Differential Steering and Traction Control For Electrically Propelled Mower
First Claim
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1. A differential steering and traction control system for a riding mower with electric motor wheel drives, a steering wheel, and a steered wheel, comprising:
- a steer motor sensor for sensing the angular position of the steered wheel;
a wheel speed sensor for each electric motor wheel drive;
a steering wheel position sensor for sensing the rotational position of the steering wheel;
a foot pedal providing operator speed commands; and
an electronic control unit receiving the operator speed commands and sensor inputs from the steer motor sensor, wheel speed sensors and steering wheel position;
providing commands to the steer motor in proportion to steering wheel position; and
providing speed and torque commands to each of the electric motor wheel drives from the operator speed commands, the sensor inputs, and a three dimensional map based on the geometry of the riding mower.
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Abstract
A differential steering and traction control system for an electrically propelled mower. Each of the front wheels has an electric motor wheel drive, and each rear wheel may have an electric steering motor. The operator'"'"'s station has a steering wheel and a speed control. An electronic controller provides steering commands to the electric steering motor and separate speed commands to each electric motor wheel drive based on the angle of the rear wheel and the position of the speed control.
32 Citations
18 Claims
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1. A differential steering and traction control system for a riding mower with electric motor wheel drives, a steering wheel, and a steered wheel, comprising:
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a steer motor sensor for sensing the angular position of the steered wheel;
a wheel speed sensor for each electric motor wheel drive;
a steering wheel position sensor for sensing the rotational position of the steering wheel;
a foot pedal providing operator speed commands; and
an electronic control unit receiving the operator speed commands and sensor inputs from the steer motor sensor, wheel speed sensors and steering wheel position;
providing commands to the steer motor in proportion to steering wheel position; and
providing speed and torque commands to each of the electric motor wheel drives from the operator speed commands, the sensor inputs, and a three dimensional map based on the geometry of the riding mower. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for providing differential steering and traction control commands to a steered wheel and drive wheels on a riding mower operated with a pedal and a steering wheel, comprising:
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sensing the angular position of the steered wheel;
sensing the wheel speed of each drive wheel;
sensing the rotational position of the steering wheel;
sensing operator speed commands from the pedal;
providing steering commands to the steer wheel in proportion to the rotational position of the steering wheel; and
providing speed and torque commands to each drive wheel from the operator speed commands, the angular position of the steered wheel, and a three dimensional map based on the geometry of the riding mower. - View Dependent Claims (8, 9)
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10. A differential steering system for a riding mower with electric motor wheel drives and a steered wheel, comprising:
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a steer motor sensor for sensing the angular position of the steered wheel;
a foot pedal providing operator speed commands; and
an electronic control unit receiving the operator speed commands from the foot pedal and sensor input from the steer motor sensor; and
providing speed commands to each of the electric motor wheel drives based on the operator speed commands, sensor input, and geometry of the riding mower. - View Dependent Claims (11, 12)
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13. A method for steering a riding mower having a steering wheel, a steered wheel, and a pair of traction drive wheels, comprising:
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sensing the position of the steering wheel, the angular position of a steer motor for the steered wheel, and the speed of an electric wheel motor for each traction drive wheel;
providing speed commands to the electric wheel motor for each traction drive wheel;
providing steer motor commands to the steered wheel;
the speed commands and steer motor commands based on the sensed positions and speeds of the steered wheel and traction drive wheels, and based on stored values for vehicle geometry including a wheelbase, wheel track and tire radius of the riding mower. - View Dependent Claims (14, 15, 16, 17, 18)
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Specification