The average moving speed va of the vehicle is used to reflect the anti slip and disengagement ability of the non circular gear differential, and the maximum acceleration am of the vehicle is used to reflect the comfort of the passengers during the disengagement process. By changing the input speed nH of the differential planetary carrier, the variation curves of va and am are shown in Figure 1. When nH increases from 30 r/min to 300 r/min, the average moving speed of the vehicle, va, continues to increase from 0 m/s to 1.32 m/s. This indicates that when a vehicle encounters difficulties due to unilateral wheel slip, increasing the throttle and engine speed can improve the vehicle’s escape speed. However, the maximum acceleration, am, will also increase, exacerbating the impact force of the vehicle and reducing passenger comfort.
Figure 2 shows the moving speed of the vehicle when the input speeds nH are 30 r/min, 120 r/min, 210 r/min, and 300 r/min, respectively. When nH is increased, the moving speed of the vehicle still fluctuates in a pulsating pattern, but the maximum speed and frequency of speed change increase with the increase of nH. This is because as the planetary carrier speed increases, the peak inertia torque and frequency of the slipping wheel increase, This causes corresponding changes in the traction and movement speed of the entire vehicle, where the frequency of speed change is equal to the frequency of inertia torque of the pulley.
