System and method for slip slide control

• US 6,885,930 B2
• Filed: 05/07/2004
• Issued: 04/26/2005
• Est. Priority Date: 07/31/2003
• Status: Active Grant

• Current Assignee: Siemens Large Drives LLC (Siemens AG)
• Original Assignee: Siemens Energy & Automation Incorporated (Siemens AG)
• Inventors: Wang, Xiaobin
• Primary Examiner(s): Camby, Richard M.
• Application Number:
  US10/841,720
• Publication Number:
  US 20050027425A1
• Time in Patent Office: 354 Days
• Field of Search: 701/36, 701/41, 701/69, 701/70, 701/82, 701/84, 701/90, 318/52, 318/53, 318/59, 477/2, 477/3, 477/7, 180 651- 658, 180170-179, 180/197
• US Class Current: 701/70
• CPC Class Codes: B60W 2710/105 Output torque
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B60W 30/18172 Preventing, or responsive to skidding of wheels

Abstract

Certain exemplary embodiments comprise a method comprising: receiving a measurement of a vehicle speed; receiving information indicative of a drive speed; comparing a value related to the measurement of the vehicle speed with the information indicative of the drive speed to obtain a first speed deviation metric; and controlling a torque output of the drive within a limited range, the limited range at least partially based upon the first speed deviation metric.

Claims

1. A system comprising:

a velocimeter adapted to provide a measurement of an actual speed of a vehicle, the measurement utilizing Doppler Effect, the vehicle comprising a first wheel drive comprising a first motor, the first wheel drive controllably rotatable at a first drive speed, the vehicle comprising a second wheel drive comprising a second motor distinct from the first motor, the second wheel drive controllably rotatable at a second drive speed distinct from the first drive speed;

a first comparator adapted to compare an expected first drive speed, the expected first drive speed determined from the measurement of the actual speed of the vehicle, with a value related to an actual first drive speed; and

a first controller adapted to control the first drive speed within a limited range, the limited range at least partially based upon information received from said first comparator.

2. The system of claim 1, further comprising:

a tachometer adapted to provide the value related to the actual first drive speed.

3. The system of claim 1, further comprising:

a steering encoder adapted to provide a value indicative of vehicular turn sharpness for correcting the measurement of the actual speed of the vehicle.

4. The system of claim 1, further comprising:

a steering encoder adapted to provide a value indicative of vehicular turn sharpness for correcting the expected first drive speed.

5. The system of claim 1, further comprising:

a second comparator adapted to compare an expected second drive speed, the expected second drive speed determined from the measurement of the actual speed of the vehicle, with a value related to an actual second drive speed; and

a second controller adapted to control the second drive speed within a limited range, the limited range at least partially based upon information received from said second comparator.

6. The system of claim 1, further comprising:

the vehicle.

7. The system of claim 1, wherein said first controller is adapted to prevent the first wheel drive from reversing directions when a first wheel slips.

8. A method comprising:

receiving a measurement of a vehicle speed, the measurement utilizing Doppler Effect, the vehicle comprising a first wheel drive comprising a first electric motor, the first wheel drive controllably rotatable at a first drive speed, the vehicle comprising a second wheel drive comprising a second electric motor distinct from the first electric motor, the second wheel drive controllably rotatable at a second drive speed distinct from the first drive speed;

receiving information indicative of the first drive speed;

comparing a value related to the measurement of the vehicle speed with the information indicative of the first drive speed to obtain a first speed deviation metric; and

controlling a torque output of the first electric motor within a limited range, the limited range at least partially based upon the first speed deviation metric.

9. The method of claim 8, further comprising:

determining the measurement of the vehicle speed via Doppler effect.

10. The method of claim 8, further comprising:

determining information indicative of the first drive speed.

11. The method of claim 8, further comprising:

determining information indicative of a second drive speed.

12. The method of claim 8, further comprising:

receiving information indicative of a second drive-speed;

comparing a value related to the measurement of the vehicle speed with the information indicative of the second drive speed to obtain a second speed deviation metric; and

controlling a torque output of the second electric motor within a limited range responsive to the second speed deviation metric.

13. The method of claim 8, further comprising:

detecting a vehicular turn sharpness.

14. The method of claim 8, further comprising:

determining a value related to a vehicular turn sharpness.

15. The method of claim 8, further comprising:

correcting the measurement of the vehicle speed using a value related to a vehicular turn sharpness.

16. The method of claim 8, further comprising:

correcting the value related to the measurement of the vehicle speed responsive to a value related to a vehicular turn sharpness.

17. The method of claim 8, further comprising:

limiting a rotational speed of the first wheel drive within a limited range at least partially related to the measurement of the vehicle speed.

18. The method of claim 8, further comprising:

limiting a rotational direction of the first wheel drive responsive to the first speed deviation metric.

19. The method of claim 8, further comprising:

controlling the first electric motor speed responsive to the vehicle speed.

20. The method of claim 8, wherein the vehicle is a truck.

21. The method of claim 8, wherein the vehicle is a mine haul truck.

22. The method of claim 8, wherein said controlling adjusts the first wheel drive speed to a level between about 60 percent and about 100 percent of a value related to the measurement of the actual speed of the vehicle.

23. A machine-readable medium comprising stored instructions for:

receiving a measurement of a vehicle speed, the measurement utilizing Doppler Effect, the vehicle comprising a first wheel drive comprising a first electric motor, the first wheel drive controllably rotatable at a first drive speed, the vehicle comprising a second wheel drive comprising a second electric motor distinct from the first electric motor, the second wheel drive controllably rotatable at a second drive speed distinct from the first drive speed;

receiving information indicative of the first drive speed;

comparing a value related to the measurement of the vehicle speed with the information indicative of the first drive speed to obtain a first speed deviation metric; and

controlling a torque output of the first electric motor within a limited range, the limited range at least partially based upon the first speed deviation metric.