The present disclosure provides "motorized vehicle wheel speed control using heave when traversing deformable terrains". A motorized vehicle, system, and method includes: an electric machine; a traction battery coupled to the electric machine; and a controller programmed to control the wheel slip to provide a high wheel slip to traverse a deformable terrain such as sand or loose soil, and providing a lower wheel slip to avoid excessive removal of soil under the wheels after landing after detecting a vertical acceleration or heave event, such as while driving on a jump or bump. When vehicle vertical acceleration exceeds a first threshold and a ratio of wheel angular acceleration to vehicle longitudinal acceleration exceeds a second threshold, the electric machine is controlled to limit wheel slip to a lower value that provides sufficient traction to maintain a degree of forward motion. Otherwise, the motor is controlled to limit wheel slip to a higher value that accommodates higher vehicle speeds on the deformable terrain.
本公开提供了“穿越可变形地形时使用升沉的电动化车辆轮速控制”。一种电动化车辆、系统和方法包括:电机;牵引电池,所述牵引电池联接到所述电机;以及控制器,所述控制器被编程为控制车轮滑转以提供高的车轮滑转来穿越可变形地形诸如沙地或松散的土壤,以及提供较低的车轮滑转以避免在检测到竖直加速度或升沉事件之后诸如在跳跃部或隆起部上行驶时着陆之后过度去除车轮下方的土壤。当车辆竖直加速度超过第一阈值并且车轮角加速度与车辆纵向加速度的比率超过第二阈值时,控制所述电机以将车轮滑转限制为提供足够的牵引力以保持一定程度向前运动的较低值。否则,控制电机以将车轮滑转限制为适应可变形地形上的较高车速的较高值。
Electrically powered vehicle wheel speed control using heave when traversing deformable terrains
穿越可变形地形时使用升沉的电动化车辆轮速控制
2022-07-08
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
Electrified vehicle wheel speed control using heave when traversing deformable terrain
European Patent Office | 2023
|ELECTRIFIED VEHICLE WHEEL SPEED CONTTROL USING HEAVE WHEN TRAVERSING DEFORMABLE TERRAIN
European Patent Office | 2022
|Performance evaluation of a wire mesh wheel on deformable terrains
Online Contents | 2016
|Elliptical double mecanum wheels for autonomously traversing rough terrains
Tema Archive | 2010
|Deformable wheel, deformable wheel control system and vehicle
European Patent Office | 2021
|