KR100779482B1 - Traction Control System And Method Thereof - Google Patents

Traction Control System And Method Thereof Download PDF

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KR100779482B1
KR100779482B1 KR1020040039535A KR20040039535A KR100779482B1 KR 100779482 B1 KR100779482 B1 KR 100779482B1 KR 1020040039535 A KR1020040039535 A KR 1020040039535A KR 20040039535 A KR20040039535 A KR 20040039535A KR 100779482 B1 KR100779482 B1 KR 100779482B1
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South Korea
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engine torque
engine
slip
amount
slip control
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KR1020040039535A
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Korean (ko)
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KR20050114798A (en
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구본경
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주식회사 만도
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    • 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
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle  responsive to, or preventing, skidding of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2306/00—Other features of vehicle sub-units
    • B60Y2306/13—Failsafe arrangements

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)

Abstract

본 발명은 연산한 엔진 토크(A)와 미리 설정된 목표 엔진 토크(T)를 비교한 결과에 따라 엔진 토크를 증가하거나 감소하는 1차 슬립 제어를 수행하며, 1차 슬립 제어하는 동안 엔진 회전수의 변화량(B)과 미리 설정된 기준값(R1)(R2)을 비교한 결과에 따라 엔진 토크의 기울기를 감소하거나 유지하는 2차 슬립 제어를 수행한다.The present invention performs the first slip control to increase or decrease the engine torque in accordance with the result of comparing the calculated engine torque (A) and the predetermined target engine torque (T), the engine speed during the first slip control Secondary slip control is performed to reduce or maintain the inclination of the engine torque according to the result of comparing the change amount B and the preset reference values R1 and R2.

본 발명은 1차 슬립 제어에 부가하여 엔진 회전수 변화량에 따라 엔진 토크를 제어하므로 기존 보다 차량의 가속 성능과 조정 안정성을 충실하게 확보할 수 있다.According to the present invention, the engine torque is controlled according to the engine speed change amount in addition to the primary slip control, so that the acceleration performance and the adjustment stability of the vehicle can be faithfully secured.

Description

트랙션 제어 시스템 및 제어 방법{Traction Control System And Method Thereof}Traction Control System And Method Thereof}

도 1은 본 발명에 따른 트랙션 제어 시스템의 블록 다이어그램이다. 1 is a block diagram of a traction control system in accordance with the present invention.

도 2는 본 발명에 따른 트랙션 제어 시스템의 동작을 보인 순서도이다.2 is a flowchart showing the operation of the traction control system according to the present invention.

* 도면의 주요부분에 대한 부호의 설명 *Explanation of symbols on the main parts of the drawings

10 : 엔진 회전수센서10: engine speed sensor

11~14 : 휠 속도센서11 ~ 14: Wheel speed sensor

15 : 컨트롤러15: controller

본 발명은 트랙션 제어 시스템 및 제어 방법에 관한 것으로, 더욱 상세하게는 엔진 회전수를 고려하여 차량의 거동을 제어하는 트랙션 제어 시스템 및 제어 방법에 관한 것이다.The present invention relates to a traction control system and a control method, and more particularly to a traction control system and control method for controlling the behavior of the vehicle in consideration of the engine speed.

트랙션 제어 시스템은 곡선 도로를 선회 주행하거나 급가속, 급감속하는 차량이 조정안정성을 잃기 쉬워 측정 기기와 센서로부터 얻어진 정보를 이용하여 차량의 거동을 제어하는 장치이다. The traction control system is a device for controlling the behavior of a vehicle by using information obtained from a measuring device and a sensor, since a vehicle turning or driving on a curved road or rapidly accelerating or decelerating easily loses its adjustment stability.                         

기존의 트랙션 제어 시스템은 구동 휠의 슬립을 연산하고, 연산된 구동 휠의 슬립량과 슬립 기울기를 이용하여 차량의 엔진 출력을 제어하도록 되어 있다.The existing traction control system calculates the slip of the driving wheel and controls the engine output of the vehicle by using the calculated slip amount and slip slope of the driving wheel.

그러나 기존의 트랙션 제어 시스템은 구동 휠의 슬립량과 슬립 기울기에 한정하여 차량의 거동을 제어하였기 때문에 필요 이상으로 엔진 토크가 저하하거나 증가한다. 이렇게 트랙션 제어 시스템에 의한 엔진 출력의 변화가 과도하게 발생함에 따라 차량의 가속 성능과 조정 안정성이 떨어지게 되었다.However, since the conventional traction control system controls the behavior of the vehicle by limiting the slip amount and slip slope of the driving wheel, the engine torque decreases or increases more than necessary. Excessive changes in engine power caused by the traction control system degrade the vehicle's acceleration performance and steering stability.

본 발명의 목적은 엔진의 회전수를 트랙션 제어에 반영함으로써 가속 성능과 주행 안정성을 보다 충실하게 확보할 수 있는 트랙션 제어 시스템 및 제어 방법을 제공함에 있다.SUMMARY OF THE INVENTION An object of the present invention is to provide a traction control system and control method capable of more faithfully securing acceleration performance and running stability by reflecting the engine speed in traction control.

상기 목적을 달성하기 위한 본 발명은, 구동 휠의 슬립량과 슬립 기울기에 기초하여 연산한 엔진 토크와 설정된 목표 엔진 토크를 비교하고, 그 비교 결과에 따라 엔진 토크를 제어하는 1차 슬립제어와, 상기 1차 슬립제어에 의해 엔진 토크를 제어하는 동안 엔진 회전수의 변화량에 따라 엔진 토크의 기울기를 제어하는 2차 슬립제어를 포함하는 것을 특징으로 한다.The present invention for achieving the above object is a primary slip control for comparing the engine torque calculated on the basis of the slip amount and the slip slope of the drive wheel and the set target engine torque, and controls the engine torque in accordance with the comparison result; It characterized in that it comprises a secondary slip control for controlling the inclination of the engine torque in accordance with the amount of change in the engine speed while the engine torque is controlled by the primary slip control.

상기 목적을 달성하기 위한 본 발명은, 차량 엔진; 엔진 회전수센서; 휠 속도센서; 및 상기 휠 속도센서에 의해 얻어진 구동 휠의 슬립량과 슬립 기울기에 기초하여 엔진토크를 제어하는 동안 상기 엔진 회전수센서에 의해 얻어진 엔진 회전수의 변화량에 따라 상기 엔진 토크의 기울기를 제어하는 컨트롤러를 포함하는 것 을 특징으로 한다.The present invention for achieving the above object, a vehicle engine; Engine speed sensor; Wheel speed sensor; And a controller for controlling the inclination of the engine torque according to the amount of change in the engine speed obtained by the engine speed sensor while controlling the engine torque based on the slip amount and the slip slope of the drive wheel obtained by the wheel speed sensor. It is characterized by including.

이하, 본 발명에 따른 바람직한 실시 예를 첨부 도면에 따라 상세히 설명한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

본 발명에 따른 트랙션 제어 시스템은, 도 1에 도시한 바와 같이, 차량 엔진의 회전수를 검출하는 엔진 회전수센서(10), 휠에 각각 마련된 제1 내지 제4휠 속도센서(11~14)와, 엔진 회전수센서에 의해 얻어진 엔진 회전수와 휠 속도센서에 의해 얻어진 구동 휠의 슬립량과 슬립 기울기에 기초하여 엔진토크를 연산하고, 연산된 엔진 토크가 설정된 목표 엔진 토크에 도달하도록 엔진의 토크를 제어하는 컨트롤러(15)를 구비한다.The traction control system according to the present invention, as shown in Figure 1, the engine speed sensor 10 for detecting the rotational speed of the vehicle engine, the first to fourth wheel speed sensors 11 to 14, respectively provided on the wheel Calculate the engine torque based on the engine speed obtained by the engine speed sensor and the slip amount and slip slope of the drive wheel obtained by the wheel speed sensor, and calculate the engine torque so that the calculated engine torque reaches the set target engine torque. A controller 15 for controlling torque is provided.

컨트롤러(15)의 출력에 엔진(16), 휠에 가해지는 유압을 조절하기 위한 모터(17), 및 복수 솔레노이드밸브(18)를 전기적으로 연결한다.The output of the controller 15 is electrically connected to the engine 16, the motor 17 for adjusting the hydraulic pressure applied to the wheel, and the plurality of solenoid valves 18.

컨트롤러(15)는 엔진 출력을 조절하기 위한 엔진제어신호를 엔진(16)에 출력하여 엔진 토크를 제어한다. 엔진(16)은 엔진제어신호에 따라 도시하지 않은 스로틀밸브를 구동한다.The controller 15 outputs an engine control signal for adjusting the engine output to the engine 16 to control the engine torque. The engine 16 drives a throttle valve (not shown) in accordance with the engine control signal.

컨트롤러(15)는 휠 속도 센서로부터 구동 휠에 대한 슬립량과 슬립 기울기를 얻고, 식1)에 의해 엔진 토크(A)를 연산한다.The controller 15 obtains the slip amount and the slip inclination with respect to the drive wheel from the wheel speed sensor, and calculates the engine torque A by equation (1).

A = (Kv*Vx) + (Ka*Ax) ---- 식1)A = (Kv * Vx) + (Ka * Ax) ---- Equation 1)

여기서, Kv, Ka는 상수이고, Vx는 구동 휠의 슬립량이며, Ax는 구동 휠의 슬립 기울기이다.Here, Kv and Ka are constants, Vx is slip amount of the drive wheel, and Ax is slip slope of the drive wheel.

컨트롤러(15)는 연산한 엔진 토크(A)와 미리 설정된 목표 엔진 토크(T)를 비 교하고, 그 비교 결과에 따라 엔진제어신호를 엔진(16)에 출력하여 엔진 토크를 증가하거나 감소한다(1차 슬립 제어). The controller 15 compares the calculated engine torque A with a predetermined target engine torque T, and outputs an engine control signal to the engine 16 according to the comparison result to increase or decrease the engine torque ( Primary slip control).

1차 슬립 제어를 수행함에 의해, 선회 주행하거나 급가속, 급감속하는 차량의 거동은 어느 정도 양호하게 나타난다. 그러나 1차 슬립 제어만으로는 여전히 차량 거동이 불안정한 상태를 완전하게 해소하지 못한다.By performing the primary slip control, the behavior of the vehicle that is turning, suddenly accelerating and decelerating is somewhat satisfactory. However, primary slip control alone does not completely solve the unstable vehicle behavior.

1차 슬립 제어하는 동안, 컨트롤러(15)는 엔진 회전수센서(10)로부터 엔진 회전수를 얻고, 식2)에 따라 단위 시간당 엔진 회전수의 변화량(B)을 연산한다.During the primary slip control, the controller 15 obtains the engine speed from the engine speed sensor 10 and calculates the change amount B of the engine speed per unit time according to equation (2).

B = ΔN/Δt ---- 식2)B = ΔN / Δt ---- equation 2)

여기서, ΔN는 엔진 회전수 변화량이고, Δt 는 단위시간이다.Here, ΔN is an engine speed change amount, and Δt is a unit time.

컨트롤러(15)는 연산한 엔진 회전수의 변화량(B)과 미리 설정된 기준값(R1)(R2)을 비교하고, 그 비교 결과에 따라 엔진제어신호를 엔진(16)에 출력하여 엔진 토크의 기울기를 감소하거나 유지한다(2차 슬립 제어).The controller 15 compares the calculated change amount B of the engine speed with a preset reference value R1 and R2, and outputs an engine control signal to the engine 16 according to the comparison result to incline the engine torque. Reduce or maintain (secondary slip control).

이와 같이 컨트롤러(15)는 1차 슬립 제어에 부가하여 엔진 회전수 변화량에 따라 엔진 토크를 제어함으로써, 기존과 같이 구동 휠에 대한 슬립에만 의존할 때 보다 차량의 가속 성능과 조정 안정성을 충실하게 확보할 수 있다.In this way, the controller 15 controls the engine torque according to the engine speed change amount in addition to the primary slip control, so as to faithfully secure the acceleration performance and the adjustment stability of the vehicle than when relying only on the slip on the driving wheel as before. can do.

본 발명에 따른 트랙션 제어 시스템의 제어 방법을 설명한다.A control method of the traction control system according to the present invention will be described.

먼저, 컨트롤러(15)는 휠 속도센서(11~14)를 통하여 얻어진 구동 휠의 슬립량과 슬립 기울기를 연산하고, 이 구동 휠의 슬립량(Vx)과 슬립 기울기(Ax)를 식1)에 적용하여 차량의 엔진 토크(A)를 연산하고, 엔진 회전수센서(10)를 통하여 얻어진 단위 시간당 엔진 회전수의 변화량(B)을 연산한다(20). First, the controller 15 calculates the slip amount and the slip slope of the drive wheel obtained through the wheel speed sensors 11 to 14, and calculates the slip amount Vx and the slip slope Ax of the drive wheel by equation (1). The engine torque A of the vehicle is calculated, and the change amount B of the engine speed per unit time obtained through the engine speed sensor 10 is calculated (20).                     

컨트롤러(15)는 연산한 엔진 토크(A)가 설정된 목표 엔진토크(T)보다 큰지를 판단하고(21), 그 판단결과 엔진 토크(A)가 설정된 목표 엔진토크(T)보다 크면, 엔진 토크를 감소하기 위한 엔진제어신호를 엔진(16)에 출력한다(22). 이에 따라 엔진 토크를 감소시키는 1차 슬립제어를 수행한다. 1차 슬립 제어에 따라 엔진 토크가 감소하는 동안 컨트롤러(15)는 연산한 단위 시간당 엔진 회전수의 변화량(B)이 기준값(R2)보다 작은지를 판단하고(24), 그 판단결과 단위시간당 엔진 회전수의 변화량(B)이 기준값(R2)보다 작으면 엔진 토크의 기울기를 감소(완만)하기 위한 엔진제어신호를 엔진(16)에 출력한다(26). 이에 따라 감소하는 엔진 토크의 비율은 1차 슬립 제어보다 적다. 동작 24의 판단결과 단위시간당 엔진 회전수의 변화량(B)이 기준값(R2)보다 작지 않으면 엔진 토크의 기울기를 유지하기 위한 엔진제어신호를 엔진(16)에 출력한다(28). 이에 따라 감소하는 엔진 토크의 비율은 1차 슬립 제어와 같이 유지된다.The controller 15 determines whether the calculated engine torque A is greater than the set target engine torque T (21). If the engine torque A is larger than the set target engine torque T as a result of the determination, the engine torque The engine control signal for reducing the output is output to the engine 16 (22). Accordingly, the primary slip control to reduce the engine torque is performed. While the engine torque decreases according to the primary slip control, the controller 15 determines whether the calculated change amount B of the engine speed per unit time is smaller than the reference value R2 (24), and as a result, the engine rotation per unit time. If the change amount B of the number is smaller than the reference value R2, an engine control signal for reducing (slowing) the slope of the engine torque is output to the engine 16 (26). The percentage of engine torque that is thereby reduced is less than the primary slip control. If it is determined in operation 24 that the change amount B of the engine speed per unit time is not smaller than the reference value R2, an engine control signal for maintaining the inclination of the engine torque is output to the engine 16 (28). The proportion of engine torque that is thereby reduced is maintained as with primary slip control.

동작 21의 판단결과 엔진 토크(A)가 설정된 목표 엔진토크(T)보다 크지 않으면, 엔진 토크를 증소하기 위한 엔진제어신호를 엔진(16)에 출력한다(23). 이에 따라 엔진 토크를 증가시키는 1차 슬립 제어를 수행한다. 1차 슬립 제어에 따라 엔진 토크가 증가하는 동안 컨트롤러(15)는 연산한 단위 시간당 엔진 회전수의 변화량(B)이 기준값(R1)보다 큰지를 판단하고(25), 그 판단결과 단위시간당 엔진 회전수의 변화량(B)이 기준값(R1)보다 크면 엔진 토크의 기울기를 감소(완만)하기 위한 엔진제어신호를 엔진(16)에 출력한다(27). 이에 따라 증가하는 엔진 토크의 비율은 1차 슬립 제어보다 적다. 동작 25의 판단결과 단위시간당 엔진 회전수의 변 화량(B)이 기준값(R2)보다 크지 않으면 엔진 토크의 기울기를 유지하기 위한 엔진제어신호를 엔진(16)에 출력한다(29). 이에 따라 증가하는 엔진 토크의 비율은 1차 슬립 제어와 같이 유지된다.If the engine torque A is not greater than the set target engine torque T as a result of the determination in operation 21, an engine control signal for increasing the engine torque is output to the engine 16 (23). Accordingly, the primary slip control to increase the engine torque is performed. While the engine torque increases according to the primary slip control, the controller 15 determines whether the calculated change amount B of the engine speed per unit time is greater than the reference value R1 (25), and as a result, the engine rotation per unit time. If the change amount B of the number is larger than the reference value R1, an engine control signal for reducing (slowing) the slope of the engine torque is output to the engine 16 (27). The proportion of increasing engine torque is thus less than the primary slip control. If the change amount B of the engine speed per unit time is not greater than the reference value R2 as a result of the determination in operation 25, the engine control signal for maintaining the slope of the engine torque is output to the engine 16 (29). The proportion of increasing engine torque is thus maintained like primary slip control.

이상과 같이 본 발명에 따르면, 구동 휠의 슬립량과 슬립 기울기에 따라 엔진 토크를 제어하는 1차 슬립제어와 엔진 회전수 변화에 따라 엔진 토크의 기울기제어하는 2차 슬립제어를 수행하므로 보다 충실하게 가속 성능과 조정 안정성을 확보할 수 있다.
According to the present invention as described above, since the first slip control for controlling the engine torque in accordance with the slip amount and the slip slope of the drive wheel and the second slip control for controlling the inclination of the engine torque in accordance with the change of the engine speed is performed more faithfully. Acceleration performance and tuning stability can be achieved.

Claims (7)

구동 휠의 슬립량과 슬립 기울기에 기초하여 연산한 엔진 토크와 설정된 목표 엔진 토크를 비교하고, 그 비교 결과에 따라 엔진 토크를 제어하는 1차 슬립제어와, 상기 1차 슬립제어에 의해 엔진 토크를 제어하는 동안 엔진 회전수의 변화량에 따라 엔진 토크의 기울기를 제어하는 2차 슬립제어를 포함하는 것을 특징으로 하는 트랙션 제어 시스템의 제어 방법.The engine torque calculated based on the slip amount of the driving wheel and the slip slope is compared with the set target engine torque, and the engine torque is controlled by the primary slip control which controls the engine torque according to the comparison result. And a secondary slip control for controlling the inclination of the engine torque according to the amount of change in the engine speed during the control. 제1항에 있어서, 상기 1차 슬립제어에서 상기 엔진 토크를 증가하면 상기 2차 슬립제어에서 상기 엔진 회전수의 변화량에 따라 엔진 토크의 증가 비율을 설정하는 것을 특징으로 하는The method of claim 1, wherein when the engine torque is increased in the first slip control, an increase rate of the engine torque is set according to the amount of change in the engine speed in the second slip control. 제2항에 있어서, 상기 2차 슬립제어에서 상기 엔진 회전수의 변화량이 미리 설정된 제1기준값보다 큰 경우 상기 1차 슬립제어에 따라 증가하는 엔진 토크의 기울기를 감소하며, 상기 엔진 회전수의 변화량이 미리 설정된 제1기준값보다 크지 않은 경우 상기 1차 슬립제어에 따라 증가하는 엔진 토크의 기울기를 유지하는 것을 특징으로 하는 트랙션 제어 시스템의 제어 방법.The method of claim 2, wherein in the second slip control, when the amount of change in the engine speed is greater than a first preset reference value, the inclination of the engine torque that increases according to the first slip control is decreased, and the amount of change in the engine speed is determined. The control method of the traction control system, characterized in that to maintain the slope of the engine torque increases in accordance with the first slip control when not greater than the first preset reference value. 제1항에 있어서, 상기 1차 슬립제어에서 상기 엔진 토크를 감소하면 상기 2차 슬립제어에서 상기 엔진 회전수의 변화량에 따라 엔진 토크의 감소 비율을 설정 하는 것을 특징으로 하는 The method of claim 1, wherein when the engine torque is decreased in the primary slip control, the reduction ratio of the engine torque is set according to the change amount of the engine speed in the secondary slip control. 제4항에 있어서, 상기 2차 슬립제어에서 상기 엔진 회전수의 변화량이 미리 설정된 제2기준값보다 작은 경우 상기 1차 슬립제어에 따라 감소하는 엔진 토크의 기울기를 감소하며, 상기 엔진 회전수의 변화량이 미리 설정된 제2기준값보다 작지 않은 경우 상기 1차 슬립제어에 따라 감소하는 엔진 토크의 기울기를 유지하는 것을 특징으로 하는 트랙션 제어 시스템의 제어 방법.The method of claim 4, wherein in the second slip control, when the amount of change in the engine speed is smaller than a second preset reference value, an inclination of the engine torque that decreases according to the first slip control is decreased, and the amount of change in the engine speed is reduced. And a slope of the engine torque that decreases according to the first slip control when it is not smaller than the second preset reference value. 차량 엔진;Vehicle engine; 엔진 회전수센서;Engine speed sensor; 휠 속도센서; 및Wheel speed sensor; And 상기 휠 속도센서에 의해 얻어진 구동 휠의 슬립량과 슬립 기울기에 기초하여 엔진토크를 제어하는 동안 상기 엔진 회전수센서에 의해 얻어진 엔진 회전수의 변화량에 따라 상기 엔진 토크의 기울기를 제어하는 컨트롤러를 포함하는 것을 특징으로 하는 트랙션 제어 시스템.And a controller for controlling the inclination of the engine torque according to the amount of change in the engine speed obtained by the engine speed sensor while controlling the engine torque based on the slip amount and the slip inclination of the drive wheel obtained by the wheel speed sensor. Traction control system, characterized in that. 제6항에 있어서, 상기 컨트롤러는 식1)에 의해 엔진 토크(A)를 연산하고, 식2)에 의해 엔진 회전수의 변화량(B)을 연산하는 것을 특징으로 하는 트랙션 제어 시스템.The traction control system according to claim 6, wherein the controller calculates the engine torque (A) by equation (1), and calculates the change amount (B) of the engine speed by equation (2). A = (Kv*Vx) + (Ka*Ax) ---- 식1)A = (Kv * Vx) + (Ka * Ax) ---- Equation 1) B = ΔN/Δt ---- 식2)B = ΔN / Δt ---- equation 2) 여기서, Kv, Ka는 상수이고, Vx는 구동 휠의 슬립량이며, Ax는 구동 휠의 슬립 기울기이고, ΔN는 엔진 회전수 변화량이고, Δt 는 단위시간이다.Here, Kv and Ka are constants, Vx is the slip amount of the drive wheel, Ax is the slip slope of the drive wheel, ΔN is the engine speed change amount, and Δt is the unit time.
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US5018595A (en) 1989-07-11 1991-05-28 Nippondenso Co., Ltd. Traction control system
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US5737713A (en) 1995-03-02 1998-04-07 Honda Giken Kogyo Kabushiki Kaisha Traction control system for vehicle

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US5018595A (en) 1989-07-11 1991-05-28 Nippondenso Co., Ltd. Traction control system
EP0554838A1 (en) * 1992-02-04 1993-08-11 Honda Giken Kogyo Kabushiki Kaisha Traction control system for vehicle
US5737713A (en) 1995-03-02 1998-04-07 Honda Giken Kogyo Kabushiki Kaisha Traction control system for vehicle

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013181048A1 (en) * 2012-05-31 2013-12-05 Caterpillar Inc. System and method for machine load detection
US8897976B2 (en) 2012-05-31 2014-11-25 Caterpillar Inc. System and method for machine load detection

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