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US 9,956,874 B2Granted
Traction control method and apparatus for a work vehicle with independent drives
AssigneeDeere & Company
InventorsTodd F. Velde, Eric R. Anderson
Life of this patent
Estimating the term…
Abstract
A method and apparatus for controlling traction of a vehicle with independent drives or motors connected to the wheels or other ground engaging apparatuses. Nominal torque allocations can be determined for a set of motors, the motors connected to ground engaging elements and including a front set of motors and a rear set of motors. The nominal torque allocations can be modified based on a lateral differential correction and a fore-aft differential correction to produce modified torque commands and the modified torque commands can be applied to the set of motors.
Claims6
A work vehicle comprising:
- a front-left wheel;
- a front-left motor mechanically coupled to the front-left wheel to provide torque to the front-left wheel;
- a front-right wheel;
- a front-right motor mechanically coupled to the front-right wheel to provide torque to the front-right wheel;
- a rear-left wheel;
- a rear-left motor mechanically coupled to the rear-left wheel to provide torque to the rear-left wheel;
- a rear-right wheel;
- a rear-right motor mechanically coupled to the rear-right wheel to provide torque to the rear-right wheel;
- and
- a traction controller electrically connected to the front-left motor, the front-right motor, the rear-left motor, and the rear-right motor, the traction controller configured to determine a front lateral differential correction, a rear lateral differential correction, and a fore-aft differential correction and apply an individual torque command to each of the front-left, front-right, rear-left, and rear-right motors,
- the individual torque command for the front-left motor based on at least in part a commanded torque, the front lateral differential correction, and the fore-aft differential correction,
- the individual torque command for the front-right motor based on at least in part the commanded torque, the front lateral differential correction, and the fore-aft differential correction,
- the individual torque command for the rear-left motor based on at least in part the commanded torque, a rear lateral differential correction, and the fore-aft differential correction,
- the individual torque command for the rear-right motor based on at least in part the commanded torque, the rear lateral differential correction, and the fore-aft differential correction,
- wherein the controller is configured to apply an individual torque command for the front-left motor equal to a front-left motor nominal torque command plus the front lateral differential correction plus the fore-aft differential correction;
- wherein the controller is configured to apply an individual torque command for the front-right motor equal to a front-right motor nominal torque command minus the front lateral differential correction plus the fore-aft differential correction;
- wherein the controller is configured to apply an individual torque command for the rear-left motor equal to a rear-left motor nominal torque command plus the rear lateral differential correction minus the fore-aft differential correction;
- and
- wherein the controller is configured to apply an individual torque command for the rear-right motor equal to a rear-right motor nominal torque command minus the rear lateral differential correction minus the fore-aft differential correction.
16 more elements
A method of controlling a work vehicle, the method comprising:
- determining nominal torque allocations to a set of motors, the motors connected to ground engaging elements and including a front set of motors and a rear set of motors;
- modifying the nominal torque allocations based on a lateral differential correction and a fore-aft differential correction to produce modified torque commands;
- applying the modified torque commands to the set of motors;
- determining a fore-aft differential speed, wherein the fore-aft differential correction comprises a fore-aft integral term and a fore-aft proportional term, the fore-aft integral term based on at least in part the fore-aft differential speed and the fore-aft proportional term based on at least in part the fore-aft differential speed;
- and
- determining a front lateral differential speed and determining a rear lateral differential speed, wherein a front lateral differential correction comprises a front lateral proportional term based on at least in part the front lateral differential speed, and wherein a rear lateral differential correction comprises a rear lateral proportional term based on at least in part the rear lateral differential speed.
3 more elements
Dependencies are inferred from the claim text.