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AssigneeThe Florida State University Research Foundation, Inc.
InventorsEmmanuel G. Collins, Oscar Chuy, JR.
Estimating the term…
The present invention is a traction control system utilizing a reference model based on a mass-damper system, a trajectory tracking controller, and a maximum tractive force estimator. The reference model generates the desired acceleration, velocity, and position of the vehicle based on user inputs, which are mapped, to force and torque inputs, to the reference model. The commanded trajectory is mapped to the desired wheel trajectories. Each wheel follows its desired trajectory using the trajectory tracking controller. The maximum tractive force estimator determines the minimum of the maximum tractive forces applicable to each wheel based on traversing surface. An associated lower bound on the reference model's mass determines when a wheel must follow a trajectory requiring more than the estimated min-max tractive force, inferring that slip has occurred or may soon occur. Subsequently, the reference model's mass parameter value is reduced to prevent future slip.
A traction control system for a vehicle having two or more wheels, comprising:
A method for controlling a traction control system, comprising:
A method for controlling an electric ground vehicle's traction, comprising:
Dependencies are inferred from the claim text.