US4766967A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Oscillation control system for electric motor drive
Assignee: Eaton Corp
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Filing: 1985-12-27
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Granted: 1988-08-30
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Expires: 2005-12-27
Abstract
Abstract A feedback system for controlling mechanical oscillations in the torsionally complaint drive train of an electric or other vehicle. Motor speed is converted in a processor to estimate state signals in which a plant model which are used to electronically modify thetorque commands applied to the motor.
Inventors
- 👤 James M. Slicker
- 👤 Ahmad Sereshteh
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-30 11:07
CPC Classifications
B; B60; B60L; B60L50/00; B60L50/50; B60L50/60; B60W; B60W50/00; B60W2050/0001; B60W2050/0019; B60W2050/0028; B60W2050/0031; B60W30/00; B60W30/18; B60W30/20; Y; Y02; Y02T; Y02T10/00; Y02T10/60; Y02T10/70
Claims Analysis
Total Claims: 19
Claim 1
Independent Claim
88 words
In combination with a drive comprising a controllable-output motive power source, at least one inertially-loaded traction wheel, and a torque-transmitting connection between the source and wheel, said connection and said wheel, in sum, exhibiting a torsional compliance susceptible of oscillatory dynamic responses to torque inputs: input means connected to said source for producing torque commands; sensor means for producing a signal representing an actual state of said drive; and feedback means responsive to said signal for modifying said torque commands to reduce said oscillatory dynamic responses toward zero.
Claim 2
Dependent Claim
88 words
In combination with a drive comprising a controllable-output motive power source, at least one inertially-loaded traction wheel, and a torque-transmitting connection between the source and wheel, said connection and said wheel, in sum, exhibiting a torsional compliance susceptible of oscillatory dynamic responses to torque inputs: input means connected to said source for producing torque commands; sensor means for producing a signal representing an actual state of said drive; and feedback means responsive to said signal for modifying said torque commands to reduce said oscillatory dynamic responses toward zero.
Claim 3
Dependent Claim
11 words
Apparatus as defined in claim 1 wherein said state is speed.
Claim 4
Dependent Claim
127 words
In combination with a drive comprising a controllable-output motive power source, at least one inertially loaded vehicle traction wheel, and a torque-transmitting connection between the source and wheel, said connection and said wheel, in combination, exhibiting a torsional compliance susceptible of oscillatory dynamic responses to torque inputs: (a) input means connected to said source for producing torque commands; (b) sensor means connected to said source for producing a signal representing actual speed thereof; (c) programmable processor estimator means representing a model of said drive connected to receive said signal for deriving a signal representing estimated torque transmitted to the load by said connection; and (d) feedback means connected to receive said estimated torque signal for modifying said torque commands to reduce said oscillatory dynamic responses toward zero.
Claim 5
Dependent Claim
127 words
In combination with a drive comprising a controllable-output motive power source, at least one inertially loaded vehicle traction wheel, and a torque-transmitting connection between the source and wheel, said connection and said wheel, in combination, exhibiting a torsional compliance susceptible of oscillatory dynamic responses to torque inputs: (a) input means connected to said source for producing torque commands; (b) sensor means connected to said source for producing a signal representing actual speed thereof; (c) programmable processor estimator means representing a model of said drive connected to receive said signal for deriving a signal representing estimated torque transmitted to the load by said connection; and (d) feedback means connected to receive said estimated torque signal for modifying said torque commands to reduce said oscillatory dynamic responses toward zero.
Claim 6
Dependent Claim
25 words
Apparatus according to claim 3 wherein said estimator means comprises: means for producing signals representing estimated source speed, estimated load speed, and estimated transmitted torque.
Claim 7
Dependent Claim
12 words
Apparatus according to claim 3 wherein said source is an electric motor.
Claim 8
Dependent Claim
13 words
Apparatus according to claim 5 wherein said electric motor is an induction motor.
Claim 9
Dependent Claim
29 words
Apparatus according to claim 5 further including a battery and an inverter connected to said battery to convert direct current therefrom to alternating current for application to said motor.
Claim 10
Dependent Claim
12 words
Apparatus according to claim 3 wherein said fourth means includes an integrator.
Claim 11
Independent Claim
112 words
A method of controlling the torque produced by a motor in response to a torque change command wherein said motor is connected to a high-inertia load, such as a vehicle traction wheel, through a torsionally compliant coupling which as a result of torsional windup and release is susceptible of oscillatory dynamic response to said torque comprising the steps of: producing a torque command; measuring the actual speed of the motor; generating from said actual speed an estimate in a plant model of the torque transmitted by said coupling; and mixing the estimated torque with the torque command to produce an error signal which is applied to the motor to attenuate the oscillation.
Claim 12
Independent Claim
112 words
A method of controlling the torque produced by a motor in response to a torque change command wherein said motor is connected to a high-inertia load, such as a vehicle traction wheel, through a torsionally compliant coupling which as a result of torsional windup and release is susceptible of oscillatory dynamic response to said torque comprising the steps of: producing a torque command; measuring the actual speed of the motor; generating from said actual speed an estimate in a plant model of the torque transmitted by said coupling; and mixing the estimated torque with the torque command to produce an error signal which is applied to the motor to attenuate the oscillation.
Claim 13
Independent Claim
133 words
A method of controlling the torque produced by a motor in response to a torque change command wherein said motor is connected to a high-inertia load, such as a vehicle traction wheel, through a torsionally compliant coupling which as a result of torsional windup and release is susceptible of oscillatory dynamic response to said torque comprising the steps of: producing a torque command; measuring a state of the motor; generating from said state an estimate of the torque transmitted via said coupling; summing the torque estimate with the torque command to produce a torque error; integrating the torque error; summing the integrated error with a proportioned sum of estimated system states to produce a command error; and applying said command error to the motor as a torque control quantity to attenuate the oscillation.
Claim 14
Independent Claim
133 words
A method of controlling the torque produced by a motor in response to a torque change command wherein said motor is connected to a high-inertia load, such as a vehicle traction wheel, through a torsionally compliant coupling which as a result of torsional windup and release is susceptible of oscillatory dynamic response to said torque comprising the steps of: producing a torque command; measuring a state of the motor; generating from said state an estimate of the torque transmitted via said coupling; summing the torque estimate with the torque command to produce a torque error; integrating the torque error; summing the integrated error with a proportioned sum of estimated system states to produce a command error; and applying said command error to the motor as a torque control quantity to attenuate the oscillation.
Claim 15
Dependent Claim
128 words
In combination with a drive comprising a controllable-output motive power source, at least one inertially-loaded traction wheel, and a torque-transmitting connection between the source and wheel, said connection and said wheel, in combination, exhibiting a torsional compliance susceptible of oscillatory dynamic responses to torque inputs: input means connected to said source for producing torque commands; sensor means for producing a signal representing an actual state of said drive; estimator means representing a model of said drive, said estimator means being connected to receive said actual state signal for producing in real-time and in parallel with said drive a plurality of estimated drive state signal quantities; and feedback means responsive to said estimated state signal quantities for modifying said torque commands to reduce said oscillatory dynamic responses toward zero.
Claim 16
Dependent Claim
128 words
In combination with a drive comprising a controllable-output motive power source, at least one inertially-loaded traction wheel, and a torque-transmitting connection between the source and wheel, said connection and said wheel, in combination, exhibiting a torsional compliance susceptible of oscillatory dynamic responses to torque inputs: input means connected to said source for producing torque commands; sensor means for producing a signal representing an actual state of said drive; estimator means representing a model of said drive, said estimator means being connected to receive said actual state signal for producing in real-time and in parallel with said drive a plurality of estimated drive state signal quantities; and feedback means responsive to said estimated state signal quantities for modifying said torque commands to reduce said oscillatory dynamic responses toward zero.
Claim 17
Dependent Claim
153 words
A vehicle drive system comprising a controllable motive power source having a rotary output member, at least one inertially loaded traction wheel and a torque transmitting connection between the rotary output member and the wheel, said connection and said wheel in combination exhibiting a torsional compliance susceptible of oscillatory dynamic responses to torque inputs comprising: means for generating torque commands and applying said torque commands to said source; estimator means representing a model of the drive and responsive to an instantaneous state input to generate signals representing instantaneous operating parameters of the drive; transducer means associated with said drive for producing a signal representing instantaneous state; means for connecting said transducer to said estimator means for producing an estimated torque signal; and feedback means for summing said estimated torque signal with said torque commands for modifying the inputs to said source to avoid operating conditions corresponding to oscillatory dynamic responses in said drive.
Claim 18
Dependent Claim
153 words
A vehicle drive system comprising a controllable motive power source having a rotary output member, at least one inertially loaded traction wheel and a torque transmitting connection between the rotary output member and the wheel, said connection and said wheel in combination exhibiting a torsional compliance susceptible of oscillatory dynamic responses to torque inputs comprising: means for generating torque commands and applying said torque commands to said source; estimator means representing a model of the drive and responsive to an instantaneous state input to generate signals representing instantaneous operating parameters of the drive; transducer means associated with said drive for producing a signal representing instantaneous state; means for connecting said transducer to said estimator means for producing an estimated torque signal; and feedback means for summing said estimated torque signal with said torque commands for modifying the inputs to said source to avoid operating conditions corresponding to oscillatory dynamic responses in said drive.
Claim 19
Dependent Claim
11 words
Apparatus as defined in claim 12 wherein said state is speed.
References Cited (Backward Citations)
US3297926A
Cited
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