Method and apparatus for braking and stopping vehicles having an electric drive
First Claim
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1. A system for braking and stopping a vehicle powered by an electric motor driving at least one traction wheel, comprising:
- a torque command signal generator adapted to generate a first torque command signal based on brake pedal and accelerator pedal position values, said torque command signal comprising a positive torque to drive the motor or a negative torque to brake the traction wheel, said torque command signal adapted to control a motor speed at or above a first vehicle speed;
a torque limiting signal generator adapted to convert-said first torque command signal into torque limiting signals, said torque limiting signals limiting at least a second torque command signal produced within a speed control loop, said speed control loop adapted to output said at least a second torque command signal to said motor to control said motor speed to approach a commanded motor speed including zero motor speed, said zero motor speed achieved and maintained without application of friction using only said speed control loop, said speed control loop adapted to control said motor speed below said first vehicle speed.
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Abstract
A method and apparatus are provided for braking and stopping a vehicle whose powertrain includes an electric drive. The electric drive is used to generate braking torque which is used to decelerate the vehicle down to a full stop. The braking torque is achieved using any of several closed loop speed control systems. The system can be used as a substitute for or as a supplement to conventional friction bakes.
85 Citations
22 Claims
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1. A system for braking and stopping a vehicle powered by an electric motor driving at least one traction wheel, comprising:
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a torque command signal generator adapted to generate a first torque command signal based on brake pedal and accelerator pedal position values, said torque command signal comprising a positive torque to drive the motor or a negative torque to brake the traction wheel, said torque command signal adapted to control a motor speed at or above a first vehicle speed; a torque limiting signal generator adapted to convert-said first torque command signal into torque limiting signals, said torque limiting signals limiting at least a second torque command signal produced within a speed control loop, said speed control loop adapted to output said at least a second torque command signal to said motor to control said motor speed to approach a commanded motor speed including zero motor speed, said zero motor speed achieved and maintained without application of friction using only said speed control loop, said speed control loop adapted to control said motor speed below said first vehicle speed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A system for braking and stopping a vehicle powered by an electric motor driving at least one traction wheel, comprising:
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a torque command signal generator adapted to generate a first torque command signal based on brake pedal and accelerator pedal position values, said torque command signal comprising a positive torque to drive the motor or a negative torque to brake the traction wheel said torque command signal adapted to control a motor speed at or above a first vehicle speed; a torque limiting signal generator adapted to convert said first torque command signal into torque limiting signals, said torque limiting signals limiting at least a second torque command signal produced within a speed control loop, said speed control loop adapted to output said at least a second torque command signal to said motor and receive a subsequently determined motor speed, wherein said determined motor speed is compared to a commanded motor speed to produce and output at least a third torque command signal to said motor to approach said commanded motor speed including zero motor speed, said zero motor speed achieved and maintained without application of friction using only said speed control loop, said speed control loop adapted to control said motor speed below said first vehicle speed. - View Dependent Claims (15, 16, 17, 18, 19)
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20. A system for braking and stopping a vehicle powered by an electric motor driving at least one traction wheel, comprising:
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a torque command signal generator adapted to generate a first torque command signal based on brake pedal and accelerator pedal position values, said torque command signal comprising a positive torque to drive the motor or a negative torque to brake the traction wheel, said torque command signal adapted to control a motor speed at or above a first vehicle speed; a torque limiting signal generator adapted to convert said first torque command signal into torque limiting signals, said torque limiting signals limiting at least a second torque command signal produced within a speed control loop, said speed control loop adapted to output said at least a second torque command signal to said motor and receive a subsequently determined motor speed, wherein said determined motor speed is compared to a commanded motor speed to produce and output at least a third torque command signal to said motor to approach said commanded motor speed; wherein said speed control loop is adapted to operate to accomplish deceleration and stopping of said vehicle using only said speed control loop below said first vehicle speed. - View Dependent Claims (21, 22)
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Specification