DE602006005354D1 - Verfahren zur Anpassung des Gierrate-Fehlers bei der Steuerung von Schlupfbegrenzten Differentialen - Google Patents
Verfahren zur Anpassung des Gierrate-Fehlers bei der Steuerung von Schlupfbegrenzten DifferentialenInfo
- Publication number
- DE602006005354D1 DE602006005354D1 DE602006005354T DE602006005354T DE602006005354D1 DE 602006005354 D1 DE602006005354 D1 DE 602006005354D1 DE 602006005354 T DE602006005354 T DE 602006005354T DE 602006005354 T DE602006005354 T DE 602006005354T DE 602006005354 D1 DE602006005354 D1 DE 602006005354D1
- Authority
- DE
- Germany
- Prior art keywords
- yaw rate
- pid
- controller
- adaptation
- error
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
- B60W2050/0011—Proportional Integral Differential [PID] controller
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/14—Yaw
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/20—Arrangements for suppressing or influencing the differential action, e.g. locking devices
- F16H48/22—Arrangements for suppressing or influencing the differential action, e.g. locking devices using friction clutches or brakes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/20—Arrangements for suppressing or influencing the differential action, e.g. locking devices
- F16H48/30—Arrangements for suppressing or influencing the differential action, e.g. locking devices using externally-actuatable means
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP06016310A EP1884396B1 (de) | 2006-08-04 | 2006-08-04 | Verfahren zur Anpassung des Gierrate-Fehlers bei der Steuerung von Schlupfbegrenzten Differentialen |
Publications (1)
Publication Number | Publication Date |
---|---|
DE602006005354D1 true DE602006005354D1 (de) | 2009-04-09 |
Family
ID=37562155
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE602006005354T Active DE602006005354D1 (de) | 2006-08-04 | 2006-08-04 | Verfahren zur Anpassung des Gierrate-Fehlers bei der Steuerung von Schlupfbegrenzten Differentialen |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1884396B1 (de) |
AT (1) | ATE423699T1 (de) |
DE (1) | DE602006005354D1 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11119482B2 (en) * | 2019-02-07 | 2021-09-14 | GM Global Technology Operations LLC | System and method for control of an autonomous vehicle |
US11148529B1 (en) | 2021-02-11 | 2021-10-19 | Dana Heavy Vehicle Systems Group, Llc | System and method for controlling traction of tandem axles |
CN115202371B (zh) * | 2022-09-19 | 2023-02-07 | 深圳市凯之成智能装备有限公司 | 平板清扫机器人的运动控制方法及相关装置 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2323940B (en) * | 1994-06-27 | 1999-01-20 | Fuji Heavy Ind Ltd | Vehicle driving torque distribution control system and method |
JP3423125B2 (ja) * | 1995-09-28 | 2003-07-07 | 三菱自動車工業株式会社 | 車両の旋回挙動制御装置 |
US6830122B2 (en) * | 2003-02-26 | 2004-12-14 | Dana Corporation | Vehicle yaw management system with driveline torque control |
US7007763B2 (en) * | 2003-09-19 | 2006-03-07 | Borgwarner Inc. | Control system for interactive driveline and vehicle control |
-
2006
- 2006-08-04 AT AT06016310T patent/ATE423699T1/de not_active IP Right Cessation
- 2006-08-04 DE DE602006005354T patent/DE602006005354D1/de active Active
- 2006-08-04 EP EP06016310A patent/EP1884396B1/de not_active Not-in-force
Also Published As
Publication number | Publication date |
---|---|
ATE423699T1 (de) | 2009-03-15 |
EP1884396B1 (de) | 2009-02-25 |
EP1884396A1 (de) | 2008-02-06 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition | ||
8380 | Miscellaneous part iii |
Free format text: PFANDRECHT |
|
8327 | Change in the person/name/address of the patent owner |
Owner name: GM GLOBAL TECHNOLOGY OPERATIONS LLC , ( N. D. , US |