Differential lock for independent wheel motors
Disclosed are implementations of devices, systems, and methods related to a differential lock for independent traction wheels. In one implementation, a vehicle is provided. The vehicle may include first and second traction wheels, a speed input, a steering input, and a differential lock input. It may further include a vehicle control unit with memory and a processor, capable of commanding differential speeds based on speed and direction information, detecting differential lock requests, and commanding equal speeds during lock requests. The control unit may also detect requests to stop the differential lock and limit vehicle speed during lock periods. The vehicle may have a front, rear, and two sides, with traction wheels located opposite each other. The speed input may be user-operated, and the steering input may be a sensor providing information about a steered wheel. The differential lock input may be user operated.
1 . A vehicle, comprising:
first and second traction wheels;
at least one speed input configured to provide information related to a speed of said vehicle;
at least one steering input configured to provide information related to a direction of travel of said vehicle;
at least one differential lock input;
a vehicle control unit including at least one memory and at least one processor, said vehicle control unit operable to:
command differential speed of said first and second traction wheels based on said information related to a speed of said vehicle and said information related to a direction of travel of said vehicle;
detect a differential lock input request from said at least one differential lock input;
command equal speed of said first and second traction wheels during a period of time in which said differential lock is requested; and
limit a vehicle speed during said period of time in which said differential lock is requested.
2 . The vehicle of claim 1 , wherein said vehicle control unit is further operable to:
detect a request to stop said differential lock input request.
3 . The vehicle of claim 1 , further comprising a front, a rear, and two sides, said two sides defining a side-to-side direction and wherein said first and second traction wheels are located opposite each other in the side-to-side direction.
4 . The vehicle of claim 1 , wherein said speed input is a user input.
5 . The vehicle of claim 1 , wherein said steering input is a steering sensor.
6 . The vehicle of claim 5 , wherein said steering sensor provides information related to a steered wheel.
7 . The vehicle of claim 1 , wherein said differential lock input is a user input.
8 . A vehicle having a front, rear, and two sides defining a side-to-side direction, comprising:
at least one steered wheel;
at least one steering input configured to provide information related to an angle of said steered wheel;
a first motor configured to drive a first traction wheel;
a second motor configured to drive a second traction wheel;
said first and second traction wheels located opposite each other in the side-to-side direction
at least one speed input configured to provide information related to a speed of said vehicle;
at least one differential lock input;
a vehicle control unit including at least one memory and at least one processor, said vehicle control unit operable to:
command differential speed of said first and second traction wheels based on said information related to an angle of said steered wheel and said information related to a speed of said vehicle;
detect a differential lock input request from said at least one differential lock input;
command equal speed of said first and second traction wheels during a period of time in which said differential lock is requested; and
limit a vehicle speed during said period of time in which said differential lock is requested.
9 . The vehicle of claim 8 , further comprising a network over which said vehicle control unit communicates with said at least one steering input and said at least one speed input.
10 . The vehicle of claim 9 , further comprising a first inverter configured to provide power to said first motor and a second inverter configured to provide power to said second motor.
11 . The vehicle of claim 10 , wherein said vehicle control unit communicates with said at least one steering input, said at least one speed input, said first inverter, and said second inverter via a controller area network.
12 . The vehicle of claim 11 , wherein said vehicle is a sand grooming vehicle further comprising a rake configured to groom sand.
13 . A computer-implemented method, comprising:
detecting information related to a speed of a vehicle;
detecting information related to a direction of travel of said vehicle;
commanding differential speed of two traction wheels based on said information related to a speed of said vehicle and said information related to a direction of travel of said vehicle;
detecting a differential lock input request;
commanding equal speed of said two traction wheels during a period of time during which said differential lock is requested; and
at least one of
limiting the speed of said vehicle during said period of time during which said differential lock is requested; and
detecting a request to end said period of time during which said differential lock is requested.