System and method for actively controlling traction in an articulated vehicle

• US 20040231904A1
• Filed: 02/23/2004
• Published: 11/25/2004
• Est. Priority Date: 02/21/2003
• Status: Abandoned Application

• Current Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Original Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Inventors: Beck, Michael S., Conrad, Kevin L.
• Application Number:
  US10/784,739
• Publication Number:
  US 20040231904A1
• Time in Patent Office: Days
• US Class Current: 180/197
• CPC Class Codes: B60G 2300/07 Off-road vehicles
• CPC Class Codes: B60G 3/14 the arm being rigid
• CPC Class Codes: B60K 17/02 characterised by arrangement, location, or kind of clutch
• CPC Class Codes: B60K 17/046 with planetary gearing having orbital motion
• CPC Class Codes: B60K 17/356 having fluid or electric motor, for driving one or more wheels disposition of motor in, or adjacent to, traction wheel B60K7/00
• CPC Class Codes: B60K 2007/0038 the motor moving together with the wheel axle
• CPC Class Codes: B60K 2007/0092 the motor axle being coaxial to the wheel axle
• CPC Class Codes: B60K 28/16 responsive to, or preventing, skidding of wheels brake control systems for vehicle drive stability B60T8/1755; arrangements responsive to a speed condition for adjusting wheel braking force B60T8/32; control of vehicle driving stability otherwise than by controlling the propulsion unit only B60W30/02; preventing wheel slippage by reducing power in rail vehicles B61C15/00
• CPC Class Codes: B60K 7/00 Disposition of motor in, or adjacent to, traction wheel roller-skate driving mechanisms A63C17/12
• CPC Class Codes: B60K 7/0007 the motor being electric
• CPC Class Codes: B60K 7/0015 the motor being hydraulic
• CPC Class Codes: B60K 7/0023 the motor being pneumatic
• CPC Class Codes: B60L 2220/46 Wheel motors, i.e. motor connected to only one wheel
• CPC Class Codes: B60L 2260/28 Four wheel or all wheel drive
• CPC Class Codes: B60T 1/062 acting on transmission parts
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 2530/10 Weight
• CPC Class Codes: B62D 49/002 characterised by being of the low ground pressure type
• CPC Class Codes: B62D 61/10 with more than four wheels tractors of the low ground pressure type B62D49/002
• CPC Class Codes: B62D 61/12 with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels for manoeuvring purposes only B60S
• CPC Class Codes: B64B 1/50 : Captive balloons
• CPC Class Codes: B64C 27/20 : Rotorcraft characterised by having shrouded rotors, e.g. flying platforms

Abstract

A method of controlling traction in a vehicle having an articulated suspension includes determining a performance characteristic of the vehicle; determining a performance characteristic of at least one of a plurality of wheel assemblies of the articulated suspension; comparing the performance characteristic of the vehicle and the performance characteristic of the at least one of the plurality of wheel assemblies; and altering the performance of the vehicle based upon the comparison to affect the vehicle'"'"'s traction. A method of controlling traction in a vehicle having an articulated suspension includes determining a load on each of a plurality of wheel assemblies of the articulated suspension and adjusting the articulated suspension such that each of the loads is within a predetermined range.

Claims

1. A method of controlling traction in a vehicle having an articulated suspension, comprising:

determining a performance characteristic of the vehicle;

determining a performance characteristic of at least one of a plurality of wheel assemblies of the articulated suspension;

comparing the performance characteristic of the vehicle and the performance characteristic of the at least one of the plurality of wheel assemblies; and

altering the performance of the vehicle based upon the comparison to affect the vehicle'"'"'s traction.

2. A method, according to claim 1, wherein:

determining the performance characteristic of the vehicle comprises determining a velocity of the vehicle; and

determining the performance characteristic of the at least one of the plurality of wheel assemblies comprises determining a rotational velocity of the at least one of the plurality of wheel assemblies.

3. A method, according to claim 1, wherein:

determining the performance characteristic of the vehicle comprises a load on a first of a plurality of wheel assemblies; and

determining the performance characteristic of the at least one of the plurality of wheel assemblies comprises a load on another one or more of the plurality of wheel assemblies.

4. A method of controlling traction in a vehicle having an articulated suspension, comprising:

determining a load on each of a plurality of wheel assemblies of the articulated suspension; and

adjusting the articulated suspension such that each of the loads is within a predetermined range.

5. A method, according to claim 4, wherein determining the load comprises sensing a load on each suspension arm of the plurality of wheel assemblies.

6. A method, according to claim 4, wherein determining the load comprises sensing a pressure of each tire of the plurality of wheel assemblies.

7. A method, according to claim 4, wherein adjusting the articulated suspension comprises adjusting the articulated suspension to substantially equalize the loads.

8. A method, according to claim 4, wherein adjusting the articulated suspension comprises articulating at least one of the plurality of wheel assemblies with respect to a chassis of the vehicle.

9. A method, according to claim 4, further comprising determining a lightly loaded wheel assembly of the plurality of wheel assemblies, such that adjusting the articulated suspension comprises articulating the lightly loaded wheel assembly with respect to a chassis of the vehicle.

10. A method of controlling traction in a vehicle having an articulated suspension, comprising:

acquiring load data for a plurality of wheel assemblies of the articulated suspension;

identifying a lightly loaded wheel assembly of the plurality of wheel assemblies from the load data; and

articulating the lightly loaded wheel assembly with respect to a chassis of the vehicle.

11. A method, according to claim 10, wherein acquiring the load data comprises sensing a load on each suspension arm of the plurality of wheel assemblies.

12. A method, according to claim 10, wherein acquiring the load data comprises sensing a pressure of each tire of the plurality of wheel assemblies.

13. A method, according to claim 10, wherein articulating the lightly loaded wheel assembly comprises articulating the lightly loaded wheel assembly to substantially equalize the load on each of the plurality of wheel assemblies.

14. A method of controlling traction in a vehicle having an articulated suspension, comprising:

determining whether forces on each of a plurality of wheel assemblies of the articulated suspension are substantially equal;

determining whether a rotational velocity of each tire of the plurality of wheel assemblies corresponds to a velocity of the vehicle; and

adjusting the articulated suspension such that each of the forces is within a predetermined range if the forces are not substantially equal and at least one of the rotational velocities fails to correspond to the velocity of the vehicle.

15. A method, according to claim 14, wherein determining whether forces on each of a plurality of wheel assemblies of the articulated suspension are substantially equal comprises sensing a load on each suspension arm of the plurality of wheel assemblies.

16. A method, according to claim 14, wherein determining whether forces on each of a plurality of wheel assemblies of the articulated suspension are substantially equal comprises sensing a pressure of each tire of the plurality of wheel assemblies.

17. A method, according to claim 14, wherein adjusting the articulated suspension comprises adjusting the articulated suspension to substantially equalize the forces.

18. A method, according to claim 14, wherein adjusting the articulated suspension comprises articulating at least one of the plurality of wheel assemblies with respect to a chassis of the vehicle.

19. A method, according to claim 14, further comprising determining a lightly loaded wheel assembly of the plurality of wheel assemblies, such that adjusting the articulated suspension comprises articulating the lightly loaded wheel assembly with respect to a chassis of the vehicle.

20. A method, according to claim 14, further comprising reducing the rotational velocity of one of the tires if the forces are substantially equal and the one of the tires has a determined rotational velocity that is greater than that which corresponds to the velocity of the vehicle.

21. A method, according to claim 20, wherein reducing the rotational velocity comprises reducing the rotational velocity of the tire by braking.

22. A method, according to claim 20, wherein reducing the rotational velocity comprises reducing the rotational velocity of the tire by at least partially removing power to the tire.

23. A method, according to claim 20, wherein reducing the rotational velocity comprises reducing the rotational velocity of the tire by regenerative braking.

24. A method of controlling traction in a vehicle having an articulated suspension, comprising:

determining whether a rotational velocity of each tire of a plurality of wheel assemblies of the articulated suspension corresponds to a velocity of the vehicle; and

reducing the rotational velocity of one of the tires if the one of the tires has a determined rotational velocity that is greater than that which corresponds to the velocity of the vehicle.

25. A method, according to claim 24, wherein reducing the rotational velocity comprises reducing the rotational velocity of the tire by braking.

26. A method, according to claim 24, wherein reducing the rotational velocity comprises reducing the rotational velocity of the tire by at least partially removing power to the tire.

27. A method, according to claim 24, wherein reducing the rotational velocity comprises reducing the rotational velocity of the tire by regenerative braking.

28. A system for controlling traction in an vehicle having an articulated suspension, comprising:

means for sensing a loss of traction; and

means for adjusting the articulated suspension to regain traction.

29. A system, according to claim 28, wherein:

the articulated suspension comprises a plurality of wheel assemblies; and

the means for sensing the loss of traction comprises;

a plurality of sensors for sensing loads in a plurality of wheel assemblies; and

a controller for receiving the sensed loads and to determine the loss of traction based on the sensed loads.

30. A system, according to claim 29, wherein the means for sensing the loss of traction further comprises at least one of an odometer, a global positioning system receiver, an inertial measurement unit, a compass, and an inclinometer.

31. A system, according to claim 29, wherein the plurality of sensors is adapted to sense loads in suspension arms of the plurality of wheel assemblies.

32. A system, according to claim 29, wherein the plurality of sensors is adapted to sense air pressure in tires of the plurality of wheel assemblies.

33. A system, according to claim 28, wherein the means for adjusting the articulated suspension comprises the controller, which determines adjustments to be made to the articulated suspension to regain traction and transmits commands corresponding to the adjustments to the articulated suspension system.

34. A system, according to claim 33, wherein:

the articulated suspension comprises a plurality of wheel assemblies;

the vehicle comprises a chassis to which the plurality of wheel assemblies is articulated; and

the control system articulates one or more of the plurality of wheel assemblies with respect to the chassis to regain traction.

35. A system, according to claim 33, wherein:

the articulated suspension comprises a plurality of tires; and

the control system reduces the rotational velocity of one or more of the plurality of tires to regain traction.

36. A vehicle, comprising:

a chassis;

an articulated suspension mounted to the chassis;

means for sensing a loss of traction; and

means for adjusting the articulated suspension to regain traction.

37. A vehicle, according to claim 36, wherein:

the articulated suspension comprises a plurality of wheel assemblies; and

the means for sensing the loss of traction comprises;

a plurality of sensors for sensing loads in a plurality of wheel assemblies; and

a controller for receiving the sensed loads and to determine the loss of traction based on the sensed loads.

38. A vehicle, according to claim 37, wherein the means for sensing the loss of traction further comprises at least one of an odometer, a global positioning system receiver, an inertial measurement unit, a compass, and an inclinometer.

39. A vehicle, according to claim 37, wherein the plurality of sensors is adapted to sense loads in suspension arms of the plurality of wheel assemblies.

40. A vehicle, according to claim 37, wherein the plurality of sensors is adapted to sense air pressure in tires of the plurality of wheel assemblies.

41. A vehicle, according to claim 36, wherein the means for adjusting the articulated suspension comprises the controller, which determines adjustments to be made to the articulated suspension to regain traction and transmits commands corresponding to the adjustments to the articulated suspension vehicle.

42. A vehicle, according to claim 41, wherein:

the articulated suspension comprises a plurality of wheel assemblies; and

the control vehicle articulates one or more of the plurality of wheel assemblies with respect to the chassis to regain traction.

43. A vehicle, according to claim 41, wherein:

the articulated suspension comprises a plurality of tires; and

the control vehicle reduces the rotational velocity of one or more of the plurality of tires to regain traction.