Articulation Actuator Torque Control for Convoy Sway Damping

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Solution Overview

Problem

Road vehicle convoys experience uncontrolled sway movements due to lateral oscillations, which can lead to loss of control and safety issues, and existing damping methods either slow the convoy excessively or require intermittent use.

Innovation Solution

A control method that uses electrical machines to create torque at the articulation without braking the wheels, allowing for continuous damping of sway movements while minimizing the braking of the convoy, thus preventing wheel immobilization and loss of grip.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Stability of the object's composition

If dissipative braking is used to damp sway movement, then the sway movement is damped, but the convoy is slowed significantly and wheels may immobilize

Engineering Contradiction:

Improvesway movement dampingVSAvoidconvoy speed

Core Design Contradiction:

Stability of the object's compositionVSSpeed

Solution Approach 1:

The braking function is segmented between two independent systems: the actuator (primary damping mechanism) and the brakes (secondary/backup mechanism). This allows the actuator to handle sway damping without requiring heavy brake application, thereby maintaining convoy speed while still providing effective sway control.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The actuator serves as an intermediary mechanism between the control system and the wheels, providing sway damping through direct articulation control rather than through wheel braking. This intermediary approach allows damping of sway movements without the energy loss and speed reduction associated with dissipative braking.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Stability of the object's composition

If dissipative braking is used to damp sway movement, then the sway movement is damped, but the risk of wheel loss of grip increases

Engineering Contradiction:

Improvesway movement dampingVSAvoidwheel grip

Core Design Contradiction:

Stability of the object's compositionVSReliability

Solution Approach 1:

The actuator acts as an intermediary that provides sway damping without directly applying braking forces to the wheels. By controlling the articulation angle directly, the system achieves stability without compromising wheel grip, as the wheels are not subjected to high braking torques that would reduce traction.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The mechanical braking system is replaced or supplemented by an actuator-based system that uses direct articulation control instead of wheel braking. This substitution eliminates the trade-off between damping effectiveness and wheel grip, as the actuator provides damping forces through the articulation mechanism rather than through the wheel-brake interface.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Stability of the object's composition

If brakes are used to damp sway movement, then the sway movement is damped, but the control method cannot be used continuously

Engineering Contradiction:

Improvesway movement dampingVSAvoidcontinuous use capability

Core Design Contradiction:

Stability of the object's compositionVSDuration of action of moving object

Solution Approach 1:

The actuator enables continuous sway damping without the limitations of brake-based systems. While brakes would overheat and require intermittent use, the actuator can continuously apply damping forces through the articulation mechanism, allowing the control method to operate continuously and maintain convoy stability over extended periods.

Inventive Principle:

Principle #20Continuity of useful action

Solution Approach 2:

The control system is segmented into primary (actuator) and secondary (brakes) components, where the actuator handles continuous damping operations. This segmentation allows the primary system to be optimized for continuous operation while the secondary system remains available for backup or emergency situations.

Inventive Principle:

Principle #1Segmentation

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

This method effectively dampens sway movements without significantly slowing the convoy, allowing continuous use without permanent deceleration, reducing the risk of wheel immobilization and loss of grip, and simplifying the control process.

Implementation Method 1

At least one of the machines (46c, 48c) is controlled in response to a control signal to increase the rotation speed of at least one wheel (40c, 42c) of the wheel set (18c)

Methodology Applied

Scientific EffectElectromagnetic conversion: Electromagnetic Induction

Data Source

PatentUS10538240B2Road vehicle convoy control method, and road vehicle convoy

Publication Date: 2020.01.21 COMMISSARIAT A LENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES

AI summary

A road vehicle convoy control method includes applying, on a hinge, a moment, an amplitude of which varies based on measured oscillations to absorb the measured oscillations. The moment is applied on the hinge by controlling an actuator of the hinge and jointly controlling: an electrical machine of a first wheel from a wheel set that belongs to part of a chassis that pivot in relation to another wheel because of the hinge to increase torque of the first wheel; and, simultaneously, an electrical machine of a second wheel from the same wheel set to keep the torque thereof constant or increase the torque of the second wheel less than the torque of the first wheel to apply the moment on the hinge in combination with the actuator.