Wheel Slip Control Using Backlash Speed Separation
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Solution Overview
Problem
Existing methods for controlling wheel slip in vehicles, particularly those driven by motors, face challenges due to backlash components between the motor and wheel, leading to decreased control performance, stability, and driving performance.
Innovation Solution
A method that involves determining the speed of the backlash component and removing it from the driving system speed to accurately control wheel slip, using a controller to calculate a torque correction amount and adjust the torque command accordingly, thereby preventing unnecessary corrections and maintaining optimal vehicle performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If motor speed is used for wheel slip control, then control response is improved, but control precision deteriorates due to backlash component
Solution Approach 1:
The patent extracts and removes the backlash component from the motor speed signal. The controller identifies the backlash component as a separate element that contaminates the wheel slip detection, and actively removes it to obtain a clean signal for accurate control.
Solution Approach 2:
The patent introduces an intermediary processing step between motor speed measurement and wheel slip control. The controller acts as an intermediary that processes the motor speed signal, separates the backlash component, and provides a corrected signal for control decisions.
2Reliability
If torque correction is applied based on motor speed, then wheel slip control is achieved, but unnecessary corrections occur due to backlash
Solution Approach 1:
The patent converts the harmful backlash component into a detectable and removable element. By identifying the backlash characteristics, the system transforms what was previously a source of error into an opportunity for correction, improving overall control accuracy.
Solution Approach 2:
The patent implements feedback by continuously monitoring the motor speed signal, identifying backlash components, and adjusting the torque command accordingly. The controller uses the identified backlash information to modify future torque corrections, preventing unnecessary adjustments.
3Device complexity
If backlash component is not removed, then control system remains simple, but control performance decreases
Solution Approach 1:
The control system performs self-correction by automatically identifying and compensating for its own backlash component. The controller monitors its own operation and adjusts torque commands to account for backlash, enabling the system to correct its own deficiencies without external intervention.
Data Source
AI summary
A method for controlling wheel slip of a vehicle includes obtaining operation state information of a driving system, determining the speed of a backlash component between a drive apparatus and a drive wheel of the vehicle based on the obtained operation state information of the driving system, determining a reference speed for controlling wheel slip, determining a control input value for controlling the wheel slip based on a driving system speed, the speed of the backlash component, and the reference speed, using the control input value to determine whether wheel slip occurs, determining a torque correction amount based on the control input value when it is determined that wheel slip has occurred, and correcting a torque command of the drive apparatus according to the torque correction amount.