Rate of change of velocity control system

Claim 2

A rate of change of velocity control system for a wheeled vehicle comprising vehicle control means controlling the velocity of a wheel of the vehicle; means responsive to the velocity of the wheel and operative to develop input signals having a time spacing corresponding to the velocity of the wheel; velocity generating means generating a series of velocity signals each having a peak signal level corresponding to the instantaneous velocity of the wheel and whereby the difference between the peak signal levels of each successive velocity signal corresponds to actual rate of change of velocity of the wheel; velocity reference generating means generating a reference signal corresponding to a certain threshold rate of change of the velocity of the wheel; control means operative in response to each of the input sIgnals to reset the velocity generating means to a predetermined threshold level and also to reset the velocity reference generating means to the peak signal level of the velocity signal as long as the certain threshold rate of change of the velocity of the wheel is not exceeded; means comparing the velocity and reference signals and developing a predetermined output when the certain threshold rate of change of velocity is exceeded; output signal generating means operative in response to the predetermined output for rendering the vehicle control means operative to alter the velocity of the wheel so that the certain threshold rate of change of velocity is not exceeded; and means controlling the response of the system to predetermined conditions.

Claim 3

A rate of change of velocity control system as described in claim 1, wherein the responsiveness controlling means includes means restricting the response of the system to wheel velocity fluctuations of more than a certain extent.

Claim 4

A rate of change of velocity control system as described in claim 1, wherein the response controlling means includes means preventing the response of the system when the input signal is at a certain level.

Claim 5

A rate of change of velocity control system as described in claim 1, wherein the response controlling means includes means inhibiting the response of the system to wheel velocity changes of less than a predetermined magnitude.

Claim 6

A rate of change of velocity control system as described in claim 2, wherein the response controlling means further includes means preventing the response of the system when the input signal is at a certain level.

Claim 7

A rate of change of velocity control system as described in claim 3, wherein the response controlling means further includes means restricting the response of the system to wheel velocity fluctuations of more than a certain extent.

Claim 8

A rate of change of velocity control system as described in claim 6, wherein the response controlling means includes means inhibiting the response of the system to wheel velocity changes of less than a predetermined magnitude.

Claim 9

A rate of change of velocity control system as described in claim 1, further including a power source and wherein the velocity generating means includes a velocity capacitor coupled to the comparing means and also to the power source so as to be charged thereby to a voltage level corresponding to the peak signal level, means controlling the rate of charging of the velocity capacitor so that the charge is proportional to the velocity of the wheel, and discharge switch means operative when energized by the control means to discharge the velocity capacitor to a predetermined threshold level.

Claim 10

A rate of change of velocity control system as described in claim 1, wherein the velocity reference generating means includes rate of change of velocity means generating power having certain characteristics, a velocity reference capacitor coupled to the comparing means and also to the rate of change of velocity means so as to be charged thereby at a rate and to a voltage level corresponding to the certain threshold rate of change of velocity and discharge switch means operative when energized by the control means to discharge the velocity reference capacitor, and wherein the inhibiting means includes resistance means coupled to the rate of change of velocity means between the comparing means and the velocity reference capacitor so as to control the voltage level thereof.

Claim 11

A rate of change of velocity control system as described in claim 9 including a power source and wherein the velocity means includes a velocity capacitor coupled to the comparing means and also to the power source so as to be charged thereby to a voltage level corresponding to the instantaneous velocity of the wheel, means controlling the rate of charging of the velocity capacitor so that the charge is proportional to the velocity of the wheel, and discharge switch means operative when energized by the control means to discharGe the velocity capacitor to the predetermined threshold level.

Claim 12

A rate of change of velocity control system as described in claim 1 further including means detecting malfunctions of the system and operative upon detecting a malfunction to disable the system.

Claim 13

A rate of change of velocity control system as described in claim 1, wherein the velocity reference generating means includes a velocity reference capacitor coupled to the comparing means so as to be charged by the output thereof and thereby develop the velocity reference signal for comparison with the velocity signal by the comparing means and means controlling the rate of discharge of the velocity reference capacitor so as to correspond to the certain threshold rate of change of velocity.

Claim 14

A rate of change of velocity control system as described in claim 12, wherein the means controlling the rate of discharge includes a resistance.

Claim 15

A rate of change of velocity control system as described in claim 12, including a power source and wherein the velocity means includes a velocity capacitor coupled to the comparing means and also to the power source so as to be charged thereby to a voltage level corresponding to the instantaneous velocity of the wheel, means controlling the rate of charging of the velocity capacitor so that the charge is proportional to the velocity of the wheel, and discharge switch means operative when energized by the control means to discharge the velocity capacitor to the predetermined threshold level.

Claim 16

A rate of change of velocity control system as described in claim 1 including tachometer means coupled to the velocity reference generating means and so calibrated as to indicate a velocity corresponding to wheel velocity.

Claim 17

A rate of change of velocity control system for a wheeled vehicle comprising vehicle control means controlling the velocity of a wheel of the vehicle; means responsive to the velocity of the wheel and operative to develop input signals having a time spacing corresponding to the velocity of the wheel; a power source; velocity generating means including a velocity capacitor having a charging path connected to the power source for charging the velocity capacitor to a peak voltage level corresponding to the instantaneous velocity of the wheel and a discharge path having discharge switch means therein operative when energized to complete the discharge path so as to discharge the velocity capacitor; velocity reference generating means including a velocity reference capacitor means charging and discharging the velocity reference capacitor so as to develop a voltage level and a voltage rate of change corresponding to a certain threshold rate of change of velocity, and discharge switch means operative when energized to discharge the velocity reference capacitor; comparison means including an operational amplifier having the inputs thereof coupled to the velocity reference capacitor and to the velocity capacitor and operative to compare the voltage levels thereof and develop a certain output when the comparison indicates the certain threshold rate of change of velocity is exceeded; control means operative in response to each of the input signals to render the means charging and discharging the velocity reference capacitor to reset the voltage level thereof at the peak voltage level of the velocity capacitor and to energize the velocity capacitor discharge switch means so as to discharge the velocity capacitor to a predetermined threshold level; and output signal generating means operative in response to the certain output for rendering the vehicle control means operative to alter the velocity of the wheel so that the certain threshold rate of change of velocity is not exceeded.

Claim 18

A rate of change of velocity control system for a wheeled vehicle comprising vehicle control means controlling the velocity of a wheel of the vehicle; means responsive to the velocity of the wheel and operative to develop input signals having a time spacing corresponding to the velocity of the wheel; a power source; velocity generating means including a velocity capacitor having a charging path connected to the power source for charging the velocity capacitor to a peak voltage level corresponding to the instantaneous velocity of the wheel and a discharge path having discharge switch means therein operative when energized to complete the discharge path so as to discharge the velocity capacitor; velocity reference generating means including a velocity reference capacitor means charging and discharging the velocity reference capacitor so as to develop a voltage level and a voltage rate of change corresponding to a certain threshold rate of change of velocity, and discharge switch means operative when energized to discharge the velocity reference capacitor; comparison means including an operational amplifier having the inputs thereof coupled to the velocity reference capacitor and to the velocity capacitor and operative to compare the voltage levels thereof and develop a certain output when the comparison indicates the certain threshold rate of change of velocity is exceeded; control means operative in response to each of the input signals to render the means charging and discharging the velocity reference capacitor to reset the voltage level thereof at the peak voltage level of the velocity capacitor and to energize the velocity capacitor discharge switch means so as to discharge the velocity capacitor to a predetermined threshold level; and output signal generating means operative in response to the certain output for rendering the vehicle control means operative to alter the velocity of the wheel so that the certain threshold rate of change of velocity is not exceeded.

Claim 19

A rate of change of velocity control system as described in claim 16, further including means inhibiting the response of the system to wheel velocity changes, the inhibiting means having resistance means in the charging path of the velocity reference capacitor between the opeRational amplifier and the velocity reference capacitor for maintaining the voltage level of the velocity reference capacitor a predetermined extent below the voltage sensed by the operational amplifier so as to inhibit response of the system to wheel velocity changes of less than a predetermined magnitude.

Claim 20

A rate of change of velocity control system as described in claim 16, further including restricting means having resistance means in the discharge path of the velocity reference capacitor for controlling the rate of discharge of the velocity reference capacitor so as to restrict the response of the system to wheel velocity fluctuations of more than a certain extent.

Claim 21

A rate of change of velocity control system as described in claim 18, further including inhibiting means having resistance means in the charging path of the velocity reference capacitor between the operational amplifier and the velocity reference capacitor for maintaining the voltage level of the velocity reference capacitor a predetermined extend below the voltage sensed by the operational amplifier so as to inhibit the response of the system to wheel velocity changes of less than a predetermined magnitude.

Claim 22

A rate of change of velocity control system as described in claim 16, further including means preventing operation of the output generator means when the input signal is at a certain level.

Claim 23

A rate of change of velocity control system as described in claim 16, wherein the control means includes switch means operative in response to each of the input signals to cause the velocity capacitor discharge switch and the velocity reference discharge switch to be energized in a certain sequence for a predetermined time duration.

Claim 24

A rate of change of velocity control system as described in claim 16, wherein the comparison means includes a turn on network operative in response to the certain output to render the output generating means operative and a turn off network arranged to be enabled by the velocity reference capacitor discharge switch when energized so as to render the output generating means inoperative and arranged to be disabled by the certain output.

Claim 25

A rate of change of velocity control system as described in claim 21, further including means preventing operation of the output generating means when the input signal is at a certain level, the preventing means including one way conducting means rendered operative by the switch means to divert the output of the operational amplifier from the output generating means to prevent operation thereof.

Claim 26

A rate of change of velocity control system as described in claim 19 including means preventing operation of the output generating means when the input signal is at a certain level.

Claim 27

A rate of change of velocity control system as described in claim 24, wherein the control means includes switch means operative in response to each of the input signals to cause the velocity capacitor discharge switch to be energized in a certain sequence for a predetermined time duration and the comparison means includes a turn on network operative in response to the certain output to render the output generating means operative and a turn off network arranged to be enabled by the velocity reference capacitor discharge switch when energized so as to render the output generating means inoperative and arranged to be disabled by the certain output.

Claim 28

A rate of change of velocity control system as described in claim 25, further including means preventing operation of the output generating means when the input signal is at a certain level, the preventing means including one way conducting means rendered operative by the switch means to divert the output of the operational amplifier from the output generating means to prevent operation thereof.

Claim 29

A rate of change of velocity control system as described in claim 16, wherein the comparison means includes blocking means coupled between the operational amplifier and the discharge path of the Velocity reference capacitor so as to prevent discharge of the velocity reference capacitor when the operational amplifier develops a predetermined output.

Claim 30

A rate of change of velocity control system as described in claim 21, wherein the velocity generating means includes means controlling the rate of charging of the velocity capacitor so that the charge is proportional to the velocity of the wheel.

Claim 31

A rate of change of velocity control system as described in claim 16, wherein the means charging and discharging the velocity reference capacitor includes rate of change of velocity means for charging the velocity reference capacitor and discharge switch means operative when energized to discharge the velocity reference capacitor and the control means is operative to energize the velocity reference capacitor discharge switch means to reset the voltage level of the velocity reference capacitor.

Claim 32

A rate of change of velocity control system as described in claim 16, wherein the means charging and discharging the velocity reference capacitor includes one way conducting means coupling the velocity reference capacitor to the output of the operational amplifier for charging the velocity reference capacitor and means controlling the discharge rate of the velocity reference capacitor.

Claim 33

A rate of change of velocity control system as described in claim 16, further including means detecting malfunctions of the system and operative upon detecting a malfunction to disable the system.

Claim 34

A rate of change of velocity control system as described in claim 31, wherein the detecting means includes switch means operative to disable the power source and power regulating means coupled between the power source and the switch means, the power regulating means being enabled by a predetermined output from the power source to render the switch means operative.

Claim 35

A rate of change of velocity control system as described in claim 32, wherein the detecting means further includes shunt means coupled between the power source and the vehicle control means and to the switch means, the shunt means being enabled in the event of a malfunction of the vehicle control means to render the switch means operative.

Claim 36

A rate of change of velocity control system as described in claim 31, wherein the detecting means further includes means warning of the malfunction.

Claim 37

A rate of change of velocity control system as described in claim 31, wherein the detecting means includes switch means operative to disable the power source and shunt means coupled between the power source and the vehicle control means and to the switch means, the shunt means being enabled in the event of a malfunction of the vehicle control means to render the switch means operative.

Claim 38

A rate of change of velocity control system for a wheeled vehicle comprising vehicle control means controlling the velocity of a wheel of the vehicle; a power supply for the system; a series of modules, one for each wheel, each module being coupled between the power supply and the vehicle control means and including means responsive to the velocity of the associated wheel and operative to develop input signals having a time spacing corresponding to the velocity of the wheel; associated velocity generating means generating a series of velocity signals each having a peak signal level corresponding to the instantaneous velocity of the associated wheel and whereby the difference between the peak signal levels of each successive velocity signal corresponds to the actual rate of change of velocity of the associated wheel; velocity reference generating means generating a reference signal corresponding to a certain threshold rate of change of the velocity of the associated wheel; control means operative in response to each of the input signals to reset the velocity generating means to a predetermined threshold level and also to reset the velocity reference generating means to the peak signal level of the velocity signal as long as the certain thrEshold rate of change of the velocity of the wheel is not exceeded; means comparing the velocity and reference signals and developing a predetermined output when the certain threshold rate of change of velocity is exceeded; and output signal generating means operative in response to the output for rendering the vehicle control means operative to alter the velocity of the wheels so that the certain threshold rate of change of velocity is not exceeded; and means detecting malfunctions of the system, the detecting means including means sensing the voltage levels of two of the velocity reference generating means and developing an output in the event of a certain difference, switch means operative in response to the output to uncouple the power supply from the system.

Claim 39

A rate of change of velocity control system for a wheeled vehicle comprising vehicle control means controlling the velocity of a wheel of the vehicle; a power supply for the system; a series of modules, one for each wheel, each module being coupled between the power supply and the vehicle control means and including means responsive to the velocity of the associated wheel and operative to develop input signals having a time spacing corresponding to the velocity of the wheel; associated velocity generating means generating a series of velocity signals each having a peak signal level corresponding to the instantaneous velocity of the associated wheel and whereby the difference between the peak signal levels of each successive velocity signal corresponds to the actual rate of change of velocity of the associated wheel; velocity reference generating means generating a reference signal corresponding to a certain threshold rate of change of the velocity of the associated wheel; control means operative in response to each of the input signals to reset the velocity generating means to a predetermined threshold level and also to reset the velocity reference generating means to the peak signal level of the velocity signal as long as the certain thrEshold rate of change of the velocity of the wheel is not exceeded; means comparing the velocity and reference signals and developing a predetermined output when the certain threshold rate of change of velocity is exceeded; and output signal generating means operative in response to the output for rendering the vehicle control means operative to alter the velocity of the wheels so that the certain threshold rate of change of velocity is not exceeded; and means detecting malfunctions of the system, the detecting means including means sensing the voltage levels of two of the velocity reference generating means and developing an output in the event of a certain difference, switch means operative in response to the output to uncouple the power supply from the system.

Claim 40

A rate of change of velocity control system as described in claim 36, wherein the detecting means further includes means warning of the malfunction.

Claim 41

A rate of change of velocity control system as described in claim 36 wherein the detecting means includes shunt means coupled between the power supply and the vehicle control means to the switch means, the shunt means being enabled in the event of a malfunction of the vehicle control means to render the switch means operative.

Claim 42

A rate of change of velocity control system as described in claim 36, wherein the detecting means includes voltage regulating means coupled between the power supply and the switch means, the voltage regulating means being enabled by a predetermined output from the power supply to render the switch means operative.

Claim 43

A rate of change of velocity control system as described in claim 39, wherein the detecting means shunt means coupled between the power supply and the vehicle control means and to the switch means, the shunt means being enabled in the event of a malfunction of the vehicle control means to render the switch means operative and means warning of the malfunction.