Traction controller and method
The present disclosure relates to a controller ( 7 ) for controlling an electric machine ( 6 ) to drive a wheel ( 4 ) of a vehicle ( 1 ). The controller ( 7 ) includes a processor ( 15 ) configured to determine an effective torque (T). A speed demand signal ( 27 ) for controlling the wheel speed is output by the processor ( 15 ). The processor is configured to detect changes in the effective torque (T) as the wheel speed (S) changes and to modify the speed demand signal ( 27 ) in dependence on the detected changes in the effective torque (T). The processor ( 15 ) may determine a derivative (dT/dS) of the effective torque (T) with respect to the wheel speed (S). The present disclosure also relates to a method of controlling an electric machine ( 6 ) to drive a wheel ( 4 ) of a vehicle ( 1 ).
1. A controller for controlling an electric machine to drive a wheel of a vehicle, the controller comprising a processor configured to:
determine an effective torque (T) transmitted by the wheel to a surface for propelling the vehicle;
output a speed demand signal for controlling a wheel speed (S) of the wheel;
detect changes in the effective torque (T) as the wheel speed (S) changes; and
modify the speed demand signal based on the detected changes in the effective torque (T).
2. A controller as claimed in claim 1 , wherein the effective torque (T) is determined at the wheel.
3. A controller as claimed in claim 1 , wherein the processor is further configured to receive a wheel speed signal indicative of the wheel speed (S) of said wheel.
4. A controller as claimed in claim 1 , wherein the processor is further configured to:
determine a derivative (dT/dS) of the effective torque (T) with respect to the wheel speed (S); and
control the wheel speed (S) based on the determined derivative (dT/dS).
5. A controller as claimed in claim 4 , wherein the processor is further configured to:
identify a target wheel speed when the determined derivative (dT/dS) is substantially zero; and
modify the speed demand signal to control the wheel speed (S) to achieve the target wheel speed.
6. A controller as claimed in claim 4 , wherein, when the vehicle is accelerating, the processor is further configured to:
modify the speed demand signal to increase the wheel speed (S) when the determined derivative (dT/dS) is positive; and
decrease the wheel speed (S) when the determined derivative (dT/dS) is negative.
7. A controller as claimed in claim 6 , wherein the processor is further configured progressively to increase or decrease the wheel speed (S) to maintain a positive value for the determined derivative (dT/dS) when the vehicle is accelerating.
8. A controller as claimed in claim 4 , wherein, when the vehicle is decelerating, the processor is further configured to modify the speed demand signal to decrease the wheel speed (S) when the determined derivative (dT/dS) is positive; and to increase the wheel speed (S) when the determined derivative (dT/dS) is negative.
9. A controller as claimed in claim 8 , wherein the processor is further configured progressively to increase or decrease the wheel speed (S) to maintain a negative value for the determined derivative (dT/dS) when the vehicle is decelerating.
10. A controller as claimed in claim 4 , wherein the speed demand signal comprises a slip component generated in dependence on a slip ratio; the processor being further configured to vary the slip ratio to vary the wheel speed (S).
11. A controller as claimed in claim 10 , wherein the processor is further configured to modify the speed demand signal by increasing or decreasing the slip ratio based on the determined derivative (dT/dS).
12. A controller as claimed in claim 10 , wherein the processor is further configured to identify the slip ratio when the determined derivative (dT/dS) is substantially zero.
13. A controller as claimed in claim 1 , wherein the processor is further configured to determine the effective torque (T) at the wheel based on a commutator current of the electric machine.
14. A controller as claimed in claim 1 , wherein the processor is further configured to detect a slip condition and to modify the speed demand signal only when said slip condition has been detected.
15. A controller as claimed in claim 1 , wherein the processor is further configured to implement changes in the wheel speed (S) and to detect the changes in the effective torque (T) based on said implemented changes in the wheel speed (S).
16. A controller as claimed in claim 15 , wherein the processor is configured to implement changes in the wheel speed (S) by introducing a perturbation into the wheel speed (S).
17. A controller as claimed in claim 1 , wherein the controller is configured to control a plurality of electric machines to drive respective wheels of the vehicle.
18. A vehicle comprising a controller as claimed in claim 1 .
19. A method of controlling an electric machine to drive a wheel of a vehicle, the method comprising:
determining an effective torque (T) transmitted by the wheel to a surface for propelling the vehicle;
detecting changes in the effective torque (T) as a wheel speed (S) of the wheel changes; and
modifying the wheel speed (S) based on the detected changes in the effective torque (T).
20. A non-transitory, computer-readable medium having instructions stored therein which, when executed by a computing means, cause the computing means to perform the method according to claim 19 .