Control of force to be applied per wheel pair at a trailer
AssigneeVolvo Truck Corporation
InventorsLeo Laine, Charlotte Holmen
Life of this patent
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Abstract
Techniques for controlling a force, denoted 2F×2, to be applied per wheel pair at a trailer when the trailer is moving along a slope. The trailer comprises an electrical drive axle to which wheel pairs are coupled. The trailer has a mass, denoted m. A method comprises obtaining, from at least one sensor, an indication of the mass m of the trailer and an indication of a current inclination angle, denoted α, of the trailer with respect to a horizontal plane of Earth as the trailer is moving along the slope. The method comprises limiting the force 2F×2 to currently be applied per wheel pair at the trailer to 2F×2≤mg sin α, where g denotes Earth's gravity.
Claims13
A method for controlling a force, 2F×2, to be applied per wheel pair at a trailer when the trailer is moving along a slope, the trailer comprising an electrical drive axle to which wheel pairs are coupled, the trailer having a mass, m, the method comprising:
- obtaining, from at least one sensor, an indication of the mass, m, of the trailer and an indication of a current inclination angle, α, of the trailer with respect to a horizontal plane of Earth as the trailer is moving along the slope;
- and
- limiting the force 2F×2 to currently be applied per wheel pair at the trailer to:
- 2
-
- Fx
-
- 2
- ≤
- m
-
- g
-
- sin
-
- α
- ,
- where g denotes Earth's gravity.
A system for controlling a force, 2F×2, to be applied per wheel pair at a trailer when the trailer is moving along a slope, the trailer comprising an electrical drive axle to which wheel pairs are coupled, the trailer having a mass, m, the system comprising processing circuitry, the processing circuitry being configured to cause the system to:
- obtain, from at least one sensor, an indication of the mass, m, of the trailer and an indication of a current inclination angle, α, of the trailer with respect to a horizontal plane of Earth as the trailer is moving along the slope;
- and
- limit the force 2F×2 to currently be applied per wheel pair at the trailer to:
- 2
-
- Fx
-
- 2
- ≤
- m
-
- g
-
- sin
-
- α
- ,
- where g denotes Earth's gravity.
A computer program for controlling a force, 2F×2, to be applied per wheel pair at a trailer when the trailer is moving along a slope, the trailer comprising an electrical drive axle to which wheel pairs are coupled, the trailer having a mass, m, the computer program comprising computer code which, when run on processing circuitry of a system, causes the system to:
- obtain, from at least one sensor, an indication of the mass, m, of the trailer and an indication of a current inclination angle, α, of the trailer with respect to a horizontal plane of Earth as the trailer is moving along the slope;
- and
- limit the force 2F×2 to currently be applied per wheel pair at the trailer to:
- 2
-
- Fx
-
- 2
- ≤
- m
-
- g
-
- sin
-
- α
- ,
- where g denotes Earth's gravity.
Dependencies are inferred from the claim text.