KR20120047436A - Dual type in-wheel motor system and emergency driving method for the same - Google Patents

Dual type in-wheel motor system and emergency driving method for the same Download PDF

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Publication number
KR20120047436A
KR20120047436A KR1020100108992A KR20100108992A KR20120047436A KR 20120047436 A KR20120047436 A KR 20120047436A KR 1020100108992 A KR1020100108992 A KR 1020100108992A KR 20100108992 A KR20100108992 A KR 20100108992A KR 20120047436 A KR20120047436 A KR 20120047436A
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South Korea
Prior art keywords
motor
wheel
ring gear
type
failure
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KR1020100108992A
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Korean (ko)
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KR101180802B1 (en
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황성욱
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현대자동차주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/22—Dynamic electric resistor braking, combined with dynamic electric regenerative braking
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)

Abstract

The present invention relates to a drive system including an in-wheel motor for directly driving the drive wheels in a wheel of a vehicle and an emergency driving method in the event of a failure of such a drive system.
Accordingly, in the present invention, even when a failure occurs in some of the drive wheels of the in-wheel system, the in-wheel system and the emergency operation method that can be performed flexibly even in the event of a failure can be easily switched to the emergency operation mode and the in-wheel system To provide.
In the present invention to implement this in-wheel system is built in the wheel of the vehicle to drive the wheel, the stator is fixed to the vehicle body of the vehicle does not rotate, the rotor rotatably supported on the outer periphery of the stator, and The first external motor for driving a wheel including a housing that is integrally rotated with the rotor, and a second ring motor for driving the wheel in engagement with the ring gear, the housing of the first external motor It is a housing in the form of a ring gear rotatably formed around the axis of rotation of the wheel, the ring gear-type second motor provides a dual-motor in-wheel system characterized in that it is configured to drive the wheel in engagement with the ring gear of the housing. .
In addition, the present invention includes the steps of confirming the driving of the first abduction type motor and the ring gear type second motor installed on each wheel, and detecting the failure signal of each of the first abduction type motor and the ring gear type second motor And detecting a position and the number of the faulty motors when the fault is detected, and switching to the emergency operation mode according to a fault combination state of the first abduction type motor and the ring gear type second motor at each wheel. Wherein, the emergency operation mode is the maximum control of the output of the other motor, if one of the first external motor and the ring gear-type second motor failure in each wheel including a failure motor, the maximum If both the first abduction type motor and the ring gear type second motor are broken, the driving of all the front wheels or the rear wheels including the corresponding wheels is blocked, and the two wheels of the remaining front wheels or rear wheels which are normally driven. It provides an emergency operation method of a dual-motor in-wheel system, characterized in that for switching to copper.

Description

Dual type in-wheel motor system and emergency driving method for the same}

The present invention relates to a drive system comprising an in-wheel motor, and more particularly to a drive system including an in-wheel motor for directly driving the drive wheels in the wheel of the vehicle and an emergency operation method in the event of a failure of such a drive system.

Recently, due to the depletion of fossil energy, the interest in the alternative energy or renewable energy field is increasing, and the automobile industry reflects this current, and thus, the hybrid vehicle (HEV), fuel cell vehicle (FCEV), and electric vehicle from existing internal combustion engine vehicles are reflected. It is developing into an eco-friendly vehicle such as (EV).

In particular, in order to implement such eco-friendly vehicles, a power generation or charging system for generating electric energy must be implemented, and a drive system system for mechanically transmitting the rotational force of the engine to the wheels of the vehicle in the existing internal combustion engine vehicle is provided to each vehicle. It should be implemented accordingly.

In this regard, the in-wheel system is a system in which an electric motor is mounted in a wheel of a wheel instead of an engine room to directly control driving power at each wheel.

This in-wheel system can be designed as an integrated system by combining drive motors, braking components and suspension components within the limited space inside the wheel.

Therefore, the development trend of in-wheel system The use of in-wheel motors in automobiles allows compact drive systems to be compact, minimizing vehicle weight and improving vehicle layout or design freedom. In addition, there is an advantage that can improve the safety of the collision through the optimization of the body skeleton, and to expand the interior space while improving the exercise performance by optimized mass distribution.

However, such an in-wheel system has difficulty in implementing such control logic because it must be able to understand the precise behavior of each drive wheel in driving condition and to perform precise control thereof, and in particular, a part of the drive wheel has failed. Since fail-safe mode has not been secured to cope with the situation, there is a concern that if a failure occurs during actual driving, the driving performance may be seriously detrimental to the driver.

Accordingly, the present invention has been made to solve the above problems, in the present invention, in the in-wheel system, even if a failure occurs in some of the drive wheels of the in-wheel system can be switched to the emergency operation mode with a simple control even when a failure occurs It is an object of the present invention to provide an in-wheel system that can flexibly cope and an emergency operation method that can be performed in such an in-wheel system.

In order to achieve the above object, in the present invention, the in-wheel system is built in the wheel of the vehicle to drive the wheel, the stator is fixed to the vehicle body of the vehicle and does not rotate, the rotation rotatably supported on the outer periphery of the stator An abduction type first motor including an electron and a housing which rotates integrally with the rotor; And a ring gear type second motor engaged with the ring gear to drive the wheel, wherein the housing of the abduction type first motor is a ring gear type housing rotatably formed about a rotation axis of the wheel, and the ring gear type The second motor provides a dual-motor in-wheel system, characterized in that to be engaged with the ring gear of the housing to drive the wheel.

In addition, the dual motor-type in-wheel system further comprises a controller for controlling the power supplied to the first motor and the ring gear-type second motor.

In addition, the controller provides a dual-motor in-wheel system, characterized in that for detecting the failure of the first abduction type motor or the ring gear-type second motor, and to switch to the emergency operation mode in the event of a failure.

The dual motor type in-wheel system may further include a battery for supplying power to the first abduction type motor or the second ring gear type second motor and storing power generated during regenerative braking.

On the other hand, the present invention includes the steps of confirming the driving of the abduction type first motor and the ring gear type second motor installed in each wheel; Detecting a failure signal of each of the abduction type first motor and the ring gear type second motor; If a failure is detected, determining the location and number of the failed motors; It provides an emergency operation method of the dual-motor in-wheel system comprising a; switching to the emergency operation mode according to the failure combination state of the first abduction type motor and the ring gear-type second motor at each wheel.

In addition, the emergency operation mode, in each wheel including a failure motor, when one of the first abduction type motor and the ring gear-type second motor failure, the output of the other motor to the maximum control, and When both the first abduction type motor and the ring gear type second motor are broken, all driving of the front wheels or the rear wheels including the corresponding wheels is interrupted, and the operation is switched to the two-wheel drive of the remaining front or rear wheels that are normally driven. Provides emergency operation of dual motor in-wheel system.

As described above, the dual-motor in-wheel system and the emergency operation method of the system according to the present invention have the following effects.

First, an outer rotor type first motor and a ring gear type second motor are connected to each of the driving wheels, so that failure occurs through cooperative control of the first motor and the second motor. It is able to cope actively in case of failure, which improves fault robustness.

Second, the amount of energy recovered by regenerative braking can be maximized by the first abduction type motor and the ring gear type second motor installed in each driving wheel, thereby optimizing battery capacity.

Third, since the abduction type first motor and the ring gear type second motor are connected in a ring gear type, the gear ratio can be easily set, and the capacity of the second motor can be optimized.

1 is a configuration diagram schematically showing a vehicle equipped with a dual motor in-wheel system according to the present invention,
Figure 2 is a schematic diagram showing a dual-motor in-wheel system according to the present invention,
3 is a flow chart briefly showing the emergency operation method of the dual-motor in-wheel system according to the present invention,
Figure 4 is a table showing an example of the emergency operation method performed according to each fault condition in the emergency operation method of the dual-motor in-wheel system according to the present invention.

The present invention provides an in-wheel system, which is embedded in a wheel of a vehicle and drives the wheel, comprising: an outer rotor type first motor including a ring gear housing and a ring gear of the ring gear housing; A dual motor in-wheel system is provided that includes a ring gear type second motor that engages and drives a wheel. In addition, the present invention provides an emergency operation method that can be applied when a failure of the first abduction type motor or the ring gear type second motor occurs at each driving wheel in the dual motor in-wheel system.

Meanwhile, the in-wheel system according to the present invention refers to a drive system including individual in-wheel motors applied to driving wheels of the vehicle, or a driving system of the entire vehicle including all in-wheel motors installed on each of the driving wheels.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. A singular expression includes a plural expression unless the context clearly indicates otherwise. In this application, the terms “comprises” or “having” are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof described in the specification, and one or more other It is to be understood that the present invention does not exclude the possibility of the presence or the addition of features, numbers, steps, operations, components, parts, or a combination thereof.

Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the dual-motor in-wheel system and the emergency operation method of the system according to an embodiment of the present invention.

1 is a configuration diagram of a dual-motor in-in-wheel system 100 system according to the present invention, and schematically illustrates a dual-motor in-in-wheel system 100 system installed at each wheel.

As shown in FIG. 1, the dual-motor in-in-wheel system 100 according to the present invention system 100 includes in-wheel motors mounted inside the wheel 150 of each drive wheel of the vehicle, in particular, the in-wheel motor. Is a pair of motor combinations consisting of a thin motor that is rotatably mounted in an abduction type and a motor that provides a driving force to a driving wheel together with the thin motor in the outer housing 113 of the thin motor.

In addition, in the dual-motor in-wheel system according to the present invention, the controller (200a, 200b) for controlling the power supply to each motor, and the battery 300 for storing the power generated during power supply and regenerative braking to these motors It is configured to include.

On the other hand, the controller in the present invention is configured to detect the failure of each motor, and to control the operation of each motor in the case of failure is configured to implement a switch to the emergency operation mode. At this time, in the emergency driving mode implemented according to the present invention may be configured to include a controller (200a) for the front wheel and the controller (200b) for the rear wheel, respectively, so that the integrated control of the front wheel or the rear wheel of the vehicle can be performed respectively. have.

FIG. 2 is an enlarged view of the dual motor in-wheel system for one driving wheel from the configuration diagram of FIG. 1.

Referring to FIG. 2, the dual-motor in-wheel system 100 according to the present invention is driven by a combination of the abduction type first motor 110 and the ring gear type second motor 120 mounted inside the wheel of the driving wheel. In-wheel system. In addition, the dual-motor in-wheel system 100 is provided with a disk 130 and a caliper 140 for braking the vehicle.

The abduction type first motor 110 is a thin motor including a stator 111 and a rotor 112. The stator 111 is a stator that is fixed to a vehicle body of a vehicle and does not rotate. The electron 112 is composed of a rotor rotatably supported on the outer circumference of the stator. In addition, the rotor 112 and the stator 111 are provided with a coil and a permanent magnet in the circumferential direction, respectively, to generate a rotating force while forming a magnetic field in accordance with the supply of power.

In addition, the abduction type first motor 110 in the present invention is configured to include a housing 113 which rotates integrally with the rotor 112, the housing 113 is a ring gear-type second motor to be described later The ring gear engaging with 120 is configured to be outward.

The structure of the housing 113 is formed to cover the outer rotor 112 so as to protect the abduction-type first motor 110, while the inner space for forming a ring gear is provided.

As shown in FIG. 2, the inner space is a circular recessed space formed by bending the side wall of the housing 113 perpendicular to the rotation axis of the driving wheel toward the wheel side, and a ring gear is formed along the circumference of the circular inner space. do.

The housing 113 including the ring gear is manufactured in a shape consistent with the rotor 112 so that the housing 113 may be integrally rotated with the rotor 112 of the first abduction type motor 110. Therefore, the ring gear is a ring gear concentric with the rotation axis of the abduction type first motor 110.

On the other hand, the dual-motor in-wheel system 100 according to the present invention includes another ring gear-type second motor 120 for transmitting the driving force to the drive wheel in addition to the above-described first abduction type motor 110.

As shown in FIG. 2, the ring gear-type second motor 120 meshes with a ring gear formed in the abduction type first motor 110 and the housing 113 to transmit rotational force to the wheel 150. do.

Therefore, in the dual-motor in-wheel system 100 according to the present invention, the sun gear 121 is fastened to the rotation shaft of the ring gear-type second motor 120 and the planet gear 122 connected to the sun gear 121 and the ring gear. The planetary gear system in which the rotation of the two motors interlock is implemented.

In this regard, in the embodiment of FIG. 2, the ring gear-type second motor 120 has been described as being disposed on one side while being eccentric to the rotation shaft of the driving wheel, but this is only considered as a design element, and the ring gear-type The position of the second motor 120 may be appropriately changed as long as the housing and the planetary gear system of the abduction type first motor 110 are implemented.

Accordingly, in the vehicle including the dual-motor in-wheel system 100 according to the present invention, a pair of geared gear combinations is installed on each driving wheel, and the driving force required by the respective motors is provided.

Therefore, in the dual-motor in-wheel system 100 according to the present invention, active control of the driving wheel is possible through mutual cooperative control of the abduction type first motor 110 and the ring gear type second motor 120.

For example, in the normal driving state, two external motor-type first motors 110 and a ring gear-type second motor 120 share and drive the required torque of the driving wheels. The motor will output all of the required torque. Therefore, in the dual-motor in-wheel system according to the present invention, when a failure signal occurs, the failure robustness is improved by outputting the maximum driving torque of the normally driven residual motor to follow the required torque from the driving wheel.

On the other hand, in the case of the dual-motor in-wheel system according to the present invention, when all of a pair of motors installed in the drive wheels has a failure, driving can no longer proceed, the driving of the wheel is stopped, the corresponding wheel Is stopped.

That is, in the case of the four-wheeled vehicle, when the driving of the left front wheel is stopped, the driving of the right front wheel is stopped together, and the vehicle is switched to the rear wheel drive. In addition, when the driving of the right rear wheel is stopped, the driving of the left rear wheel is stopped together, and the vehicle is switched to the front wheel drive.

The abduction type first motor 110 and the ring gear type second motor 120 each function as a power generation system by regenerative braking, and the generated energy may be configured to be stored in a high capacity battery.

3 is a flow chart briefly illustrating each step of an emergency driving method applicable to a failure of a motor in the dual motor in-wheel system according to the present invention, and FIGS. 4A to 4D are such dual motor in-wheel systems. The table shows an example of the motor failure state expected in the emergency operation method of, and shows the emergency operation method performed in each case.

As shown in Figure 3, the emergency operation method of the dual-motor in-wheel system according to the present invention is configured to check the driving of the in-wheel motor to detect a failure, to identify the motor in which the failure occurs to switch to the emergency operation mode.

Therefore, in the emergency operation method of the dual-motor in-wheel system according to the present invention, the step (S 2 ) of confirming the driving of the abduction type first motor and the ring gear type second motor installed in each wheel and the abduction type first motor and A failure is detected from the step S 3 of detecting a failure signal of each of the ring gear-type second motors. Detecting the normal driving of the in-wheel motor may be performed by a conventional method of detecting the normal driving of the motor from the current sensor or the position sensor, and may be appropriately selected and applied as long as it can determine the failure of the motor. .

On the other hand, when it is confirmed that the drive is normally operated from the fault detection step, the diagnosis is terminated.

On the other hand, when a fault is detected in a part of the motor from the fault detection step, the current fault state is determined through the step (S 4 ) of determining the position and number of the faulty motors, and through these steps, the current motor fault combination state Switching to the emergency operation mode that fits (S 5 ) is performed.

The switchover to the emergency driving mode is set so that proper control is made according to each motor failure state, and specific examples of the emergency driving mode are shown in FIGS. 4A to 4D.

In the emergency operation mode of the dual-motor in-wheel system according to the present invention, the driving mode according to the fault condition is set in advance.

In the present invention, the emergency operation mode basically grasps the position and number of the faulty motors first, and the fault state at each wheel, that is, whether one of the two motors of each wheel is broken, or both the motors are broken. Perform detection as to whether it is a state.

According to the detection result, the driving is continued by replacing the required torque with the remaining motor which is normally driven in a state in which one motor fails, while driving of the wheel is impossible because two motors fail.

In each of these cases, control schemes for the combination of all states in which one or two motors have failed are shown in FIGS. 4A-4D.

FIG. 4A relates to the occurrence of a failure of the left and right front wheels FL1, 2 and FR1, 2, and FIG. 4B relates to the failure of the left and right rear wheels RL1, 2 and RR1, 2, and FIG. 4C illustrates the left rear wheel and the right front wheel. It relates to the occurrence of a failure of FR1, 2 and RL1, 2, and Fig. 4D relates to the occurrence of a failure of the left front wheel and the right rear wheel FL1, 2 and RR1,2.

Each table means a combination of failures between the corresponding motors FL1, FL2, FR1, FR2, RL1, RL2, RR1, and RR2. The intersection between 'FL1' and 'FL1' means 'FL1'. It means that only the first abduction type motor of the left front wheel is broken, and the intersection of 'FL1' and 'FL2' means that the outboard first motor of the left front wheel of 'FL1' and the ring gear of the left front wheel of 'FL2' This means that the second motor fails together.

In the case of FIG. 4A, for example, the emergency operation mode of the dual-motor in-wheel system according to the present invention is specifically examined. When the 'FL1' failure occurs at the top of FIG. 4A, the maximum output of 'FL2' that is normally driven at the left front wheel is generated. Emergency operation mode is performed. Similarly, in the case of failure states of 'FL2', 'FR1' and 'FR2', the remaining motors' FL1 'and' FR2, which are normally driven on each wheel according to the failure of the 'FL2', 'FR1' and 'FR2' The emergency operation mode is switched by 'and' FR1 '.

In addition, in the case where two motors fail in each of the motors in the right or left wheels of the front wheel in the state of failure of the two motors, the emergency operation mode by the remaining motor of each wheel is implemented in the same manner as in the previous case.

On the other hand, if all the motors on the right wheel or all the motors on the left wheel have failed, such as when 'FL1' and 'FL2' fail at the same time or 'FR1' and 'FR2' fail at the same time, Since the driving becomes impossible, the driving of the opposite wheel is stopped.

Therefore, when all the motors of the right front wheel fail at the same time, the motor of the left front wheel also stops driving, and if all the motors of the left front wheel fail at the same time, the motor of the right front wheel is also controlled to stop driving. In this case, the driving of all the front wheels is stopped, and two-wheel driving by the rear wheels is made.

FIG. 4B relates to the occurrence of a failure of the left and right rear wheels RL1, 2 and RR1, 2, and the details thereof are the same as those of FIG. 4A. When the driving of the rear wheel is stopped, driving is performed in front wheel driving.

On the other hand, FIG. 4C relates to the occurrence of a failure of the left rear wheels and the right front wheels FR1, 2 and RL1, 2, and FIG. 4D relates to the failure of the left front wheels and the right rear wheels FL1, 2 and RR1,2.

In the case of FIGS. 4C and 4D, the control method is the same as the above-described case of failure of the front wheel or the rear wheel.

4A to 4D illustrate examples in which a failure occurs in one or two motors. Although not illustrated, the same method is used even when three or more motors fail, that is, failures in each wheel. Depending on the number of motors generated, the control is switched to the maximum output or the control to stop the driving of the front or rear wheels is made selectively.

That is, in the present invention, in each wheel including a faulty motor, when one of the abduction type first motor and the ring gear type second motor has failed, the output of the other motor is controlled to the maximum, and the abduction type When both the first motor and the ring gear-type second motor are broken, the driving of the front wheel or the rear wheel including the corresponding wheels is shut off, and the control is performed to switch to the two-wheel drive of the remaining front or rear wheels that are normally driven.

While the invention has been described with reference to the preferred embodiments, those skilled in the art will appreciate that modifications and variations of the elements of the invention may be made without departing from the scope of the invention. In addition, many modifications may be made to particular circumstances or materials without departing from the essential scope of the invention. Therefore, the invention is not limited to the details of the preferred embodiments of the invention, but will include all embodiments within the scope of the appended claims.

110: first abduction type motor 111: stator
112: rotor 113: housing (ring gear)
120: second ring gear type motor 130: disk
140: caliper 150: wheel
200a, b: controller 300: battery
Unmarked (160: Tire, 170: Hub Bearing)

Claims (6)

In the in-wheel system that is built into the wheel of the vehicle to drive the wheel,
A first abduction type motor for driving a wheel including a stator fixed to a vehicle body of the vehicle and not rotating, a rotor rotatably supported on an outer circumference of the stator, and a housing integrally rotating with the rotor;
Includes; ring gear type second motor that is engaged with the ring gear to drive the wheel,
The housing of the first abduction type motor is a ring gear type housing rotatably formed around a rotation axis of the wheel, and the ring gear type second motor is configured to engage the ring gear of the housing to drive the wheel. Dual motor in-wheel system.
The method according to claim 1,
And a controller for controlling electric power supplied to the first abduction type motor and the ring gear type second motor.
The method according to claim 2,
The controller detects a failure of the first abduction type motor or the second ring gear type motor and controls to switch to an emergency operation mode in the event of a failure.
The battery according to any one of claims 1 to 3, further comprising a battery for supplying power to the first abduction type motor or the second ring gear type second motor, and storing power generated during regenerative braking. Dual motor in-wheel system.
Confirming driving of the abduction type first motor and the ring gear type second motor installed in each wheel;
Detecting a failure signal of each of the abduction type first motor and the ring gear type second motor;
If a failure is detected, determining the location and number of the failed motors;
Switching to an emergency operation mode according to a failure combination state of the abduction type first motor and the ring gear type second motor at each wheel;
Emergency operation method of the dual-motor in-wheel system comprising a.
The method according to claim 5,
The emergency operation mode is to control the output of the other motor to the maximum when one of the first abduction type motor and the ring gear type second motor has failed in each wheel including a failure motor, and the abduction type If both the first motor and the ring gear-type second motor is broken, the dual motor characterized in that all of the driving of the front or rear wheels including the wheel is blocked, and switching to the two-wheel drive of the remaining front or rear wheels that are normally driven Method of emergency operation of the in-wheel system.

KR1020100108992A 2010-11-04 2010-11-04 Dual type in-wheel motor system and emergency driving method for the same KR101180802B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101305012B1 (en) * 2011-12-19 2013-09-05 자동차부품연구원 In-wheel driving system and method for controling the same

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Publication number Priority date Publication date Assignee Title
KR101889792B1 (en) * 2017-07-03 2018-08-20 김석준 In-wheel driving apparatus for electric vehicle

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JP4545968B2 (en) 2001-02-26 2010-09-15 ヤマハ発動機株式会社 Wheel motor transmission
JP2005335566A (en) 2004-05-27 2005-12-08 Honda Motor Co Ltd Wheel drive device for vehicle
JP5248255B2 (en) 2008-09-30 2013-07-31 プレス工業株式会社 Drive unit

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101305012B1 (en) * 2011-12-19 2013-09-05 자동차부품연구원 In-wheel driving system and method for controling the same

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