Failsafe wheel slip control system and method of operating same

• US 4,361,871 A
• Filed: 05/07/1980
• Issued: 11/30/1982
• Est. Priority Date: 05/07/1980
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Tractor Co (Caterpillar Incorporated)
• Inventors: Miller, Robert G., Phelps, Weldon L.
• Primary Examiner(s): Smith, Jerry
• Application Number:
  US06/245,224
• Time in Patent Office: 937 Days
• Field of Search: 364/426, 361/238, 303/92, 303/97, 303/98, 303/99, 303/107, 180/197, 74/711
• US Class Current: 701/92
• CPC Class Codes: B60T 8/17616 Microprocessor-based systems

Abstract

A slip control system for vehicles having spaced apart drive wheels (200,202) driven by an input shaft (204) through a differential unit (206) including means (220) for calculating wheel slip according to the ratio of wheel speeds, means (220,230,232) for entering a slip control mode wherein a braking force is applied to the slipping wheel and incrementally varied on a periodic review basis according to recalculated slip values. If slip increases or holds steady, the brake force is incrementally increased. As slip becomes less, the brake force is incrementally reduced, the particular increments of force reduction being selected in accordance with successive measurements of slip. A drive shaft signal (226) is compared to the high wheel speed signal to identify a wheel speed transducer failure.

Claims

1. In a system for balancing the power transfer between two vehicle wheels (200,202) which are driven by a common input shaft (204) through a differential unit (206) when one of said wheels loses traction, said system being of the type which includes means (216,222) for generating wheel speed signals, control means (220) for developing a slip signal related to the difference between said wheel speed signals, and means (212,214) operated by said control means (220) for applying a braking force to the wheel which loses traction, the improvement comprising:

means (226) for generating a signal representing input shaft speed, said control means (220) including means (242) for comparing wheel and input shaft speeds and preventing actuation of the braking means (212,214) for slip control purposes until the ratio of the speed of the wheel which loses traction to the speed of the input shaft exceeds a predetermined value.

2. Apparatus as defined in claim 1, wherein the control means (220) further comprises

means (244) for defining a plurality of slip signal value bands each having defined slip value limits, and

means (230, 232, 234, 256) for incrementally changing the braking force in accordance with the band within which the current slip value falls.

3. Apparatus as defined in claim 2 wherein the defining means (244) further defines both positive and negative incremental changes, each change being associated with a given slip value band and the negative brake force incremental changes being associated with lower slip value bands.

4. Apparatus as defined in claim 2 wherein the means (230, 232, 234, 256) comprises a source (234) of brake fluid pressure and signal responsive means (232) connected to said means (242) and responsive to outputs therefrom for varying the brake fluid pressure applied to said wheels.

5. Apparatus as defined in claim 4 wherein the means (230, 232, 234, 256) further comprises wheel selection means (230) responsive to outputs from said means (242) to vary the brake fluid pressure to only one of said wheels.

6. Apparatus as defined in claim 2 wherein said means (242) comprises timer means (246) for cyclically recalculating the slip signal value.

7. Apparatus as defined in claim 2 wherein the means (230, 232, 234, 256) further comprises a duty cycle generator (256) connected to receive outputs from the control means (220), and means (260 and 262) responsive to the output of the duty cycle generator for varying the brake fluid pressure applied to the other of said wheels under slip conditions.

8. Apparatus as defined in claim 1 wherein the predetermined value is substantially 1.5.

9. A method for balancing the application of power to two vehicle wheels (200,202) which are driven by a common input shaft (204) through a differential unit (206) when one of said wheels loses traction and for screening out false indications of traction loss comprising the steps of:

developing first and second signals representing the speeds of the differentially driven wheels;

developing a third signal representing slip as a function of the difference between the first and second signals;

developing a fourth signal representing input shaft speed;

comparing the input shaft speed signal to the larger of the wheel speed signals; and

applying a brake force to the higher speed wheel only when the ratio of the wheel to shaft speeds exceeds a predetermined value.

10. A method as defined in claim 9 wherein the value is at least 1.5.

11. A method of preventing spurious operation of a selected-brake type wheel slip control system due to wheel speed transducer failure comprising the steps of:

determining the presence of a slip condition by comparing wheel speed transducer signals from two differentially driven wheels,

comparing the speed of the faster rotating wheel to the speed of a differential input element such as a drive shaft; and

acting to control slip through selective brake application only if the ratio of the faster wheel speed to the differential input speed exceeds a predetermined value.