System and method for reducing wheel slip and wheel locking in an electric vehicle
First Claim
1. A method of reducing wheel slip and wheel locking in an electric traction vehicle comprising:
- providing by a second controller a first signal value representative of a first amount of torque to a plurality of motor controllers including a first controller, each of the plurality of motor controllers controlling one of a plurality of motors, each of the plurality of motor controllers coupled to one of a plurality of wheels;
for each of the plurality of motor controllers, including the first controller, performing the following steps;
receiving in the first controller the first signal value representative of a first amount of torque to be applied to the wheel by the motor coupled to the wheel and to the first controller, and a second signal value representative of a reference speed of the electric traction vehicle, wherein the first and second signal values are generated by the second controller in communication with the first;
receiving in the first controller a third signal value representative of a speed of the wheel;
comparing the second signal and the third signal in a speed controller of the first controller to determine whether the wheel is slipping and whether the wheel is locking;
determining in the first controller a torque output signal using the first, second, and third signal values, wherein the torque output signal is less than the first signal value if the wheel is slipping, and wherein the torque output signal is greater than the first signal value if the wheel is locking;
transmitting the torque output signal from the first controller to the motor; and
applying an amount of torque to the wheel based on the torque output signal.
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Accused Products
Abstract
A method of reducing wheel slip and wheel locking in an electric traction vehicle includes receiving in a first controller a first signal value representative of a first amount of torque to be applied to at least one wheel of the electric traction vehicle by a motor coupled to the wheel and to the first controller, and a second signal value representative of a reference speed of the electric traction vehicle. The first and second signal values are generated by a second controller in communication with the first controller. The method also includes receiving in the first controller a third signal value representative of a speed of the at least one wheel, determining in the first controller a torque output signal using the first, second, and third signal values; and transmitting the torque output signal from the first controller to the motor.
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Citations
34 Claims
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1. A method of reducing wheel slip and wheel locking in an electric traction vehicle comprising:
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providing by a second controller a first signal value representative of a first amount of torque to a plurality of motor controllers including a first controller, each of the plurality of motor controllers controlling one of a plurality of motors, each of the plurality of motor controllers coupled to one of a plurality of wheels; for each of the plurality of motor controllers, including the first controller, performing the following steps; receiving in the first controller the first signal value representative of a first amount of torque to be applied to the wheel by the motor coupled to the wheel and to the first controller, and a second signal value representative of a reference speed of the electric traction vehicle, wherein the first and second signal values are generated by the second controller in communication with the first; receiving in the first controller a third signal value representative of a speed of the wheel; comparing the second signal and the third signal in a speed controller of the first controller to determine whether the wheel is slipping and whether the wheel is locking; determining in the first controller a torque output signal using the first, second, and third signal values, wherein the torque output signal is less than the first signal value if the wheel is slipping, and wherein the torque output signal is greater than the first signal value if the wheel is locking; transmitting the torque output signal from the first controller to the motor; and applying an amount of torque to the wheel based on the torque output signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 34)
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13. A method of reducing wheel slip and wheel locking in an electric traction vehicle comprising:
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configuring a vehicle system controller to determine a first torque value and a reference speed value; configuring a motor drive controller coupled to an electric motor and in communication with the vehicle system controller to determine a second torque value using the reference speed value and a speed of a wheel coupled to the electric motor, the motor drive controller being one of a plurality of motor controllers in communication with the vehicle system controller, the wheel being one of a plurality of wheels, each of the plurality of motor controllers being associated with one of a plurality of wheels; configuring the motor drive controller to transmit a torque output signal representative of one of the first torque value and the second torque value, the torque output signal being determined such that the reference speed provides an upper limit for the speed of the wheel if the wheel is slipping and such that the reference speed provides a lower limit for the speed of the wheel if the wheel is locking; and configuring the electric motor to provide an amount of torque to the wheel based on the torque output signal. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. An electric traction vehicle comprising:
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a vehicle controller configured to determine a first torque value and a reference speed value; a first motor drive controller coupled to a first electric motor and in communication with the vehicle system controller; and a second motor drive controller coupled to a second electric motor and in communication with the vehicle system controller; wherein the first motor drive controller is configured to determine a second torque value using the reference speed value and a speed of a first wheel coupled to the first electric motor, and to transmit a first torque output signal representative of one of the first torque value and the second torque value, the first torque output signal being determined such that the reference speed provides an upper limit for the speed of the first wheel if the first wheel is slipping and such that the reference speed provides a lower limit for the speed of the first wheel if the first wheel is locking; wherein the second motor drive controller is configured to determine a third torque value using the reference speed value and a speed of a second wheel coupled to the second electric motor, and to transmit a second torque output signal representative of one of the first torque value and the third torque value, the second torque output signal being determined such that the reference speed provides an upper limit for the speed of the second wheel if the second wheel is slipping and such that the reference speed provides a lower limit for the speed of the second wheel if the second wheel is locking; wherein the first electric motor is configured to provide a first amount of torque to the first wheel based on the first torque output signal, and wherein the second electric motor is configured to provide a second amount of torque to the second wheel based on the second torque output signal. - View Dependent Claims (25, 26, 27, 28, 29, 30, 31, 32, 33)
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Specification