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Real-time distribution of actuator torque in a vehicle

A technology of actuators and actuator groups, which is applied to vehicle components, power devices, motion deposition, etc., and can solve problems such as complex control distribution problems

Inactive Publication Date: 2016-01-20
GM GLOBAL TECH OPERATIONS LLC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The problem of control assignment is especially complex when there are redundant sets of actuators, for example when the number of actuators used at a corner of the vehicle or at each wheel / road interface exceeds the number of forces being controlled at the same corner

Method used

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  • Real-time distribution of actuator torque in a vehicle
  • Real-time distribution of actuator torque in a vehicle
  • Real-time distribution of actuator torque in a vehicle

Examples

Experimental program
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Embodiment Construction

[0013] Referring to the drawings, a vehicle 10 having a center of gravity (point 45) is schematically shown at figure 1 shown in . According to two possible embodiments, the vehicle 10 may be configured as a hybrid electric vehicle (HEV) or a battery electric vehicle (BEV). If configured as an HEV, the vehicle 10 may include an internal combustion engine 12 , as shown in phantom. Vehicle 10 includes one or more electric motors 14 , one or more rear axles 16 , one or more front axles 18 , and wheels 20 , 22 , 24 and 26 , one at each corner of vehicle 10 . Other vehicle embodiments may have a different number of corners, such as a tricycle design with three corners.

[0014] In some embodiments, the vehicle 10 may also include a transmission (not shown) having one or more clutches, gear sets, etc., adapted to establish a desired speed or torque ratio. figure 1 The particular vehicle embodiment shown in has a different motor 14 positioned at each corner as a wheel motor, altho...

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Abstract

A method for allocating forces among corners of a vehicle having redundant sets of actuators includes determining a desired set of forces at the vehicle's center of gravity and utilizing a controller to allocate the desired set among the corners of the vehicle force as a virtual control command. The method also includes mapping virtual control instructions at the corner to actual or real control instructions at the corner, and using the actual or real control instructions to control a plurality of actuators at the corner. Actuators may include friction brakes and wheel motors. Mapping virtual control instructions may include using a least squares formula. Control of the actuators may be prioritized relative to each other using a weighting matrix. A vehicle includes a controller having an actuator configured to perform the method described above.

Description

technical field [0001] The present disclosure relates to apportioning or distributing each motor, friction brake, or other actuator torque with respect to the corners of a hybrid electric or battery electric vehicle. Background technique [0002] Hybrid and battery electric powertrain controllers automatically manage the torque output of one or more prime movers, such as an internal combustion engine, and / or one or more electric traction motors. Additional actuators, such as friction brakes and wheel motors, can act directly at each corner of the vehicle to provide various levels of desired braking and propulsion. Certain overall control schemes may determine the desired level of force to be applied at each corner as a set of virtual control commands. [0003] The efficient conversion of virtual control commands to a set of actual or true torque control commands is often referred to as the control assignment problem. The control distribution problem is especially complicat...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/18B60W10/08B60W10/184
CPCB60K7/0007B60K2007/0092B60W10/08B60W10/184B60W30/18145B60W50/0098B60W50/023B60W2050/0031B60W2720/403B60W2720/406Y02T10/72
Inventor Y.A.戈尼姆S-K.陈V.派力普查克N.K.莫什查克B.B.利特科伊
Owner GM GLOBAL TECH OPERATIONS LLC
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