Combined Vehicle Motion Stabilizer Torque Control Timing
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Solution Overview
Problem
Drivers experience discomfort when attempting to accelerate a combined vehicle with a pendular motion stabilizer, as engine torque limiting controls can make the vehicle feel unstable even after the tractor has partially stabilized, leading to impaired driving feel.
Innovation Solution
A motion stabilizer system that includes a pendular motion determination unit, braking control unit, and engine torque control unit, where the engine torque limitation is relaxed before the braking control ends, allowing drivers to feel acceleration more naturally, and the braking control continues to reduce pendular motion effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If engine torque limiting control is maintained until braking control ends, then pendular motion is effectively reduced, but driver feel of acceleration is impaired and vehicle feels unstable
Solution Approach 1:
The engine torque limitation is relaxed in advance before the braking control ends, specifically when the absolute value of the lateral acceleration becomes smaller than the second threshold value. This preliminary relaxation allows the driver to perceive acceleration naturally while the braking control continues to eliminate pendular motion, resolving the contradiction between stability and driver feel.
2Ease of operation
If engine torque limitation is relaxed early, then driver feel of acceleration improves, but pendular motion may not be sufficiently reduced
Solution Approach 1:
The system relaxes engine torque limitation preliminarily when lateral acceleration drops below the second threshold, but maintains braking control until the first threshold is reached. This staged approach ensures sufficient pendular motion reduction while improving driver feel.
Solution Approach 2:
The control system operates in distinct phases: first phase relaxes torque limitation when lateral acceleration < second threshold to improve driver feel; second phase continues braking until lateral acceleration < first threshold to ensure stability. This periodic control strategy balances both requirements.
Data Source
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AI summary
A motion stabilizer (100) for a combined vehicle includes a pendular motion determination unit (21) configured to determine whether or not a pendular motion caused by a swaying motion of the trailer is imparted to the tractor, a braking control unit (23) configured to exercise a braking control upon detection of the pendular motion, and an engine torque control unit (24) configured to exercise an engine torque control for regulating an engine torque produced by an engine, which engine torque control includes placing a limitation on the engine torque upon detection of the pendular motion. A start of the engine torque control unit (24) relaxing the limitation on the engine torque is timed to occur prior to a start of the braking control unit (23) bringing the braking control to an end.