CN113708595B - Wheel-side permanent magnet direct-drive transmission device with torsional vibration active suppression function and working method - Google Patents

Abstract

The invention discloses a wheel-side permanent magnet direct-drive transmission device and a working method with an active suppression function of torsional vibration, which are suitable for the field of drive control of electric vehicles. The high-power permanent magnet motor is connected to the wheel hub of the vehicle through a constant velocity universal joint through the interconnected transmission shaft I and transmission shaft II, among which there is a cross coupling between the high-power permanent magnet motor and the transmission shaft I, and the cross The coupling is connected with the output shaft of the high-power permanent magnet motor and connected with the transmission shaft I. A torsional vibration suppression device is installed between the transmission shaft I and the transmission shaft II, and an input method is installed between the torsional vibration suppression device and the transmission shaft I. Lan, there is an output flange between the torsional vibration suppression device and the transmission shaft II, the torsional vibration of the system is transferred by the torsional vibration suppression device, and the active adjustment is performed based on the electromagnetic force to suppress the torsional vibration of the permanent magnet direct drive transmission driven by the wheel At the same time, the driving force of the wheel hub is guaranteed; its wide application range and strong portability can ensure the reliable application of the permanent magnet direct drive transmission system of the wheel side drive on the electric bus.

Description

Wheel side permanent magnet direct drive transmission with torsional vibration active suppression function and working method

technical field

The invention relates to a wheel side permanent magnet direct drive transmission device and a working method, in particular to a wheel side permanent magnet direct drive transmission device with a torsional vibration active suppression function and a working method suitable for electric passenger cars.

Background technique

With the continuous implementation of my country's "public transportation priority" strategy, electric buses have gained more and more attention. The wheel drive configuration is a perfect combination of electric drive and vehicle transmission technology, which can effectively reduce the unsprung mass of the wheel drive mode, and is especially suitable for electric buses. At this stage, the wheel drive transmission system still needs to use a reducer for transmission to achieve the purpose of reducing speed and increasing torque. The reducer is the weak link of this type of transmission mode, which is prone to various failures and reduces the stability of the wheel drive transmission system.

In recent years, with the further development of permanent magnet material preparation technology and AC frequency conversion speed regulation technology, permanent magnet direct drive transmission mode has been more and more applied. Combined with high-power permanent magnet motors, a wheel-side drive permanent magnet direct drive transmission system is constructed on electric buses, which can effectively avoid the use of reducers in transmission weak links, and has the advantages of high transmission efficiency and high reliability. However, in the specific driving process, the wheel drive permanent magnet direct drive transmission system faces new challenges, mainly because the bus driving conditions are complex, under the combined action of complex disturbances in complex driving conditions and electromechanical coupling drive excitation of permanent magnet motors , the system transmission shaft is prone to torsional vibration, or even torsional fracture failure. Therefore, in order to ensure the reliable application of the permanent magnet direct drive transmission system of the wheel drive in the electric bus, the torsional vibration of the system needs to be effectively suppressed first. Chinese patent CN201810390723.5 designs a torsional vibration damper for an automobile drive shaft, using the elastic energy storage body and inertial body on the device to suppress the torsional vibration of the automobile drive shaft passing through it, but as stated in the patent, This design is essentially a passive suppression scheme. By changing the formula of the rubber material used in the elastic energy storage body, the mass and frequency of the shock absorber can be fine-tuned. Therefore, this scheme has the problems of poor adjustment of vibration suppression frequency and limited vibration suppression effect. , and because the torsional stiffness of the connection part between the engine crankshaft and the transmission system is reduced, it will have a certain impact on the driving force of the system.

Contents of the invention

Aiming at the problems existing in the prior art, the present invention provides a wheel-side permanent magnet direct drive transmission device and a working method with an active suppression function of torsional vibration, and adopts an active adjustment method to overcome the multi-frequency of the wheel-side drive permanent magnet direct drive transmission system. The problem of torsional vibration suppression provides support for the efficient and reliable application of wheel-side drive permanent magnet direct drive transmission systems on electric buses.

In order to achieve the above object, the wheel side permanent magnet direct drive transmission device with torsional vibration active suppression function of the present invention includes a high-power permanent magnet motor through the interconnected transmission shaft I and transmission shaft II and the wheel hub of the vehicle through a constant velocity universal The cross coupling is connected between the high-power permanent magnet motor and the transmission shaft I, and the two ends of the cross coupling are respectively equipped with flange I and flange II. The output shaft of the power permanent magnet motor is connected to the transmission shaft I through the flange II, the torsional vibration suppression device is installed between the transmission shaft I and the transmission shaft II, and the input flange is provided between the torsional vibration suppression device and the transmission shaft I , there is an output flange between the torsional vibration suppression device and the transmission shaft II,

The torsional vibration suppressing device includes a left shell and a right shell with a plate-shaped structure that match each other, and the left shell and the right shell are connected by a flange, wherein the inner side of the left shell is provided with three fan-shaped grooves at equal intervals, and the three fan-shaped grooves There are three arc-shaped guide grooves between the grooves. The fan-shaped grooves and the arc-shaped guide grooves form an annular climax structure. There is a stepped surface at the connection between the three arc-shaped guide grooves and the three fan-shaped grooves. There is a transmission module used to compensate the difference in rotation angle between the left housing and the output flange. The transmission module includes a transmission connection piece, a permanent magnet sleeve I, a compression spring I, an annular permanent magnet, a coil unit, and a permanent magnet sleeve. Barrel Ⅱ, compression spring Ⅱ, among which there are three transmission connectors, each transmission connector is set on the arc-shaped guide groove, the arc-shaped guide groove is matched with the bottom of the transmission connector, and the transmission connector is located in the arc-shaped guide groove in the left shell There is a permanent magnet sleeve Ⅰ on one side, and a permanent magnet sleeve Ⅱ on the other side. The structure of the permanent magnet sleeve Ⅱ is exactly the same as that of the permanent magnet sleeve Ⅰ. The ends of the permanent magnet sleeve Ⅰ and the permanent magnet sleeve Ⅱ There is a boss at the top, and the position of the boss matches the step surface. The three transmission connectors are connected to the ends of the permanent magnet sleeve II and the permanent magnet sleeve I on both sides with three ring-shaped permanent magnets, so that the three transmission The connector and three annular permanent magnets form an annular structure, wherein the permanent magnet sleeve I is provided with a compression spring I, the permanent magnet sleeve II is provided with a compression spring II, and the annular permanent magnets are respectively provided with three coil units , the coil unit is wound on an annular permanent magnet made of silicon steel sheets, and the three coil units are formed by winding a wire, and the silicon steel sheet of the annular permanent magnet is fixed on the left casing; the right casing is provided with three transmission connectors The position matches the hollow, the hollow allows the transmission connector to move in it to realize the compensation of the transfer difference, the end of the transmission connector protruding from the hollow is connected with the output flange screw, so that there is a gap between the left shell and the output flange. Elastic allowance for compensating corner difference.

The permanent magnet sleeve I and the permanent magnet sleeve II are provided with connecting holes on the plane, and when the annular permanent magnet is connected with the permanent magnet sleeve I and the permanent magnet sleeve II to form a ring structure, the two end faces of the annular permanent magnet It is in contact with the bottom surface of the connecting hole on the permanent magnet sleeve II and the permanent magnet sleeve I.

When the annular permanent magnet is installed and matched with the permanent magnet sleeve I and the permanent magnet sleeve II, the compression spring I arranged on the permanent magnet sleeve I and the compression spring II arranged on the permanent magnet sleeve II are left The compressed state of the allowance leaves a certain movement allowance for the transmission connector in the arc guide groove.

The permanent magnet sleeve I, the permanent magnet sleeve II and the arc-shaped guide groove in the left housing are installed and matched through the arc-shaped graphite steel sleeve bearing.

Among them, the high-power permanent magnet motor is connected with an angle encoder Ⅰ, and the wheel hub is connected with an angle encoder Ⅱ. The angle encoder Ⅰ and angle encoder Ⅱ pass through the data acquisition card, signal processing module, D/A conversion module and power module in sequence. Connected, the power supply module supplies DC power to the coil in the coil unit.

Among them, the high-power permanent magnet motor of the permanent magnet direct drive transmission device driven by the wheel is set under the support arm of the vehicle bottom plate, the support arm is connected with the support plate, the support plate is connected with the suspension system, and the support frame passes through the suspension system. The two sets of shock absorbers are used to support the suspension system, and the support frame is connected with the drive shaft II in the wheel-side drive permanent magnet direct drive transmission through bearings.

A working method of a wheel-side permanent magnet direct-drive transmission with an active torsional vibration suppression function, comprising the following steps:

Step 1. Install the wheel drive permanent magnet direct drive transmission device on the bus chassis through the vehicle suspension system, and install the high-power permanent magnet motor above the suspension system through the bracket arm and the pallet to reduce the unsprung load quality;

Step 2. Set up the angle encoder I and the angle encoder II on the high-power permanent magnet motor and the hub respectively, use the data acquisition card to collect the output signals of the angle encoder I and the angle encoder II, and obtain the high-power permanent magnet motor through the signal processing module. The rotation angle of the magneto and the rotation angle value of the hub;

Step 3. The transmission shaft II is connected to the hub through a constant velocity universal joint, and the speed of the two is the same. Therefore, the rotation angle of the transmission connector fixedly connected to the transmission shaft II through the output flange is equal to the rotation angle of the hub; the left side of the fixed torsional vibration suppression device The casing, through the power module, supplies the coil unit with a linearly changing direct current, detects the rotation angle of any transmission connector in real time through the angle encoder II, draws the relationship curve between the input current value and the rotation angle of the transmission connector, and uses the least squares method to fit the data , to obtain the linear algebraic relationship between the input current value and the rotation angle of the transmission connector;

Step 4. Use the elastic connection between the left casing and the output flange to transfer the torsional vibration of the transmission shaft I and the transmission shaft II; when the motor drives the transmission shaft I, because the output flange is connected to the transmission connector, the left casing There is a difference in rotation angle between the output flange and the transmission connector can move in the left housing. Taking the rotation angle of the output shaft of the high-power permanent magnet motor as the expected rotation angle value, the instantaneous rotation angle value of the hub is obtained by using the signal processing module, and the expected rotation angle value and The difference between the instantaneous rotation angle value, the control module is constructed based on the linear algebraic relationship between the input current value and the rotation angle of the transmission connector in step 3, and the input current value of the coil unit is obtained through the difference operation, and is controlled by the driving power module of the D/A conversion module The coil unit generates an induced magnetic field, interacts with the inherent magnetic field of the annular permanent magnet, generates an electromagnetic force, drives the movement of the transmission connector, and compensates the rotation angle difference between the left housing and the output flange. The specific coil unit is fixed relative to the left housing. The electromagnetic force is generated between the coil unit and the ring permanent magnet, so that the ring permanent magnet rotates relative to the left casing, and the ring permanent magnet pushes the permanent magnet sleeve II, and then pushes the transmission connector to move, and finally realizes the relative movement of the left casing and the output flange. Rotation, by using the torsional vibration suppression device to suppress the torsional vibration of the permanent magnet direct drive transmission system driven by the wheel side, while ensuring sufficient driving torque of the wheel hub.

Beneficial effects: the present invention uses the electromagnetic force generated by the energized solenoid to interact with the annular permanent magnet to actively compensate the torsional vibration of the transmission link of the system, suppress the transmission of the impact vibration of the wheel hub to the transmission shaft of the system, and achieve this by controlling the magnitude of the current The electromagnetic force of the energized solenoid is controllable to effectively ensure the driving force of the wheel hub; the torsional vibration suppression device of the present invention can be connected with the existing electric bus transmission system through the flange, and has a wide application range and strong portability.

Description of drawings

Fig. 1 shows the structural representation of the wheel permanent magnet direct drive transmission device with the torsional vibration active suppression function of the present invention;

Fig. 2 is a schematic diagram of the structure of the left housing in the torsional vibration suppression device of the present invention;

Figure 3 is a schematic diagram of the connection between the transmission module and the left housing in the torsional vibration suppression device of the present invention;

Fig. 4 is a schematic diagram showing the connection of three groups of transmission modules in the torsional vibration suppression device of the present invention;

Figure 5 is a schematic diagram of the connection between the torsional vibration suppression device of the present invention and the input flange and output flange;

Fig. 6 shows a schematic diagram of an embodiment of the wheel permanent magnet direct drive transmission device with the active suppression function of torsional vibration according to the present invention;

Fig. 7 is a block diagram of the control flow of the wheel permanent magnet direct drive transmission device with active torsional vibration suppression function according to the present invention.

In the figure: 1—high-power permanent magnet motor, 2—flange I, 3—cross coupling, 4—flange II, 5—transmission shaft I, 6—torsional vibration suppression device, 6-1—left shell, 6-2—right shell, 6-3—transmission connector, 6-4—permanent magnet sleeve Ⅰ, 6-5—compression spring Ⅰ, 6-6—ring permanent magnet, 6-7—coil unit, 6- 8—permanent magnet sleeve II, 6-9—compression spring II, 6-10—arc guide groove, 6-11—step surface, 6-12—boss, 6-13—coupling hole, 7—drive shaft Ⅱ, 8—hub, 9—input flange, 10—output flange, 11—transmission module, 12—data acquisition card, 13—signal processing module, 14—control module, 15—drive power module, 16—D/ A conversion module, 17—wheel side drive permanent magnet direct drive transmission device, 18—support arm, 19—support plate, 20—suspension system, 21—support frame.

Detailed ways

Embodiments of the present invention will be further described below in conjunction with the accompanying drawings;

As shown in Figure 1, a permanent magnet direct drive transmission device with a torsional vibration active suppression function according to the present invention includes a high-power permanent magnet motor 1 connected to the wheel hub 8 of the vehicle through the interconnected transmission shaft I5 and transmission shaft II7 It is connected by constant velocity universal joints, among which, there is a cross coupling 3 between the high-power permanent magnet motor 1 and the transmission shaft I5, and the two ends of the cross coupling 3 are respectively equipped with flange I2 and flange II4. The shaft device 3 is connected to the output shaft of the high-power permanent magnet motor 1 through the flange I2, and connected to the transmission shaft I5 through the flange II4. A torsional vibration suppression device 6 is provided between the transmission shaft I5 and the transmission shaft II7. The torsional vibration suppression device An input flange 9 is provided between 6 and the transmission shaft I5 to connect, and an output flange 10 is provided between the torsional vibration suppression device 6 and the transmission shaft II7.

As shown in Fig. 2 and Fig. 3, the described torsional vibration suppressing device 6 comprises a left shell 6-1 and a right shell 6-2 of a plate-shaped structure matched with each other, and a gap between the left shell 6-1 and the right shell 6-2 Through the flange connection, the inside of the left shell 6-1 is provided with three fan-shaped grooves at equal intervals, and three arc-shaped guide grooves 6-10 are respectively arranged between the three fan-shaped grooves, and the fan-shaped grooves and the arc-shaped guide grooves 6- 10 forms a ring-shaped climax structure, three arc-shaped guide grooves 6-10 and three fan-shaped grooves are connected with a stepped surface 6-11, and there is a gap between the left shell 6-1 and the right shell 6-2 to compensate for the left shell. 6-1 The transmission module 11 of the rotation angle difference between the output flange 10, the transmission module 11 includes a transmission connection piece 6-3, a permanent magnet sleeve I6-4, a compression spring I6-5, and an annular permanent magnet 6 -6, coil unit 6-7, permanent magnet sleeve II 6-8, compression spring II 6-9, among which there are three transmission connectors 6-3, and each transmission connector 6-3 is arranged in an arc-shaped guide groove 6- On 10, the arc-shaped guide groove 6-10 cooperates with the bottom of the transmission connector 6-3, and the drive connector 6-3 is located on one side of the arc-shaped guide groove 6-10 in the left housing 6-1, and a permanent magnet sleeve I6 is provided -4, the other side is provided with permanent magnet sleeve II6-8, permanent magnet sleeve II6-8 has the same structure as permanent magnet sleeve I6-4, permanent magnet sleeve I6-4 and permanent magnet sleeve II6-8 There is a boss 6-12 at the end of the boss, the position of the boss 6-12 matches the step surface 6-11, and the three transmission connectors 6-3 connect with the permanent magnet sleeve II 6-8 on both sides. Three ring-shaped permanent magnets 6-6 are connected to the end of cylinder I 6-4, so that the three transmission connectors 6-3 and three ring-shaped permanent magnets 6-6 form a ring structure, and the permanent magnet sleeve I 6-4 is provided with There is a compression spring I6-5, a compression spring II6-9 is provided on the permanent magnet sleeve II6-8, and three coil units 6-7 are respectively arranged on the annular permanent magnet 6-6, and the coil units 6-7 are wound on the On the annular permanent magnet 6-6 composed of silicon steel sheets, three coil units 6-7 are formed by winding a wire, and the silicon steel sheet of the annular permanent magnet 6-6 is fixed on the left casing 6-1; the right casing 6- 2 is provided with three hollows that match the position of the transmission connector 6-3, and the hollows allow the transmission connector 6-3 to move therein to realize the compensation of the transfer difference. The end of the transmission connector 6-3 protruding from the hollow and The output flange 10 is screwed, so that there is an elastic margin between the left housing 6-1 and the output flange 10 for compensating the difference in rotation angle.

As shown in Figures 4 and 5, the permanent magnet sleeve I6-4 and the permanent magnet sleeve II6-8 are provided with coupling holes 6-13, and the annular permanent magnet 6-6 and the permanent magnet sleeve I6- 4. When the permanent magnet sleeve II 6-8 is matched and connected to form a ring structure, the two end faces of the annular permanent magnet 6-6 and the bottom surface of the upper connection hole 6-13 of the permanent magnet sleeve II 6-8 and the permanent magnet sleeve I 6-4 touch. When the annular permanent magnet 6-6 is installed and matched with the permanent magnet sleeve I6-4 and the permanent magnet sleeve II6-8, the compression spring I6-5 arranged on the permanent magnet sleeve I6-4 and the permanent magnet The compression spring II 6-9 on the sleeve II 6-8 is in a compressed state with a margin, so that the transmission connector 6-3 has a certain movement margin in the arc guide groove 6-10. The permanent magnet sleeve I 6-4, the permanent magnet sleeve II 6-8 and the arc-shaped guide groove 6-10 in the left housing 6-1 are installed and matched through the arc-shaped graphite steel sleeve bearing.

As shown in Figure 7, the high-power permanent magnet motor 1 is connected with an angle encoder I, and the hub 8 is connected with an angle encoder II, and the angle encoder I and angle encoder II pass through the data acquisition card 12 and the signal processing module in sequence 13. The D/A conversion module 16 is connected to the power module 15, and the power module 15 supplies DC power to the coils in the coil units 6-7.

As shown in Figure 6, the high-power permanent magnet motor 1 of the permanent magnet direct drive transmission device 17 driven by the wheel is arranged below the bracket arm 18 of the vehicle bottom plate, the bracket arm 18 is connected with a supporting plate 19, and the supporting plate 19 is connected with the suspension In the system 20, the two groups of shock absorbers in the suspension system 20 pass through the support frame 21 to support the suspension system 20, and the support frame 21 is connected with the transmission shaft II7 in the wheel-side drive permanent magnet direct drive transmission 17 through bearings.

A working method of a wheel-side permanent magnet direct drive transmission device with an active torsional vibration suppression function, comprising the following steps:

Step 1, install the wheel-side drive permanent magnet direct drive transmission device 17 on the bus chassis through the vehicle suspension system, and install the high-power permanent magnet motor 1 on the top of the suspension system through the bracket arm 18 and the supporting plate 19, reducing the Small unsprung mass;

Step 2: Install angle encoder I and angle encoder II on the high-power permanent magnet motor 1 and hub 8 respectively, use the data acquisition card 12 to collect the output signals of the angle encoder I and angle encoder II, and pass the signal processing module 13 Obtain the angle of rotation of the high-power permanent magnet motor 1 and the angle of rotation of the hub 8;

Step 3. The transmission shaft II7 is connected to the hub 8 through a constant velocity universal joint, and the rotational speed of the two is the same, so the rotation angle of the transmission connector 6-3 fixedly connected to the transmission shaft II7 through the output flange 10 is equal to the rotation angle of the hub 8; The left shell 6-1 of the torsional vibration suppression device 6 supplies the coil unit 6-7 with a linearly varying direct current through the power module 15, detects the rotation angle of any transmission connector 6-3 in real time through the angle encoder II, and draws the input current value The relationship curve with the 6-3 rotation angle of the transmission connector, and through the data fitting of the least square method, the linear algebraic relationship between the input current value and the 6-3 rotation angle of the transmission connector is obtained;

Step 4. Use the elastic connection between the left housing 6-1 and the output flange 10 to transfer the torsional vibration of the transmission shaft I5 and the transmission shaft II7; when the motor drives the transmission shaft I, the output flange 10 is connected to the transmission Part 6-3 is connected, and there is a rotation angle difference between the left casing 6-1 and the output flange 10, and the transmission connection part 6-3 can move in the left casing 6-1, and the rotation angle of the output shaft of the high-power permanent magnet motor 1 is expected For the angle of rotation, the signal processing module 13 is used to obtain the instantaneous angle of rotation of the hub 8, and the difference between the expected angle of rotation and the instantaneous angle of rotation is calculated. The control module 14 is based on the linear algebraic relationship between the input current value and the angle of rotation of the transmission connector 6-3 in step 3 Construct, and obtain the input current value of the coil unit 6-7 through difference calculation, drive the power supply module 15 through the D/A conversion module 16 to control the coil unit 6-7 to generate an induced magnetic field, and interact with the inherent magnetic field of the annular permanent magnet 6-6 , generate electromagnetic force, drive the movement of the transmission connector 6-3, and compensate the rotation angle difference between the left housing 6-1 and the output flange 10, the specific coil unit 6-7 is fixed relative to the left housing 6-1, and the coil An electromagnetic force is generated between the unit 6-7 and the annular permanent magnet 6-6, so that the annular permanent magnet 6-6 rotates relative to the left housing 6-1, and the annular permanent magnet 6-6 pushes the permanent magnet sleeve II 6-8, and then Push the transmission connector 6-3 to move, and finally realize the relative rotation between the left housing 6-1 and the output flange 10. By using the torsional vibration suppression device 6, the torsional vibration of the permanent magnet direct drive transmission system driven by the wheel side is suppressed, and at the same time, the rotation of the wheel hub 8 is guaranteed. Sufficient drive torque.

Claims (7)

1. A wheel permanent magnet direct drive transmission device with active torsional vibration suppression function, characterized in that: it includes a high-power permanent magnet motor (1) through the interconnected transmission shaft I (5) and transmission shaft II (7 ) is connected with the wheel hub (8) of the vehicle through a constant velocity universal joint, wherein a cross coupling (3) is provided between the high-power permanent magnet motor (1) and the transmission shaft I (5), and the cross coupling ( 3) There are flange I (2) and flange II (4) at both ends respectively, and the cross coupling (3) is connected to the output shaft of the high-power permanent magnet motor (1) through flange I (2). Flange II (4) is connected to the transmission shaft I (5), and a torsional vibration suppression device (6) is installed between the transmission shaft I (5) and the transmission shaft II (7), and the torsional vibration suppression device (6) is connected to the transmission shaft An input flange (9) is provided between Ⅰ (5), and an output flange (10) is provided between the torsional vibration suppression device (6) and the transmission shaft II (7). The torsional vibration suppressing device (6) includes a left shell (6-1) and a right shell (6-2) with a plate-shaped structure matched with each other, and the left shell (6-1) and the right shell (6-2) The spaces are connected by flanges. Three fan-shaped grooves are equally spaced inside the left housing (6-1), and three arc-shaped guide grooves (6-10) are respectively arranged between the three fan-shaped grooves. The fan-shaped grooves and the arc Shaped guide grooves (6-10) form a ring-shaped climax structure, three arc-shaped guide grooves (6-10) and three fan-shaped grooves are connected with a stepped surface (6-11), the left shell (6-1) and A transmission module (11) is provided between the right casing (6-2) to compensate for the rotation angle difference between the left casing (6-1) and the output flange (10), and the transmission module (11) includes a transmission connection pieces (6-3), permanent magnet sleeve I (6-4), compression spring I (6-5), annular permanent magnet (6-6), coil unit (6-7), permanent magnet sleeve II ( 6-8), compression spring II (6-9), in which there are three transmission connectors (6-3), and each transmission connector (6-3) is set on the arc guide groove (6-10), The arc-shaped guide groove (6-10) matches the bottom of the transmission connector (6-3), and the transmission connector (6-3) is located on one side of the arc-shaped guide groove (6-10) inside the left housing (6-1) There is permanent magnet sleeve Ⅰ (6-4), the other side is equipped with permanent magnet sleeve Ⅱ (6-8), permanent magnet sleeve Ⅱ (6-8) and permanent magnet sleeve Ⅰ (6-4) The structure is exactly the same, the ends of the permanent magnet sleeve I (6-4) and the permanent magnet sleeve II (6-8) are provided with a boss (6-12), and the position of the boss (6-12) is the same as the step surface ( 6-11), the three transmission connectors (6-3) are connected with the end of the permanent magnet sleeve I (6-4) through the permanent magnet sleeve II (6-8) on both sides, and there are three annular permanent Magnets (6-6), so that the three transmission connectors (6-3) and the three annular permanent magnets (6-6) form a ring structure, wherein the permanent magnet sleeve I (6-4) is provided with a compression Spring I (6-5), permanent magnet sleeve II (6-8) is provided with compression spring II (6-9), and the annular permanent magnet (6-6) is provided with three coil units (6- 7), the coil unit (6-7) is wound on the annular permanent magnet (6-6), the three coil units (6-7) are formed by winding a wire, and the annular permanent magnet (6-6) is fixed on the left shell (6-1); the right housing (6-2) is provided with three hollows that match the position of the transmission connector (6-3), and the hollows allow the transmission connector (6-3) to move in it to realize the rotation For cross compensation, the end of the transmission connector (6-3) protruding from the hollow is screwed to the output flange (10), so that there is a gap between the left housing (6-1) and the output flange (10). Elastic allowance for compensating corner difference. 2. The wheel permanent magnet direct drive transmission device with active torsional vibration suppression function according to claim 1, characterized in that: the permanent magnet sleeve I (6-4) and the permanent magnet sleeve II (6-8 ) plane is provided with a connection hole (6-13), the annular permanent magnet (6-6) is connected with the permanent magnet sleeve I (6-4), the permanent magnet sleeve II (6-8), and the annular permanent magnet ( 6-6) The two end surfaces are in contact with the bottom surfaces of the coupling holes (6-13) on the permanent magnet sleeve II (6-8) and the permanent magnet sleeve I (6-4). 3. The wheel permanent magnet direct drive transmission device with active torsional vibration suppression function according to claim 1, characterized in that: the ring-shaped permanent magnet (6-6) and the permanent magnet sleeve I (6-4) , When the permanent magnet sleeve II (6-8) is installed and matched, the compression spring I (6-5) set on the permanent magnet sleeve I (6-4) and the permanent magnet sleeve II (6-8) The compression spring II (6-9) on the top is in a compressed state with a margin, so that the transmission connector (6-3) has a certain movement margin in the arc guide groove (6-10). 4. The wheel permanent magnet direct drive transmission device with active torsional vibration suppression function according to claim 1, characterized in that: the permanent magnet sleeve I (6-4), the permanent magnet sleeve II (6 -8) and the arc-shaped guide groove (6-10) in the left housing (6-1) are installed and matched through the arc-shaped graphite steel sleeve bearing. 5. According to claim 1, the wheel permanent magnet direct drive transmission device with active torsional vibration suppression function is characterized in that: the high-power permanent magnet motor (1) is connected with an angle encoder I, and the wheel hub (8) is connected with a Angle encoder II, the angle encoder I and angle encoder II sequentially pass through the data acquisition card (12), signal processing module (13), control module (14), D/A conversion module (16) and power supply module ( 15) Connection, the power supply module (15) supplies DC power to the coil in the coil unit (6-7). 6. The wheel-side permanent magnet direct drive transmission device with active torsional vibration suppression function according to claim 1, wherein the high-power permanent magnet motor (1) of the wheel-side permanent magnet direct drive transmission device (17) is set Below the support arm (18) of the bottom plate of the vehicle, the support arm (18) is connected with a support plate (19), the support plate (19) is connected with the suspension system (20), and the support frame (21) supports the suspension system (20 ), the support frame (21) is connected with the drive shaft II (7) in the wheel side permanent magnet direct drive transmission (17) through a bearing. 7. A working method using the wheel permanent magnet direct drive transmission device with the active suppression function of torsional vibration according to any one of the above claims, characterized in that it comprises the following steps: Step 1. Install the wheel side permanent magnet direct drive transmission (17) on the bus chassis through the vehicle suspension system, and install the high-power permanent magnet motor (1) on the Above the suspension system, reducing the unsprung mass; Step 2. Set the angle encoder I and the angle encoder II on the high-power permanent magnet motor (1) and the wheel hub (8) respectively, and use the data acquisition card (12) to collect the output signals of the angle encoder I and the angle encoder II. And the rotation angle of the high-power permanent magnet motor (1) and the rotation angle value of the hub (8) are obtained through the signal processing module (13); Step 3. The drive shaft II (7) is connected to the wheel hub (8) through a constant velocity universal joint, and the speed of the two is the same. Therefore, the transmission connector (6) fixedly connected to the drive shaft II (7) through the output flange (10) -3) The rotation angle is equal to the rotation angle of the hub (8); fix the left shell (6-1) of the torsional vibration suppression device (6), and pass a linearly varying direct current to the coil unit (6-7) through the power module (15), Use the angle encoder II to detect the rotation angle of any transmission connector (6-3) in real time, draw the relationship curve between the input current value and the rotation angle of the transmission connector (6-3), and use the least squares method to fit the data to obtain the input current value The linear algebraic relationship with the rotation angle of the transmission connector (6-3); Step 4. Use the elastic connection between the left housing (6-1) and the output flange (10) to transfer the torsional vibration of the transmission shaft I (5) and the transmission shaft II (7); when the motor drives the transmission shaft I , due to the connection between the output flange (10) and the transmission connector (6-3), there is a rotation angle difference between the left housing (6-1) and the output flange (10), and the transmission connector (6-3) is on the left housing (6-1) can move, take the output shaft rotation angle of the high-power permanent magnet motor (1) as the expected rotation angle value, use the signal processing module (13) to obtain the instantaneous rotation angle value of the hub (8), and calculate the expected rotation angle value and the instantaneous rotation angle value difference, the control module (14) is constructed based on the linear algebraic relationship between the input current value and the rotation angle of the transmission connector (6-3) in step 3, and the input current value of the coil unit (6-7) is obtained through the difference operation , the D/A conversion module (16) drives the power supply module (15) to control the coil unit (6-7) to generate an induced magnetic field, which interacts with the inherent magnetic field of the annular permanent magnet (6-6) to generate electromagnetic force to drive the transmission connection The component (6-3) moves to compensate the rotation angle difference between the left housing (6-1) and the output flange (10), and the specific coil unit (6-7) is fixed relative to the left housing (6-1). An electromagnetic force is generated between the coil unit (6-7) and the ring permanent magnet (6-6), so that the ring permanent magnet (6-6) rotates relative to the left shell (6-1), and the ring permanent magnet (6-6 ) to push the permanent magnet sleeve II (6-8), and then push the transmission connecting piece (6-3) to move, and finally realize the relative rotation between the left housing (6-1) and the output flange (10). The device (6) suppresses the torsional vibration of the permanent magnet direct drive transmission device driven by the wheel, and at the same time ensures sufficient driving torque of the wheel hub (8).

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