CN101400541A - 具有电子控制中心耦合器的稳定性增强牵引控制 - Google Patents
具有电子控制中心耦合器的稳定性增强牵引控制 Download PDFInfo
- Publication number
- CN101400541A CN101400541A CNA2007800090186A CN200780009018A CN101400541A CN 101400541 A CN101400541 A CN 101400541A CN A2007800090186 A CNA2007800090186 A CN A2007800090186A CN 200780009018 A CN200780009018 A CN 200780009018A CN 101400541 A CN101400541 A CN 101400541A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- yaw rate
- control system
- coupling device
- coupling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000008878 coupling Effects 0.000 claims abstract description 29
- 238000010168 coupling process Methods 0.000 claims abstract description 29
- 238000005859 coupling reaction Methods 0.000 claims abstract description 29
- 238000012986 modification Methods 0.000 claims description 3
- 230000004048 modification Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 12
- 238000000034 method Methods 0.000 description 10
- 239000003921 oil Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 244000287680 Garcinia dulcis Species 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/12—Conjoint control of vehicle sub-units of different type or different function including control of differentials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to, or preventing, skidding of wheels
- B60K28/165—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to, or preventing, skidding of wheels acting on elements of the vehicle drive train other than the propulsion unit and brakes, e.g. transmission, clutch, differential
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/119—Conjoint control of vehicle sub-units of different type or different function including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque between front and rear axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/12—Conjoint control of vehicle sub-units of different type or different function including control of differentials
- B60W10/16—Axle differentials, e.g. for dividing torque between left and right wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
- Arrangement And Mounting Of Devices That Control Transmission Of Motive Force (AREA)
- Selective Calling Equipment (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Silver Salt Photography Or Processing Solution Therefor (AREA)
- Details Of Connecting Devices For Male And Female Coupling (AREA)
Abstract
提供了一种用于具有第一与第二轴的车辆的控制***,其包含:耦合设备,其适用于在第一与第二轴之间分配转矩;牵引控制器,其用于从车辆发动直到预定车辆速度控制差动设备的运行。牵引控制器被配置为根据表示低牵引运行条件的至少一个车辆运行参数接合第一运行状态中的耦合设备,并进一步根据实际车辆横摆率与预定目标车辆横摆率之间的差在低牵引运行条件期间控制第二车辆运行状态中的耦合设备的接合。
Description
相关申请的交叉引用
本申请要求2006年2月15日提交的美国临时专利申请No.60/773,493的优先权,其整体并入此处作为参考。
技术领域
本发明涉及增强车辆稳定性的车辆控制***。
背景技术
车辆稳定性控制***越来越多地用在汽车工业之中,并将成为许多车辆中的标准设备。市场中的大多数车辆稳定性控制***是基于制动器的。基于制动器的稳定性控制***使用防抱死制动***(ABS)硬件来施加单独的车轮制动力,以便校正车辆横摆动态(yaw dynamics)。尽管基于制动器的***在许多情况下可接受,它们倾向于使车辆的纵向性能劣化,特别是在车辆加速过程中。
发明内容
用于具有第一与第二轴的车辆的控制***被设置为包含:耦合设备,其适用于在第一与第二轴之间分配转矩;牵引控制器,其用于从车辆发动一直到预定车速对耦合设备的运行进行控制。牵引控制器被配置为根据表示低牵引运行条件的至少一个车辆运行参数接合第一车辆运行状态中的耦合设备,并进一步根据实际车辆横摆率与预定目标车辆横摆率之间的差在低牵引运行条件期间控制第二车辆运行状态中的耦合设备的接合。
本发明的一实施例包含有效(active)稳定性控制方法,其使用耦合设备在保持纵向运动的同时增强车辆横向动态。本发明另一实施例包括控制***,其提供牵引控制的稳定性增强。稳定性增强牵引控制在开节流阀(on-throttle)、T型接合车辆发动的情况下被评估。实验数据显示出牵引控制运行模式中显著的稳定性改进。
附图说明
图1为示例性全车轮驱动车辆传动系(drive-train)构造的原理图;
图2为根据本发明一实施例的控制***使用的示例性电子控制耦合设备;
图3示出了使用电子控制中心耦合设备的示例性车辆的动态以及当接合与解除接合电子控制中心耦合设备时在车辆横摆控制上的作用;
图4为根据本发明一实施例的控制***的原理图;
图5为根据本发明一实施例用于图4的控制***的电子控制单元的原理图;
图6和7示出了对于使用中心耦合器的车辆在低摩擦表面上的开节流阀车辆转向操纵的性能比较;
图8和9示出了使用采用中心耦合器的车辆在低摩擦表面上的开节流阀转向操纵的性能比较;
图10和11示出了使用采用根据本发明一实施例的控制***的车辆对于开节流阀T型接合车辆发动的性能比较。
具体实施方式
现在参照附图(其并非旨在对本发明进行限制),图1原理性地示出了包含横向定位发动机22的示例性全车轮驱动车辆传动系构造20。发动机22通过前轴或传动轴26被联结到一对前轮24a、24b,并通过后轴30被联结到一对后轮28a、28b。前轴26由发动机22主要且直接地驱动。后轴30经由动力传送单元(PTU)以及中心耦合设备或耦合器32被间接驱动。后轴30通过一个或一个以上的驱动或传动轴机械联结到前传动轴26。视情况可选的电子控制止滑差动机构(ELSD)34用于将后传动轴转矩偏置(bias)到后轮28a、28b。尽管图1所示的传动系构造为转矩被应请求地传送到后轴30的通常前驱动(normally front-drive)构造,本发明不限于此,并可包括通常后驱动构造。
中心耦合器32——例如图2所示Eaton公司制造的名为HTC-ITM的电子控制中心耦合器——被连接到传动轴,并适用于从前传动轴26向后轴30传送转矩。图2所示示例性锁定中心耦合器32为电子控制全车轮驱动耦合器,其被设置为车辆后轴驱动模块的集成部件。响应于来自电子控制单元(ECU)的输入信号,中心耦合器32平滑且迅速地从车辆传动轴向后驱动模块的准双曲线小锥齿轮传送动力。
参照图2,动力传送由布置在耦合轴42——车辆的传动轴被附着于其上——与准双曲线小锥齿轮44之间的有效控制湿型多盘离合器40提供。离合器接合限制车辆传动轴与准双曲线小锥齿轮44之间的滑动,通过这样做,转矩从传动轴被传送到准双曲线小锥齿轮44,其大小将小于或等于离合器转矩。盖劳特型机载(gerotor-type on-board)液压油泵46提供液压,以便在耦合轴42旋转时致动离合器活塞48。静态液压岐管50包括进油口52,通过进油口52,泵46从槽吸取油,以便排放到与活塞48以及至少一个螺线管操作压力调节阀54直接连通的通道中。当阀54解除激励时,油自由地流过阀并流回到槽,导致离合器致动活塞48上的很小的液压或没有液压。当阀54被激励时,油流受到对致动活塞48产生液压的阀的限制,根据与液压水平成比例的水平接合离合器40。关于中心耦合器32的运行和结构的进一步的细节在待准美国专利申请No.11/167,474中介绍,其属于本发明的受让人,并整体并入此处作为参考。
锁定中心耦合器32提供快速耦合转矩施加和移除,其对基于驱动线(driveline)转矩控制的车辆动态运行(本发明的着重点)以及与许多当前的基于制动器的车辆动态干预***的兼容性来说都是所希望的。为了支持这种操作,中心耦合器32显示出小于大约50毫秒的接合与解除接合时间。在一运行模式下,如果前轴轮速大于后轴轮速且正的发动机转矩正在被传送到传动系(例如发动机正在被节流(throttled)),转矩从前传动轴26被传送到后轴30。
在车辆运行过程中,中心耦合器32周期性地被接合或锁定,以便从前轴26向后轴30传送转矩。进行这种操作以保持车辆牵引。对于车辆牵引控制,中心耦合器32被接合的程度可以基于但不限于车辆节流阀位置以及前轮滑动程度(例如,滑动越大,接合越大)。然而,在T型接合(以直角交叉的两个路面之间的接合)发动过程中和发动机在重节流阀下急剧转向过程中操作中心耦合器32造成车辆的过度转向行为,或在车辆后轮上引入大的滑动角。图3示出了使用中心耦合器的示例性车辆的动态以及当接合和解除接合中心耦合器时在车辆横摆控制上的作用。
根据本发明一实施例,提供了控制***58和控制中心耦合器的接合的方法,以便在保持牵引的同时保持车辆的稳定性。本发明的控制***58和方法基于希望横摆率与实际车辆横摆率之间的差对中心耦合器接合进行调制。中心耦合器的有效控制接合以及相应地由中心耦合器传送的转矩量,减轻了引入不希望的车辆横摆运动的过度转向行为。本发明在发动和加速期间对中心耦合器进行控制,以便保持驱动线动力和横摆稳定性。
如图4所示,控制***包含:控制单元60,例如包含其中已经存有例如一个或一个以上的映射图——其包含车辆运行参数信息——的存储器装置的基于微处理器的电子控制单元(ECU);至少一个车辆传感器62,例如但不限于横摆率传感器、车轮速度传感器、横向加速传感器和/或转向角传感器。控制单元提供到中心耦合器32以及ELSD 34的输入信号,以便控制这些装置的接合以及解除接合。控制ELSD 34的方法在并行待准美国专利申请“Stability-Enhanced Traction and Yaw Control usingElectronically Controlled Limited-Slip Differential”中公开,其属于本发明的受让人并整体并入此处作为参考。
在图5所示本发明一实施例中,控制单元60包含牵引控制器64,其用于从车辆发动直到预定车速控制中心耦合器的运行。牵引控制器64被配置为根据表示低牵引运行条件的至少一个车辆运行参数(例如车轮速度)接合第一车辆运行状态下的耦合设备,并进一步根据实际车辆横摆率与预定目标或希望车辆横摆率之间的差在低牵引运行条件期间控制第二车辆运行状态下的耦合设备的接合。电子控制单元60还可包含稳定性控制器66,其用于在预定车辆速度时或在高于预定车辆速度时控制耦合设备的接合。牵引控制器64和稳定性控制器66可以为与被设置为控制单元60通信、被制造为与控制单元60成为一体的硬件,或构成控制单元60或其他车辆控制器的非硬件部件(例如软件)。
在车辆运行过程中,将实际横摆率周期性地或连续地与所希望的横摆率进行比较。实际横摆率可采用横摆率传感器进行测量或基于接收自现有技术中已知的多个车辆传感器的车辆运行参数信息计算得出。希望横摆率可存储在控制***存储器中的映射图中,或者,也可基于接收自多个车辆传感器的车辆运行参数信息计算得出。
保持车辆稳定性和牵引需要的中心耦合器锁定转矩可根据下面的公式来确定:
其中,Tdes为希望中心耦合器锁定转矩,τnom为通常的中心耦合器锁定转矩,Δrmax为预定最大横摆率差,r为实际横摆率,rdes为预定目标或希望横摆率,deadband为允许的横摆率差Δrthreshold的阈值函数。控制单元60于是将希望锁定转矩值转换为输入信号,其被传送到中心耦合器32以便控制。在车辆运行期间,如果车辆正在经历过大的转向过度(参见例如图3),中心耦合器锁定转矩与车辆过度转向程度成比例地减小。
为了模拟具有图1所示示例性传动系构造的所提出的控制***的性能,使用CarSim软件建立使用中心耦合器和ELSD的全车辆模型。首先进行模拟的转向操纵,以便验证接合中心耦合器32与ELSD 34在车辆横摆动态上的作用。图6与7示出了在低摩擦表面(例如μ=0.2)上对于开节流阀转向操作的性能比较。如图6所示,在开节流阀转向操作过程中锁定中心耦合器32引起了较小的转向不足。形成对比的是,锁定后轴ELSD对低摩擦表面上的车辆动态有着很小的影响或没有影响。
图8与9示出了使用采用根据本发明的中心耦合器的测试车辆在低摩擦表面(例如μ=0.2)上对于开节流阀转向操纵的性能比较。如图8所示,与中心耦合器解除接合的情况下的类似操作相比较,在开节流阀转向操纵期间接合中心耦合器32又带来了较小的转向不足。
图10与11示出了使用采用根据本发明的控制***的测试车辆以及没有稳定性增强牵引控制的测试车辆对于开节流阀T型接合车辆发动的性能比较。如图10所示,与中心耦合器没有得到有效控制的情况下的类似操纵相比,使用根据本发明一实施例的稳定性增强牵引控制(SETC)的车辆发动期间有效控制中心耦合器的接合引起了明显减小的转向不足。参照图10与11,将会明了,没有稳定性增强牵引控制的车辆可表现出转向不足的太大的减小。在稳定性控制和非稳定性控制运行模式中,某些水平的转矩从前轴26被中心耦合器32传送到后轴30。不同于耗散车辆能量——由此降低了车辆性能和效率——的基于ABS的稳定性控制***,根据本发明的控制***和方法在保持车辆牵引的同时保持了车辆稳定性。
上面的说明书中详细介绍了本发明,相信本领域技术人员由对本发明书的阅读和理解可以想到本发明的多种变型和修改。所有这些变型和修改可包含在本发明中,只要它们属于所附权利要求的范围。
Claims (6)
1.一种用于具有第一与第二轴的车辆的控制***,其包含:
耦合设备,其适用于在第一与第二轴之间分配转矩;
牵引控制器,其用于从车辆发动直到预定车辆速度控制耦合设备的运行,牵引控制器被配置为根据表示低牵引运行条件的至少一个车辆运行参数接合第一车辆运行状态下的耦合设备,并进一步根据实际车辆横摆率与预定目标车辆横摆率之间的差在低牵引运行条件期间控制第二车辆运行状态下的耦合设备的接合。
2.根据权利要求1的控制***,其中,牵引控制器被配置为根据实际车辆横摆率与预定目标车辆横摆率之间的差在低牵引运行条件期间调制耦合设备的接合。
3.根据权利要求1的控制***,其中,牵引控制器64被配置为根据基于修改得到的通常耦合施加转矩信号的希望耦合施加转矩信号对耦合设备进行接合。
4.根据权利要求3的控制***,其中,希望的耦合施加转矩信号等于通常耦合施加转矩信号乘以修改量,修改量在其分子中包含预定最大横摆率差和deadband与实际车辆横摆率及预定目标车辆横摆率之间差的乘积的差,修改量在其分母中包含预定最大横摆率差。
5.根据权利要求1的控制***,其中,在第一车辆运行状态中,实际车辆横摆率小于或基本等于预定目标车辆横摆率,在第二车辆运行状态中,实际车辆横摆率大于预定目标车辆横摆率。
6.根据权利要求1的控制***,其还包含稳定性控制器66,该控制器用于在预定车辆速度时或在高于预定车辆速度时控制耦合设备的接合。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US77349306P | 2006-02-15 | 2006-02-15 | |
US60/773,493 | 2006-02-15 | ||
PCT/IB2007/000341 WO2007093888A2 (en) | 2006-02-15 | 2007-02-14 | Stability-enhanced traction control with electrically controlled center coupler |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101400541A true CN101400541A (zh) | 2009-04-01 |
CN101400541B CN101400541B (zh) | 2013-01-02 |
Family
ID=38283342
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN2007800090186A Active CN101400541B (zh) | 2006-02-15 | 2007-02-14 | 具有电子控制中心耦合器的稳定性增强牵引控制 |
Country Status (14)
Country | Link |
---|---|
US (1) | US7337053B2 (zh) |
EP (1) | EP1993867B1 (zh) |
JP (1) | JP5120657B2 (zh) |
KR (1) | KR20080097453A (zh) |
CN (1) | CN101400541B (zh) |
AT (1) | ATE477953T1 (zh) |
AU (1) | AU2007216234B2 (zh) |
BR (1) | BRPI0706813A2 (zh) |
CA (1) | CA2642565C (zh) |
DE (1) | DE602007008533D1 (zh) |
MX (1) | MX2008010529A (zh) |
PL (1) | PL1993867T3 (zh) |
RU (1) | RU2436692C2 (zh) |
WO (1) | WO2007093888A2 (zh) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102218988A (zh) * | 2010-04-16 | 2011-10-19 | 福特环球技术公司 | 在车辆中分配驱动力的***及方法 |
CN102958735A (zh) * | 2010-07-09 | 2013-03-06 | 日产自动车株式会社 | 四轮驱动车辆的驱动力分配控制装置 |
CN103097776A (zh) * | 2010-09-13 | 2013-05-08 | 雷诺股份公司 | 用于机动车辆自动变速箱的升挡的方法 |
CN103517820A (zh) * | 2011-02-18 | 2014-01-15 | 捷豹路虎有限公司 | 车辆以及控制车辆的动力传动系的方法和*** |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA2651252A1 (en) * | 2006-05-09 | 2008-05-08 | Lockheed Martin Corporation | Mobility traction control system and method |
US8589049B2 (en) * | 2007-12-03 | 2013-11-19 | Lockheed Martin Corporation | GPS-based system and method for controlling vehicle characteristics based on terrain |
US20090143937A1 (en) * | 2007-12-04 | 2009-06-04 | Lockheed Martin Corporation | GPS-based traction control system using wirelessly received weather data |
US8145402B2 (en) * | 2007-12-05 | 2012-03-27 | Lockheed Martin Corporation | GPS-based traction control system and method using data transmitted between vehicles |
US8244442B2 (en) * | 2009-02-17 | 2012-08-14 | Lockheed Martin Corporation | System and method for stability control of vehicle and trailer |
US8352120B2 (en) * | 2009-02-17 | 2013-01-08 | Lockheed Martin Corporation | System and method for stability control using GPS data |
US8229639B2 (en) * | 2009-02-17 | 2012-07-24 | Lockheed Martin Corporation | System and method for stability control |
FR2958586B1 (fr) * | 2010-04-12 | 2014-05-09 | Renault Sa | Systeme de commande d'un actionneur de transfert de couple a modes de fonctionnement multiples. |
US8116927B2 (en) * | 2010-04-16 | 2012-02-14 | Ford Global Technologies | Dynamic traction control |
JP2014514987A (ja) * | 2011-04-28 | 2014-06-26 | ジャガー・ランド・ローバー・リミテッド | 自動車及び、自動車を制御する方法、動力伝達装置及び、動力伝達装置を制御する方法 |
CN103930294B (zh) * | 2011-10-25 | 2018-01-19 | 博格华纳扭矩输出***公司 | 车辆差动制动的方法和装置 |
JP5974458B2 (ja) * | 2011-11-24 | 2016-08-23 | 株式会社ジェイテクト | 車両姿勢制御装置 |
CN104395158B (zh) | 2012-06-21 | 2017-05-03 | 伊顿公司 | 预测性车辆稳定性控制方法 |
CN104395169B (zh) | 2012-08-24 | 2017-10-31 | 伊顿公司 | 用于awd 连接与断开的控制策略 |
CN105936273B (zh) * | 2016-05-31 | 2018-05-22 | 上海理工大学 | 车用主动转矩轮间、轴间分配方法 |
US10744875B2 (en) * | 2016-12-13 | 2020-08-18 | Honda Motor Co., Ltd. | Control device for torque distributor |
GB2571328B (en) * | 2018-02-26 | 2021-03-10 | Jaguar Land Rover Ltd | Vehicle control method and apparatus |
US11607956B2 (en) * | 2019-10-31 | 2023-03-21 | Deere & Company | Trailing vehicle traction control system with a disconnect device |
KR20230064737A (ko) * | 2021-11-04 | 2023-05-11 | 현대자동차주식회사 | 차량의 휠 슬립 제어 장치 및 방법 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62214019A (ja) | 1986-03-13 | 1987-09-19 | Nissan Motor Co Ltd | 駆動輪推進制御装置付車両の差動制限制御装置 |
JP2628882B2 (ja) * | 1988-03-05 | 1997-07-09 | マツダ株式会社 | 4輪駆動車の伝達トルク制御装置 |
JP2914040B2 (ja) * | 1992-09-22 | 1999-06-28 | 日産自動車株式会社 | 四輪駆動車の駆動力配分制御装置 |
US5450919A (en) | 1993-01-12 | 1995-09-19 | Mazda Motor Corporation | Differential action control system of a vehicle |
JP3617098B2 (ja) * | 1995-02-06 | 2005-02-02 | 日産自動車株式会社 | 4輪駆動車の駆動力分配制御装置 |
JP3850530B2 (ja) * | 1997-10-21 | 2006-11-29 | 富士重工業株式会社 | 車両運動制御装置 |
FR2799417B1 (fr) * | 1999-10-08 | 2009-01-23 | Toyota Motor Co Ltd | Dispositif de controle de vehicule, notamment pour la repartition des forces de traction avant-arriere |
DE10054023A1 (de) | 2000-11-01 | 2002-05-08 | Bayerische Motoren Werke Ag | Steuersytem zur variablen Drehmomentverteilung |
US6725989B1 (en) * | 2002-04-24 | 2004-04-27 | Torque-Traction Technologies, Inc. | Variably controlled torque coupling device for on-demand all-wheel drive drivetrains |
DE60324227D1 (de) | 2002-06-19 | 2008-12-04 | Jtekt Corp | Kontrollverfahren zur Antriebskraftverteilung und Vorrichtung für ein Fahrzeug mit Vierradantrieb |
DE10245032A1 (de) | 2002-09-26 | 2004-04-08 | Dr.Ing.H.C. F. Porsche Ag | Verfahren zur Regelung des Fahrverhaltens mittels Einflussnahme auf die Giergeschwindigkeit |
US6752233B1 (en) | 2003-02-11 | 2004-06-22 | General Motors Corporation | Selectable overspeed secondary drive module |
US7211019B2 (en) * | 2003-02-21 | 2007-05-01 | Magna Powertrain Usa, Inc. | Torque vectoring drive mechanism having a power sharing control system |
US7175557B2 (en) * | 2003-02-21 | 2007-02-13 | Magna Powertrain Usa, Inc. | Torque vectoring device having an electric motor/brake actuator and friction clutch |
DE10333654B4 (de) | 2003-07-24 | 2005-09-29 | Bayerische Motoren Werke Ag | Steuervorrichtung für ein zumindest zeitweise vierradgetriebenes Kraftfahrzeug |
JP3753144B2 (ja) * | 2004-02-02 | 2006-03-08 | トヨタ自動車株式会社 | 車両用トルク配分クラッチの制御装置 |
US7004870B2 (en) * | 2004-02-25 | 2006-02-28 | Dana Corporation | Integrated torque and roll control system |
-
2007
- 2007-02-06 US US11/702,882 patent/US7337053B2/en active Active
- 2007-02-14 MX MX2008010529A patent/MX2008010529A/es active IP Right Grant
- 2007-02-14 AU AU2007216234A patent/AU2007216234B2/en not_active Ceased
- 2007-02-14 PL PL07733886T patent/PL1993867T3/pl unknown
- 2007-02-14 KR KR1020087022107A patent/KR20080097453A/ko not_active Application Discontinuation
- 2007-02-14 RU RU2008136889/11A patent/RU2436692C2/ru not_active IP Right Cessation
- 2007-02-14 CA CA2642565A patent/CA2642565C/en not_active Expired - Fee Related
- 2007-02-14 BR BRPI0706813-1A patent/BRPI0706813A2/pt not_active IP Right Cessation
- 2007-02-14 WO PCT/IB2007/000341 patent/WO2007093888A2/en active Application Filing
- 2007-02-14 JP JP2008554870A patent/JP5120657B2/ja not_active Expired - Fee Related
- 2007-02-14 EP EP07733886A patent/EP1993867B1/en active Active
- 2007-02-14 DE DE602007008533T patent/DE602007008533D1/de active Active
- 2007-02-14 AT AT07733886T patent/ATE477953T1/de not_active IP Right Cessation
- 2007-02-14 CN CN2007800090186A patent/CN101400541B/zh active Active
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102218988A (zh) * | 2010-04-16 | 2011-10-19 | 福特环球技术公司 | 在车辆中分配驱动力的***及方法 |
CN102218988B (zh) * | 2010-04-16 | 2016-05-25 | 福特环球技术公司 | 在车辆中分配驱动力的***及方法 |
CN102958735A (zh) * | 2010-07-09 | 2013-03-06 | 日产自动车株式会社 | 四轮驱动车辆的驱动力分配控制装置 |
CN102958735B (zh) * | 2010-07-09 | 2015-07-29 | 日产自动车株式会社 | 四轮驱动车辆的驱动力分配控制装置 |
CN103097776A (zh) * | 2010-09-13 | 2013-05-08 | 雷诺股份公司 | 用于机动车辆自动变速箱的升挡的方法 |
CN103097776B (zh) * | 2010-09-13 | 2015-05-06 | 雷诺股份公司 | 用于机动车辆自动变速箱的升挡的方法 |
CN103517820A (zh) * | 2011-02-18 | 2014-01-15 | 捷豹路虎有限公司 | 车辆以及控制车辆的动力传动系的方法和*** |
CN103517820B (zh) * | 2011-02-18 | 2016-08-17 | 捷豹路虎有限公司 | 车辆以及控制车辆的动力传动系的方法和*** |
Also Published As
Publication number | Publication date |
---|---|
MX2008010529A (es) | 2008-10-21 |
CN101400541B (zh) | 2013-01-02 |
US7337053B2 (en) | 2008-02-26 |
ATE477953T1 (de) | 2010-09-15 |
RU2008136889A (ru) | 2010-03-20 |
KR20080097453A (ko) | 2008-11-05 |
JP5120657B2 (ja) | 2013-01-16 |
PL1993867T3 (pl) | 2010-11-30 |
DE602007008533D1 (de) | 2010-09-30 |
JP2009526702A (ja) | 2009-07-23 |
CA2642565C (en) | 2012-10-16 |
BRPI0706813A2 (pt) | 2011-04-05 |
AU2007216234B2 (en) | 2011-03-31 |
US20070192011A1 (en) | 2007-08-16 |
RU2436692C2 (ru) | 2011-12-20 |
WO2007093888A3 (en) | 2007-11-01 |
CA2642565A1 (en) | 2007-08-23 |
AU2007216234A1 (en) | 2007-08-23 |
WO2007093888A2 (en) | 2007-08-23 |
EP1993867A2 (en) | 2008-11-26 |
EP1993867B1 (en) | 2010-08-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN101400541B (zh) | 具有电子控制中心耦合器的稳定性增强牵引控制 | |
EP1979189B1 (en) | Stability-enhanced traction and yaw control using electronically controlled limited-slip differential | |
US6634451B2 (en) | Power distribution control system for a vehicle | |
EP1782994B1 (en) | Vehicle behaviour control device | |
US7873459B2 (en) | Load transfer adaptive traction control system | |
US5908225A (en) | Process for ensuring a neutral vehicle handling during cornering and a simultaneous load change | |
CN108312846B (zh) | 用于操作具有可选全轮驱动的机动车辆的方法 | |
CN103260927A (zh) | 四轮驱动车辆的驱动力控制装置 | |
JP3607985B2 (ja) | 車輌の車体速度推定装置及び制御装置 | |
EP1954518B1 (en) | Method and system for regulating vehicle dynamics | |
US8204669B2 (en) | Method and device for regulating the driving dynamics of a vehicle | |
JPH04129837A (ja) | 駆動力制御装置 | |
US6688415B2 (en) | Stability control throttle compensation on vehicles with passive all wheel drive systems | |
JP2688775B2 (ja) | トルクスプリット型4輪駆動車 | |
Wunschelmeier et al. | Traction and stability enhancement using active limited-slip differentials |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20190621 Address after: Dublin, Ireland Patentee after: Eaton Intelligent Power Co.,Ltd. Address before: Ohio, USA Patentee before: Eaton Corp. |