Anti-jackknifing apparatus for articulated vehicles
First Claim
1. An anti-jackknifing trailer comprises:
- a sensor system to measure speed of wheels, road surface, and angle between a rear wheel axis of a tractor and the trailer;
at least one poly-phase electric motor coupled to a wheel to apply one of positive drive torque and negative braking torque;
an anti-jackknife control circuit coupled to said sensor system to determine and transmit anti-yaw commands to an adaptive field-oriented motor controller; and
the adaptive field-oriented motor control coupled to the at least one poly-phase electric motor to provide current and phase to generate a horizontal yaw force counter to jackknifing.
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Accused Products
Abstract
A system averts catastrophic folding of an articulated vehicle e.g. jack-knifing a tractor against its attached trailer when tires have lost adhesion to a road surface. The apparatus includes independent port and starboard AC motor controllers that convert DC power to AC phases and magnitudes. A battery is regeneratively charged during normal braking operation of the vehicle and discharged when the AC motors apply torque to wheels. Sensors determine when the AC motor controllers provide phases and magnitudes that result in a positive torque to one or more motors and a negative torque to a different one or more motors. The apparatus operates by generating a horizontal yaw force on the trailer in opposition to closing the angle between the tractor and the trailer; by applying a rotational force on the fifth wheel; and by unbalanced torque applied to the tractor'"'"'s port and starboard driven wheels.
53 Citations
22 Claims
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1. An anti-jackknifing trailer comprises:
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a sensor system to measure speed of wheels, road surface, and angle between a rear wheel axis of a tractor and the trailer; at least one poly-phase electric motor coupled to a wheel to apply one of positive drive torque and negative braking torque; an anti-jackknife control circuit coupled to said sensor system to determine and transmit anti-yaw commands to an adaptive field-oriented motor controller; and the adaptive field-oriented motor control coupled to the at least one poly-phase electric motor to provide current and phase to generate a horizontal yaw force counter to jackknifing. - View Dependent Claims (2)
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3. An articulated vehicle comprises:
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an anti-jackknifing vehicle control circuit; at least one voltage and current motor controller; at least one electric motor coupled to a wheel; and a trailer. - View Dependent Claims (4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An anti-jackknifing apparatus for an articulated vehicle comprises:
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a plurality of electric motors adapted to apply torque to wheels; a current control circuit coupled to the plurality of electric motors and further coupled to a vehicle control circuit; and a plurality of sensors to determine skidding, sliding, and orientation. - View Dependent Claims (14, 15, 16, 17, 18)
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19. A method for operation of an articulated vehicle controller and anti-jackknife apparatus comprising:
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sensing from vehicle movement, wheel rotation, and orientation a condition of imminent jackknifing movement; determining a desired angular moment to apply to a vehicle component to forestall a folding of the articulated vehicle; and provisioning at least one AC motor with a first current phase and current magnitude until the jackknifing movement is reversed. - View Dependent Claims (20, 21, 22)
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Specification