A method for controlling propulsion of a heavy vehicle (100) wherein the heavy vehicle (100) comprises a differential drive (245) arranged to be connected to a drive axle (246) having a left wheel (270) and a right wheel (280), the method comprising determining (S1) a nominal axle slip ([lambda] 0, 440) corresponding to a desired wheel force (Fx) to be generated by the drive axle wheels (270, 280), wherein the nominal axle slip indicates a difference between a current vehicle speed (Vx) and a vehicle speed corresponding to an axle speed ([omega] 0); determining (S2) a difference between the speed ([omega] 1) of the left wheel and the speed ([omega] 2) of the right wheel; adjusting (S3) the nominal axle slip ([lambda] 0, 440) to a target axle slip ([lambda] T, 460) as a function of the magnitude of the wheel speed difference; and controlling (S4) the shaft speed ([omega] 0) based on the target shaft slip ([lambda] T, 460).
一种用于控制重型车辆(100)的推进的方法,其中重型车辆(100)包括差速驱动装置(245),所述差速驱动装置被布置为连接到具有左轮(270)和右轮(280)的驱动桥(246),所述方法包括确定(S1)与将由驱动桥车轮(270、280)产生的期望车轮力(Fx)相对应的标称轴滑移(λ0,440),其中所述标称轴滑移指示当前车辆速度(Vx)与对应于轴速(ω0)的车辆速度之间的差;确定(S2)所述左轮的速度(ω1)与所述右轮的速度(ω2)之间的差;根据所述车轮速度差的幅度来将所述标称轴滑移(λ0,440)调整(S3)到目标轴滑移(λT,460);以及基于所述目标轴滑移(λT,460)来控制(S4)轴速(ω0)。
METHOD OF CONTROLLING PROPULSION OF A HEAVY VEHICLE
控制重型车辆的推进的方法
2024-01-26
Patent
Electronic Resource
Chinese
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