公开(公告)号：US06757601B1

公开(公告)日：2004-06-29

申请号：US10341175

申请日：2003-01-13

申请人： Yixin Yao ,  Gregory J. Stout

发明人： Yixin Yao ,  Gregory J. Stout

IPC分类号： B62D504

CPC分类号： B62D6/008 ,  B62D6/002

摘要： The present invention involves a method of controlling a vehicle steer-by-wire system having two independent road wheels. In one embodiment, the method comprises providing a steering wheel control sub-system to generate road wheel reference angles and to produce steering feel for a vehicle driver. The method further includes providing a road wheel control sub-system with a servo control system structure including a multivariable road wheel controlled plant and a multivariable road wheel controller for controlling actual road wheel angles to track to road wheel reference angles. The method further includes generating left and right road wheel reference angles from the steering wheel angle with a road wheel reference angle generator using variable left and right steering ratios and calibration processes based on calibration variables, wherein the road wheel reference angle generator has first and second stages to produce left and right road wheel reference angle outputs. The present invention also involves a system for controlling a vehicle steer-by-wire system having a road wheel reference generator.

摘要翻译： 本发明涉及一种控制具有两个独立车轮的车辆线控系统的方法。 在一个实施例中，该方法包括提供方向盘控制子系统以产生车轮参考角度并产生车辆驾驶员的转向感觉。 该方法还包括提供具有伺服控制系统结构的车轮控制子系统，所述伺服控制系统结构包括多变量车轮控制设备和用于控制实际的车轮角度以跟踪到车轮参考角度的多变量车轮控制器。 该方法还包括使用可变左右转向比和基于校准变量的校准过程从方向盘角度与车轮参考角发生器产生左右车轮参考角度，其中，所述车轮参考角发生器具有第一和第二 分段产生左右车轮参考角输出。 本发明还涉及一种用于控制具有车轮参考发电机的车辆线控系统的系统。

公开(公告)号：US06799104B2

公开(公告)日：2004-09-28

申请号：US10341195

申请日：2003-01-13

申请人： Yixin Yao ,  Gregory J. Stout

发明人： Yixin Yao ,  Gregory J. Stout

IPC分类号： B62D1100

CPC分类号： B62D6/008 ,  B62D5/001 ,  B62D5/006 ,  B62D6/002 ,  B62D6/04

摘要： The present invention involves a method of controlling a vehicle steer-by-wire system having two independent road wheels. In one embodiment, the method comprises providing a steering wheel control sub-system to generate road wheel reference angles and to produce steering feel for a vehicle driver. The method further includes providing a road wheel control subsystem with servo control structure having road wheel angles and angular rates feedbacks including a road wheel controlled plant and a road wheel controller for controlling actual road wheel angles to track to road wheel reference angles. Moreover, a robust control is implemented in the road wheel controller to overcome affects of uncertainties and disturbances from the steer-by-wire system, vehicle, and external environment.

摘要翻译： 本发明涉及一种控制具有两个独立车轮的车辆线控系统的方法。 在一个实施例中，该方法包括提供方向盘控制子系统以产生车轮参考角度并产生车辆驾驶员的转向感觉。 该方法还包括提供具有伺服控制结构的车轮控制子系统，该伺服控制结构具有车轮角度和角速度反馈，包括车轮控制车间和用于控制实际车轮角度以跟踪到车轮参考角度的车轮控制器。 此外，在车轮控制器中实施鲁棒的控制，以克服来自线控转向系统，车辆和外部环境的不确定性和干扰的影响。

公开(公告)号：US06728615B1

公开(公告)日：2004-04-27

申请号：US10356441

申请日：2003-02-03

申请人： Yixin Yao ,  Gregory J. Stout

发明人： Yixin Yao ,  Gregory J. Stout

IPC分类号： G06F700

CPC分类号： B62D6/008

摘要： The present invention involves a system and method of controlling a steer-by-wire system to produce adjustable steering feel for A vehicle driver by providing control of reaction torque on a steering wheel of a vehicle. The method includes a quantitative description for the steering feel which is obtained by establishing a relationship of steering wheel reaction torque and steering wheel angle, road wheel torque, and vehicle speed. The system and method include steer-by wire system closed-loop feedback controls with inner torque loop, steering wheel rate feedback loop, and steering wheel angular position feedback loop to implement providing the steering feel, active steering wheel return with the different rotation rate, steering wheel stop according to the road wheel angular position in a parking state, and directional angle reference generation to road wheels.

摘要翻译： 本发明涉及一种通过提供车辆方向盘上的反作用转矩控制来控制线控转向系统以产生A车辆驾驶员的可调转向感的系统和方法。 该方法包括通过建立方向盘反作用力矩和方向盘角度，车轮扭矩和车辆速度的关系而获得的转向感觉的定量描述。 该系统和方法包括转向线系统闭环反馈控制，内转矩回路，方向盘速率反馈回路和方向盘角位置反馈回路，实现提供转向感，主动方向盘返回不同转速， 根据驻车状态下的车轮角位置的方向盘停止，以及向车轮的方向角度参考生成。

公开(公告)号：US06691009B1

公开(公告)日：2004-02-10

申请号：US10341176

申请日：2003-01-13

申请人： Yixin Yao ,  Gregory J. Stout

发明人： Yixin Yao ,  Gregory J. Stout

IPC分类号： B62D504

CPC分类号： B62D6/008 ,  B62D6/002

摘要： The present invention involves a method of controlling a vehicle steer-by-wire system having two independent road wheels. In one embodiment, the method comprises providing a steering wheel control sub-system to generate road wheel reference angles and to produce steering feel for a vehicle driver. The method further includes providing a road wheel control sub-system including a multivariable road wheel controlled plant and a multivariable-road wheel controller for controlling actual road wheel angles to track to road wheel reference angles within a servo control system structure having road wheel angular position feedback and road wheel angular rate feedback loops. Moreover, the method includes implementing the multivariable road wheel controller to control tracking of the actual left and right wheel angles with the left and right road wheel reference angles, respectively. The method further includes decoupling the left and right road wheel angles with the multivariable road wheel controller in the road wheel servo control system. The multivariable road wheel controller controls the left and road wheel angle based only on the left road wheel reference angle independent of the right road wheel reference angle. Also, the multivariable road wheel controller controls the right road wheel angle based only on the right road wheel reference angle independent of the left road wheel reference angle.

摘要翻译： 本发明涉及一种控制具有两个独立车轮的车辆线控系统的方法。 在一个实施例中，该方法包括提供方向盘控制子系统以产生车轮参考角度并产生车辆驾驶员的转向感觉。 该方法还包括提供一种包括多变量车轮控制设备的车轮控制子系统和用于控制在具有轮轮角位置的伺服控制系统结构内的实际车轮角度跟踪到车轮参考角度的多变量车轮控制器 反馈和车轮角速率反馈回路。 此外，该方法包括实现多变量车轮控制器，以分别控制左右车轮参考角的实际左右车轮角的跟踪。 该方法还包括在车轮伺服控制系统中将左右车轮角度与多变量车轮控制器分离。 多变量车轮控制器仅基于左车轮参考角度而独立于右车轮参考角度控制左车轮角和车轮角度。 此外，多变量车轮控制器仅基于与左车轮参考角度无关的右侧车轮参考角度控制正确的车轮角度。

公开(公告)号：US06681881B2

公开(公告)日：2004-01-27

申请号：US09928841

申请日：2001-08-13

申请人： Brian J. Andonian ,  Bing Zheng ,  Gregory J. Stout ,  Muqtada Husain ,  Maged Radamis ,  Yixin Yao

发明人： Brian J. Andonian ,  Bing Zheng ,  Gregory J. Stout ,  Muqtada Husain ,  Maged Radamis ,  Yixin Yao

IPC分类号： B62D500

CPC分类号： B62D5/001 ,  B62D6/008

摘要： A steer-by-wire system of the preferred embodiment of the invention includes a steering sensor, a turning subsystem, a vehicle sensor, and a controller subsystem. The turning subsystem further includes a first turning actuator to adjust a turning angle of a first road wheel, a first turning sensor to sense first turning factors of the first turning actuator, a second turning actuator to adjust a turning angle of a second road wheel, and a second turning sensor to sense second turning factors of the second turning actuator. The controller subsystem is connected to the steering sensor, to the first turning sensor, to the second turning sensor, and to the vehicle sensor. The control subsystem independently controls the first turning actuator and the second turning actuator.

摘要翻译： 本发明优选实施例的线控转向系统包括转向传感器，转向子系统，车辆传感器和控制器子系统。 转向子系统还包括：第一转向致动器，用于调节第一车轮的转向角;第一转向传感器;感测第一转向致动器的第一转向因数;第二转向致动器，用于调节第二车轮的转动角; 以及第二转向传感器，用于感测第二转向致动器的第二转向因素。 控制器子系统连接到转向传感器，第一转向传感器，第二转向传感器和车辆传感器。 控制子系统独立地控制第一转动致动器和第二转动致动器。

公开(公告)号：US06928352B2

公开(公告)日：2005-08-09

申请号：US10370891

申请日：2003-02-20

申请人： Yixin Yao ,  Gregory J. Stout

发明人： Yixin Yao ,  Gregory J. Stout

IPC分类号： B62D6/00 ,  B62D5/00 ,  B62D5/04 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D137/00 ,  B62D11/00

CPC分类号： B62D5/001 ,  B62D5/006

摘要： The present invention involves a method and system of initial aligning wheels of vehicle steer-by-wire systems with two independent front road wheels in the real time. The method comprises providing a steering wheel control sub-system and a road wheel control sub-system, providing an initial alignment unit and procedure to align the road wheels and steering wheel, and receiving relative and absolute steering wheel angles and road wheel angles. The method further includes generating wheel aligning reference angles based on the relative and absolute wheel angle, generating the switch control signal based wheel aligning reference angles using the logic operation with the threshold, and determining the steer-by-wire systems in the control state or in the initial alignment state.

摘要翻译： 本发明涉及实时地具有两个独立前轮的车辆线控系统的初始对准轮的方法和系统。 该方法包括提供方向盘控制子系统和车轮控制子系统，提供对准车轮和方向盘的初始对准单元和过程，以及接收相对且绝对的方向盘角度和车轮角度。 该方法还包括基于相对和绝对轮角产生车轮对准参考角度，使用具有阈值的逻辑运算产生基于开关控制信号的车轮对准参考角，以及确定处于控制状态的线控转向系统，或者 在初始对准状态。

公开(公告)号：US06799105B2

公开(公告)日：2004-09-28

申请号：US10261912

申请日：2002-10-01

申请人： Gregory J. Stout ,  Yixin Yao

发明人： Gregory J. Stout ,  Yixin Yao

IPC分类号： G06F700

CPC分类号： B62D6/002 ,  B62D6/02 ,  Y10S706/913

摘要： The present invention involves a system and method of controlling a variable steering ratio of a vehicle steer-by-wire system. The variable steering ratio control varies the steering ratio continuously according to steering angle and vehicle speed. The method comprises sensing an actual steering wheel angle and an actual speed of the vehicle and converting the actual steering wheel angle and vehicle speed into values in fuzzy sets based on a steering wheel angle and vehicle speed membership functions with linguistic term labels. The method further includes determining a corresponding degree of membership of the steering wheel angle and vehicle speed. The method further includes inferring a fuzzy road wheel reference angle output value by determining the degree of membership function for the road wheel reference angle using fuzzy rules based on the degrees of steering angle and the vehicle speed. The method further includes converting a fuzzy road wheel angle into an actual road wheel angle. The variable steering ratio can be adjusted according to the vehicle operator's desire with a progressive ratio setup.

公开(公告)号：US06718243B1

公开(公告)日：2004-04-06

申请号：US10341000

申请日：2003-01-13

申请人： Yixin Yao ,  Gregory J. Stout

发明人： Yixin Yao ,  Gregory J. Stout

IPC分类号： B62D504

CPC分类号： B62D5/001 ,  B62D5/006 ,  B62D6/002 ,  B62D6/008

摘要： The present invention involves a method of controlling a vehicle steer-by-wire system having two independent road wheels. In one embodiment, the method comprises providing a steering wheel control sub-system to generate road wheel reference angles and to produce steering feel for a vehicle driver. The method further includes providing a road wheel control sub-system including a road wheel controlled plant and a road wheel controller for controlling actual road wheel angles to track to road wheel reference angles. Moreover, the method includes applying road wheel angles and angular rates as feedback signals to implement the left and right road wheel angles tracking for left and right road wheel reference angles in the road wheel control system with servo control system structure. The method further includes implementing a gain scheduling control in the road wheel controller to compensate the gain change of the controlled road wheel plant for overcoming non-linearity of the road wheel system, The present invention also involves a system of controlling a vehicle steer-by-wire system applying gain scheduling.

摘要翻译： 本发明涉及一种控制具有两个独立车轮的车辆线控系统的方法。 在一个实施例中，该方法包括提供方向盘控制子系统以产生车轮参考角度并产生车辆驾驶员的转向感觉。 该方法还包括提供包括车轮控制设备和用于控制实际的车轮角度以跟踪到车轮参考角度的车轮控制器的车轮控制子系统。 此外，该方法包括将车轮角度和角速度作为反馈信号，以在具有伺服控制系统结构的车轮控制系统中实现用于左右车轮参考角的左右车轮角度跟踪。 该方法还包括在车轮控制器中实现增益调度控制，以补偿控制车轮车间的增益变化，以克服道路车轮系统的非线性。本发明还涉及一种控制车辆转向系统 - 线系统应用增益调度。

公开(公告)号：US06694239B1

公开(公告)日：2004-02-17

申请号：US10321920

申请日：2002-12-17

申请人： Yixin Yao ,  Gregory J. Stout

发明人： Yixin Yao ,  Gregory J. Stout

IPC分类号： B62B500

CPC分类号： B62D6/002 ,  B62D6/008

摘要： The present invention involves a method of controlling a vehicle steer-by-wire system having two independent road wheels. In one embodiment, the method comprises providing a steering wheel control sub-system to generate road wheel reference angles and to produce steering feel for a vehicle driver. The method further includes providing a road wheel control sub-system including a multivariable road wheel controlled plant and a multivariable road wheel controller for controlling actual road wheel angles to track to road wheel reference angles within a servo control system structure having road wheel angular position feedback and road wheel angular rate feedback loops. The method includes modeling the multivariable road wheel controlled plant and implementing the multivariable road wheel controller. Moreover, the method includes applying road wheel angles and angular rates as feedback signals to construct a servo control system with the multivariable controlled plant and the multivariable road wheel controller to implement the left and right road wheel angles tracking for left and right road wheel reference angles. Then, the method includes receiving left and right road wheel reference angles being based on the steering wheel angle command from the steering wheel control sub-system and receiving the left and right road wheel angles from the multivariable road wheel controlled plant. The method includes calculating the left and right road wheel angle errors based on the left and right road wheel angles and left and right road wheel reference angles and generating the left and right road wheel torque control variables from the multivariable road wheel controller with servo control performances based on the left and right road wheel angle errors. After generating road wheel torque control variables, the method includes applying torque control variables of the multivariable road wheel controller to the multivariable controlled plant to control tracking of the actual left and right wheel angles with the left and right road wheel reference angles, respectively.

公开(公告)号：US06877578B2

公开(公告)日：2005-04-12

申请号：US10241907

申请日：2002-09-12

申请人： Richard M. Krzesicki ,  Zhesheng Li ,  Gregory J. Stout ,  Zilai Zhao ,  Kevin J. Pavlov

发明人： Richard M. Krzesicki ,  Zhesheng Li ,  Gregory J. Stout ,  Zilai Zhao ,  Kevin J. Pavlov

IPC分类号： B60K6/44 ,  B60K6/52 ,  B60L11/12 ,  B60W10/08 ,  B60K17/356

CPC分类号： B60W10/08 ,  B60K6/44 ,  B60K6/52 ,  B60L11/12 ,  B60L2240/421 ,  B60L2240/486 ,  B60W2510/104 ,  B60W2710/081 ,  Y02T10/623 ,  Y02T10/6265 ,  Y02T10/642 ,  Y02T10/7005 ,  Y02T10/7077 ,  Y02T90/16 ,  Y10S903/916

摘要： A drive assembly including an electric motor and frequency variable generator for use with a multi-axle vehicle. The vehicle generally includes an engine driving a first axle and a drive assembly with an electric motor driving a second drive axle. The drive assembly includes a frequency variable generator with an input shaft driven by the engine and the electric motor electrically communicates with the generator to receive output power from the generator. Other details of selected embodiments of the invention include the frequency variable generator having a rotor coupled to rotate with the engine output shaft and a stator electrically connected to the electric motor. An inverter is electrically connected to an electrical power source, such as a battery or the frequency variable generator, as well as to the rotor. A controller communicates with the inverter and is configured to control the magnitude and frequency of the power communicated from the inverter to the rotor winding.

摘要翻译： 一种驱动组件，包括用于多轴车辆的电动机和频率变量发生器。 车辆通常包括驱动第一轴的发动机和驱动第二驱动轴的电动机的驱动组件。 驱动组件包括频率可变发电机，其具有由发动机驱动的输入轴，并且电动机与发电机电连通以接收来自发电机的输出功率。 本发明的所选实施例的其它细节包括频率变量发生器，其具有联接成与发动机输出轴一起旋转的转子和与电动机电连接的定子。 逆变器电连接到诸如电池或频率变量发生器的电源以及转子。 控制器与逆变器通信，并且被配置为控制从逆变器传递到转子绕组的功率的大小和频率。