SLIP CONTROL FOR A MATERIALS HANDLING VEHICLE
First Claim
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1. A vehicle comprising:
- a main body;
a plurality of wheels coupled to said main body;
a traction motor associated with said main body and coupled to at least one of said wheels for driving said one wheel;
a motor controller coupled to said traction motor;
a vehicle controller for generating a desired traction control signal to said motor controller, said motor controller generating a motor drive signal to said traction motor corresponding to said desired traction control signal;
a first sensor for generating a speed signal indicative of a speed of said driven wheel; and
said vehicle controller calculating acceleration of said one wheel using changes in said speed signal over time, calculating an acceleration of said vehicle using torque applied by said traction motor and a mass of said vehicle and further estimating if unacceptable slip is occurring at said driven wheel based on a comparison of said calculated acceleration of said wheel and said calculated acceleration of said vehicle.
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Abstract
A vehicle is provided comprising: a main body; a plurality of wheels coupled to the main body; a traction motor associated with the main body and coupled to at least one of the wheels for driving the one wheel; control apparatus coupled to the traction motor and generating a motor drive signal to the traction motor; and a first sensor for generating a speed signal indicative of a speed of the driven wheel. The control apparatus may calculate acceleration of the one wheel using changes in the speed signal over time and calculate an acceleration of the vehicle using torque applied by the traction motor and a mass of the vehicle.
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Citations
18 Claims
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1. A vehicle comprising:
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a main body; a plurality of wheels coupled to said main body; a traction motor associated with said main body and coupled to at least one of said wheels for driving said one wheel; a motor controller coupled to said traction motor; a vehicle controller for generating a desired traction control signal to said motor controller, said motor controller generating a motor drive signal to said traction motor corresponding to said desired traction control signal; a first sensor for generating a speed signal indicative of a speed of said driven wheel; and said vehicle controller calculating acceleration of said one wheel using changes in said speed signal over time, calculating an acceleration of said vehicle using torque applied by said traction motor and a mass of said vehicle and further estimating if unacceptable slip is occurring at said driven wheel based on a comparison of said calculated acceleration of said wheel and said calculated acceleration of said vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A vehicle comprising:
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a main body; a plurality of wheels coupled to said main body; a traction motor associated with said main body and coupled to at least one of said wheels for driving said one wheel; control apparatus coupled to said traction motor and generating a motor drive signal to said traction motor; a first sensor for generating a speed signal indicative of a speed of said driven wheel; and said control apparatus calculating acceleration of said one wheel using changes in said speed signal over time and calculating an acceleration of said vehicle using forces acting on said vehicle and a mass of said vehicle. - View Dependent Claims (16, 17, 18)
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Specification