Travel Vehicle Torque Allocation via Center of Gravity Calculation
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Solution Overview
Problem
Existing travel vehicles face challenges in optimally allocating torques to front and rear drive wheels, leading to issues like wheel idling, locking, and excessive dust generation, particularly during acceleration and deceleration, and require sensor-based wheel pressure measurements which can be delayed and inaccurate.
Innovation Solution
A travel vehicle system that determines wheel pressures based on the center of gravity, horizontal distances, and travel acceleration/deceleration, using wheel pressure detection means to allocate torques to each drive wheel, allowing for optimal torque distribution without the need for sensors, and adjusts for elevation frame height changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensor-based wheel pressure measurement is used, then wheel pressure can be detected, but response delay occurs
Solution Approach 1:
The patent replaces sensor-based mechanical measurement with a calculation-based approach. The wheel pressure distribution is determined by calculating the moment balance around the center of gravity, using the formula: (Fr × Lr) + (Fa × Lf) = (W × Lcg), where Fr and Fa are rear and front wheel pressures, Lr and Lf are horizontal distances from center of gravity to wheels, W is vehicle weight, and Lcg is horizontal distance from center of gravity to rear wheel. This substitution eliminates sensor response delays while maintaining measurement accuracy.
Solution Approach 2:
The patent introduces the center of gravity position and moment balance principle as an intermediary to determine wheel pressure distribution. Instead of directly measuring wheel pressure with sensors, the system uses the relationship between center of gravity position, vehicle weight, and horizontal distances to calculate the pressure distribution, thereby avoiding the response delay issue of direct sensor measurement.
2Reliability
If torque is not optimally allocated to drive wheels, then wheel idling or locking occurs, but dust generation and vibration increase
Solution Approach 1:
The patent applies local quality by allocating torque differently to front and rear drive wheels based on their individual pressure conditions. The torque allocation ratios are determined as: Tr/Tt = Fr/(Fr + Fa) and Tf/Tt = Fa/(Fr + Fa), where Tr and Tf are torques for rear and front wheels, Tt is total torque, and Fr and Fa are wheel pressures. This ensures each wheel receives torque proportional to its contact pressure, preventing idling or locking while reducing dust and vibration.
3Adaptability or versatility
If elevation frame height changes, then center of gravity position changes, but torque allocation accuracy decreases
Solution Approach 1:
The patent implements dynamics by making the torque allocation system adaptive to changing elevation frame heights. When the elevation frame height changes, the center of gravity position changes, which alters the horizontal distance Lcg from the center of gravity to the rear wheel. The system dynamically recalculates the wheel pressure distribution and torque allocation ratios based on the new center of gravity position, ensuring accurate torque distribution regardless of elevation frame height.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach prevents wheel idling and locking, reduces dust and vibration, enables greater acceleration and deceleration capabilities, and reduces travel time by optimizing torque allocation in real-time without sensor delays.
Implementation Method 1
the wheel pressure detection means determines the proportion of the wheel pressures applied to each of the drive wheels based on a height of the center of gravity of the travel vehicle, horizontal distances from the center of gravity to each of the drive wheels, and a travel acceleration and deceleration
Implementation Method 2
torque allocation means for allocating torques required for traveling, to each of the drive wheels in correspondence with the proportion of wheel pressures determined by the wheel pressure detection means
Data Source
AI summary
The height of the center of gravity of a stacker crane is determined in consideration of a height position of an elevation frame and the inertial force is determined from the travel acceleration and deceleration. Wheel pressures applied to front and rear drive wheels are determined based on the height of the center of gravity, the inertial force, and horizontal distances from the center of gravity to the front and rear drive wheels. Torques are allocated in proportion to the determined wheel pressures.