Differential Wheel Speed Control for Slip-Limited Vehicle Turning
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Solution Overview
Problem
Existing technologies do not provide effective control mechanisms to suppress driving wheel slippage in vehicles.
Innovation Solution
A vehicle control device that includes a target value setting unit, an allowable slip range setting unit, and a rotational speed control unit to manage the rotational speeds of left and right driving motors based on target vehicle speeds and yaw rates, setting allowable slip ranges, and controlling motor speeds to prevent wheel slippage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the vehicle uses differential wheel speeds for turning, then the vehicle can achieve turning capability, but driving wheel slippage occurs
Solution Approach 1:
The control device dynamically adjusts the rotational speed parameters of the driving wheels based on detected wheel speeds and slip conditions. By changing the speed parameters in real-time, the system maintains turning capability while suppressing slippage through proportional control of the driving motors.
Solution Approach 2:
The system continuously detects the actual wheel speeds of the left and right driving wheels, compares them with target speeds, and uses this feedback to adjust the driving motor outputs. This closed-loop control enables the vehicle to maintain desired turning behavior while preventing excessive wheel slippage.
2Speed
If the vehicle increases driving force for faster acceleration, then the vehicle speed increases, but driving wheel slippage increases
Solution Approach 1:
The control device adjusts the rotational speed parameters of the driving wheels based on detected wheel speeds and slip conditions. By dynamically changing speed parameters in real-time, the system achieves faster vehicle acceleration while suppressing driving wheel slippage through proportional control of the driving motors.
Solution Approach 2:
The system continuously monitors actual wheel speeds and compares them with target speeds, using this feedback to adjust driving motor outputs. This closed-loop control enables the vehicle to accelerate rapidly while preventing excessive wheel slippage by modulating motor torque based on slip detection.
Data Source
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AI summary
A vehicle control device (26) controls a vehicle (10) that is capable of turning using the difference between the wheel speed of a left drive wheel (14L) and the wheel speed of a right drive wheel (14R). The vehicle control device sets the target wheel speeds of the right and left drive wheels within a range corresponding to the allowable slip range of the right and left drive wheels on the basis of a target vehicle speed and a target yaw rate and controls the rotational speeds of the right and left drive motors on the basis of the target wheel speeds of the right and left drive wheels.