Traction control system
First Claim
1. A traction control system for a machine, comprising:
- at least one driven wheel;
at least one motor directly connected to the at least one driven wheel and operating to rotate the at least one wheel;
an electronic controller operably associated with the at least one motor and arranged to control the operation of the at least one motor;
a speed sensor disposed to measure a rotational speed of the at least one driven wheel and to communicate a wheel speed to the electronic controller;
a travel speed sensor disposed to measure a travel speed of the machine and to communicate a travel speed to the electronic controller;
a steering system operating to change a travel path of the machine when the steering system is displaced;
a steering sensor disposed to measure a displacement of the steering system and to communicate a steering angle to the electronic controller;
the electronic controller disposed to;
calculate a speed ratio based on the wheel speed and the travel speed;
calculate an expected slip ratio based on the steering angle;
correct the speed ratio by applying the expected slip ratio to yield a corrected speed ratio that is indicative of a slip condition; and
adjust the operation of the at least one motor to address the slip condition.
1 Assignment
0 Petitions
Accused Products
Abstract
A traction control system (30) for a machine (10) includes a driven wheel (22) operated by a motor that is controlled by an electronic controller (54). A speed sensor (44) measures the speed of the driven wheel (22), and communicates a wheel (22) speed to the electronic controller (54). A travel speed sensor (44) measures the travel speed of the machine (10) and communicates it to the electronic controller (54). A steering sensor (44) measures a displacement of the machine (10)'"'"'s steering system (28), and communicates a steering angle to the electronic controller (54). The electronic controller (54) calculates a speed ratio, based on the wheel (22) speed and the travel speed, and an expected slip ratio, based on the steering angle. The speed ratio is corrected by application of the expected slip ratio to yield a corrected speed ratio that is indicative of a slip condition. The operation of the motor is then adjusted to address the slip condition.
38 Citations
20 Claims
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1. A traction control system for a machine, comprising:
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at least one driven wheel; at least one motor directly connected to the at least one driven wheel and operating to rotate the at least one wheel; an electronic controller operably associated with the at least one motor and arranged to control the operation of the at least one motor; a speed sensor disposed to measure a rotational speed of the at least one driven wheel and to communicate a wheel speed to the electronic controller; a travel speed sensor disposed to measure a travel speed of the machine and to communicate a travel speed to the electronic controller; a steering system operating to change a travel path of the machine when the steering system is displaced; a steering sensor disposed to measure a displacement of the steering system and to communicate a steering angle to the electronic controller; the electronic controller disposed to; calculate a speed ratio based on the wheel speed and the travel speed; calculate an expected slip ratio based on the steering angle; correct the speed ratio by applying the expected slip ratio to yield a corrected speed ratio that is indicative of a slip condition; and adjust the operation of the at least one motor to address the slip condition. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A machine, comprising:
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a first wheel; a first motor operating to rotate the first wheel about a first axis relative to the machine; a first sensor disposed to measure a speed of the first wheel relative to the machine; a speed sensor disposed to measure the speed of the machine relative to the ground; a steering system arranged to turn the machine; a steering sensor disposed to measure a displacement of the steering system; an electronic controller operably connected to the first motor, the first sensor, the speed sensor, and the steering sensor; the electronic controller operating to; determine a rotational speed of the first wheel based on information from the first sensor; determine a travel speed of the machine based on information from the speed sensor; calculate a speed ratio of the rotational speed of the first wheel over the travel speed of the machine; determine a steering ratio based on the displacement of the steering system as indicated by the steering sensor; calculate a corrected speed ratio based on the steering ratio and the speed ratio; determine a threshold value; compare the corrected speed ratio with the threshold value; and when the corrected speed ratio exceeds the threshold value, adjust a torque command to the first motor such that the corrected speed ratio is at most equal to the threshold value. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. A method of controlling traction for a mobile machine, comprising:
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measuring a wheel speed; measuring a steering angle; measuring a travel speed of the mobile machine; calculating a speed ratio based on the wheel speed and the travel speed; determining an expected slip ratio based on the steering angle; calculating a corrected speed ratio based on the speed ratio and the expected slip ratio; comparing the corrected speed ratio to a threshold; determining a torque adjustment for a motor when the corrected speed ratio exceeds the threshold; and applying the torque adjustment to the motor. - View Dependent Claims (18, 19, 20)
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Specification