VEHICLE CONTROLLER AND METHOD OF CONTROLLING A VEHICLE

• US 20160009180A1
• Filed: 05/16/2014
• Published: 01/14/2016
• Est. Priority Date: 05/20/2013
• Status: Active Grant

• Current Assignee: Turntide Drives Limited
• Original Assignee: Sevcon Limited (BorgWarner Incorporated)
• Inventors: Barrass, Peter
• Granted Patent: US 9,527,387 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• CPC Class Codes: B60L 2200/42 Fork lift trucks
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/16 longitudinal
• CPC Class Codes: B60L 2240/18 lateral
• CPC Class Codes: B60L 2240/20 angular
• CPC Class Codes: B60L 2240/22 Yaw angle
• CPC Class Codes: B60L 2240/24 Steering angle
• CPC Class Codes: B60L 2240/26 Vehicle weight
• CPC Class Codes: B60L 2250/10 by alarm
• CPC Class Codes: B60L 2250/16 by display
• CPC Class Codes: B60L 3/00 Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption methods or circuit arrangements for monitoring or controlling batteries or fuel cells B60L58/00
• CPC Class Codes: B60L 3/08 Means for preventing excessive speed of the vehicle
• CPC Class Codes: B66F 17/003 for fork-lift trucks
• CPC Class Codes: B66F 17/006 for working platforms
• CPC Class Codes: B66F 9/07572 Propulsion arrangements
• CPC Class Codes: B66F 9/24 Electrical devices or systems
• CPC Class Codes: Y02P 90/60 Electric or hybrid propulsion means for production processes
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

An electric motor control unit for controlling the operation of an electric motor. The unit comprises: an electric motor controller comprising a processor having at least one input and at least one output, wherein an output of the processor is coupled to a power provider for controlling power to an electric motor; a tilt accelerometer for determining a measure of the tilt of the electric motor unit relative to a reference orientation, wherein the tilt accelerometer system comprises an output for providing a signal based on the determined measure of the tilt; wherein the output of the tilt accelerometer system is coupled to an input of the processor of the electric motor controller; wherein the power provider comprises a power output for controlling the operation of an electric motor based on the output of the tilt accelerometer system.

Claims

1. An electric motor control unit for controlling the operation of an electric motor, the unit comprising:

an electric motor controller comprising a processor having at least one input and at least one output, wherein an output of the processor is coupled to a power provider for controlling power to an electric motor;

a tilt accelerometer system comprising a tilt accelerometer for determining a measure of the tilt of the electric motor control unit relative to a reference orientation, wherein the tilt accelerometer system comprises an output for providing a signal based on the determined measure of the tilt;

wherein the output of the tilt accelerometer system is coupled to an input of the processor of the electric motor controller;

wherein the power provider comprises a power output for controlling the operation of an electric motor based on the output of the tilt accelerometer system.

2. The electric motor control unit according to claim 1 further comprising a housing containing the electric motor controller and the tilt accelerometer system.

3. The electric motor control unit according to claim 1 wherein the tilt accelerometer comprises a MicroElectroMechanical System, MEMS, accelerometer.

4. The electric motor control unit according to claim 1 wherein the power provider comprises one of a chopper, converter or inverter.

5. The electric motor control unit according to claim 1 wherein the reference orientation is determined by calibration of the tilt accelerometer when the electric motor control unit is secured in a fixed position relative to the electric motor and/or in a fixed position with respect to a vehicle.

6. The electric motor control unit according to claim 1 further comprising means for securing the electric motor control unit to a vehicle in a fixed orientation relative to the vehicle.

7. The electric motor control unit according to claim 1 wherein the vehicle comprises a load-bearing vehicle including a load bearing lift operable to lift a load, such as a person, to a selected height.

8. The electric motor control unit according to claim 1 wherein the tilt accelerometer system comprises a motion compensation system for adjusting the output of the tilt accelerometer based on motion of the electric motor control unit.

9. The electric motor control unit according to claim 8 wherein the motion compensation system compensates for the linear speed of the electric motor control unit in the direction of travel.

10. The electric motor control unit according to claim 8 wherein the motion compensation system compensates for a turning parameter of the electric motor control unit indicating a change in its direction of travel.

11-18. -18. (canceled)

19. An apparatus for controlling operation of a load bearing vehicle, wherein the vehicle comprises a load bearing lift operable to lift a load to a selected height, wherein the apparatus comprises:

a turning input for obtaining a turning parameter of the vehicle indicating a change in its direction of travel;

a speed input for obtaining the linear speed of the vehicle in the direction of travel;

an accelerometer input for obtaining an accelerometer signal;

a tilt angle determiner configured to determine the tilt angle of the vehicle based on the turning parameter, the linear speed, and the accelerometer signal; and

a controller for modifying operation of the vehicle based on the determined tilt angle.

20. The apparatus of claim 19 in which the tilt angle determiner is configured to modify operation of the vehicle based on the tilt angle of the vehicle and at least one parameter related to the load bearing lift.

21. The apparatus of claim 20 in which the at least one parameter is selected from the list comprising:

the weight of the load, the height to which the load has been lifted, the unloaded weight of the vehicle, and the position of the centre of gravity of the loaded vehicle.

22. The apparatus of claim 19 in which the tilt angle determiner is configured to modify operation of the vehicle if the tilt angle exceeds a predetermined threshold.

23. The apparatus of claim 22 wherein the predetermined threshold is adjustable

based on at least one of:

the weight of the load on the vehicle

the height of the load bearing lift

the linear speed of the vehicle in the direction of travel; and

the turning parameter of the vehicle.

24. The apparatus of claim 19 in which modifying operation of the vehicle comprises providing an audible or visible signal to an operator of the vehicle.

25. The apparatus of claim 19 in which modifying operation of the vehicle comprises limiting the linear speed at which the vehicle may be driven.

26. The apparatus of claim 25 wherein the controller is configured to select a speed limit based on the tilt angle of the vehicle and at least one parameter related to the load bearing lift.

27. The apparatus of claim 19 in which modifying operation of the vehicle comprises limiting the height to which the load bearing lift may lift a load, or limiting the lateral distance by which a load may be extended from the vehicle.

28. The apparatus of claim 27 wherein the controller is configured to select the height limit based on the tilt angle of the vehicle and the linear speed of the vehicle.

29. The apparatus of claim 19 comprising an electric motor controller for controlling an electric motor associated with at least one of moving the vehicle, and lifting the load.

30. The apparatus of claim 19 further comprising at least one of the vehicle and the load bearing lift.

31-52. -52. (canceled)