Four motor propulsion system and yaw vectoring control circuit
First Claim
1. A system to improve horizontal vehicle rotation around a vertical axis through the vehicle'"'"'s center of mass (yaw) response to operator control inputs comprises:
- a circuit to receive desired vehicle yaw turning moment from an operator control input;
a circuit to determine positive or negative target motor torque for each wheel;
a torque budgeter circuit; and
, the torque budgeter circuit coupled by a network tofour adaptive field-oriented control (AF-OC) circuits;
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Accused Products
Abstract
A propulsion apparatus powers a vehicle in two dimensions: linearly forward and backward and rotationally in a horizontal plane. A plurality of electric motors applies angular force around a vertical axis of rotation passing through the center of mass of a four wheeled vehicle by delivering unequal magnitude and phase of electrical voltage to four polyphase Alternating Current (AC) motors each individually powering a single wheel. An adaptive torque control circuit transforms operator controlled vehicle steering into current or voltage magnitude and voltage frequency powering each of the four poly-phase AC motors.
40 Citations
19 Claims
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1. A system to improve horizontal vehicle rotation around a vertical axis through the vehicle'"'"'s center of mass (yaw) response to operator control inputs comprises:
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a circuit to receive desired vehicle yaw turning moment from an operator control input; a circuit to determine positive or negative target motor torque for each wheel; a torque budgeter circuit; and
, the torque budgeter circuit coupled by a network tofour adaptive field-oriented control (AF-OC) circuits; - View Dependent Claims (2, 3, 4)
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5. A two dimensional propulsion apparatus to power a vehicle linearly and rotationally (yaw) in a horizontal plane defined by 4 wheels comprises:
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an operator control instrument for steering vehicle turning to one of leftward and rightward; at least four polyphase AC motors, each AC motor coupled to one of four wheels; four adaptive torque control circuits which provides AC current or voltage magnitude and voltage frequency to each of the at least four AC motors; four digital signal interface circuits; and each digital signal interface circuit coupled to, a torque budgeter circuit which provides unequal target torque commands to left AC motors and to right AC motors determined by one of desired vehicle leftward yaw and desired vehicle rightward yaw, received from the operator control instrument; wherein the adaptive torque control circuit is an adaptive field oriented control (AF-OC) circuit comprising; DC power to AC power transformation circuits; at least one microprocessor coupled to computer-readable non-transitory media; and power transformation control circuits, wherein the AF-OC circuit receives target torque commands to provide vehicle yaw turning moment, as well as slip data, skid data, stability data, accelerometer data from sensors, and transmits via a network interface attainable torque. - View Dependent Claims (6, 7, 8, 9, 10)
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11. A method for application of angular force around a vertical axis of rotation passing through the center of mass of a four wheeled vehicle by delivering unequal magnitude and phase of electrical voltage to four polyphase Alternating Current (AC) motors each individually powering a single wheel, the method comprising:
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receiving electrical indicia from a first operator control instrument of a desired vehicle turning radius and vehicle turning rate; receiving electrical indicia from a second operator control instrument of desired vehicle velocity and vehicle acceleration (speed); providing an electrical voltage magnitude and phase to every one of the four AC motors individually powering a single wheel consistent with desired speed; and additionally, providing to portside AC motors an incremental positive electrical voltage magnitude and phase and providing to starboard AC motors an incremental negative electrical voltage and phase, whereby the vehicle yaws due to unequal power applied to the wheels by the individual AC motors powering each wheel. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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Specification