Vehicle Drive Control for Mast Oscillation Prevention
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Solution Overview
Problem
Existing vehicle drive control systems, particularly in tall stacker cranes and vehicles, face instability due to mast oscillations caused by asynchronous rotational speeds and torque distribution between drives, leading to potential slip and tilt issues.
Innovation Solution
A control system that connects two electrical drives for data transmission, allowing the rotational speed and torque of the master drive to be communicated to the slave drive, enabling the controller to determine an ideal rotational speed for the slave drive to achieve balanced force distribution and prevent mast oscillations by adjusting the lever arms' torque application.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the drives are operated synchronously with respect to rotational speed, then the wheels can exhibit slip, but the mast connecting the two drives would have a non-zero variable angle of inclination and experience tilt oscillations
Solution Approach 1:
The patent changes the control parameter from synchronous rotational speed operation to asynchronous operation with torque coordination. The controller adjusts the rotational speed of the second drive based on the rotational speed and torque of the first drive, allowing different rotational speeds while maintaining stable mast orientation through torque balance.
Solution Approach 2:
The patent implements a feedback control mechanism where the controller of the second drive receives information about the rotational speed and torque of the first drive. The controller continuously adjusts the rotational speed specification of the second drive based on this feedback to maintain ideal force distribution and prevent mast oscillations.
2Reliability
If the wheels are made of metal and round to prevent slip, then the drives can operate synchronously, but the mast would still experience tilt oscillations due to asynchronous torque distribution
Solution Approach 1:
The controller continuously monitors the torque of the first drive and adjusts the rotational speed specification of the second drive accordingly. This feedback mechanism ensures that even with metal wheels that prevent slip, the torque distribution remains balanced to prevent mast tilt oscillations.
Solution Approach 2:
The patent introduces dynamic adjustment of the rotational speed of the second drive based on real-time torque conditions. Instead of fixed synchronous operation, the system dynamically adapts the rotational speeds to maintain optimal torque distribution and prevent mast oscillations while allowing wheel slip to occur.
3Adaptability or versatility
If the rotational speed of the second drive is independently controlled, then the drive system can respond to different load conditions, but the mast would experience rotary motion and reduced driveability
Solution Approach 1:
The controller of the second drive uses feedback from the first drive's rotational speed and torque to adjust the second drive's rotational speed specification. This ensures that independent control capabilities are maintained while torque distribution remains balanced to prevent mast rotary motion and maintain driveability.
Solution Approach 2:
The system dynamically coordinates the rotational speeds of both drives based on real-time torque conditions. The second drive's rotational speed is adjusted dynamically in response to the first drive's operation, allowing independent control adaptability while maintaining torque balance to prevent mast oscillations and rotary motion.
Data Source
AI summary
A vehicle, including two controllable electrical drives, which are capable of being operated in mutual dependence, the rotational speed and the torque of a first drive, in particular a master drive.