System and method for slip slide control
First Claim
Patent Images
1. A system comprising:
- a velocimeter adapted to provide a measurement of an actual speed of a vehicle, the measurement utilizing Doppler Effect, the vehicle comprising a first wheel drive comprising a first motor, the first wheel drive controllably rotatable at a first drive speed, the vehicle comprising a second wheel drive comprising a second motor distinct from the first motor, the second wheel drive controllably rotatable at a second drive speed distinct from the first drive speed;
a first comparator adapted to compare an expected first drive speed, the expected first drive speed determined from the measurement of the actual speed of the vehicle, with a value related to an actual first drive speed; and
a first controller adapted to control the first drive speed within a limited range, the limited range at least partially based upon information received from said first comparator.
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Abstract
Certain exemplary embodiments comprise a method comprising: receiving a measurement of a vehicle speed; receiving information indicative of a drive speed; comparing a value related to the measurement of the vehicle speed with the information indicative of the drive speed to obtain a first speed deviation metric; and controlling a torque output of the drive within a limited range, the limited range at least partially based upon the first speed deviation metric.
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Citations
23 Claims
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1. A system comprising:
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a velocimeter adapted to provide a measurement of an actual speed of a vehicle, the measurement utilizing Doppler Effect, the vehicle comprising a first wheel drive comprising a first motor, the first wheel drive controllably rotatable at a first drive speed, the vehicle comprising a second wheel drive comprising a second motor distinct from the first motor, the second wheel drive controllably rotatable at a second drive speed distinct from the first drive speed;
a first comparator adapted to compare an expected first drive speed, the expected first drive speed determined from the measurement of the actual speed of the vehicle, with a value related to an actual first drive speed; and
a first controller adapted to control the first drive speed within a limited range, the limited range at least partially based upon information received from said first comparator. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method comprising:
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receiving a measurement of a vehicle speed, the measurement utilizing Doppler Effect, the vehicle comprising a first wheel drive comprising a first electric motor, the first wheel drive controllably rotatable at a first drive speed, the vehicle comprising a second wheel drive comprising a second electric motor distinct from the first electric motor, the second wheel drive controllably rotatable at a second drive speed distinct from the first drive speed;
receiving information indicative of the first drive speed;
comparing a value related to the measurement of the vehicle speed with the information indicative of the first drive speed to obtain a first speed deviation metric; and
controlling a torque output of the first electric motor within a limited range, the limited range at least partially based upon the first speed deviation metric. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A machine-readable medium comprising stored instructions for:
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receiving a measurement of a vehicle speed, the measurement utilizing Doppler Effect, the vehicle comprising a first wheel drive comprising a first electric motor, the first wheel drive controllably rotatable at a first drive speed, the vehicle comprising a second wheel drive comprising a second electric motor distinct from the first electric motor, the second wheel drive controllably rotatable at a second drive speed distinct from the first drive speed;
receiving information indicative of the first drive speed;
comparing a value related to the measurement of the vehicle speed with the information indicative of the first drive speed to obtain a first speed deviation metric; and
controlling a torque output of the first electric motor within a limited range, the limited range at least partially based upon the first speed deviation metric.
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Specification