Vehicle Torque Control With Wheel Speed Limits for Slip Stability
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Solution Overview
Problem
Existing vehicle motion management systems face performance limitations due to inconsistent actuator and slip control assumptions across different control units, leading to sub-optimal performance and excessive wheel slip, particularly in heavy-duty vehicles.
Innovation Solution
Implementing a vehicle motion management system that determines desired torque and wheel slip limits, transmitting control signals to motion support systems, and using a decentralized wheel motion system to adjust torque based on wheel speed limits, ensuring consistent wheel slip control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If torque control is applied at the actuator level without wheel speed limits, then the control system is simple to operate, but excessive wheel slip occurs leading to sub-optimal performance
Solution Approach 1:
The system changes the control parameter from pure torque control to torque control with wheel speed limits. The vehicle motion management system determines both a desired torque and wheel speed limits, transmitting these parameters to the motion support system which then controls the actuator to operate within the speed limits while achieving the desired torque, thereby preventing excessive wheel slip.
2Adaptability or versatility
If separate control units are used for primary actuator control and slip control functions, then each control unit can be specialized, but communication latencies limit slip control performance
Solution Approach 1:
The system merges the primary actuator control and slip control functions into a single integrated vehicle motion management system. This centralization eliminates communication latencies between separate control units, allowing real-time coordination of torque requests and wheel speed limits based on current vehicle operating conditions and road surface characteristics.
3Adaptability or versatility
If inconsistent actuator and slip assumptions are made in different control units, then each control unit can operate independently, but sub-optimal performance results
Solution Approach 1:
The system ensures homogeneous control assumptions by centralizing the vehicle motion management function. A single control unit determines both the desired torque and wheel speed limits based on consistent vehicle operating conditions and road surface estimates, eliminating inconsistencies that would arise from separate control units making different assumptions about actuator behavior and slip characteristics.
Data Source
AI summary
A vehicle motion management system (260) for a vehicle, the vehicle motion management system being connectable to a motion support system (230230) for communication of control signals therebetween, wherein the vehicle motion management system is configured to: —determine a desired torque for operating the vehicle at a current vehicle operating condition; —determine a wheel slip limit for at least one wheel of the vehicle; —determine, based at least on the wheel slip limit, a wheel speed limit for the at least one wheel of the vehicle; and—transmit a control signal indicative of the desired torque and the wheel speed limit to the motion support system (230).