发明授权
- 专利标题: Method and apparatus to control coordinated wheel motors
- 专利标题(中): 控制协调轮电机的方法和装置
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申请号: US11187493申请日: 2005-07-22
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公开(公告)号: US07386379B2公开(公告)日: 2008-06-10
- 发明人: Sanjeev M. Naik , Mutasim A. Salman
- 申请人: Sanjeev M. Naik , Mutasim A. Salman
- 申请人地址: US MI Detroit
- 专利权人: GM Global Technology Operations, Inc.
- 当前专利权人: GM Global Technology Operations, Inc.
- 当前专利权人地址: US MI Detroit
- 主分类号: G06F7/00
- IPC分类号: G06F7/00 ; B62D11/02 ; G05D1/00
摘要:
A method and system providing coordinated torque control and speed control of a vehicle equipped with individual wheel motors, a steering system, and yaw-rate detection to achieve a desired yaw moment for the vehicle, based upon operator input and vehicle operation, is described. This includes determining a commanded steering angle, and a yaw-rate error, based upon the commanded steering angle and detected yaw-rate. A desired wheel motor yaw torque moment is calculated. First and second torque moments are calculated for inner and outer motored wheels, based upon the desired wheel motor yaw torque moment. First and second ideal wheel speeds are calculated for the inner and outer motored wheels, based upon the commanded steering angle. Torque and speed at each inner motored wheel and each outer motored wheel are calculated, based upon the yaw-rate error, the first and second torque moments, and the first and second ideal wheel speeds.
公开/授权文献
- US20070021875A1 Method and apparatus to control coordinated wheel motors 公开/授权日:2007-01-25