Torque Distribution Adjustment for Single-Wheel Drive Yawing
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Solution Overview
Problem
Vehicles with single-wheel drive units experience yawing moments due to manufacturing and component tolerances, leading to uneven torque distribution and constant steering corrections, even when driving straight, as the drive electromotors develop different response characteristics over time.
Innovation Solution
A control system that includes an adjustment unit within the torque distribution unit to correct target torques for each drive unit based on detected differences caused by manufacturing or component tolerances, ensuring even torque distribution and neutral steering behavior by calculating an adjustment factor during a reference driving operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If two single-wheel drive units are used with identical construction, then the vehicle should have symmetric drive characteristics, but manufacturing and component tolerances cause different response characteristics leading to yawing moments
Solution Approach 1:
The patent applies parameter changes by introducing adjustment factors that modify the target torque values for each drive unit. These adjustment factors compensate for manufacturing tolerances and aging effects, allowing the system to maintain symmetric drive characteristics despite inherent variations in drive unit performance. The control device dynamically adjusts torque distribution parameters to counteract yawing moments.
Solution Approach 2:
The system implements feedback by continuously monitoring the actual torque output of each drive unit and comparing it with the target torque. Based on this feedback, the control device calculates adjustment factors that compensate for deviations caused by manufacturing tolerances and aging, ensuring consistent torque distribution and eliminating yawing moments during straight-ahead driving.
2Ease of operation
If drive units are controlled with identical target torques, then torque distribution should be even, but tolerances cause different actual torques resulting in constant yawing moments
Solution Approach 1:
The patent applies preliminary anti-action by pre-calculating adjustment factors that counteract the expected yawing moments caused by manufacturing tolerances. Before the drive units are activated, the control device determines compensation values that will neutralize the harmful effects of tolerance variations, allowing straight-ahead driving without constant steering corrections.
Solution Approach 2:
The system changes the torque parameter for each drive unit by applying adjustment factors to the target torque values. This parameter modification compensates for the different response characteristics of the drive units, eliminating yawing moments and improving ease of operation during straight-ahead driving.
3Reliability
If adjustment factors are calculated based on torque differences, then torque distribution can be corrected, but additional control complexity is required to detect and compensate differences
Solution Approach 1:
The patent applies universality by using the existing chassis control system and torque distribution unit to perform both the original torque distribution function and the additional function of calculating adjustment factors for tolerance compensation. This multi-functionality approach increases reliability without requiring a completely separate control system, as the existing infrastructure is leveraged for the compensation task.
Solution Approach 2:
The control system performs self-service by automatically detecting torque differences between drive units and calculating the necessary adjustment factors without external intervention. The system monitors its own performance and autonomously compensates for manufacturing tolerances, improving torque distribution accuracy while minimizing the need for additional complex control mechanisms.
Data Source
AI summary
A vehicle has at least two drive wheels which can be driven in each case by single-wheel drive units which are in particular of structurally identical dimensions and which can be actuated by means of a control device, control device determines a target torque which, in a torque distribution unit, can be divided into a first target torque for the first drive unit and a second target torque for the second drive unit. The torque distribution unit is assigned an adjustment unit by means of which the first and/or the second target torque can be corrected with an adjustment factor which can be determined as a function of a torque difference, arising owing to manufacturing and/or component tolerances, between the drive units.