical problem that in the prior art, due to the fact that the electric tricycle is prone to insufficient stability and rollover during high-speed turning, driving is unstable can be solved, the control strategy is dynamically adjusted according to the actual driving behavior of a user and the state of the tricycle, and the driving safety and stability are improved.

To provide a trike with a roof that is able to prevent wind and rain from blowing into a cabin, by covering a chassis frame of a three-wheeled motorcycle with a body panel, and that enables sleeping in the vehicle by providing cabin space expanding means using a part of a vehicle body.SOLUTION: A trike 10 with a roof is one in which a chassis frame of a three-wheeled motorcycle is covered with a body panel 11. The body panel 11 has entrance / exit structures 12 on both sides of side surfaces thereof. A separation wall 14 that separates a driver's seat side D and a rear seat side S, with a center pillar frame 13 as a boundary, and is divided into three parts in a vertical direction is provided at a substantially central position of each entrance / exit structure 12 in a fore-aft direction. Each entrance / exit structure 12 is formed in a shape that is normally open on the driver's seat side D, and a rear side door 17 that is freely opened / closed when a driver gets on / off the trike is provided on the rear seat side S. A rear part of the body panel 11 has means including a flip-up type tailgate 20.SELECTED DRAWING: Figure 1

A tricycle propelled by the stair climber mechanism, including a main body, including a front bar assembly, a plurality of handle bars disposed at a top portion of the front bar assembly, a front wheel disposed at a bottom portion of the front bar assembly, and a rear bar assembly connected to the front bar assembly, a left rear wheel, a right rear wheel, a left pedal connected to a left front portion of the rear bar assembly, and a right pedal connected to a right front portion of the rear bar assembly, wherein the main body moves forward in response to the left pedal and the right pedal being pushed downward.

The invention provides a bearing fatigue life test method and system, and relates to the technical field of bearing testing, and the method comprises the steps: obtaining the application scene characteristics of a target electric tricycle, and obtaining K test conditions; historical bearing fault record mining is carried out in combination with the model of the target electro-tricycle and the K test conditions; the working condition parameters are used as indexes, and the K historical bearing fault record sets are retrieved; traversing K historical bearing fault working condition parameter sets for parameter screening; and performing fatigue life test on the target bearing based on the K test working conditions and the K test working condition parameters, and weighting the obtained fatigue life test results of the K test working conditions to obtain a target fatigue test result. Through the bearing fatigue life testing method and device, the technical problem that the fatigue life testing accuracy is low due to the fact that the performance of the bearing under complex and changeable actual working conditions is difficult to adapt in the prior art can be solved, and the fatigue life testing accuracy of the bearing is improved by testing the fatigue life under different scenes.

The invention provides a self-power-generating wheel body structure with a shaft wheel rotating synchronously without differential speed, and relates to the technical field of power-generating wheels, the self-power-generating wheel body structure comprises a fixed part and a rotatable part which are arranged in a coupling mode; the rotatable part comprises a wheel, and a connecting component is arranged in the rotatable part; the connecting component is provided with a mounting position for mounting a power part; the power part is driven by a power source to generate torque, and then the rotatable part is driven to rotate relative to the fixed part with an axis as the center. A magnetic ring and a generator core which are correspondingly used are arranged at the joint of the fixed part and the rotatable part; the rotatable part rotates relative to the fixed part, so that the generator core and the magnetic ring rotate relative to each other to cut magnetic lines of force to generate current. The self-generating wheel body has the beneficial effects that the blank of the self-generating wheel body in the existing market is filled, and the self-generating wheel body can be applied to a wheel body which is represented by a child tricycle and is positioned on a front fork, so that the wheel body can synchronously generate electricity or emit light by driving the wheel body to rotate through pedal rotation.

The invention provides a using method of electro-tricycle body reinforcing turnover equipment, and belongs to the technical field of welding machining equipment. The rotating shaft is rotationally connected between the inner walls of the rack, a welding table is fixedly connected to the top of the rotating shaft, a containing groove is formed in the top of the welding table, a plurality of electromagnetic blocks are installed on the inner wall of the containing groove, rotating mechanisms and limiting mechanisms are arranged at the two side ends of the rack correspondingly, and the rotating mechanisms and the limiting mechanisms are both connected with the rotating shaft; when the pressing plate is located in the center of the top of the frame body structure, the multiple electric telescopic rods are powered on and started, the output ends of the multiple electric telescopic rods extend to press the frame body structure downwards, the frame body structure is clamped and fixed to the bottom of the vehicle plate, and auxiliary clamping and moving of a welding worker to the frame body structure are replaced by automatic clamping between the vehicle plate and the frame body structure; and therefore, the welding operation time is shortened when the strength of the electro-tricycle body is improved, and the machining efficiency of the electro-tricycle body is effectively improved.

The utility model relates to the technical field of tricycle production, in particular to a rectangular pipe bending and punching all-in-one machine which comprises a moving mechanism and further comprises a machining mechanism used for drilling and bending a rectangular pipe body, and the machining mechanism is fixed above the moving mechanism. By arranging the machining mechanism, when the device is used, the rectangular pipe body is placed above the placing table, the hydraulic cylinder and the second motor are started after the rectangular pipe body is fixed, the second motor operates to drive the drill bit to rotate, and the hydraulic cylinder operates to drive the drill bit to move; the two sets of drill bits moving in the opposite directions jointly cooperate to drill the left side and the right side of the rectangular pipe body, after drilling is completed, a second motor is controlled to reset, then a first motor is started, the first motor operates to drive a rotating shaft to rotate anticlockwise, the rotating shaft drives a rotating disc and a rotating rod to rotate anticlockwise, and the rotating rod rotating anticlockwise extrudes the two ends of the rectangular pipe body. The two ends of the rectangular pipe body are bent under the action of pressure.

The utility model provides a novel self-power-generating wheel body structure with a shaft wheel rotating synchronously without differential speed, which relates to the technical field of power-generating wheels and comprises a fixed part and a rotatable part which are arranged in a coupling mode. The rotatable part comprises a wheel, and a connecting component is arranged in the rotatable part; the connecting component is provided with a mounting position for mounting a power part; the power part is driven by a power source to generate torque, and then the rotatable part is driven to rotate relative to the fixed part with an axis as the center. A magnetic ring and a generator core which are correspondingly used are arranged at the joint of the fixed part and the rotatable part; the rotatable part rotates relative to the fixed part, so that the generator core and the magnetic ring rotate relative to each other to cut magnetic lines of force to generate current. The self-generating wheel body has the beneficial effects that the blank of the self-generating wheel body in the existing market is filled, the self-generating wheel body can be applied to a wheel body which is represented by a child tricycle and is positioned on a front fork, and the wheel body is driven to rotate through pedal rotation so as to synchronously generate electricity or emit light.

The utility model relates to the technical field of tricycle production, in particular to a vehicle door punching die which comprises a punching mechanism and further comprises a fixing mechanism used for fixing a vehicle door, and the fixing mechanism is installed below the punching mechanism. By arranging the fixing mechanism, when the device is used, a vehicle door is placed on the bottom plate, a handle is rotated, the handle drives a second rotating plate and a clamping rod to rotate, the clamping rod drives a first rotating plate to rotate, the first rotating plate drives a protruding block to rotate through the rotating rod, the protruding block rotates to drive a U-shaped plate, a pressing plate and a buffering cushion to descend, and a first spring is compressed; when the handle rotates by 90 degrees, the protruding block rotates by 90 degrees, fixing of the automobile door is completed, the clamping rod makes contact with the first arc piece, the handle is loosened, the second spring contracts to drive the second rotating plate and the clamping rod to move, the clamping rod moves to be inserted into the clamping hole, and therefore the protruding block is fixed. And the fixing efficiency of the vehicle door is effectively improved.

In the conventional tricycle, generally the front frame, the rear frame and the seat tube are attached to the bottom bracket that carries pedal assembly. Between the bottom bracket and the rear frame, a joint is installed such that the seat tube and the handlebar may tilt to the left or right. Thereby the rider can cancel out the unwanted centrifugal force that occurs during high speed turning and pushes him to the opposite direction of the handlebar causing a fall down accident. Between the seat tube and the rear frame is installed a tiltable angle variable mechanism. By operating a hand lever on the handlebar the rider can vary the tiltable angle of the handlebar as needed, for high speed turning or for maintaining balance at low speeds.

The utility model is suitable for the technical field of electro-tricycle accessories, and provides a hidden line type electro-tricycle fender which comprises a fender body provided with a lamp groove. The steering lamp is arranged on the inner wall of the lamp groove; the lampshade is assembled and mounted on the lamp groove; the wire groove is formed in the inner side of the fender body; the wire is arranged on the wire slot and is connected with the steering lamp; and the cleaning mechanism is arranged on the fender body and is used for cleaning the lampshade. According to the hidden wire type fender of the electro-tricycle, the wire can be hidden, and the function of cleaning the lampshade is achieved, so that the situation that mud splashed to the lampshade shields light rays of a steering lamp is avoided.

The utility model relates to the technical field of electric tricycle rear axle damping shock absorbers, and discloses an electric tricycle rear damping shock absorber which comprises a damping shock absorber body, fixing blocks are fixedly connected to the upper end and the lower end of the damping shock absorber body respectively, and connecting blocks are rotationally connected to the outer portions of the two fixing blocks respectively. Supporting blocks are arranged outside the two connecting blocks, a pull rod is slidably connected to the interior of each supporting block, a pull plate is fixedly connected to the left side of each pull rod, two offset rods are rotatably connected to the right side of each pull plate, sliding plates are rotatably connected to the opposite sides of the two offset rods, and clamping blocks are fixedly connected to the bottoms of the two sliding plates; two fixing rods are fixedly connected to the interior of the supporting block. According to the utility model, the damping shock absorber can be conveniently mounted and dismounted, the damping shock absorber can be quickly replaced and assembled, time and labor are saved, and the practicability is improved.

A foldable personal such as a tricycle which can be convertible into a stroller, is configured for accommodating a child therein and for preventing, when desired, the child from being able to steer the vehicle, vehicle having an operational state and a storage state, in which it can take an extremely compact form. The vehicle has a longitudinal axis lying in its vertical plane of symmetry and having a horizontal reference plane perpendicular to the plane of symmetry, and it takes its compact form in the storage state both in the direction along its longitudinal axis and in the directions perpendicular to this axis both along the plane of symmetry and perpendicular to the plane of symmetry.

The invention provides a tricycle, a steering control method and system thereof and a computer storage medium, and belongs to the technical field of vehicle control. The method comprises the steps that the expected steering angular velocity of the tricycle, the equivalent diameter of a front wheel and the shortest distance from the center of the front wheel to the axis of a left rear wheel are obtained; according to the expected steering angular velocity of the tricycle, the equivalent diameter of the front wheel and the shortest distance from the center of the front wheel to the axis of the left rear wheel, the expected rotating speed of the front wheel is determined; the distance between the centers of the two rear wheels and the expected forward speed of the tricycle are obtained; according to the distance between the centers of the two rear wheels and the expected forward speed of the tricycle, the expected linear speed of the left rear wheel and the expected linear speed of the right rear wheel are determined; steering of the tricycle is controlled according to the expected rotating speed of the front wheel, the expected linear speed of the left rear wheel and the expected linear speed of the right rear wheel. By controlling the rotating speed of the front wheel and the rotating speed of the two rear wheels, the stability and accuracy of the tricycle during steering are improved, and the steering track of the tricycle is effectively controlled.