Wheel Slip Control Using Dual Motion Support Modes
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Solution Overview
Problem
Existing wheel slip control systems in heavy-duty vehicles face performance limitations due to latency in communication between torque control actuators and slip control systems, particularly when multiple motion support devices act on a common wheel, leading to interference and reduced control precision.
Innovation Solution
Implementing a method where at least two motion support devices operate in different modes, such as one in speed control mode and the other in torque control mode, to avoid interference and achieve precise slip and torque control, with the use of a tyre model to transform torque requests into wheel slip requests for faster response times.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If torque control is used at the actuator level, then a certain tyre force can be requested, but significant performance limitations and latency occur in slip control
Solution Approach 1:
The patent combines the torque control and slip control functions into a single controller. This merging eliminates the communication latency between separate torque control actuators and slip control systems, enabling precise and timely slip control by integrating both control objectives in one control unit.
Solution Approach 2:
The single controller performs multiple functions: it handles both the primary torque control and the slip control tasks. This multi-functionality allows the system to achieve precise slip control without the performance limitations imposed by separate control systems and their communication delays.
2Power
If multiple motion support devices act on the same wheel, then torque can be distributed, but interference and fighting between devices occur
Solution Approach 1:
By merging the control of multiple motion support devices into a single controller, the system coordinates their actions to work together harmoniously. The single controller distributes torque requests among the devices while maintaining control stability, preventing interference and fighting between them through unified decision-making.
Solution Approach 2:
The single controller applies different control strategies to different motion support devices based on their individual characteristics and current states. This localized control approach optimizes torque distribution while maintaining overall system stability and preventing interference between devices.
3Speed
If wheel slip control is implemented, then faster control response is obtained, but allocation between multiple actuators becomes complex
Solution Approach 1:
The patent merges the wheel slip control logic with the torque distribution functionality in a single controller. This integration simplifies the overall system architecture by eliminating the need for complex communication and coordination between separate controllers, making the actuator allocation process more manageable despite the fast response requirements.
Data Source
AI summary
A method for controlling wheel slip of a vehicle. The vehicle comprises at least a first and a second motion support device, MSD, for providing torque to a common wheel of the vehicle. The method comprises receiving a wheel torque request. Based on the received wheel torque request, the method further comprises controlling the first MSD to provide torque to the wheel in a first mode of operation, and controlling the second MSD to provide torque to the wheel in a second mode of operation which is different from the first mode of operation. The controlling of the first MSD and the controlling of the second MSD are, at least temporarily, performed simultaneously.