Truck with improved control
A truck has improved control with a plurality of wheels each having a single wheel drive and a device for controlling speed and/or torque of the single wheel drives. The control device has a separate controller train for each wheel drive, with each controller train having a differential controller for correcting divided torque depending on steering angle and a wheel slip controller correcting the divided torque or torque value corrected by the differential controller depending on wheel slip and providing a corresponding single wheel drive torque value.
1. A truck having a chassis ( 2 ) with wheels ( 3 ),
a plurality of said wheels ( 3 ) each having a single wheel drive ( 4 ), and
a control device ( 5 ) for the control of the speed and/or of the torque of the single wheel drives ( 4 ), wherein
the control device ( 5 ) has a separate control train ( 6 , 7 ) for each single wheel drive ( 4 ) and divides a desired torque (Msoll) set by the operator to the control trains ( 6 , 7 ),
with each control train ( 6 , 7 ) having a differential controller ( 8 ) for the correction of the divided desired torque (Msoll) in dependence on a steering angle (α) and provision of a correspondingly corrected desired torque (M res ), and
a wheel slip controller ( 9 ) for the correction of the divided desired torque and/or corrected desired torque (M res ) in dependence on a wheel slip and provision of a single wheel drive desired ( Msoll *), and
being free of mechanical differentials between the single wheel drives.
2. A truck having a chassis ( 2 ) with wheels ( 3 ), a plurality of said wheels ( 3 ) each having a single wheel drive ( 4 ), and a control device ( 5 ) for the control of the speed and/or of the torque of the single wheel drives ( 4 ), wherein
the control device ( 5 ) has a separate control train ( 6 , 7 ) for each single wheel drive ( 4 ) and divides a desired torque (Msoll) set by the operator to the control trains ( 6 , 7 ),
with each control train ( 6 , 7 ) having a differential controller ( 8 ) for the correction of the divided desired torque (Msoll) in dependence on a steering angle (α) and provision of a correspondingly corrected desired torque (M res ), and
a wheel slip controller ( 9 ) for the correction of the divided desired torque and/or corrected desired torque (M res ) in dependence on a wheel slip and provision of a single wheel drive desired ( Msoll *), and
the wheel slip controller ( 9 ) has a speed controller ( 10 ) for the determination of a desired torque in dependence on a difference of an actual wheel speed (n) and a desired wheel speed (n*).
3. The truck in accordance with claim 2 , wherein the speed controller ( 10 ) is made as a PI controller.
4. The truck in accordance with claim 2 , wherein
a desired wheel speed sensor ( 11 ) for the determination of the desired wheel speed (n*) in dependence on a desired wheel value and/or a desired vehicle acceleration value is connected before the speed controller ( 10 ).
5. The truck in accordance with claim 4 , wherein
the desired wheel speed sensor ( 11 ) determines the desired wheel speed (n*) by integration of the desired wheel value and/or the desired vehicle acceleration value (a*) over time.
6. The truck in accordance with claim 4 , wherein
a desired acceleration value sensor ( 12 ) for the determination of a desired acceleration value (a*) is connected before the desired wheel speed sensor ( 11 ).
7. The truck in accordance with claim 6 , wherein
the desired acceleration value sensor ( 12 ) has an acceleration adaptation stage ( 13 ) which corrects an acceleration stroke value in dependence on an actual vehicle acceleration.
8. The truck in accordance with claim 7 , wherein
the acceleration adaptation stage ( 13 ) determines the vehicle acceleration from a wheel set acceleration and/or from the difference of a plurality of wheel speeds (n(t 1 ), n(t 2 ) . . . ) stored at different times.
9. The truck in accordance with claim 8 , wherein
the adapted acceleration value (a_ad) determined from the wheel set acceleration and/or from the difference of the wheel speeds stored at different times is corrected in dependence on previously carried out desired acceleration value adaptations.
10. The truck in accordance with claim 9 , wherein
the adapted acceleration value (a_ad) is determined with reference to the following relationship
a_ad
=
a_ad
(
t
2
)
+
a_ad
(
t
1
)
2
where
a_ad
(
t
2
)
=
2
·
π
·
r
R
u
¨
·
n
(
t
2
)
-
n
(
t
1
)
t
2
-
t
1
.
11. A truck having a chassis ( 2 ) with wheels ( 3 ),
a plurality of said wheels ( 3 ) each having a single wheel drive ( 4 ), and
a control device ( 5 ) for the control of the speed and/or of the torque of the single wheel drives ( 4 ), wherein
the control device ( 5 ) has a separate control train ( 6 , 7 ) for each single wheel drive ( 4 ) and divides a desired torque (Msoll) set by the operator to the control trains ( 6 , 7 ),
with each control train ( 6 , 7 ) having a differential controller ( 8 ) for the correction of the divided desired torque (Msoll) in dependence on a steering angle (α) and provision of a correspondingly corrected desired torque (M res ), and
a wheel slip controller ( 9 ) for the correction of the divided desired torque and/or corrected desired torque (M res ) in dependence on a wheel slip and provision of a single wheel drive desired ( Msoll *), and
the wheel slip controller ( 9 ) has a gradient limiter ( 14 ) for the limitation of the desired torque (M Soll *) in dependence on the gradient of the time course of the desired torque.
12. A truck having a chassis ( 2 ) with wheels ( 3 ),
a plurality of said wheels ( 3 ) each having a single wheel drive ( 4 ), and
a control device ( 5 ) for the control of the speed and/or of the torque of the single wheel drives ( 4 ), wherein
the control device ( 5 ) has a separate control train ( 6 , 7 ) for each single wheel drive ( 4 ) and divides a desired torque (Msoll) set by the operator to the control trains ( 6 , 7 ),
with each control train ( 6 , 7 ) having a differential controller ( 8 ) for the correction of the divided desired torque (Msoll) in dependence on a steering angle (α) and provision of a correspondingly corrected desired torque (M res ), and
a wheel slip controller ( 9 ) for the correction of the divided desired torque and/or corrected desired torque (M res ) in dependence on a wheel slip and provision of a single wheel drive desired ( Msoll *), and
the wheel slip controller ( 9 ) works independently of speed signals of non-driven wheels and/or works solely in dependence on speed signals of the driven wheels ( 3 ) to be controlled.
13. A truck having a chassis ( 2 ) with wheels ( 3 ),
a plurality of said wheels ( 3 ) each having a single wheel drive ( 4 ), and
a control device ( 5 ) for the control of the speed and/or of the torque of the single wheel drives ( 4 ), wherein
the control device ( 5 ) has a separate control train ( 6 , 7 ) for each single wheel drive ( 4 ) and divides a desired torque (Msoll) set by the operator to the control trains ( 6 , 7 ),
with each control train ( 6 , 7 ) having a differential controller ( 8 ) for the correction of the divided desired torque (Msoll) in dependence on a steering angle (α) and provision of a correspondingly corrected desired torque (M res ), and
a wheel slip controller ( 9 ) for the correction of the divided desired torque and/or corrected desired torque (M res ) in dependence on a wheel slip and provision of a single wheel drive desired ( Msoll *), and
the wheel slip controller ( 9 ) works independently of information on the current vehicle weight and independently of information on the current road gradient.
14. A truck having a chassis ( 2 ) with wheels ( 3 ),
a plurality of said wheels ( 3 ) each having a single wheel drive ( 4 ), and
a control device ( 5 ) for the control of the speed and/or of the torque of the single wheel drives ( 4 ), wherein
the control device ( 5 ) has a separate control train ( 6 , 7 ) for each single wheel drive ( 4 ) and divides a desired torque (Msoll) set by the operator to the control trains ( 6 , 7 ),
with each control train ( 6 , 7 ) having a differential controller ( 8 ) for the correction of the divided desired torque (Msoll) in dependence on a steering angle (α) and provision of a correspondingly corrected desired torque (M res ), and
a wheel slip controller ( 9 ) for the correction of the divided desired torque and/or corrected desired torque (M res ) in dependence on a wheel slip and provision of a single wheel drive desired ( Msoll *) and,
the differential controller ( 8 ) has a speed controller ( 15 ) for the determination of the corrected desired torque (M res ) in dependence on a difference of the actual wheel speed (n) and a desired wheel speed (n HR , n HL ).
15. The truck in accordance with claim 14 , wherein the speed controller ( 15 ) is a P controller.
16. The truck in accordance with claim 15 , wherein
the P factor of the speed controller ( 15 ) is coupled proportionally to the desired torque value and the corrected desired torque (M res ) is determined using the following relationship
M
Res
=
M
soll
+
(
n
delta
·
(
K
p
·
M
soll
)
❘
0
K
P
,
Max
)
.
17. A truck having a chassis ( 2 ) with wheels ( 3 ),
a plurality of said wheels ( 3 ) each having a single wheel drive ( 4 ), and
a control device ( 5 ) for the control of the speed and/or of the torque of the single wheel drives ( 4 ), wherein
the control device ( 5 ) has a separate control train ( 6 , 7 ) for each single wheel drive ( 4 ) and divides a desired torque (Msoll) set by the operator to the control trains ( 6 , 7 ),
with each control train ( 6 , 7 ) having a differential controller ( 8 ) for the correction of the divided desired torque (Msoll) in dependence on a steering angle (α) and provision of a correspondingly corrected desired torque (M res ), and
a wheel slip controller ( 9 ) for the correction of the divided desired torque and/or corrected desired torque (M res ) in dependence on a wheel slip and provision of a single wheel drive desired ( Msoll *), and
a speed controller ( 15 ) having a desired speed sensor ( 16 ) for the determination of the desired wheel speed (n HR , n HL ) in dependence on the current wheel speeds of a plurality of wheels, on the chassis geometry.
18. The truck in accordance with claim 17 , wherein
the desired speed sensor ( 16 ) transforms the current wheel speeds in each case at a point (p 0 ) between the corresponding wheels, averages the transformed wheel speeds and determines the desired speeds of the respective wheels from the averaged, transformed wheel speeds.
19. The truck in accordance with claim 17 , wherein the speed sensor ( 16 ) determines the desired wheel speed (n HR , n HL ) in dependence on chassis track width (l), center distance (d), and steering angle (α).
20. A truck having a chassis ( 2 ) with wheels ( 3 ),
a plurality of said wheels ( 3 ) each having a single wheel drive ( 4 ), and
a control device ( 5 ) for the control of the speed and/or of the torque of the single wheel drives ( 4 ), wherein
the control device ( 5 ) has a separate control train ( 6 , 7 ) for each single wheel drive ( 4 ) and divides a desired torque (Msoll) set by the operator to the control trains ( 6 , 7 ),
with each control train ( 6 , 7 ) having a differential controller ( 8 ) for the correction of the divided desired torque (Msoll) in dependence on a steering angle (α) and provision of a correspondingly corrected desired torque (M res ),
a wheel slip controller ( 9 ) for the correction of the divided desired torque and/or corrected desired torque (M res ) in dependence on a wheel slip and provision of a single wheel drive desired ( Msoll *), and
a differential controller ( 8 ) having a ramp stage for the determination of the desired wheel speed with reference to an acceleration ramp for the change in the desired wheel speed.