Vehicle Position Control via Wheel Slip Correction
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Solution Overview
Problem
Current position control systems for vehicles on fixed paths are complex, costly to maintain, inflexible, and unable to effectively sense spacing issues or account for horizontal wheel slip and tire breakdowns, leading to inefficiencies and potential collisions.
Innovation Solution
A method and system utilizing vehicle processors and sensors to determine actual velocity, compare it to a velocity command, and adjust for wheel slip by decreasing the velocity command, with a position control correction module to maintain desired spacing between vehicles, incorporating a path processor to communicate ideal locations and correct for variations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a central controller with multiple sensors and complex wiring is used to monitor vehicle position, then vehicle spacing can be monitored, but the system becomes difficult to integrate and costly to maintain
Solution Approach 1:
The patent divides the monitoring function from the central controller and distributes it to individual vehicles through onboard computers. Each vehicle independently monitors its own position and spacing using its own sensors, eliminating the need for complex trackside wiring and multiple distributed sensors. This segmentation resolves the contradiction by maintaining spacing monitoring capability while dramatically reducing system integration complexity and maintenance costs.
Solution Approach 2:
Each vehicle performs self-monitoring of its position and spacing using onboard sensors and computer processing. The vehicle independently detects its own wheel slip conditions and adjusts its velocity commands without requiring external intervention from trackside equipment. This self-service approach eliminates complex trackside infrastructure while maintaining reliable spacing monitoring.
2Reliability
If traditional sensor systems are used to detect vehicle position, then spacing can be monitored, but the system cannot sense spacing problems until they become severe enough to violate minimum spacing
Solution Approach 1:
The onboard computer continuously receives feedback from sensors about wheel slip conditions and actual vehicle velocity. This feedback loop allows the system to detect spacing problems early by monitoring wheel slip indicators before minimum spacing is violated. The system responds in real-time by adjusting velocity commands, resolving the contradiction by enabling early detection and immediate response to spacing issues.
Solution Approach 2:
The system takes preliminary action by detecting wheel slip conditions and adjusting velocity commands before spacing violations occur. By monitoring wheel slip as an early indicator of potential spacing problems, the system proactively prevents severe spacing issues rather than reacting after they occur, thus reducing response time and improving reliability.
3Productivity
If velocity commands are maintained at high levels to improve productivity, then vehicle throughput increases, but wheel slip occurs causing position errors
Solution Approach 1:
The system dynamically adjusts velocity commands based on real-time wheel slip detection. When wheel slip is detected, the onboard computer automatically reduces the velocity command magnitude to eliminate slip and restore accurate position tracking. This dynamic adjustment resolves the contradiction by allowing high velocity commands during normal operation for productivity while automatically reducing velocity when slip occurs to maintain position accuracy.
Data Source
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AI summary
A method for determining slippage of at least one wheel of at least one vehicle having a motor and a processor that communicates velocity commands to the motor for varying a velocity of the vehicle is presented. The method includes determining an actual velocity of the vehicle over regular intervals; comparing, over regular intervals, the actual velocity of the vehicle to the expected velocity from the magnitude of the velocity commands to determine whether there is slip of the wheel of the vehicle; and reducing the magnitude of the velocity commands to equal approximately the actual velocity of the vehicle where there is slip of the wheel. A system and circuit carrying out the method are also presented.