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Transmissionless drive system

  • US 4,354,144 A
  • Filed: 02/01/1982
  • Issued: 10/12/1982
  • Est. Priority Date: 07/24/1981
  • Status: Expired due to Term
First Claim
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1. A vehicle driving system comprising:

  • a mechanical differential means having a first input shaft for being driven at a rotational speed of ±

    ω

    S1, a second input shaft for being driven at a rotational speed of ±

    ω

    S2, and an output shaft, said differential means for driving said output shaft at a rotational speed ω

    S =1/2 (±

    ω

    S1 ±

    ω

    S2) where the algebraic sign indicates direction of rotation;

    a first controllable speed drive motor connected to said first input shaft for rotation thereof;

    a second controllable speed drive motor connected to said second input shaft for rotation thereof;

    a first power source connected to said first drive motor, said first power source including control means for controlling the speed of said first drive motor;

    a second power source connected to said second drive motor, said second power source including control means for controlling the speed of said second drive motor;

    first rpm comparison means connected to said first drive motor for sensing the rpm ω

    M1 thereof and having an input for receiving an rpm reference signal ω

    R1, said comparison means for producing a first output error signal proportional to ω

    R1

    M1 at an output thereof, said output connected to said control means of said first power source whereby said first drive motor, said first power source, and said first comparison means forming a first closed loop servo system;

    second rpm comparison means connected to said second drive motor for sensing the rpm ω

    M2 thereof and having an input for receiving an rpm reference signal ω

    R2, said second comparison means for producing a second output error signal proportional to ω

    R2

    M2 at an output thereof, said output connected to said control means of said second power source whereby said second drive motor, said second power source, and said comparison means forming a second closed loop servo system;

    torque reference means for producing a selectable torque rpm reference signal ω

    T ;

    acceleration reference means for producing a selectable acceleration rpm reference signal ω

    A ;

    first calculation means connected to said torque reference means and said acceleration reference means for calculating said rpm reference signal ω

    R1 from the algebraic sum of ω

    T and ω

    A, said first calculation means having an output for said sum connected to said input of said first rpm comparison means; and

    second calculation means connected to said torque reference means for calculating said rpm reference signal ω

    R2 from the algebraic difference of ω

    T and ω

    A, said second calculation means having an output for said difference connected to said input of said second rpm comparison means;

    whereby said output shaft rotates at a rotational speed ω

    S equal to the rpm represented by acceleration rpm reference signal ω

    A.

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