CN110154735A - A kind of Electric Motor Wheel and vehicle - Google Patents
A kind of Electric Motor Wheel and vehicle Download PDFInfo
- Publication number
- CN110154735A CN110154735A CN201910323393.2A CN201910323393A CN110154735A CN 110154735 A CN110154735 A CN 110154735A CN 201910323393 A CN201910323393 A CN 201910323393A CN 110154735 A CN110154735 A CN 110154735A
- Authority
- CN
- China
- Prior art keywords
- motor
- wheel
- hub
- planet carrier
- outside
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
- B60K17/08—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing of mechanical type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
Abstract
The invention proposes a kind of Electric Motor Wheels for electric vehicle driving, including hub motor, brake, planetary reduction gear, wheel hub and wheel rim；Hub motor uses internal rotor high-speed motor, motor axle body end cap is connect with planetary reduction gear gear ring, another side end cap of motor is integrated with knuckle and connect with suspension swing arm, it connect on the outside of rotor with planetary reduction gear, is connect on the inside of rotor with brake, planetary reduction gear is primary planet deceleration, it is connected between motor and wheel hub, wheel hub is connect with wheel rim spoke, and the torque and ground effects for transmitting motor and brake are in the load of tire.Planetary reduction gear is arranged between wheel rim spoke and hub motor, it is integrated with carrying and the effect of deceleration torque increase, ground effects are in the load of tire, be delivered separately to planetary reduction gear gear ring via wheel hub, planet carrier is pooled to hub motor shell, hub motor, brake generate torque wheel hub is passed to by planet carrier.The Electric Motor Wheel have axial dimension is small, light-weight, integrated level is high, compact-sized, be suitble to big torque, middle underload, the electric vehicle applications of high speed.
Description
Technical field
The invention belongs to the technical fields of electric car, are related to a kind of electric vehicle Electric Motor Wheel, and in particular, to Yi Zhongyong
In the integrated hub motor device of electric vehicle, and the vehicle with it.
Background technique
For the larger electric car of tonnage, outer rotor hub motor torque capacity is limited, and weight causes unsprung mass to increase greatly
Adding influences high vehicle speeds performance, pulling figure needed for vehicle is unable to satisfy using existing external rotor electric machine, using in high speed
The hub motor scheme of rotor electric machine and large velocity ratio retarder is more suitable for.Patent CN103328247A proposes a kind of hub motor
Driving device, but it is all bigger without deceleration mechanism and the driving device axial direction size and volume clearly used.It is big to realize
Speed ratio speed reducer generallys use multistage planet braking technique scheme, and then causes axial dimension shared by retarder big, and Electric Motor Wheel is each
Component layout is difficult, and these problems seriously constrain Electric Motor Wheel and apply on the biggish electric vehicle of tonnage.
Summary of the invention
The electronic wheel apparatus of the present invention includes hub motor, brake, planetary reduction gear, wheel hub and wheel rim, and hub motor is adopted
With internal rotor high-speed motor, end cap is fixedly connected with planetary reduction gear gear ring on the outside of motor, motor steering section end cap and knuckle
It integrates and is connect with suspension swing arm, rotor axis of electric one end and planetary reduction gear sun gear are fixed on one, the other end and braking
Device connection, planetary reduction gear are primary planet deceleration, are connected between hub motor and wheel hub, wheel hub is connect with wheel rim spoke.
Planetary reduction gear of the present invention is arranged between wheel rim spoke and hub motor, is integrated with carrying and deceleration torque increase is made
With, ground effects are delivered separately to planetary reduction gear gear ring end flange and outside planet carrier in the load of tire, via wheel hub,
It is pooled to end cap on the outside of motor by planetary reduction gear, the power that hub motor, brake generate is by planetary reduction gear sun gear, row
Star-wheel, outside planet carrier pass to wheel hub.
Technical purpose of the invention is realized by following scheme:
Its specific structure are as follows:
Hub motor is outside internal rotor high-speed motor, including motor stator, rotor axis of electric, motor stator casing, motor
Knuckle end cap on the inside of side end cap and motor, rotor axis of electric one end and planetary reduction gear sun gear are integral and are supported on planet
On the inside of retarder on planet carrier, the other end is supported on the inside of motor on knuckle end cap and passes through the brake disc of spline and brake
Connection, the electromagnetic torque that hub motor generates are passed to the sun gear of planetary reduction gear by rotor axis of electric, turned on the inside of motor
Connect vehicle suspension swing arm to section end cap, motor stator casing be arranged on the outside of motor on the inside of end cap and motor knuckle end cap it
Between, it with end cap on the outside of motor by bolt or welded connecting, is bolted with knuckle end cap, knuckle on the inside of motor
End cap includes upper knuckle and lower knuckle, for connecting two swing arms of suspension or more, lower knuckle be also connected with CircOlectric to
Arm.
Planetary reduction gear is level-one large velocity ratio deceleration transmission, including sun gear, planet carrier and gear ring, planet carrier include outside
Planet carrier, inside planet carrier and planetary gear, gear ring include the gear ring part for planetary gear engagement and the tooth for being used to support wheel hub
End flange part is enclosed, sun wheel shaft is through bearing support in inner row carrier, and inside planet carrier is by bearing support in electricity
Machine outboard end covers, and outside planet carrier output shaft is connect with wheel hub using spline and passed through bearing support in gear ring end flange
Circle, gear ring end flange outer ring is by bearing support wheel hub, bolt of cover on the outside of the gear ring part engaged with planetary gear and motor
Connection.
Wheel hub is connect with wheel rim spoke bolt, is connect with planet carrier for planetary reduction gear output shaft spline, is passed through hub bearing
It is supported in gear ring end flange, hub bearing is preferably tapered roller bearing, and arrangement is on the outside of wheel rim center line；Wheel rim
Spoke is connect with rim bolt.
Hub brake uses high revolving speed brake, preferably pneumatic complete-disc pellet brake, the brake disc of brake
Hub motor armature spindle is connected to using spline, the shell of brake connects wheel hub motor steering section end cap flange, it is preferred to use
It is bolted.
The driving force acted on wheel rim is generated by hub motor, and the power of rotor axis of electric output passes through planetary reduction gear
Sun gear wheel hub is transferred to by planet carrier output shaft by the deceleration torque increase of planetary reduction gear, be transmitted to wheel through wheel rim spoke
Rim is ultimately applied to wheel.
The brake force acted on wheel rim is provided jointly by brake and/or hub motor, and wherein brake generates mechanical
Brake force is applied directly to hub motor armature spindle, generates electric braking force with hub motor and forms resultant force, by planetary reduction gear
Sun gear, planetary gear and planet carrier, wheel hub, wheel rim spoke are transmitted to wheel.When high vehicle speeds wheel rim brake force mainly by
Hub motor electric braking force provides, and whens low vehicle speeds is provided jointly by the two, passes through control hub brake and wheel hub electricity
The intervention time and intensity of machine realize that mechanical braking force and electric braking force rationally efficiently distribute, and are guaranteeing vehicle braking secured premise
The electric energy that lower maximum recycling electric braking generates.
Hub motor is high speed inner rotor motor, and end cap is fixedly connected with planetary reduction gear gear ring, rotor on the outside of motor
Axis outboard end and planetary reduction gear sun gear are fixed on one, and inside knuckle end cap and knuckle are fixed on one, knuckle
Suspension pumping arm action is connected, rotor axis of electric inner end connects high-speed brake；Planetary reduction gear is driven using primary planet, position
On the inside of wheel hub, including sun gear, planet carrier and gear ring, sun gear and rotor axis of electric outside are integral, and planet carrier is by outside
The planetary gear set of planet carrier, inside planet carrier and its support is at gear ring is by the gear ring part engaged with planetary gear and supporting wheel hub
Gear ring end flange part composition, sun wheel shaft by bearing support in inner row carrier, inside planet carrier passes through bearing
Motor outboard end is supported on to cover, outside planet carrier is connect in gear ring end flange, and with wheel hub spline by bearing support,
It is connect with the gear ring part of planetary gear engagement with bolt of cover on the outside of motor.Rotor axis of electric electromagnetic torque passes to planetary reduction gear
The sun gear of device is transmitted to outside planet carrier, passes to wheel by outside planet carrier spline engagement by the planetary gear being engaged with
Rim realizes the torque transfer of Electric Motor Wheel with this；Vehicle is applied to the power on suspension swing arm, by knuckle end on the inside of hub motor
Lid, motor stator casing, are transmitted to end cap on the outside of motor, the power of end cap on the outside of motor, and major part is by gear ring end flange, wheel
Hub axle, which is held, is transmitted to wheel hub, and secondary part is transmitted to inside planet carrier by bearing with end cover on the outside of motor, through outside planet carrier flower
Key engagement is transferred to wheel hub, and above-mentioned two parts power is transmitted to wheel rim through wheel rim spoke, the carrying of Electric Motor Wheel is realized with this by wheel hub；
Ground effects are in the power of wheel rim, successively via wheel rim spoke, wheel hub, are transferred to motor outboard end by planet carrier and gear ring respectively
Lid, then suspension is transferred to through end cap on the inside of motor stator casing and motor.Electric Motor Wheel brake force is by hub motor rotor electromagnetic force
And/or brake mechanical braking force generates jointly, is transmitted to wheel hub, wheel rim via sun gear, planet carrier by rotor axis of electric
Spoke and wheel rim realize vehicle braking.
The beneficial effect of this programme is:
By rationally designing, using level-one large velocity ratio planetary reduction gear and high speed braking technology, realize wheel hub, retarder,
The integrated arrangement of hub motor, brake and suspension knuckle greatly reduces Electric Motor Wheel wheel axial dimension, and realizes motor
Power, brake power, vehicle vertical load and ground are rationally transmitted and are carried in face of the active force of wheel rim, improve transmission parts
Reliability reduces Electric Motor Wheel weight, improves transmission efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of device of the present invention；
Fig. 2 is the assembling schematic diagram of device of the present invention；
In figure: 1- wheel rim, 2- wheel rim spoke, 3- wheel hub, 4- hub bearing, 5- planet carrier bearing, planet carrier on the outside of 61-,
Planet carrier on the inside of 62-, 7- sun gear, 81- gear ring end flange, 82- gear ring end of engagement, 9- planetary gear, 10- motor outboard end
It covers, 11- rotor axis of electric outboard bearing, bearing with end cover on the outside of 12- motor, 131- motor stator casing, 132- motor stator,
141- rotor, 142- rotor axis of electric, 151- motor steering section end cap, the upper knuckle of 152-, knuckle under 153-, 16-
Rotor axis of electric inboard bearing, 171- brake disc, 172- friction plate.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawing.
It is no special illustrate in the present invention interior outside relative to vehicle generally, whether vehicle left side or right side, all
Refer to that along wheel axis direction be inside close to driver's cabin side, is outside far from driver's cabin side.
Electric Motor Wheel of the invention can be applied to the various vehicles of motor-driven, give auxiliary power applied to electronic
The case where, such as the four-wheeled vehicle of fuel cell car or electric car.It is particularly suitable for the electric vehicle of big torque, heavy load
?.But the present invention is not limited to three-wheel or carriage that two-wheeled vehicle, golf course vehicle or aged or disabled use,
Medium or severe type load-carrying commercial vehicle and endless-track vehicle in construction site or carrier etc..
The electronic wheel apparatus is made of hub motor, brake, planetary reduction gear, wheel hub, wheel rim.
Hub motor is by rotor (141), rotor axis of electric (142), motor stator (132) and motor stator casing
(131), end cap (10) and motor steering section end cap (151), upper knuckle (152) and lower knuckle (153) composition on the outside of motor；
Rotor axis of electric (142) one end integrally or is fixedly connected with planetary reduction gear sun gear (7) and passes through hub motor armature spindle
Outboard bearing (11) is supported on the inside of planetary reduction gear on planet carrier (62), and the other end passes through rotor axis of electric inboard bearing (16)
Be supported on motor steering section end cap (151)) on and connected by the brake disc (171) of spline and brake；Motor stator casing
(131) it is arranged between end cap on the outside of motor (10) and motor steering section end cap (151), motor stator casing (131) and motor
Outside end cap is bolted, motor steering section end cap also includes upper by bolt or welded connecting with knuckle end cap
Knuckle (152) and lower knuckle (153), for connecting two swing arms of suspension or more.Based on electromagnetic principles, work as motor stator
(132) when winding has setting electric current to pass through, rotor and stator pass through the expected electromagnetic torque of electromagnetic action generation, driving electricity
Machine rotor (141) rotation, drive motor rotor axis (142) output power.
Brake uses high revolving speed brake, and preferably pneumatic complete-disc pellet brake, brake force is mainly by rotating
Brake disc (171) and fixed brake strip (172), which interact, to be generated, wherein the brake disc (171) rotated and motor turn
Sub- axis (142) is connected by key and is axially movable, and is preferably involute spline, friction plate is supported on motor horizontally slidablely
On knuckle end cap (151)；When needing to brake, friction plate compresses brake disc under external responsive to axial force, and the two generation rubs
Torque is wiped, rotor axis of electric is prevented to rotate, completes braking function；When not needing braking, friction plate is in return mechanism, such as return
Spring, effect is lower and certain interval is unclamped and kept to brake disc, releases rotor axis of electric braking.
As illustrated in fig. 1 and 2, planetary reduction gear is primary planet retarder, is made of planet carrier, gear ring and sun gear,
Wherein planet carrier includes outside planet carrier (61), inside planet carrier (62) and planetary gear (9), gear ring end of engagement containing gear ring (82) and
Gear ring end flange (81) structure.In the structure, sun gear (7) processing integrated with rotor axis of electric (142) one end or fixed
Connection, sun gear are engaged with planetary gear (9) and are rotated；Planetary gear (9) is arranged between sun gear and gear ring, planetary gear
(9) it is supported on outside planet carrier (61) and the cylindrical body of inside planet carrier (62) connection by planet wheel bearing, rotor
Axis is supported on the inside planet carrier (62) of planetary reduction gear by rotor axis of electric outboard bearing (11), inside planet carrier (62)
It is supported on end cap on the outside of motor (10) by bearing with end cover on the outside of motor (12)；Planet carrier (61) output shaft in outside uses spline
It is fixedly connected with wheel hub；Gear ring end of engagement (82) is bolted to connection with end cap on the outside of motor (10), gear ring end flange
(81) inner ring supports the output shaft of outside planet carrier using planet carrier bearing (5), and the outer ring of gear ring end flange (81) uses
Hub bearing (4) supporting wheel hub, and then support wheel rim.The number of teeth for setting sun gear, planetary gear and gear ring is respectively Z1、Z2And Z3,
According to planetary gear train working principle, the sum of electromagnetic torque and the braking torque on hub motor armature spindle are acted on, with closeWheel hub, the corresponding revolving speed acted on rotor axis of electric are passed to by outside planet carrier (61) output shaft after multiple amplification
With closeWheel hub is passed to by outside planet carrier (61) output shaft after multiple diminution, completes rotor axis of electric dynamic retarding
Torque increase effect.
Wheel rim center line is fallen on the outside of hub bearing and motor between bearing with end cover；Wheel hub (3) and wheel rim spoke (2) bolt
Connection, connect with the output shaft spline of outside planet carrier, is supported in gear ring end flange by hub bearing (4), hub spindle
Preferably tapered roller bearing is held, hub bearing is arranged in the outside of wheel rim center line；Wheel rim spoke (2) and wheel rim (1) bolt
Connection.
When vehicle traction, according to selected integrated vehicle control tactics, charge to hub motor stator winding, motor stator with turn
Son makees in generation electromagnetic torque, planetary reduction gear sun gear is imparted power to by-rotor axis of electric (142), by planet
After retarder deceleration torque increase, wheel hub and wheel rim are imparted power to by outside planet carrier (61), drive wheel.
Under above-mentioned specific structure and control mode, vehicle is applied to the power on suspension swing arm, by the electricity on the inside of motor
Machine knuckle end cap, motor stator casing are transmitted to end cap on the outside of motor, and the power of end cap passes through planet carrier and gear ring on the outside of motor
Converge again after shunting into wheel hub, specifically major part by bearing with end cover, gear ring end flange, hub bearing on the outside of motor successively
It is transmitted to wheel hub, secondary part is transmitted to inside planet carrier by bearing with end cover on the outside of motor, is transferred to wheel through outside planet carrier
Above-mentioned two parts power is transmitted to wheel rim through wheel rim spoke, the carrying of Electric Motor Wheel is realized with this by hub, wheel hub.
Ground effects are in the power of wheel rim, successively via wheel rim spoke, wheel hub, after being shunted by planet carrier and gear ring, through electricity
On the outside of machine after end cap confluence, then through end cap on the inside of motor stator casing and motor it is transferred to suspension.Pass through planet carrier and gear ring point
Stream is specially a part successively through bearing with end cover on the outside of hub bearing, gear ring end flange to motor, and another part successively passes through outer
Bearing with end cover on the outside of skidding carrier, inside planet carrier to motor.
Electric Motor Wheel brake force is generated jointly by hub motor rotor electromagnetic force and/or brake mechanical braking force, passes through electricity
Machine rotor axis is transmitted to wheel hub, wheel rim spoke and wheel rim via sun gear, planet carrier, realizes vehicle braking.
The present invention realizes motor power in vehicle traction, braking, hub brake moves by structurally reasonable arrangement
Power, steering power, vehicle vertical load and ground are transmitted in face of the force localization of wheel rim；And basis is rationally transmitted in Electric Motor Wheel power
On, component axial dimension is greatly reduced using level-one large velocity ratio planetary reduction gear technology, transmission parts reliability is improved, subtracts
Small Electric Motor Wheel weight, improves transmission efficiency, is suitble to big torque, middle underload, the electric vehicle applications of high speed.
Claims (10)
1. a kind of Electric Motor Wheel,
Including end cap and wheel hub on the outside of hub motor, planetary reduction gear, brake, motor；
The input of the planetary reduction gear is sun gear, is exported as planet carrier；
The rotor axis of electric outboard end of the hub motor is connect with the sun gear of the planetary reduction gear；
It is characterized by:
It is fixedly connected on the inside of end cap and the gear ring of the planetary reduction gear on the outside of motor, rotatably supports wheel on the outside of the gear ring
Hub；
Planet carrier includes inside planet carrier and outside planet carrier, and inside planet carrier is rotatably supported at motor outboard end and covers,
Outside planet carrier output shaft is fixedly connected with wheel hub.
2. Electric Motor Wheel as described in claim 1, it is characterised in that: gear ring end flange is arranged on the outside of the gear ring；Gear ring end
Portion's flange passes through hub bearing supporting wheel hub.
3. Electric Motor Wheel as described in claim 1, it is characterised in that: gear ring end flange is arranged on the outside of the gear ring；Gear ring end
For the inner ring of portion's flange by planet carrier output shaft on the outside of planet carrier bearing support, the outer ring of gear ring end flange passes through hub bearing
Supporting wheel hub.
4. Electric Motor Wheel as described in claim 1, it is characterised in that: the sun gear and the rotor axis of electric are turned by motor
Sub- axle bearing is supported on the inside planet carrier, and the inside planet carrier is by end cap bearing support on the outside of motor outside motor
On side end cap.
5. Electric Motor Wheel as described in claim 1, it is characterised in that: planetary gear is supported on outside planet carrier by planet wheel bearing
On the cylindrical body connected with inside planet carrier.
6. such as Electric Motor Wheel described in any one of claim 1 to 5, it is characterised in that: the brake is located at the hub motor
Inside, brake disc are connect with the rotor axis of electric inner end.
7. such as Electric Motor Wheel described in any one of claim 1 to 5, it is characterised in that: further include wheel rim, wheel rim passes through wheel rim spoke
It is connect with wheel hub.
8. Electric Motor Wheel as described in claim 1, it is characterised in that: wheel hub is supported on gear ring end flange by hub bearing
On, inside planet carrier is covered by end cap bearing support on the outside of motor in motor outboard end；
It further include wheel rim, the wheel rim center line is fallen on the outside of hub bearing and motor between bearing with end cover.
9. Electric Motor Wheel as described in claim 1, it is characterised in that: end cap and the planetary reduction gear end cap on the outside of the motor
It shares, the inside end cap and knuckle of the hub motor are integrally formed.
10. a kind of vehicle, it is characterised in that: including the described in any item Electric Motor Wheels of claim 1-9.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018104599316 | 2018-05-15 | ||
| CN2018104599354 | 2018-05-15 | ||
| CN201810459935.4A CN108544918A (en) | 2018-05-15 | 2018-05-15 | A kind of Electric Motor Wheel and vehicle |
| CN201810459931.6A CN108544917A (en) | 2018-05-15 | 2018-05-15 | A kind of Electric Motor Wheel and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110154735A true CN110154735A (en) | 2019-08-23 |
Family
ID=67639809
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910323393.2A Pending CN110154735A (en) | 2018-05-15 | 2019-04-22 | A kind of Electric Motor Wheel and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110154735A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102826003A (en) * | 2011-06-15 | 2012-12-19 | 现代摩比斯株式会社 | Wheel drive unit |
| CN103328247A (en) * | 2011-01-21 | 2013-09-25 | Ntn株式会社 | In-wheel motor drive device |
| CN103730980A (en) * | 2013-12-01 | 2014-04-16 | 江麓机电集团有限公司 | Speed reduction and direct drive all-in-one motor based on vehicle hub |
| CN107933300A (en) * | 2017-11-16 | 2018-04-20 | 武汉理工大学 | A kind of electric automobile coaxial-type In-wheel motor driving system synthesis |
-
2019
- 2019-04-22 CN CN201910323393.2A patent/CN110154735A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103328247A (en) * | 2011-01-21 | 2013-09-25 | Ntn株式会社 | In-wheel motor drive device |
| CN102826003A (en) * | 2011-06-15 | 2012-12-19 | 现代摩比斯株式会社 | Wheel drive unit |
| CN103730980A (en) * | 2013-12-01 | 2014-04-16 | 江麓机电集团有限公司 | Speed reduction and direct drive all-in-one motor based on vehicle hub |
| CN107933300A (en) * | 2017-11-16 | 2018-04-20 | 武汉理工大学 | A kind of electric automobile coaxial-type In-wheel motor driving system synthesis |
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