Multidriving Modes and Control Strategies of a Dual-Rotor In-Wheel Motor Applied in Electric Vehicle

Figure 1

Integrated structure of the DRIWM. 1, DRM body; 2, clutch I; 3, clutch II; 4, planetary gear mechanism; 5, electromagnetic braking and friction braking system; 6, power supply and control system; 1–1, outer rotor; 1–2, middle stator; 1–3, inner rotor; 1–4, inner-layer permanent magnets; 1–5, inner-layer armature windings; 1–6, outer-layer armature windings; 1–7, outer-layer permanent magnets.