CN109733209B

CN109733209B - Control method of differential speed reduction system of vehicle double-bevel gear

Info

Publication number: CN109733209B
Application number: CN201910115221.6A
Authority: CN
Inventors: 赵晓东
Original assignee: Dalian Bilan Energy Saving and Environmental Protection Technology Co Ltd
Current assignee: Dalian Bilan Energy Saving and Environmental Protection Technology Co Ltd
Priority date: 2019-02-14
Filing date: 2019-02-14
Publication date: 2020-06-26
Anticipated expiration: 2039-02-14
Also published as: CN109733209A

Abstract

The invention discloses a control method of a vehicle double-cone-tooth differential speed reduction system, and relates to a control method of a vehicle speed reduction system. The running process of the speed reducing system comprises a starting state, an idling state, a forward running state, a backward running state, an accelerating running state, a constant-speed climbing state, a decelerating braking state and an emergency braking state, the speed reducing system has the braking energy recovery capability, the control capability of enhancing the rotating speed and the steering of the electric automobile when the speed reducing system is in emergency braking, and the respective control capability of the output rotating speed and the output torque, so that flameout and vehicle moving can be realized.

Description

Control method of differential speed reduction system of vehicle double-bevel gear

Technical Field

The invention discloses a control method of a vehicle double-bevel-tooth differential speed reduction system, relates to a control method of a vehicle reduction system, and particularly relates to a control method of a vehicle double-bevel-tooth differential speed reduction system, which obtains low-rotation-speed output by adopting the speed difference when two motors jointly drive a set of double-bevel-tooth planetary gear speed reducer.

Background

At present, the electric automobile needs to solve the problems of short endurance mileage and insufficient acceleration torque. The defect of short endurance mileage of the electric automobile needs not only the breakthrough of the battery technology, but also the innovation in the field of the motor and the speed reducing mechanism. In order to increase the power of a motor on the premise of the same volume, the rotating speed of a driving motor of an electric automobile is very high, in order to match the rotating speed of wheels and increase the driving torque, the electric automobile is generally provided with a single-speed gearbox, the rotating speed variation range of the wheels of the automobile is very large, so that the output rotating speed of the driving motor of the electric automobile always works in a low-efficiency rotating speed range, when the electric automobile runs on a city road with crowded traffic, the disadvantage of short endurance mileage of the electric automobile is particularly obvious, and the electric automobile needs to have the function of energy recovery during braking. The electric automobile is generally provided with the single-speed gearbox, so that the time for accelerating the electric automobile from a low rotating speed to a high rotating speed is long, the output frequency of the motor controller is a constant torque speed regulation mode below a fundamental frequency, the power of the motor in high-speed operation is greater than that of the motor in low-speed operation, the electric automobile needs larger output torque when climbing a slope, at the moment, the motor is in low-speed operation, the output power of the motor is reduced, so that the output torque of the motor is reduced, because the electric automobile is generally provided with the single-speed gearbox, the output rotating speed and the output torque are mutually related, the electric automobile needs to have a low-rotating speed large-torque high-power output function when climbing the slope, and the common. The output power of the output rotating speed and the output torque of the motor is rapidly reduced when the electric automobile is emergently braked, if the output torque of the motor is smaller than the inertia moment when the automobile is emergently braked, the effective control on the rotating speed and the steering of the electric automobile is lost, so that the potential safety hazard is formed, and the reason that the traffic regulation strictly prohibits the neutral sliding of the automobile is the reason. The electric automobile needs to have the function of effectively controlling the rotating speed and the steering of the electric automobile during emergency braking. If the transmission ratio of the electric automobile speed reducing mechanism is small when the electric automobile is flamed out and the resistance moment is small when the electric automobile is moved, a clutch does not need to be equipped. In addition, during the movement of the electric vehicle, frequent acceleration and deceleration, frequent starting and stopping, and even frequent changing of the rotation direction of the motor are required, and these movement characteristics enable the motor to operate in a low-efficiency working state.

The technical scheme with the following characteristics can solve the difficult problem of the electric automobile, and the output rotating speed of the speed reducing mechanism can be adjusted from a static state to a high rotating speed state, even the output steering of the speed reducing mechanism can be adjusted from a forward rotating state to a reverse rotating state on the premise that the motor always works in a high-efficiency high rotating speed state.

If a speed reducing mechanism has the advantages of large transmission ratio and large output torque, when the motor drives the speed reducing mechanism to continuously rotate and the rotation direction of the motor is kept unchanged, the speed reducing mechanism drives the electric vehicle to realize the functions of driving, stopping and backing, the speed reducing mechanism can ensure that the motor operates in a high-efficiency working state, and the speed reducing mechanism improves the response speed when accelerating and changing the running direction of the electric vehicle, namely, starting or backing. If the two motors can simultaneously adjust the output rotating speeds and the output powers of the motors, on the premise that the speed difference of the two motors driving the speed reducing mechanism is kept unchanged, the output rotating speeds of the two motors are simultaneously increased or simultaneously reduced, namely, the output powers of the two motors driving the speed reducing mechanism are simultaneously increased or simultaneously reduced, and then the speed reducing mechanism can achieve the control requirement of adjusting the output powers and the output torques of the motors when the electric automobile outputs the same rotating speed.

Disclosure of Invention

The invention aims to overcome the defects of short driving range and insufficient acceleration torque caused by a single-speed gearbox of a common electric automobile, and provides a control method of a vehicle double-bevel-tooth differential speed reduction system, which has the advantages of large transmission ratio and large output torque and ensures high-efficiency operation when a motor drives a speed reduction mechanism. The embodiments of the present invention are as follows:

the speed reducing system comprises a first input shaft component, a second input shaft component, a planet carrier component, a first output shaft component and a second output shaft component. The first input shaft part comprises a first input bevel gear and a first input shaft. The input shaft part II comprises an input bevel gear II and an input shaft II. The planet carrier component comprises a second planet bevel gear, a fourth shaft sleeve, a planet shaft, a planet carrier, a third shaft sleeve and a first planet bevel gear, the first output shaft component comprises a first output shaft, a first double bevel gear, a first shaft sleeve and a first output bevel gear, the second output shaft component comprises a second output bevel gear, a second double bevel gear, a second shaft sleeve and a second output shaft, or bearings are adopted in the components to replace the first shaft sleeve, the second shaft sleeve, the third shaft sleeve and the fourth shaft sleeve respectively, and the bearings bear radial load and axial load. The first input shaft component and the second input shaft component are respectively arranged at two axial ends of the planet carrier component, and the first output shaft component and the second output shaft component are respectively arranged at two axial ends of the planet carrier component.

When the speed reducing system is applied, the first input shaft is connected with the output shaft of the first motor, the second input shaft is connected with the output shaft of the second motor, the first output shaft is connected with a half shaft provided with a right wheel, and the second output shaft is connected with a half shaft provided with a left wheel.

When the speed reducing system operates, the first controller controls the first motor to rotate, and the first controller can adjust the rotating speed of the first motor. The second controller controls the second motor to rotate, and the second controller can adjust the rotating speed of the second motor. The first motor drives the first double bevel gear to rotate around the axis of the output shaft along the first double bevel gear rotating direction through the first input shaft and the first input bevel gear, the second motor drives the second double bevel gear to rotate around the axis of the output shaft along the second double bevel gear rotating direction through the second input shaft and the second input bevel gear, and the first double bevel gear rotating direction is opposite to the second double bevel gear rotating direction. When the rotating speed of the first double bevel gear is equal to that of the second double bevel gear, the first planetary bevel gear rotates around the axis of the planetary shaft, the planetary support is in a static state, and the rotating speeds of the first output shaft and the second output shaft are zero. When the first double-bevel gear rotating speed is not equal to the second double-bevel gear rotating speed, the first planetary bevel gear also revolves around the axis of the output shaft while rotating around the axis of the planetary shaft, the first planetary bevel gear drives the first planetary support to rotate at a low rotating speed, and the first planetary support drives the first output bevel gear and the second output bevel gear to rotate at a low rotating speed in the same direction through the second planetary bevel gear. When the automobile turns, the inner wheels generate larger resistance, the second planetary bevel gear revolves around the axis of the output shaft, and simultaneously, the second planetary bevel gear can also rotate around the axis of the planetary shaft, so that the rotating speed of the first output bevel gear for driving the right wheels through the first output shaft is not equal to the rotating speed of the second output bevel gear for driving the left wheels through the second output shaft, and the technical requirement of coordinating the rotating speeds of the left and right wheels is met.

The first shaft sleeve, the second shaft sleeve, the third shaft sleeve and the fourth shaft sleeve are cylindrical, the shaft sleeve shaft hole is formed in the radial middle of the first shaft sleeve, and the shaft sleeve thrust shaft shoulder is arranged at one axial end of the first shaft sleeve. The planet shaft is cylindrical, and one axial end of the planet shaft is provided with a planet shaft positioning shaft shoulder. A bevel gear shaft hole is arranged in the radial middle of the planetary bevel gear, gear teeth are arranged on the radial outer side of the planetary bevel gear, one axial end of the planetary bevel gear is a front end face of the gear, and the other axial end of the planetary bevel gear is a rear end face of the gear. The middle of the second radial direction of the planetary bevel gear is a bevel gear shaft hole, the outer side of the second radial direction of the planetary bevel gear is gear teeth, one axial end of the planetary bevel gear is a front end face of the gear, and the other axial end of the planetary bevel gear is a rear end face of the gear. The planet carrier is annular, and the radial inboard of planet carrier is the support inner chamber, and the radial internal surface equipartition of planet carrier has a plurality of support mounting plane, and there is a support fixed shaft hole at each support mounting plane center.

When the planet support component is assembled, a second planet bevel gear, a fourth shaft sleeve, a first planet bevel gear and a third shaft sleeve are sequentially arranged on a planet shaft, the fourth shaft sleeve is arranged in a bevel gear shaft hole of the second planet bevel gear, a thrust shaft shoulder of the shaft sleeve of the fourth shaft sleeve is contacted and arranged with the rear end face of a gear of the second planet bevel gear, the third shaft sleeve is arranged in a bevel gear shaft hole of the first planet bevel gear, a thrust shaft shoulder of the shaft sleeve of the third shaft sleeve is contacted and arranged with the rear end face of the gear of the first planet bevel gear, the front end face of the gear of the second planet bevel gear is contacted and arranged with a positioning shaft shoulder of the planet shaft, then a plurality of planet shafts are respectively arranged in support fixing shaft holes of the planet support, the planet shaft, the second planet bevel gear, the fourth shaft sleeve, the first planet bevel gear and the shaft sleeve are positioned in a support inner cavity of the planet support, the thrust shaft shoulder of the third shaft sleeve is contacted and arranged with, enabling the second planet bevel gear and the first planet bevel gear to rotate around the axis of the planet shaft respectively.

The input shaft I and the input shaft II are cylindrical, and one axial end of each input shaft I and one axial end of each input shaft II are provided with a third external spline. The radial middle of the input bevel gear I and the input bevel gear II is provided with a third internal spline, the radial outer side of the input bevel gear I and the input bevel gear II is provided with gear teeth, one axial end of the input bevel gear I is a front end face of the gear, and the other axial end of the input bevel gear I and the other axial end of the input bevel gear II. When the input shaft part I is assembled, the external spline III of the input shaft I is installed in the internal spline III of the input bevel gear I, and the front end face of the input bevel gear I is located at one end of the input shaft I, which is axially outward. When the input shaft part II is assembled, the external spline III of the input shaft part II is installed in the internal spline III of the input bevel gear part II, and the front end face of the gear of the input bevel gear part II is positioned at one end of the input shaft part II, which is axially outward.

The first radial middle of the double bevel gear is a first double bevel gear shaft hole, and the axial two ends of the radial outer side of the double bevel gear are respectively an inner gear tooth I and an outer gear tooth I. The radial middle of the output bevel gear is provided with a first internal spline, the radial outer side of the output bevel gear is provided with gear teeth, one axial end of the output bevel gear is a front end face of the gear, and the other axial end of the output bevel gear is a rear end face of the gear. The first output shaft is cylindrical, and one end of the left axial side of the first output shaft is provided with a first external spline, a first shaft neck and a first shaft shoulder in sequence towards the right.

When the output shaft component I is assembled, the first shaft sleeve is arranged on the first shaft neck of the first output shaft, the thrust shaft shoulder of the first shaft sleeve is in contact installation with the first shaft shoulder of the first output shaft, the first double bevel gear shaft hole of the first double bevel gear is arranged on the first shaft sleeve, one end of the first double bevel gear with the outer gear teeth is in contact installation with the thrust shaft shoulder of the first shaft sleeve, the first internal spline of the first output bevel gear is arranged on the first external spline of the first output shaft, and the rear end face of the first output bevel gear is in contact installation with the left end face of the first shaft sleeve.

The radial middle of the double bevel gear II is a double bevel gear shaft hole II, and the axial two ends of the radial outer side of the double bevel gear II are respectively an outer gear tooth II and an inner gear tooth II. The radial middle of the second output bevel gear is provided with a second internal spline, the radial outer side of the second output bevel gear is provided with gear teeth, one axial end of the second output bevel gear is a front end face of the gear, and the other axial end of the second output bevel gear is a rear end face of the gear. The second output shaft is cylindrical, and one end of the right axial side of the second output shaft is provided with a second external spline, a second shaft neck and a second shaft shoulder in sequence towards the left.

When the second output shaft component is assembled, the second shaft sleeve is arranged on the second shaft neck of the second output shaft, a thrust shaft shoulder of the second shaft sleeve is in contact installation with the second shaft shoulder of the second output shaft, a second double bevel gear shaft hole of the second double bevel gear is arranged on the second shaft sleeve, one end of the second double bevel gear with outer gear teeth is in contact installation with the thrust shaft shoulder of the second shaft sleeve, a second internal spline of the second output bevel gear is arranged on the second external spline of the second output shaft, and the rear end face of the gear of the second output bevel gear is in contact installation with the end face of the right side of the second shaft sleeve.

After the speed reducing system is assembled, the first planetary bevel gear of the planetary support component is meshed with the first inner gear teeth of the first double bevel gear of the first output shaft component on the axial right side, and the first planetary bevel gear of the planetary support component is meshed with the second inner gear teeth of the second double bevel gear of the second output shaft component on the axial left side. The second planet bevel gear of the planet carrier component is meshed with the first output bevel gear of the first output shaft component on the right side in the axial direction, and the second planet bevel gear of the planet carrier component is meshed with the second output bevel gear of the second output shaft component on the left side in the axial direction. An input bevel gear I of the input shaft part I is meshed with an outer gear tooth I of a double bevel gear I of the output shaft part I, and an input bevel gear II of the input shaft part II is meshed with an outer gear tooth II of a double bevel gear II of the output shaft part II.

A double-bevel gear planetary gear reducer is formed by combining a double-bevel gear II, a planetary bevel gear I, a planetary shaft, a planetary support and a double-bevel gear of the reduction system, a driving part of the double-bevel gear planetary gear reducer is the double-bevel gear I, a driving part of the double-bevel gear planetary gear reducer is the double-bevel gear II, and a driven part of the double-bevel gear planetary gear reducer is the planetary support. The double-bevel-gear planetary gear reducer performs speed reduction transmission. The first double bevel gear rotates in the opposite direction to the second double bevel gear. When the rotating speed of the first double bevel gear is equal to that of the second double bevel gear, the first planetary bevel gear rotates around the axis of the planet shaft, and the planet support is in a static state. When the first rotating speed of the double bevel gear is not equal to the second rotating speed of the double bevel gear, the first planetary bevel gear revolves around the axis of the output shaft while rotating around the axis of the planetary shaft, the first planetary bevel gear drives the planetary support to rotate at a low rotating speed, and the rotating speed of the planetary support is equal to the absolute value of the difference between the first rotating speed of the double bevel gear and the second rotating speed of the double bevel gear. If the first double-bevel gear rotating speed is larger than the second double-bevel gear rotating speed, the planet support rotating direction is the same as the first double-bevel gear rotating direction. If the rotating speed of the double bevel gear II is larger than that of the double bevel gear I, the rotating direction of the planet support is the same as that of the double bevel gear II.

An output bevel gear II, a planet shaft, a planet support and an output bevel gear of the speed reducing system form a wheel differential mechanism, a driving part of the wheel differential mechanism is the planet support, a driven part is the output bevel gear I, and a driven part is the output bevel gear II. When the rotating speed of the first double bevel gear is not equal to that of the second double bevel gear, the first planetary bevel gear drives the first planetary support to rotate at a low rotating speed, and the second planetary support drives the first output bevel gear and the second output bevel gear to rotate at a low rotating speed in the same direction through the second planetary bevel gear. When the automobile turns, the inner side wheels can generate larger resistance, the second planetary bevel gear revolves around the axis of the output shaft, and simultaneously, the second planetary bevel gear can also rotate around the axis of the planetary shaft, so that the rotating speed of the first output bevel gear for driving the right wheels through the first output shaft is not equal to the rotating speed of the second output bevel gear for driving the left wheels through the second output shaft, the rotating speed of the outer side wheels is higher than that of the inner side wheels, and the automobile can be enabled to turn smoothly.

The running process of the deceleration system comprises a starting state, an idling state, a forward running state, a backward running state, an acceleration running state, a constant-speed climbing state, a deceleration climbing state and a deceleration braking state.

The running process of the deceleration system from the starting state to the idling state is as follows: the first controller controls the first motor to start at a low rotating speed, the first motor rotating speed is gradually increased, meanwhile, the second controller controls the second motor to start at a low rotating speed, the rotating direction of the first double-bevel gear of the first motor driving the first double-bevel gear is opposite to the rotating direction of the second double-bevel gear of the second motor driving the second double-bevel gear, the rotating speed of the first double-bevel gear is equal to the rotating speed of the second double-bevel gear, the rotating speed of the first double-bevel gear and the rotating speed of the second double-bevel gear are synchronously increased along a starting speed curve, the rotating speed reaches an idling reference rotating speed within starting reference time, at the moment, the speed reduction system enters an idling state from the starting state, and in the idling state, the rotating speed of the first double-bevel gear and the rotating speed of the second double.

In the operation process of the speed reducing system from the starting state to the idling state, the first motor drives the first double bevel gear to rotate around the axis of the output shaft along the first double bevel gear rotating direction through the first input shaft and the first input bevel gear, the second motor drives the second double bevel gear to rotate around the axis of the output shaft along the second double bevel gear rotating direction through the second input shaft and the second input bevel gear, the first double bevel gear and the second double bevel gear drive the first planetary bevel gear to rotate around the axis of the planetary shaft together, the planetary support is in a static state, the rotating speeds of the first output shaft and the second output shaft are zero, and the electric automobile does not run.

The operation process of the speed reducing system from the idle running state to the forward running state is as follows: the first controller controls the first motor to gradually increase the rotation speed, the first motor drives the first double-bevel gear to accelerate along a first double-bevel gear rotation speed curve, meanwhile, the second controller controls the second motor to gradually increase the rotation speed, the second motor drives the second double-bevel gear to accelerate along a second double-bevel gear rotation speed curve, the first double-bevel gear rotation speed is larger than the second double-bevel gear rotation speed, the first double-bevel gear drives the first planetary bevel gear to rotate around the planet shaft axis along a first planetary bevel gear rotation direction, the first planetary bevel gear also revolves around the output shaft axis, the first planetary bevel gear drives the planet support to rotate at a low rotation speed in order to offset the speed difference between the first double-bevel gear and the second double-bevel gear, the rotation linear speed of the planet support is equal to the difference between the first rotation linear speed of the double bevel gear and the second rotation linear speed of the double bevel gear. The rotating direction of the planet support is the same as that of the first double bevel gear, the planet support drives the first output bevel gear and the second output bevel gear to rotate in the same direction at low rotating speeds through the second planet bevel gear, and the electric automobile runs forwards. As the difference between the first rotating speed of the motor and the second rotating speed of the motor increases, the rotating speed of the planet carrier is accelerated along the curve of the rotating speed of the planet carrier, and the electric automobile is accelerated to run forwards.

The operation process of the speed reducing system from the idle running state to the backward running state is as follows: the first controller controls the first motor to gradually increase the rotation speed, the first motor drives the first double-bevel gear to accelerate along a first double-bevel gear rotation speed curve, meanwhile, the second controller controls the second motor to gradually increase the rotation speed, the second motor drives the second double-bevel gear to accelerate along a second double-bevel gear rotation speed curve, the second double-bevel gear rotation speed is higher than the first double-bevel gear rotation speed, the first double-bevel gear drives the first planetary bevel gear to rotate around the planet shaft axis along a first planetary bevel gear rotation direction, in order to offset the speed difference between the first double-bevel gear and the second double-bevel gear, the first planetary bevel gear also revolves around the output shaft axis, and the first planetary bevel gear drives the planet support to rotate at a low rotation speed, the rotation linear speed of the planet support is equal to the difference between the rotation linear speed of the double bevel gear and the rotation linear speed of the double bevel gear. The rotating direction of the planet support is the same as that of the double bevel gear II, the planet support drives the output bevel gear I and the output bevel gear II to rotate in the same direction at low rotating speeds through the planet bevel gear II respectively, and the automobile runs backwards. As the difference between the second rotational speed of the motor and the first rotational speed of the motor increases, the rotational speed of the planet carrier accelerates along the curve of the rotational speed of the planet carrier, and the electric vehicle accelerates to travel backward.

In the running process of the speed reducing system in a forward running state or a backward running state, the planet support drives the first output shaft to rotate at a low rotating speed in the same direction through the second planet bevel gear and the first output bevel gear, and meanwhile, the planet support drives the second output shaft to rotate at a low rotating speed in the same direction through the second planet bevel gear and the second output bevel gear. When the automobile turns, the inner wheels generate larger resistance, and the second planetary bevel gear rotates around the axis of the planetary shaft while revolving around the axis of the output shaft. If the automobile turns to the left side, the first rotation angular velocity of the output bevel gear is larger than the rotation angular velocity of the planetary support, meanwhile, the second rotation angular velocity of the output bevel gear is smaller than the rotation angular velocity of the planetary support, if the automobile turns to the right side, the second rotation angular velocity of the output bevel gear is larger than the rotation angular velocity of the planetary support, meanwhile, the first rotation angular velocity of the output bevel gear is smaller than the rotation angular velocity of the planetary support, so that the rotation speed of the output bevel gear for driving the right wheel through the first output shaft is unequal to the rotation speed of the output bevel gear for driving the left wheel through the second output shaft, the rotation.

During the operation process of the speed reducing system in the forward driving state or the backward driving state, the rotating speed of the first motor driving the double bevel gear is increased, and the rotating speed of the second motor driving the double bevel gear is increased, so that the total output power of the first motor and the second motor via the planet carrier is increased along a total output power curve.

At this time, if the absolute value of the difference between the first rotating speed of the first motor driving the double bevel gear and the second rotating speed of the second motor driving the double bevel gear is gradually increased, the rotating speed of the planet carrier is accelerated along the curve of the rotating speed of the planet carrier, and the electric automobile is accelerated to run forwards or backwards on the premise that the total output power is increased, the speed reduction system enters an accelerated running state.

At this time, if the absolute value of the difference between the first rotating speed of the first motor driving double bevel gear and the second rotating speed of the second motor driving double bevel gear is kept unchanged, the planet carrier rotating speed rotates at a constant speed along the planet carrier rotating speed curve, and the electric automobile runs forwards at a constant speed or backwards at a constant speed on the premise that the total output power is increased, the speed reducing system enters a constant speed climbing state.

At the moment, if the absolute value of the difference between the first rotating speed of the first motor driving double bevel gear and the second rotating speed of the second motor driving double bevel gear is gradually reduced, the rotating speed of the planet carrier is reduced along the curve of the rotating speed of the planet carrier, and the electric automobile is decelerated to run forwards or decelerated to run backwards on the premise that the total output power is increased, the deceleration system enters a deceleration climbing state.

In the running process of the acceleration running state, the constant speed climbing state and the deceleration climbing state, the total output power of the first motor and the second motor is not correlated with the change of the rotating speed difference of the first motor and the second motor in the control process of the change of the total output power along the total output power curve, namely the respective control capability of the output rotating speed and the output torque of the deceleration system can be realized.

The running process of the deceleration system in the deceleration braking state is as follows: when the speed reducing system is in a high-speed forward driving state, the starting moment of a speed reducing braking instruction is received, the controller cuts off the power supply of the first motor, the first controller connects the stator winding wire of the first motor with the energy storage device, meanwhile, the second controller continuously controls the second motor to operate, the inertia moment of the electric automobile drives the first motor to rotate, so that the rotating speed of the first double-bevel gear is reduced along a rotating speed curve of a power generating state of the double-bevel gear, the first motor is used as a generator to transmit electric energy to the energy storage device, the first motor generates resistance moment to reduce and brake the electric automobile, the power generating power of the first motor is reduced along a generating power curve until the stopping moment of the speed reducing braking instruction, at the moment, the rotating speed of the first double-bevel gear is equal to the rotating speed of the, and the first controller enables the first motor to drive the first double bevel gear to rotate at a speed equal to the second motor to drive the second double bevel gear, and the electric automobile still stops running forwards and waits for a next command.

If the next command is to enter an idle running state, the first controller enables the first motor to drive the first double-bevel gear to rotate at a first rotating speed and reduce to an idle running reference rotating speed, meanwhile, the second controller enables the second motor to drive the second double-bevel gear to rotate at a second rotating speed and synchronously reduce to the idle running reference rotating speed, and the speed reduction system enters the idle running state and waits for the next command. And the total output power of the first motor and the second motor is minimum in the idle state.

If the next instruction of the idling state is flameout, the first controller enables the first motor to drive the first double-bevel gear to rotate at a speed reduced from the idling reference speed to zero, and meanwhile, the second controller enables the second motor to drive the second double-bevel gear to rotate at a speed reduced from the idling reference speed to zero synchronously, and the electric automobile is flameout.

In the running process of the speed reducing system in a speed reducing braking state, when the speed reducing braking instruction is terminated in advance when the electric automobile does not stop running forwards, the first controller restores power supply to the first motor in advance, the first motor drives the first double bevel gear to rotate at a speed higher than the second motor drives the second double bevel gear, and the electric automobile continues to run forwards.

The deceleration system operation process also comprises an emergency braking state. And the emergency braking instruction of the speed reducing system is matched with the brake of the electric automobile for use in the emergency braking process of the electric automobile. The operation process of the deceleration system in the emergency braking state is as follows: when the speed reducing system is in a high-speed forward driving state, the initial moment of receiving an emergency braking instruction is received, the first controller rapidly increases the rotating speed of the first motor to the highest rotating speed, meanwhile, the second controller rapidly increases the rotating speed of the second motor to the highest rotating speed, and reduces the difference between the rotating speeds of the first motor and the second motor, namely, on the premise of rapidly increasing the total output power of the first motor and the second motor through the planet support, the difference between the rotating speed of the first motor and the rotating speed of the second motor and the double bevel gear of the second motor is rapidly reduced, so that the difference between the rotating speeds reaches the emergency braking reference rotating speed at the termination moment of the emergency braking instruction, in the process, as the rotating speed of the wheels driven by the first motor and the second motor is lower than the rotating speed of the wheels driven by the inertia moment of the electric automobile, the method comprises the steps that an electric automobile is subjected to deceleration braking, a first electric motor and a second electric motor output control torque with high power, high torque and low rotating speed through two pairs of wheels, the rotating speed and the steering of the electric automobile are controlled in the emergency braking process, the rotating speed of a planet support is rapidly reduced along a rotating speed curve of the planet support along with reduction of inertia torque of the electric automobile and reduction of the rotating speed difference between the first electric motor and the second electric motor in the emergency braking process, the rotating speed of the planet support is reduced to the emergency braking reference rotating speed at the emergency braking instruction termination time, and the electric automobile waits for a next step of.

If the actual speed of the electric automobile is reduced to the emergency braking reference rotating speed, executing an idling state instruction and a flameout instruction, if the actual speed of the electric automobile is not reduced to the emergency braking reference rotating speed, namely, wheels and the ground slide, the first electric motor and the second electric motor continue to output control torque with high power, high torque and low rotating speed to the wheels, the rotating speed and the steering of the electric automobile are ensured to continue to be controlled until the actual speed of the electric automobile is reduced to the emergency braking reference rotating speed, and the control capability of the rotating speed and the steering of the electric automobile is enhanced during emergency braking.

The flameout and vehicle moving process of the deceleration system is as follows: the electric automobile is shut down, the first motor and the second motor stop running to push the electric automobile, the first right wheel drives the first output shaft, the first output bevel gear and the second left wheel drive the second output shaft and the second output bevel gear to rotate in the same direction, the first output bevel gear and the second output bevel gear drive the second planetary bevel gear to rotate around the axis of the output shaft in the same direction, the second planetary bevel gear drives the first double bevel gear and the second double bevel gear to rotate in the same direction through the planetary shaft and the planetary support, and therefore the angular speeds of the first double bevel gear and the second double bevel gear are equal to the angular speeds of the wheels. The first double bevel gear is rotated through the first input bevel gear and the first input shaft driving motor, the first double bevel gear and the first input bevel gear form a first-level speed reducer or a first-level speed increaser, the transmission ratio is small, the resistance moment is small, the second double bevel gear is rotated through the second input bevel gear and the second input shaft driving motor, the second double bevel gear and the second input bevel gear form another first-level speed reducer or a first-level speed increaser, the transmission ratio is small, the resistance moment is small, and flameout can be achieved.

In the running process of the speed reducing system, the rotating speeds of the first output shaft and the second output shaft are related to the rotating speed difference of the two motors, so that the speed reducing system has the advantages of large transmission ratio and large output torque, the two motors can be always in a high-speed running state, the rotating directions of the first output shaft and the second output shaft of the speed reducing system can be changed simultaneously under the condition that the rotating directions of the two motors are not changed, the electric automobile is driven to realize the functions of driving, stopping and backing, and the speed reducing system can ensure that the motors run under the working state with higher efficiency. The running process of the speed reducing system comprises a starting state, an idling state, a forward running state, a backward running state, an accelerating running state, a constant-speed climbing state, a decelerating braking state and an emergency braking state, the speed reducing system has the braking energy recovery capability, the control capability of enhancing the rotating speed and the steering of the electric automobile when the speed reducing system is in emergency braking, and the respective control capability of the output rotating speed and the output torque, so that flameout and vehicle moving can be realized.

Drawings

Figure 1 is an isometric view of the deceleration system.

Figure 2 is an axial cross-sectional view of the deceleration system.

FIG. 3 is an axial cross-sectional view of the planet carrier assembly member.

Fig. 4 is an isometric view of a planet carrier.

Fig. 5 is an isometric view of a planet axle.

Fig. 6 is an isometric view of sleeve one or sleeve two or sleeve three or sleeve four.

FIG. 7 is an isometric view of a first planetary gear or a second planetary gear.

FIG. 8 is an isometric view of either input bevel gear one or input bevel gear two.

FIG. 9 is an isometric view of the input shaft member one or the input shaft member two.

FIG. 10 is an isometric view of input shaft one or input shaft two.

Fig. 11 is a cross-sectional axial view of the first output shaft member.

Figure 12 is an isometric view of a first double bevel gear.

FIG. 13 is an isometric view of the output bevel gear one.

Fig. 14 is an isometric view of the first output shaft.

Fig. 15 is a sectional axial view of the second output shaft member.

FIG. 16 is an isometric cross-sectional view of the second double bevel gear.

FIG. 17 is an isometric view of the output bevel gear two.

Fig. 18 is an isometric view of the second output shaft.

Fig. 19 is a schematic diagram of a deceleration operation process of the deceleration system. In the figure, if UI is larger than UII, then UIII and UI rotate in the same direction.

Fig. 20 is a schematic diagram of the process of the deceleration system for coordinating the differential operation of the wheels. In the figure, UV is larger than UVI.

Figure 21 is a schematic view of the deceleration system taken along the axis.

FIG. 22 is a schematic illustration of the relationship between the dual bevel gear primary rotational speed, the dual bevel gear secondary rotational speed, and the planet carrier rotational speed for the deceleration system from the activated state, the idle state, to the forward travel state.

FIG. 23 is a schematic illustration of the relationship between the dual bevel gear primary rotational speed, the dual bevel gear secondary rotational speed, and the planet carrier rotational speed for the deceleration system from the activated state, the idle state, to the reverse travel state.

Fig. 24 is a schematic diagram showing the relationship among the primary double-bevel-gear rotation speed, the secondary double-bevel-gear rotation speed, the planet carrier rotation speed, and the total output power in the acceleration running state of the deceleration system.

Fig. 25 is a schematic diagram showing the relationship among the primary double-bevel-gear rotation speed, the secondary double-bevel-gear rotation speed, the planet carrier rotation speed and the total output power when the deceleration system is in a constant speed climbing state.

Fig. 26 is a schematic diagram showing the relationship among the double-bevel-gear first rotation speed, the double-bevel-gear second rotation speed, the planet carrier rotation speed, and the total output power when the reduction system is in the deceleration climbing state.

Fig. 27 is a schematic diagram showing the relationship among the primary rotation speed of the double bevel gear, the secondary rotation speed of the double bevel gear, the rotation speed of the planet carrier, and the power generation power of the motor when the reduction system is in the reduction braking state.

FIG. 28 is a graphical representation of the relationship between the speed of rotation of the first double bevel gear, the speed of rotation of the second double bevel gear, the speed of rotation of the planet carrier, and the total output power of the reduction system during an emergency braking condition.

In the figure, UI is the linear speed of the rotation of the first reference circle position of the double bevel gear, UII is the linear speed of the rotation of the second reference circle position of the double bevel gear, and UIII is the linear speed of the rotation of the position on the planet support, which is equal to the radius of the first reference circle of the double bevel gear or equal to the radius of the second reference circle of the double bevel gear. UIV is the angular velocity of the planet carrier rotation, UV is the angular velocity of the output bevel gear one rotation, and UVI is the angular velocity of the output bevel gear two rotation.

In the figure, V is a speed coordinate, UIII represents a forward driving state when the value of the speed coordinate is a positive value, UIII represents a backward driving state when the value of the speed coordinate is a negative value, and O is a coordinate origin. Δ U is the absolute value of the difference between the first rotational speed of the double bevel gear and the second rotational speed of the double bevel gear. Va is an idling reference rotational speed. t is the time coordinate and ta is the starting reference time. P is the power coordinate, PIII is the total output power of motor one and motor two via the planet carrier. PI 'is a power generation power of the motor, and UI' is a linear speed measured at a reference circle position of the double bevel gear when the motor is driven to rotate by the inertia moment of the electric automobile after the power of the motor is cut off, namely the rotating speed of the double bevel gear in a power generation state. And Vb I is the linear speed of the rotation of a first reference circle position of the double bevel gear at the initial moment of the deceleration braking instruction, namely the initial rotation speed of power generation. VcII is the linear speed of rotation of the double bevel gear at the position of the two-degree circle at the moment of ending the deceleration braking instruction, namely the rotation speed of ending the power generation. tb is the deceleration braking command start time, and tc is the deceleration braking command end time. Ve I is the linear speed of the rotation of the first graduated circle position of the double bevel gear at the moment when the emergency braking instruction is ended, Ve II is the linear speed of the rotation of the second graduated circle position of the double bevel gear at the moment when the emergency braking instruction is ended, and delta Ve is the absolute value of the difference between the first rotation speed of the double bevel gear and the second rotation speed of the double bevel gear at the moment when the emergency braking instruction is ended, namely the emergency braking reference rotation speed. td is the start time of the emergency braking command, and te is the end time of the emergency braking command.

Marked in the figure are a second input bevel gear 1, a second input shaft 2, a first input bevel gear 3, a first input shaft 4, a first output shaft 5, a first double bevel gear 6, a first bushing 7, a first output bevel gear 8, a second planetary bevel gear 9, a fourth bushing 10, a planet shaft 11, a planet support 12, a third bushing 13, a first planetary bevel gear 14, a second output bevel gear 15, a second double bevel gear 16, a second bushing 17, a second output shaft 18, a support mounting plane 19, a support inner cavity 20, a support fixing shaft hole 21, a planet shaft positioning shaft shoulder 22, a shaft sleeve thrust shaft shoulder 23, a shaft sleeve shaft hole 24, a bevel gear shaft hole 25, a gear rear end face 26, a third internal spline 27, a third external spline 28, a first double bevel gear shaft hole 29, a first internal gear tooth 30, a first external gear tooth 31, a first internal spline 32, a first external spline 33, a first journal 34, a first shaft shoulder 35, a second double bevel gear shaft hole 36, a second external gear tooth 37, a second internal, A second internal spline 39, a second shoulder 40, a second journal 41, a second external spline 42, a planet carrier rotation direction 43, a planet carrier rotation trajectory 44, a second double bevel gear rotation trajectory 45, a second double bevel gear rotation direction 46, an output shaft axis 47, a first bevel pinion rotation direction 48, a planet shaft axis 49, a first bevel pinion rotation trajectory 50, a first double bevel gear rotation trajectory 51, a first double bevel gear rotation direction 52, a second output bevel gear rotation trajectory 53, a second output bevel gear rotation direction 54, a second bevel pinion rotation direction 55, a second bevel pinion rotation trajectory 56, a first output bevel pinion rotation trajectory 57, a first output bevel pinion rotation direction 58, a start speed curve 59, a first double bevel gear rotation speed curve 60, a second double bevel gear rotation speed curve 61, a planet carrier rotation speed curve 62, a total output power curve 63, a double bevel gear power generation state rotation speed curve 64, a double bevel gear rotation speed curve 60, a double bevel, A generated power curve 65, an idle speed curve 66.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

Referring to fig. 1, 2 and 21, the speed reduction system comprises a first input shaft component, a second input shaft component, a planet carrier component, a first output shaft component and a second output shaft component. The input shaft part I comprises an input bevel gear I3 and an input shaft I4. The input shaft part II comprises an input bevel gear II 1 and an input shaft II 2. The planet carrier component comprises a second planet bevel gear 9, a fourth shaft sleeve 10, a planet shaft 11, a planet carrier 12, a third shaft sleeve 13 and a first planet bevel gear 14, the first output shaft component comprises a first output shaft 5, a first double bevel gear 6, a first shaft sleeve 7 and a first output bevel gear 8, the second output shaft component comprises a second output bevel gear 15, a second double bevel gear 16, a second shaft sleeve 17 and a second output shaft 18, or bearings are adopted in the components to replace the first shaft sleeve 7, the second shaft sleeve 17, the third shaft sleeve 13 and the fourth shaft sleeve 10 respectively, and the bearings bear radial loads and axial loads. The first input shaft component and the second input shaft component are respectively arranged at two axial ends of the planet carrier component, and the first output shaft component and the second output shaft component are respectively arranged at two axial ends of the planet carrier component.

When the speed reducing system is applied, the first input shaft 4 is connected with the output shaft of the first motor, the second input shaft 2 is connected with the output shaft of the second motor, the first output shaft 5 is connected with a half shaft provided with a right wheel, and the second output shaft 18 is connected with a half shaft provided with a left wheel.

When the speed reducing system operates, the first controller controls the first motor to rotate, and the first controller can adjust the rotating speed of the first motor. The second controller controls the second motor to rotate, and the second controller can adjust the rotating speed of the second motor. The first motor drives the first double bevel gear 6 to rotate around the output shaft axis 47 in a first double bevel gear rotation direction 52 through the first input shaft 4 and the first input bevel gear 3, and the second motor drives the second double bevel gear 16 to rotate around the output shaft axis 47 in a second double bevel gear rotation direction 46 through the second input shaft 2 and the second input bevel gear 1, wherein the first double bevel gear rotation direction 52 is opposite to the second double bevel gear rotation direction 46. When the rotating speed of the first double bevel gear 6 is equal to that of the second double bevel gear 16, the first planetary bevel gear 14 rotates around the axis 49 of the planetary shaft, the planetary carrier 12 is in a static state, and the rotating speeds of the first output shaft 5 and the second output shaft 18 are zero. When the rotating speed of the first double bevel gear 6 is not equal to that of the second double bevel gear 16, the first planetary bevel gear 14 revolves around the output shaft axis 47 while the first planetary bevel gear 14 rotates around the planetary shaft axis 49, the first planetary bevel gear 14 drives the planet support 12 to rotate at a low rotating speed, and the planet support 12 drives the first output bevel gear 8 and the second output bevel gear 15 to rotate at a low rotating speed in the same direction through the second planetary bevel gear 9. When the automobile turns, the inner wheels generate larger resistance, the second bevel planet gear 9 revolves around the axis 47 of the output shaft, and simultaneously, the second bevel planet gear 9 also rotates around the axis 49 of the planet shaft, so that the rotating speed of the first output bevel gear 8 for driving the right wheels through the first output shaft 5 is not equal to the rotating speed of the second output bevel gear 15 for driving the left wheels through the second output shaft 18, and the technical requirement of coordinating the rotating speeds of the left and right wheels is met.

Referring to fig. 1 to 18, the first sleeve 7, the second sleeve 17, the third sleeve 13 and the fourth sleeve 10 are cylindrical, a sleeve shaft hole 24 is formed in the radial middle of the first sleeve, and a sleeve thrust shoulder 23 is formed at one axial end of the first sleeve. The planet axle 11 is cylindrical and has a planet axle locating shoulder 22 at one axial end. The radial middle of the first planetary bevel gear 14 is a bevel gear shaft hole 25, the radial outer side of the first planetary bevel gear 14 is gear teeth, one axial end of the first planetary bevel gear is a front gear end face, and the other axial end of the first planetary bevel gear is a rear gear end face 26. The radial middle of the second planetary bevel gear 9 is a bevel gear shaft hole 25, the radial outer side of the second planetary bevel gear 9 is gear teeth, one axial end of the second planetary bevel gear is a front gear end face, and the other axial end of the second planetary bevel gear is a rear gear end face 26. The planet carrier 12 is annular, a carrier inner cavity 20 is arranged on the radial inner side of the planet carrier 12, a plurality of carrier mounting planes 19 are uniformly distributed on the radial inner surface of the planet carrier 12, and a carrier fixing shaft hole 21 is formed in the center of each carrier mounting plane 19.

When the planet carrier component is assembled, a second planet bevel gear 9, a fourth shaft sleeve 10, a first planet bevel gear 14 and a third shaft sleeve 13 are sequentially arranged on a planet shaft 11, the fourth shaft sleeve 10 is arranged in a bevel gear shaft hole 25 of the second planet bevel gear 9, a shaft sleeve thrust shaft shoulder 23 of the fourth shaft sleeve 10 is contacted and arranged with a gear rear end surface 26 of the second planet bevel gear 9, the third shaft sleeve 13 is arranged in a bevel gear shaft hole 25 of the first planet bevel gear 14, a shaft sleeve thrust shaft shoulder 23 of the third shaft sleeve 13 is contacted and arranged with a gear rear end surface 26 of the first planet bevel gear 14, a gear front end surface of the second planet bevel gear 9 is contacted and arranged with a planet shaft positioning shaft shoulder 22 of the planet shaft 11, then a plurality of planet shafts 11 are respectively arranged in carrier fixing shaft holes 21 of a planet carrier 12, and the planet shaft 11, the second planet bevel gear 9 and the fourth shaft sleeve 10 are contacted and arranged together, The first planet bevel gears 14 and the third shaft sleeve 13 are positioned in the inner cavity 20 of the support of the planet support 12, so that the thrust shaft shoulders 23 of the shaft sleeves 13 are in contact with the support mounting plane 19 of the planet support 12, and the second planet bevel gears 9 and the first planet bevel gears 14 can rotate around the planet shaft axes 49 respectively.

The input shaft I4 and the input shaft II 2 are cylindrical, and one axial end of the input shaft I is provided with a third external spline 28. The radial middle parts of the input bevel gear I3 and the input bevel gear II 1 are provided with a third internal spline 27, the radial outer side is provided with gear teeth, one axial end of the gear teeth is a front end face of the gear, and the other axial end of the gear teeth is a rear end face 26 of the gear. When the input shaft part I is assembled, the external spline three 28 of the input shaft I4 is arranged in the internal spline three 27 of the input bevel gear I3, and the front end face of the gear of the input bevel gear I3 is positioned at one end, on the axial outer side, of the input shaft I4. When the input shaft part II is assembled, the external spline third 28 of the input shaft II 2 is installed in the internal spline third 27 of the input bevel gear II 1, and the front end surface of the gear of the input bevel gear II 1 is positioned at one end of the axial outer side of the input shaft II 2.

The radial middle of the first double bevel gear 6 is a first double bevel gear shaft hole 29, and the axial two ends of the radial outer side of the first double bevel gear are respectively an inner gear tooth 30 and an outer gear tooth 31. The radial middle of the output bevel gear I8 is provided with a first internal spline 32, the radial outer side of the output bevel gear I is provided with gear teeth, one axial end of the output bevel gear I is a front gear end face, and the other axial end of the output bevel gear I is a rear gear end face 26. The output shaft I5 is cylindrical, and one end of the axial left side of the output shaft I is provided with a first external spline 33, a first journal 34 and a first shaft shoulder 35 in sequence towards the right.

When the output shaft component I is assembled, the shaft sleeve I7 is arranged on the shaft neck I34 of the output shaft I5, the shaft sleeve thrust shaft shoulder 23 of the shaft sleeve I7 is contacted and arranged with the shaft shoulder I35 of the output shaft I5, the double bevel gear shaft hole I29 of the double bevel gear I6 is arranged on the shaft sleeve I7, one end of the double bevel gear I6 with the outer gear teeth I31 is contacted and arranged with the shaft sleeve thrust shaft shoulder 23 of the shaft sleeve I7, the inner spline I32 of the output bevel gear I8 is arranged on the outer spline I33 of the output shaft I5, and the gear rear end face 26 of the output bevel gear I8 is contacted and arranged with the left end face of the shaft sleeve I7.

The radial middle of the second double bevel gear 16 is a second double bevel gear shaft hole 36, and the radial outer axial two ends of the second double bevel gear are respectively an outer gear tooth 37 and an inner gear tooth 38. The radial middle of the second output bevel gear 15 is provided with a second internal spline 39, the radial outer side of the second output bevel gear is provided with gear teeth, one axial end of the second output bevel gear is a front gear end face, and the other axial end of the second output bevel gear is a rear gear end face 26. The second output shaft 18 is cylindrical, and one end of the right axial side of the second output shaft is provided with a second external spline 42, a second journal 41 and a second shaft shoulder 40 in sequence towards the left.

When the second output shaft component is assembled, the second shaft sleeve 17 is installed on the second journal 41 of the second output shaft 18, the second shaft sleeve thrust shaft shoulder 23 of the second shaft sleeve 17 is installed together with the second shaft shoulder 40 of the second output shaft 18 in a contact mode, the second double bevel gear shaft hole 36 of the second double bevel gear 16 is installed on the second shaft sleeve 17, one end, provided with the second outer gear teeth 37, of the second double bevel gear 16 is installed together with the second shaft sleeve thrust shaft shoulder 23 of the second shaft sleeve 17 in a contact mode, the second inner spline 39 of the second output bevel gear 15 is installed on the second outer spline 42 of the second output shaft 18, and the gear rear end face 26 of the second output bevel gear 15 is installed together with the right end face of the second shaft sleeve 17.

After the speed reducing system is assembled, the first planet bevel gear 14 of the planet carrier component is meshed with the first inner gear teeth 30 of the first double bevel gear 6 of the first output shaft component on the axial right side, and the first planet bevel gear 14 of the planet carrier component is meshed with the second inner gear teeth 38 of the second double bevel gear 16 of the second output shaft component on the axial left side. The second planetary bevel gear 9 of the planet carrier member is meshed with the first output bevel gear 8 of the first output shaft member on the axial right side, and the second planetary bevel gear 9 of the planet carrier member is meshed with the second output bevel gear 15 of the second output shaft member on the axial left side. The first input bevel gear 3 of the first input shaft part is meshed with the first outer gear teeth 31 of the first double bevel gear 6 of the first output shaft part, and the second input bevel gear 1 of the second input shaft part is meshed with the second outer gear teeth 37 of the second double bevel gear 16 of the second output shaft part.

A double-bevel gear planetary gear reducer is composed of a double-bevel gear II 16, a planetary bevel gear I14, a planetary shaft 11, a planetary support 12 and a double-bevel gear I6 of the speed reducing system, a driving part of the double-bevel gear planetary gear reducer is the double-bevel gear I6, a driving part of the double-bevel gear planetary gear reducer is the double-bevel gear II 16, and a driven part of the double-bevel gear planetary gear reducer is the planetary support 12. The double-bevel-gear planetary gear reducer performs speed reduction transmission. The first double bevel gear rotational direction 52 is opposite to the second double bevel gear rotational direction 46. When the rotation speed of the first double bevel gear 6 is equal to that of the second double bevel gear 16, the first planet bevel gear 14 rotates around the planet shaft axis 49, and the planet carrier 12 is in a static state. When the rotating speed of the first double bevel gear 6 is not equal to the rotating speed of the second double bevel gear 16, the first planet bevel gear 14 revolves around the output shaft axis 47 while the first planet bevel gear 14 rotates around the planet shaft axis 49, the first planet bevel gear 14 drives the planet support 12 to rotate at a low rotating speed, and the rotating speed of the planet support 12 is equal to the absolute value of the difference between the rotating speed of the first double bevel gear 6 and the rotating speed of the second double bevel gear 16. If the rotational speed of the first double bevel gear 6 is greater than the rotational speed of the second double bevel gear 16, the planet carrier rotational direction 43 is the same as the first double bevel gear rotational direction 52. If the rotational speed of the second double bevel gear 16 is greater than the rotational speed of the first double bevel gear 6, the planet carrier rotational direction 43 is the same as the second double bevel gear rotational direction 46.

The output bevel gear II 15, the planet bevel gear II 9, the planet shaft 11, the planet support 12 and the output bevel gear I8 of the speed reducing system form a wheel differential, the driving part of the wheel differential is the planet support 12, the driven part is the output bevel gear I8, and the driven part is the output bevel gear II 15. When the rotating speed of the first double bevel gear 6 is not equal to that of the second double bevel gear 16, the first planet bevel gear 14 drives the planet support 12 to rotate at a low rotating speed, and the planet support 12 drives the first output bevel gear 8 and the second output bevel gear 15 to rotate at a low rotating speed in the same direction through the second planet bevel gear 9. When the automobile turns, the inner wheels generate larger resistance, the second bevel planet gear 9 revolves around the output shaft axis 47, and simultaneously, the second bevel planet gear 9 also rotates around the planet shaft axis 49, so that the rotating speed of the first output bevel gear 8 for driving the right wheels through the first output shaft 5 is not equal to the rotating speed of the second output bevel gear 15 for driving the left wheels through the second output shaft 18, and the rotating speed of the outer wheels is higher than that of the inner wheels, so that the automobile can turn smoothly.

Referring to fig. 1, 2, 19 to 28, the deceleration system operation process includes a start-up state, an idle state, a forward driving state, a backward driving state, an acceleration driving state, a constant speed climbing state, a deceleration climbing state, and a deceleration braking state.

The running process of the deceleration system from the starting state to the idling state is as follows: the first controller controls the first motor to start at a low rotating speed, the first motor rotating speed is gradually increased, meanwhile, the second controller controls the second motor to start at a low rotating speed, the rotating direction 52 of the first double bevel gear of the first motor driving the first double bevel gear 6 is opposite to the rotating direction 46 of the second double bevel gear of the second motor driving the second double bevel gear 16, the rotating speed of the first double bevel gear 6 is equal to the rotating speed of the second double bevel gear 16, the rotating speeds of the first double bevel gear 6 and the second double bevel gear 16 are synchronously increased along a starting speed curve 59, the rotating speeds reach an idle rotation reference rotating speed within starting reference time, at the moment, the speed reducing system enters an idle rotation state from the starting state, and in the idle rotation state, the rotating speed of the first double bevel gear 6 and the rotating speed of the second double bevel gear 16 are equal to the idle rotation reference.

In the operation process of the speed reducing system from the starting state to the idle running state, the first motor drives the first double bevel gear 6 to rotate around the output shaft axis 47 along the first double bevel gear rotating direction 52 through the first input shaft 4 and the first input bevel gear 3, the second motor drives the second double bevel gear 16 to rotate around the output shaft axis 47 along the second double bevel gear rotating direction 46 through the second input shaft 2 and the second input bevel gear 1, the first double bevel gear 6 and the second double bevel gear 16 jointly drive the first planetary bevel gear 14 to rotate around the planet shaft axis 49, the planet support 12 is in the static state, the rotating speeds of the first output shaft 5 and the second output shaft 18 are zero, and the electric automobile does not run.

The operation process of the speed reducing system from the idle running state to the forward running state is as follows: the first controller controls the first motor to gradually increase the rotation speed, the first motor drives the first double bevel gear 6 to accelerate along the first double bevel gear rotation speed curve 60, the second motor controls the second motor to gradually increase the rotation speed, the second motor drives the second double bevel gear 16 to accelerate along the second double bevel gear rotation speed curve 61, the first double bevel gear 6 rotates at a speed greater than the second double bevel gear 16, the first double bevel gear 6 drives the first planetary bevel gear 14 around the planet shaft axis 49 in the first planetary bevel gear rotation direction 48 at a speed greater than the second double bevel gear 16 drives the first planetary bevel gear 14 around the planet shaft axis 49 in the first planetary bevel gear rotation direction 48, and the first planetary bevel gear 14 also rotates around the output shaft axis 47 in order to offset the speed difference between the first double bevel gear 6 and the second double bevel gear 16 respectively driving the first planetary bevel gear 14, the first planetary bevel gear 14 drives the planet carrier 12 to rotate at a low rotating speed, and the rotating linear speed of the planet carrier 12 is equal to the difference between the rotating linear speed of the first double bevel gear 6 and the rotating linear speed of the second double bevel gear 16. The rotation direction 43 of the planet carrier is the same as the rotation direction 52 of the first double bevel gear, the planet carrier 12 drives the first output bevel gear 8 and the second output bevel gear 15 to rotate in the same direction at low rotating speed through the second planet bevel gear 9, and the electric automobile runs forwards. As the difference between the first rotational speed of the motor and the second rotational speed of the motor increases, the rotational speed of the planet carrier 12 accelerates along the planet carrier rotational speed curve 62, and the electric vehicle accelerates forward.

The operation process of the speed reducing system from the idle running state to the backward running state is as follows: the first controller controls the first motor to gradually increase the rotation speed, the first motor drives the first double bevel gear 6 to accelerate along the first double bevel gear rotation speed curve 60, the second motor controls the second motor to gradually increase the rotation speed, the second motor drives the second double bevel gear 16 to accelerate along the second double bevel gear rotation speed curve 61, the second double bevel gear 16 rotates at a speed greater than the first double bevel gear 6, the second double bevel gear 16 drives the first planetary bevel gear 14 around the planet shaft axis 49 in the first planetary bevel gear rotation direction 48 at a speed greater than the first double bevel gear 6 drives the first planetary bevel gear 14 around the planet shaft axis 49 in the first planetary bevel gear rotation direction 48, and the first planetary bevel gear 14 also rotates around the output shaft axis 47 in order to offset the speed difference between the first double bevel gear 6 and the second double bevel gear 16 driving the first planetary bevel gear 14 respectively, the first planetary bevel gear 14 drives the planet carrier 12 to rotate at a low rotating speed, and the rotating linear speed of the planet carrier 12 is equal to the difference between the rotating linear speed of the second double bevel gear 16 and the rotating linear speed of the first double bevel gear 6. The rotation direction 43 of the planet carrier is the same as the rotation direction 46 of the double bevel gear II, the planet carrier 12 drives the output bevel gear I8 and the output bevel gear II 15 to rotate in the same direction at low rotating speed through the planet bevel gear II 9, and the automobile runs backwards. As the difference between the second rotational speed of the motor and the first rotational speed of the motor increases, the rotational speed of the planet carrier 12 accelerates along the planet carrier rotational speed curve 62, and the electric vehicle accelerates to travel backward.

During the operation process of the speed reducing system in a forward driving state or a backward driving state, the planet support 12 drives the output shaft I5 to rotate at a low rotating speed in the same direction through the planet bevel gear II 9 and the output bevel gear I8, and meanwhile, the planet support 12 drives the output shaft II 18 to rotate at a low rotating speed in the same direction through the planet bevel gear II 9 and the output bevel gear II 15. When the automobile turns, the inner wheels generate larger resistance, and the second bevel planet gear 9 rotates around the planet shaft axis 49 while revolving around the output shaft axis 47. If the automobile turns to the left side, the rotational angular velocity of the first output bevel gear 8 is greater than the rotational angular velocity of the planet support 12, meanwhile, the rotational angular velocity of the second output bevel gear 15 is less than the rotational angular velocity of the planet support 12, if the automobile turns to the right side, the rotational angular velocity of the second output bevel gear 15 is greater than the rotational angular velocity of the planet support 12, meanwhile, the rotational angular velocity of the first output bevel gear 8 is less than the rotational angular velocity of the planet support 12, so that the rotational velocity of the first output bevel gear 8 for driving the right wheel through the first output shaft 5 is not equal to the rotational velocity of the second output bevel gear 15 for driving the left wheel through the second output shaft.

During operation of the reduction system in either the forward drive state or the reverse drive state, increasing the rotational speed of motor one driving double bevel gear one 6 and motor two driving double bevel gear two 16 simultaneously increases the total output power of motor one and motor two via planet carrier 12 along total output power curve 63.

At this time, if the absolute value of the difference between the first-motor-driven double bevel gear first 6 and the second-motor-driven double bevel gear second 16 is gradually increased, the rotational speed of the planet carrier 12 is accelerated along the planet carrier rotational speed curve 62, and the electric vehicle is accelerated to move forward or backward under the premise that the total output power is increased, the deceleration system enters the acceleration driving state.

At this time, if the absolute value of the difference between the first-motor-driven double bevel gear first 6 and the second-motor-driven double bevel gear second 16 is maintained, the planet carrier 12 rotates at a constant speed along the planet carrier rotation speed curve 62, and the electric vehicle travels forward at a constant speed or backward at a constant speed on the premise that the total output power is increased, the speed reduction system enters a constant speed climbing state.

At this time, if the absolute value of the difference between the first motor-driven double bevel gear 6 and the second motor-driven double bevel gear 16 is gradually decreased, the rotational speed of the planet carrier 12 is decelerated along the planet carrier rotational speed curve 62, and the electric vehicle is decelerated to move forward or backward on the premise that the total output power is increased, the deceleration system enters a deceleration and hill climbing state.

In the running process of the acceleration running state, the constant speed climbing state and the deceleration climbing state, the total output power of the first motor and the second motor is not correlated with the change of the rotating speed difference of the first motor and the second motor in the control process of the change of the total output power along the total output power curve 63, namely the respective control capability of the output rotating speed and the output torque of the deceleration system can be realized.

The running process of the deceleration system in the deceleration braking state is as follows: when the speed reducing system is in a high-speed forward driving state, the starting moment of a speed reducing braking instruction is received, the controller cuts off the power supply of the first motor, the first controller connects the stator winding wire of the first motor with the energy storage device, meanwhile, the second controller continuously controls the second motor to operate, the inertia moment of the electric automobile drives the first motor to rotate, so that the rotating speed of the first double bevel gear 6 is reduced along a rotating speed curve 64 of a power generating state of the double bevel gear, the first motor is used as a generator to transmit electric energy to the energy storage device, the first motor generates resistance moment to reduce and brake the electric automobile, the power generating power of the first motor is reduced along a generating power curve 65 until the stopping moment of the speed reducing braking instruction, at the moment, the rotating speed of the first double bevel gear 6 is equal to the rotating speed of the second double bevel gear, and the deceleration system finishes the deceleration braking state, the first controller restores power supply to the first motor, the first motor drives the first double bevel gear 6 to rotate at a speed equal to the second motor drives the second double bevel gear 16, and the electric automobile still stops running forwards and waits for the next command.

If the next command is to enter an idle running state, the first controller enables the first motor to drive the first double bevel gear 6 to rotate at the idle running reference speed, meanwhile, the second controller enables the second motor to drive the second double bevel gear 16 to rotate at the idle running reference speed synchronously, and the speed reduction system enters the idle running state and waits for the next command. And the total output power of the first motor and the second motor is minimum in the idle state.

If the next instruction of the idling state is flameout, the first controller enables the first motor to drive the first double bevel gear 6 to reduce the rotating speed from the idling reference rotating speed to zero, meanwhile, the second controller enables the second motor to drive the second double bevel gear 16 to synchronously reduce the rotating speed from the idling reference rotating speed to zero, and the electric automobile is flameout.

In the running process of the speed reducing system in the speed reducing braking state, when the speed reducing braking instruction is terminated in advance when the electric automobile does not stop running forwards, the first controller restores power supply to the first motor in advance, the first motor drives the first double bevel gear 6 to rotate at a speed higher than the second motor drives the second double bevel gear 16, and the electric automobile continues to run forwards.

The deceleration system operation process also comprises an emergency braking state. And the emergency braking instruction of the speed reducing system is matched with the brake of the electric automobile for use in the emergency braking process of the electric automobile. The operation process of the deceleration system in the emergency braking state is as follows: when the speed reducing system is in a high-speed forward driving state, the initial moment of receiving an emergency braking instruction is received, the first controller rapidly increases the rotating speed of the first motor to the highest rotating speed, meanwhile, the second controller rapidly increases the rotating speed of the second motor to the highest rotating speed, and reduces the difference between the rotating speeds of the first motor and the second motor, namely, rapidly reduces the difference between the rotating speed of the first motor driving double bevel gear I6 and the rotating speed of the second motor driving double bevel gear II 16 on the premise of rapidly increasing the total output power of the first motor and the second motor through the planet carrier 12, so that the difference between the rotating speeds reaches the emergency braking reference rotating speed at the termination moment of the emergency braking instruction, in the process, as the rotating speed of the first motor driving wheel and the second motor driving wheel is lower than the rotating speed of the electric automobile inertia moment driving wheel, the total output power of the first motor and the second motor, the electric automobile is decelerated and braked, the first motor and the second motor output high-power, high-torque and low-rotation-speed control torque to ensure the control of the rotation speed and the steering of the electric automobile in the emergency braking process, the rotation speed of the planet carrier 12 is rapidly decelerated along a planet carrier rotation speed curve 62 along the reduction of the inertia torque of the electric automobile and the reduction of the rotation speed difference of the first motor and the second motor in the emergency braking process, the rotation speed is reduced to the emergency braking reference rotation speed at the emergency braking instruction termination moment, and the electric automobile waits for the next step of instruction.

The flameout and vehicle moving process of the deceleration system is as follows: the electric automobile is shut down, the first motor and the second motor stop running to push the electric automobile, the first right wheel drives the first output shaft 5, the first output bevel gear 8, the second left wheel drives the second output shaft 18 and the second output bevel gear 15 to rotate in the same direction, the first output bevel gear 8 and the second output bevel gear 15 drive the second planetary bevel gear 9 to rotate around the axis 47 of the output shaft in the same direction, the second planetary bevel gear 9 drives the first planetary bevel gear 14 to rotate in the same direction through the planetary shaft 11 and the planetary support 12, the first planetary bevel gear 14 drives the first double bevel gear 6 and the second double bevel gear 16 to rotate in the same direction, and therefore the angular speeds of the first double bevel gear 6 and the second double bevel gear 16 are equal to the angular. One 6 double bevel gears is through input bevel gear 3, input shaft 4 driving motor is rotatory, one-level reduction gear or one-level speed increaser are constituteed to one 6 double bevel gears and input bevel gear 3, the drive ratio is little, the moment of resistance is little, two 16 double bevel gears are through input bevel gear two 1, two 2 driving motor of input shaft are rotatory, two 16 double bevel gears and two 1 input bevel gears constitute another one-level reduction gear or one-level speed increaser, the drive ratio is little, the moment of resistance is little, can realize putting out the fire and move the car.

In the running process of the speed reducing system, the rotating speeds of the first output shaft 5 and the second output shaft 18 are related to the rotating speed difference of the two motors, so that the speed reducing system has the advantages of large transmission ratio and large output torque, the two motors can be always in a high-speed running state, the rotating directions of the first output shaft 5 and the second output shaft 18 of the speed reducing system can be changed simultaneously under the condition that the rotating directions of the two motors are not changed, the electric automobile is driven to realize the functions of driving, stopping and backing, and the speed reducing system can ensure that the motors run under a working state with higher efficiency. The running process of the speed reducing system comprises a starting state, an idling state, a forward running state, a backward running state, an accelerating running state, a constant-speed climbing state, a decelerating braking state and an emergency braking state, the speed reducing system has the braking energy recovery capability, the control capability of enhancing the rotating speed and the steering of the electric automobile when the speed reducing system is in emergency braking, and the respective control capability of the output rotating speed and the output torque, so that flameout and vehicle moving can be realized.

Claims

1. A control method of a vehicle double-cone-tooth differential speed reduction system is characterized by comprising the following steps: the running process of the deceleration system comprises a starting state, an idling state, a forward running state, a backward running state, an acceleration running state, a constant-speed climbing state, a deceleration climbing state and a deceleration braking state;

the running process of the deceleration system from the starting state to the idling state is as follows: the first controller controls the first motor to start at a low rotating speed, gradually increases the first rotating speed of the motor, and simultaneously controls the second motor to start at a low rotating speed, and gradually increasing the rotating speed of the first motor, wherein the rotating direction (52) of the first double bevel gear of the first motor driving the first double bevel gear (6) is opposite to the rotating direction (46) of the second double bevel gear of the second motor driving the second double bevel gear (16), the rotating speed of the first double bevel gear (6) is equal to the rotating speed of the second double bevel gear (16), and the rotational speed of the first double bevel gear (6) and the rotational speed of the second double bevel gear (16) are synchronously increased along the starting speed curve (59), and reaches the idling reference rotating speed within the starting reference time, at the moment, the speed reducing system enters the idling state from the starting state, in an idle state, the rotating speed of the first double bevel gear (6) and the rotating speed of the second double bevel gear (16) are equal to an idle reference rotating speed;

in the operation process of the speed reducing system from the starting state to the idle state, the first motor drives the first double bevel gear (6) to rotate around the axis (47) of the output shaft along the first double bevel gear rotating direction (52) through the first input shaft (4) and the first input bevel gear (3), the second motor drives the second double bevel gear (16) to rotate around the axis (47) of the output shaft along the second double bevel gear rotating direction (46) through the second input shaft (2) and the second input bevel gear (1), the first double bevel gear (6) and the second double bevel gear (16) jointly drive the first planet bevel gear (14) to rotate around the axis (49) of the planet shaft, the planet support (12) is in a static state, the rotating speeds of the first output shaft (5) and the second output shaft (18) are zero, and the electric automobile does not run;

the operation process of the speed reducing system from the idle running state to the forward running state is as follows: the first controller controls the first motor to gradually increase the rotation speed, the first motor drives the first double-bevel gear (6) to accelerate along a first double-bevel-gear rotation speed curve (60), the second motor controls the second motor to gradually increase the rotation speed, the second motor drives the second double-bevel gear (16) to accelerate along a second double-bevel-gear rotation speed curve (61), the rotation speed of the first double-bevel gear (6) is greater than that of the second double-bevel gear (16), the first double-bevel gear (6) drives the first planetary bevel gear (14) to surround the planet shaft axis (49) along the first planetary bevel gear rotation direction (48) is greater than that of the second double-bevel gear (16) drives the first planetary bevel gear (14) to surround the planet shaft axis (49) along the first planetary bevel gear rotation direction (48), and in order to offset the speed difference that the first double-bevel gear (6) and the second double-bevel gear (16) respectively drive the first planetary bevel gear (14), the first planetary bevel gear (14) can also revolve around the axis (47) of the output shaft, the first planetary bevel gear (14) drives the planet support (12) to rotate at a low rotating speed, and the rotating linear speed of the planet support (12) is equal to the difference between the rotating linear speed of the first double bevel gear (6) and the rotating linear speed of the second double bevel gear (16); the rotating direction (43) of the planet support is the same as the rotating direction (52) of the double bevel gear I, the planet support (12) drives the output bevel gear I (8) and the output bevel gear II (15) to rotate in the same direction at low rotating speed through the planet bevel gear II (9), and the electric automobile runs forwards; the rotation speed of the planet carrier (12) is accelerated along a planet carrier rotation speed curve (62) along with the increase of the difference between the first rotation speed and the second rotation speed of the motor, and the electric automobile is accelerated to run forwards;

the operation process of the speed reducing system from the idle running state to the backward running state is as follows: the first controller controls the first motor to gradually increase the rotation speed, the first motor drives the first double-bevel gear (6) to accelerate along a first double-bevel-gear rotation speed curve (60), the second motor controls the second motor to gradually increase the rotation speed, the second motor drives the second double-bevel gear (16) to accelerate along a second double-bevel-gear rotation speed curve (61), the rotation speed of the second double-bevel gear (16) is greater than the rotation speed of the first double-bevel gear (6), the second double-bevel gear (16) drives the first planetary bevel gear (14) to surround the planet shaft axis (49) along the first planetary bevel gear rotation direction (48), the rotation speed of the first double-bevel gear (6) driving the first planetary bevel gear (14) to surround the planet shaft axis (49) along the first planetary bevel gear rotation direction (48) is greater than the rotation speed of the first double-bevel gear (6) and the second double-bevel gear (16) driving the first planetary bevel gear (14) respectively, and in order to offset the, the first planetary bevel gear (14) can also revolve around the axis (47) of the output shaft, the first planetary bevel gear (14) drives the planet support (12) to rotate at a low rotating speed, and the rotating linear speed of the planet support (12) is equal to the difference between the rotating linear speed of the second double bevel gear (16) and the rotating linear speed of the first double bevel gear (6); the rotating direction (43) of the planet support is the same as the rotating direction (46) of the double bevel gear II, the planet support (12) drives the output bevel gear I (8) and the output bevel gear II (15) to rotate in the same direction at low rotating speed through the planet bevel gear II (9), and the automobile runs backwards; as the difference between the second rotational speed of the motor and the first rotational speed of the motor increases, the rotational speed of the planet carrier (12) accelerates along a planet carrier rotational speed curve (62), and the electric vehicle accelerates to run backwards;

in the running process of the speed reducing system in a forward running state or a backward running state, the planet support (12) drives the first output shaft (5) to rotate at a low rotating speed in the same direction through the second planet bevel gear (9) and the first output bevel gear (8), and meanwhile, the planet support (12) drives the second output shaft (18) to rotate at a low rotating speed in the same direction through the second planet bevel gear (9) and the second output bevel gear (15); when the automobile turns, the inner wheels generate larger resistance, and the second bevel planet gear (9) revolves around the axis (47) of the output shaft, and simultaneously, the second bevel planet gear (9) also rotates around the axis (49) of the planet shaft; if the automobile turns to the left side, the rotation angular velocity of the first output bevel gear (8) is larger than the rotation angular velocity of the planetary support (12), meanwhile, the rotation angular velocity of the second output bevel gear (15) is smaller than the rotation angular velocity of the planetary support (12), if the automobile turns to the right side, the rotation angular velocity of the second output bevel gear (15) is larger than the rotation angular velocity of the planetary support (12), meanwhile, the rotation angular velocity of the first output bevel gear (8) is smaller than the rotation angular velocity of the planetary support (12), so that the rotation speed of the first output bevel gear (8) for driving the right wheel through the first output shaft (5) is not equal to the rotation speed of the second output bevel gear (15) for driving the left wheel through the second output shaft (18), the rotation speed;

during the operation process of the speed reducing system in the forward driving state or the backward driving state, the rotating speed of the first motor driving the first double bevel gear (6) and the rotating speed of the second motor driving the second double bevel gear (16) are simultaneously increased, so that the total output power of the first motor and the second motor is increased along a total output power curve (63) through the planet carrier (12);

if the absolute value of the difference between the rotating speed of the first motor driving double bevel gear (6) and the rotating speed of the second motor driving double bevel gear (16) is gradually increased, the rotating speed of the planet carrier (12) is accelerated along a planet carrier rotating speed curve (62), and the electric automobile is accelerated to move forwards or backwards on the premise that the total output power is increased, the speed reduction system enters an accelerated moving state;

if the absolute value of the difference between the rotating speed of the first motor driving double bevel gear (6) and the rotating speed of the second motor driving double bevel gear (16) is kept unchanged, the rotating speed of the planet carrier (12) rotates at a constant speed along a planet carrier rotating speed curve (62), and the electric automobile runs forwards at a constant speed or backwards at a constant speed on the premise of increasing the total output power, the speed reducing system enters a constant speed climbing state;

if the absolute value of the difference between the rotating speed of the first motor driving double bevel gear (6) and the rotating speed of the second motor driving double bevel gear (16) is gradually reduced, the rotating speed of the planet carrier (12) is reduced along a planet carrier rotating speed curve (62), and the electric automobile is decelerated to run forwards or decelerated to run backwards on the premise that the total output power is increased, the deceleration system enters a deceleration climbing state;

in the running process of an acceleration running state, a constant speed climbing state and a deceleration climbing state, in the control process that the total output power of the first motor and the second motor changes along a total output power curve (63), the control capability of the output rotating speed and the output torque of the deceleration system can be respectively realized without being correlated with the change of the rotating speed difference of the first motor and the second motor;

the running process of the deceleration system in the deceleration braking state is as follows: when the speed reducing system is in a high-speed forward driving state, the starting moment of a speed reducing braking instruction is received, the controller cuts off the power supply of the first motor, the first controller connects the stator winding wire of the first motor with the energy storage device, meanwhile, the second controller continuously controls the second motor to operate, the inertia moment of the electric automobile drives the first motor to rotate, so that the rotating speed of the first double-bevel gear (6) is reduced along a rotating speed curve (64) of a power generating state of the double-bevel gear, the first motor serves as a generator to transmit electric energy to the energy storage device, the first motor generates resistance moment to reduce and brake the electric automobile, a power generating power of the first motor is reduced along a generating power curve (65) until the speed reducing braking instruction is ended, at the moment, the rotating speed of the first double-bevel gear (6) is equal to the rotating speed of the, the electric automobile stops running forwards, the speed reducing system finishes a speed reducing braking state, the first controller restores power supply to the first motor, the first motor drives the first double bevel gear (6) to rotate at a speed equal to the second motor drives the second double bevel gear (16), and the electric automobile stops running forwards and waits for a next step of instruction;

if the next command is to enter an idle running state, the first controller enables the first motor to drive the first double bevel gear (6) to rotate at a speed reduced to the idle running reference speed, meanwhile, the second controller enables the second motor to drive the second double bevel gear (16) to rotate at a speed reduced to the idle running reference speed synchronously, and the speed reduction system enters the idle running state and waits for the next command; the total output power of the first motor and the second motor is minimum in an idle state;

if the next instruction of the idling state is flameout, the first controller enables the first motor to drive the first double-bevel gear (6) to rotate at a speed reduced from the idling reference speed to zero, and meanwhile, the second controller enables the second motor to drive the second double-bevel gear (16) to rotate at a speed reduced from the idling reference speed to zero synchronously, and the electric automobile is flameout;

in the running process of the speed reducing system in a speed reducing braking state, when the speed reducing braking instruction is terminated in advance when the electric automobile does not stop running forwards, the first controller restores power supply to the first motor in advance, the first motor drives the first double bevel gear (6) to rotate at a speed higher than the second motor drives the second double bevel gear (16), and the electric automobile continues to run forwards.

2. The control method of a differential deceleration system with double conical teeth for a vehicle according to claim 1, wherein: the flameout and vehicle moving process of the deceleration system is as follows: the electric automobile is shut down, the first motor and the second motor stop running to push the electric automobile, the right wheel drives the first output shaft (5), the first output bevel gear (8) and the left wheel drive the second output shaft (18), and the second output bevel gear (15) rotate in the same direction, the first output bevel gear (8) and the second output bevel gear (15) jointly drive the second planetary bevel gear (9) to rotate around the axis (47) of the output shaft in the same direction, the second planetary bevel gear (9) drives the first planetary bevel gear (14) to rotate in the same direction through the planetary shaft (11) and the planetary support (12), the first planetary bevel gear (14) drives the first double bevel gear (6) and the second double bevel gear (16) to rotate in the same direction, and therefore the angular speeds of the first double bevel gear (6) and the second double bevel gear (16) and the wheels are equal; one (6) of double bevel gear is through input bevel gear (3), input shaft (4) driving motor is rotatory, one level reduction gear or one-level speed increaser are constituteed with input bevel gear (3) to double bevel gear (6), the drive ratio is little, the moment of resistance is little, double bevel gear two (16) are through input bevel gear two (1), input shaft two (2) driving motor two are rotatory, double bevel gear two (16) and input bevel gear two (1) constitute another one-level reduction gear or one-level speed increaser, the drive ratio is little, the moment of resistance is little, can realize flame-out and move the car.

3. A control method of a vehicle double-cone-tooth differential speed reduction system is characterized by comprising the following steps: the running process of the deceleration system comprises an emergency braking state; the emergency braking instruction of the speed reducing system is matched with the brake of the electric automobile for use in the emergency braking process of the electric automobile; the operation process of the deceleration system in the emergency braking state is as follows: when the speed reducing system receives an emergency braking instruction starting moment in a high-speed forward driving state, the first controller rapidly increases the rotating speed of the first motor to the highest rotating speed, meanwhile, the second controller rapidly increases the rotating speed of the second motor to the highest rotating speed, and reduces the difference between the rotating speeds of the first motor and the second motor, namely rapidly increases the total output power of the first motor and the second motor through the planet carrier (12), rapidly reduces the difference between the rotating speed of the first motor and the rotating speed of the second motor and the rotating speed of the first motor and the rotating speed of the second motor and the rotating speed of the first motor and the second motor at the emergency braking instruction ending moment to reach the emergency braking reference rotating speed, in the process, because the rotating speed of the wheels driven by the first motor and the second motor is lower than the, the electric automobile is subjected to deceleration braking, the first electric motor and the second electric motor output control torque with high power, high torque and low rotating speed by two pairs of wheels, the control on the rotating speed and the steering of the electric automobile is ensured in the emergency braking process, the rotating speed of the planet carrier (12) is rapidly reduced along a planet carrier rotating speed curve (62) along with the reduction of the inertia torque of the electric automobile and the reduction of the rotating speed difference of the first electric motor and the second electric motor in the emergency braking process, the rotating speed is reduced to the emergency braking reference rotating speed at the termination moment of the emergency braking instruction, and the electric automobile waits for the next step of instruction;