US3776322A - Electronic slip control - Google Patents

Electronic slip control Download PDF

Info

Publication number
US3776322A
US3776322A US00140690A US14069071A US3776322A US 3776322 A US3776322 A US 3776322A US 00140690 A US00140690 A US 00140690A US 14069071 A US14069071 A US 14069071A US 3776322 A US3776322 A US 3776322A
Authority
US
United States
Prior art keywords
output
input
operational amplifier
signal generator
signal
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.)
Expired - Lifetime
Application number
US00140690A
Other languages
English (en)
Inventor
W Misch
H Domann
K Adler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Application granted granted Critical
Publication of US3776322A publication Critical patent/US3776322A/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • 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
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
    • A01B63/111—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements
    • A01B63/112—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements to control draught load, i.e. tractive force
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/56—Devices characterised by the use of electric or magnetic means for comparing two speeds
    • G01P3/60—Devices characterised by the use of electric or magnetic means for comparing two speeds by measuring or comparing frequency of generated currents or voltages
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06G—ANALOGUE COMPUTERS
    • G06G7/00—Devices in which the computing operation is performed by varying electric or magnetic quantities
    • G06G7/12—Arrangements for performing computing operations, e.g. operational amplifiers
    • G06G7/16—Arrangements for performing computing operations, e.g. operational amplifiers for multiplication or division
    • G06G7/161—Arrangements for performing computing operations, e.g. operational amplifiers for multiplication or division with pulse modulation, e.g. modulation of amplitude, width, frequency, phase or form

Definitions

  • the invention relates to means for providing a signal indicative of the amount of slip between a driven axle and an undriven axle, and for measuring and/or controlling this slip.
  • the invention is particularly suitable for measuring the slip between the driven axle and the undriven axle of a tractor, such as a tractor used for plowing.
  • the simplest arrangement for measuring the slip comprises a respective tachogenerator for the driven axle and the undriven axle, the tachogenerator providing an output signal proportional to the r.p.m.
  • a quotient meter with crossed coils can be used to measure the slip.
  • the alternating voltage output from the tachogenerators is rectified by respective diodes and fed to respective ones of the two coils of the quotient meter.
  • An object of the invention is a very simple arrangement that automatically enables the plow to be raised and lowered so as to maintain a desired amount of slip for the most efficient use of fuel in respect of the amount of the area plowed.
  • the invention consists of a first r.p.m. signal generator for delivering a signal indicative of the r.p.m. of the driven axle, a second r.p.m. signal generator for delivering a signal indicative of the r.p.m. of the undriven axle, first and second pulse shapers connected to receive as input the respective outputs of the first and second signal generators, and an analog divider for providing as output a signal indicative of the slip between the driven and the undriven axles, the analog divider having two inputs, these two inputs being connected to receive as input the output of respective ones of the first and second pulse shapers.
  • FIG. 1 is a block diagram of an embodiment of the invention
  • FIG. 2 is a wiring diagram of one embodiment of the analog divider
  • FIG. 3 is a wiring diagram of a second embodiment of the analog divider
  • FIG. 4 is a wiring diagram of one embodiment of the pulse shaper
  • FIG. 5 is an illustration of one type of vehicle for which the present invention is intended.
  • the tachogenerators 11 and 12 each comprise a toothed wheel made of soft iron and mounted, respectively, on the front and rear axles of a vehicle (see FIG. 5); the teeth of the wheel, when the latter turns, changing the magnetic flux in coils mounted in operative proximity to the respective toothed wheels and inducing therein respective alternating voltages, the frequencies of which are directly proportional to the speed of the toothed wheels.
  • the output of each tachogenerator is conducted to a respective pulse shaper l3 and 13'.
  • Each pulse shaper consists of an amplifier 14 or 15, a Schmitt-trigger 16 or 17, and a monostable multivibrator 18 or 19, all connected inseries.
  • the output pulses of the two pulse shapers l3 and 13' are conducted to respective inputs 25 and 26 of an analog divider 20.
  • the analog divider 20 includes an operational amplifier 22 having two inputs 30 and 31 and an output 32.
  • the second input 31 of the operational amplifier 22 is also the second input 26 of the analog divider 20.
  • a feed-back connection 40 couples the input 30 of the operational amplifier 22 to the output 32.
  • the feedback connection 40 includes the second input 28 and the input of a multiplier 21.
  • the first input 27 of the multiplier 21 is also the first input 25 of the analog divider.
  • An electro-hydraulic control 24 for raising and lowering the plow is connected to receive the output of the operational amplifier 22. If desired, there can be connected between the output 32 of the operational amplifier 22 and the input of the electro-hydraulic control 24 further amplifier 23, as shown in FIG. 1.
  • FIG. 5 illustrates very schematically one form of wheeled vehicle for which the invention can be used.
  • the vehicle is a tractor having a ground-penetrating implement 92 supported on a pair of support arms 93 (only one illustrated).
  • Conventional electrohydraulic lifting means 94 e.g. an hydraulic cylinder-and-piston arrangement, is provided and is operative for raising and lowering the groundpenetrating implement 92 in response to electrical control signals.
  • the tractor has rear driven wheels 91 and front undriven wheels 90.
  • first toothed wheel of ferromagnetic material cooperating with a non-illustrated pick-up coil to form a first signal generator 11.
  • second toothed wheel cooperating with a non-illustrated pick-up coil to form a second signal generator 12.
  • Each of these signal generators delivers a pulse train whose frequency is proportional to the speed of rotation of the respective axle.
  • FIG. 2 is the wiring diagram of the analog divider 20.
  • the two inputs 25 and 26 are connected by the resistors 44 and 45 to the bases of respective transistors 41 and 42.
  • the emitter of the first transistor 41 is directly connected to the positive rail 48.
  • the collector of the transistor 41 is connected by two resistors 46 and 47 to the negative rail 49.
  • a resistor 50 connects the junction between the resistors 46 and 47 to the base of a third transistor 43.
  • the emitters of the transistors 42 and 43 are connected to a lead 67, which is connected by a resistor 52 to the positive rail and by a capacitor 51 and a resistor 53 to the negative rail 49.
  • a resistor 54 con nects the collector of the transistor 42 to the feed-back connection 40.
  • the collector of the transistor 43 is connected by a resistor 56 to the negative rail 49.
  • the end terminals of a trimming potentiometer 58 are connected by resistors 55 and 57 respectively to the collectors of the transistors 42 and 43.
  • the movable tap of the trimming potentiometer 58 is connected by a capacitor 59 to the feedback connection 40, and is directly connected to the first input 30 of the operational amplifier 22.
  • a setting resistor 60 connects the lead 67 to the second input 31 of the operational amplifier 22.
  • the electrohydraulic control means 24 and the resistor 63 are connected in series between the positive rail 48 and the operational amplifier output 32.
  • the terminals 64 and 65 are respectively connected to the positive rail 48 and the negative rail 49.
  • a capacitor 62 connected between the output 32 and a terminal 66 of the operational amplifier provides frequency compensation at the high frequencies.
  • FIG. 4 shows the pulse shaper 13, the amplifier stage 14, the Schmitt trigger l6, and the monostable multivibrator 18 being enclosed within dashed lines.
  • the output signal of the tachogenerator 11 is conducted by a series connected capacitor 91 and resistor 92 to the base of an amplifying transistor 141.
  • the base current of this transistor flows through the resistors 144, 143, and 142, this latter resistor being the collector resistor of the transistor.
  • a capacitor 145 reduces the degenerative feedback from the collector to the base of the transistor 141.
  • the amplified signal on the collector of the transistor 141 is conducted by a resistor 146 to the Schmitt trigger 16, which comprises the two transistors 161 and 162 having a common emitter resistor 163.
  • the collectors of these two transistors are connected by respective resistors 164 and 165 to the positive rail 48.
  • the output signal of the trigger 16 is coupled by a capacitor 166, a voltage divider having the resistors 167 and 168, and by a diode 169 to the monostable multivibrator 18, which has the two transistors 181 and 182.
  • These two transistors are mutually coupled resistively by a resistor 191 and capacitively by a variable RC network composed of the capacitor 189 and the variable resistor 190.
  • the time constant of the RC network can be changed to vary the pulse length of the monostable multivibrator with a view to adapt the analog divider to different kinds of r.p.m. generators 11.
  • the output signal of the pulse shaper 13 appears across the collector resistor 192 of the transistor 182.
  • the pulse shaper 13 and the analog divider 20 operate in the following manner.
  • the approximately sin wave signal of the tachogenerator 11 is amplified by the stage 14.
  • the Schmitt trigger l6 converts the amplified, approximately sin wave, signal into rectangular pulses of precisely defined amplitude.
  • These rectangular pulses operate the monostable multivibrator 18, which produces rectangular pulses of which the pulse length is independent of the pulse repetition frequency.
  • the amplitude of these pulses is also constant, and the pulse repetition frequency is proportional to the r.p.m. of the axle that turns the r.p.m. signal generator 11.
  • the circuit diagram of the pulse shaper 13' is exactly the same as that for the pulse shaper 13, although the capacitor 189 and the resistor 190, which constitute the timing network for the monostable multivibrator 18, must have different values when the driven wheel of the tractor has a larger diameter than the undriven wheel. Consequently, it is possible to use the same kind of tachogenerator for each axle, even though the two wheels have different diameters. it is not necessary to use tachogenerators with toothed wheels having different numbers of teeth in dependence on the wheel diameters.
  • n denotes the r.p.m. of the driven axle
  • n the r.p.m. of the undriven axle
  • u the output signal of the second pulse shaper 13
  • u the output signal of the first pulse shaper 13
  • u the output signal of the operational amplifier 22.
  • FIG. 2 shows that the analog divider 20 is composed of analog computer components, namely a multiplier (transistor 42) connected in the feed-back circuit 40 of the operational amplifier 22. Consequently, the output signals u and u, are multiplied together, and the resulting product added to the value 14,, at the summation junction 30. In the active range of the circuit, the summation junction 30 is always at zero potential, so that there results From the preceding, it is apparent that 14 and u should be out of phase.
  • the first transistor 41 inverts the phase of the signal u,,.
  • the second transistor 42 operates as a time-division multiplier.
  • the base 27, which is the first input of the multiplier, is fed rectangular pulses having a constant amplitude and pulse length, but a variable pulse repetition frequency. if this input voltage is integrated, the time integral is directly proportional to the pulse repetition frequency.
  • the collector 28 of the transistor 42 is the second input of the multiplier.
  • a resistor 54 connected in the feed-back circuit 40, conducts the output voltage of the operational amplifier 22 to the collector of the transistor 42. Con sequently, the amplitude of the pulses on the collector 28 is dependent on the output signal of the operational amplifier 22.
  • the voltage across the resistor 55 is therefore an analog signal which is proportional to the product of u, u
  • the time integral of the input signal u must be formed in order that the transistor 42 can operate as a time-division multiplier.
  • the time integral of the input signal 11, must also be formed in order that the entire stage can operate as a divider.
  • the capacitor 59 is connected in the feed-back circuit 40 to make the operational amplifier 22 an integrator.
  • a setting resistor 60- connects the second input 31 of the operational amplifier to the lead 67.
  • the setting resistor 60 enables the input resistance of the second input to be adapted to that of the first input 30.
  • the voltage divider 51, 53 sets the emitter voltage of the two transistors 42 and 43 and the voltage at the second input 31 of the operational amplifier 22.
  • the electrohydraulic control 24 can be replaced by an electric measuring instrument that is connected be tween the output 32 and one of the two voltage rails 48 and 49. If a measuring instrument is connected into the circuit, the instrument indicates directly the quotient of
  • the second embodiment, shown in FIG. 3, offers the further advantage of being able to adapt the output signal of the operational amplifier 22 exactly to the input level of the electrohydraulic control 24.
  • a second operational amplifier 23 is provided.
  • a resistor 70 connects the output signal of the first operational amplifier 22 to the first, inverting, input 80 of the second operational amplifier 23.
  • the output of the second operational amplifier is connected to the feed-back lead 40.
  • the output of the second operational amplifier 23 is also connected by a resistor 76 to the positive rail 48 and by a resistor 75 to the inverting input 80.
  • the terminals 78 and 79 are respectively connected to the positive rail 48 and the negative rail 49 to provide electric power for the amplifier 43.
  • the negative feed-back resistor 75 determines the amplification factor of the amplifier 23. By choosing the correct value for the resistor 75, it is possible to adapt the output signal of the first operational amplifier 22 to the input level of the electrohydraulic control 24.
  • An additional integrating capacitor 61 connected between the output and the second input 31 of the operational amplifier 22, further filters the direct current output voltage.
  • the two integrating capacitors 59 and 61 also act as low pass filters, so that the otherwise essential low pass filter can be omitted.
  • the residual voltages of the transistors 42 and 43 can introduce noticeable errors into the measured quotient. This source of error is easily eliminated by inversely driving transistor 42 or both transistors 42 and 43, the collector and emitter connections being reversed from those shown in FIGS. 2 and 3.
  • the emitter of the second transistor 42 is then connected to the junction 28, and the collector to the lead 67.
  • the collector of the third transistor 43 is connected to the lead 67, and the emitter to the junction between the resistors 56 and 57.
  • the pulse shapers 13 and 13' can be simplified somewhat by omitting the two Schmitt triggers l6 and 17. This is possible, for example, if the two amplifier stages 14 and sufficiently distort the approximately sin wave voltage output from the rpm. signal generators 11 and 12. Care must be taken to prevent the two amplifier stages 14 and 15 from delaying the return of the monostable multivibrators 18 and 19 to their stable states.
  • FIG. 1 There is a single discrepancy between the block diagram shown in FIG. 1 and the circuit diagrams, shown in FIGS. 2 and 3, of the two embodiments.
  • This discrepancy concerns the connections of the inputs of the operational amplifier 22.
  • the output of the multiplier 21 is connected to the first input 30, and the output of the monostable multivibrator 19 is connected to the second input 31 of the operational amplifier 22.
  • both of these outputs are connected by the summing resistors 55, 57, 58 to the first input 30 of the operational amplifier.
  • the circuits shown in FIGS. 2 and 3 were chosen because they permit a higher measuring accuracy. If the improved accuracy is not required, the circuits shown in FIGS.
  • the invention described insures that the plow lifting arrangement is so controlled that at all speeds of the tractor there is an optimum slip of the driven wheels.
  • a slippage-monitoring arrangement comprising, in combination, a first signal generator mounted on said vehicle and having an output, and operative for generating at its output a signal indicative of the rotational speed of the driven axle; a second signal generator mounted on said vehicle and having an output, and operative for generating at its output a signal indicative of the rotational speed of the undriven axle; and divider means having an input connected to the output of said first signal generator and having another input connected to the output of said second signal generator and operative for generating a ratio signal indicative of the ratio of the rotational speeds.
  • said divider means includes a multiplier and operational amplifier means, said multiplier and said operational amplifier means each including first and second inputs, the output of said multiplier being connected to the first input of said operational amplifier means and further including a feed-back connection connected from the output of said operational amplifier means to the second input of said multiplier.
  • said vehicle being provided with a ground-penetrating implement and control means connected to said divider means and operative for varying the extent of penetration of said implement into the ground in dependence upon the value of said ratio signal
  • said operational amplifier means includes first and second operational amplifiers, said first operational amplifier being connected to said multiplier to receive as input the output of said multiplier, said second operational amplifier being connected to said first operational amplifier to receive as input the output of said first operational amplifier for obtaining a signal level suitable for said control means, and wherein said feedback connection is connected from the output of said second operational amplifier to said second input of said multiplier.
  • a slippage-monitoring arrangement comprising, in combination, a first signal generator mounted on said vehicle and having an output, and operative for generating at its output a signal indicative of the rotational speed of the driven axle;
  • each of said signal generators having an output and said divider means having two inputs; and further including a first pulse shaper having an input connected to the output of said first generator and having an output connected to one input of said divider means, and a second pulse shaper having an input connected to the output of said second generator and having an input connected to the other input of said divider means, and wherein each of said pulse shapers comprises a respective monostable multivibrator, said vehicle being provided with a ground-penetrating implement and electrohydraulic control means connected to said divider means and operative for varying the extent of penetration of said implement into the ground in dependence upon the value of said ratio signal.
  • said monostable multivibrator of said first pulse shaper includes a variable RC-timing network.
  • a novel control arrangement comprising a first signal generator mounted on said vehicle and having an output, and operative for generating at its output a signal indicative of the rotational speed of the driven axle; a second signal generator mounted on said vehicle and having an output, and operative for generating at its output a signal indicative of the rotational speed of the undriven axle; divider means having an input connected to the output of said first signal generator and having another input connected to the output of said second signal generator and operative for generating a ratio signal indicative of the ratio of the rotational speeds of said axles; and means for causing said lifting means to vary the extent of penetration of said implement into the ground in such a manner as to maintain said ratio signal within a predetermined range.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Software Systems (AREA)
  • Computer Hardware Design (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)
US00140690A 1970-05-13 1971-05-06 Electronic slip control Expired - Lifetime US3776322A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19702023346 DE2023346A1 (de) 1970-05-13 1970-05-13 Elektronische Schlupfmessvorrichtung

Publications (1)

Publication Number Publication Date
US3776322A true US3776322A (en) 1973-12-04

Family

ID=5770973

Family Applications (1)

Application Number Title Priority Date Filing Date
US00140690A Expired - Lifetime US3776322A (en) 1970-05-13 1971-05-06 Electronic slip control

Country Status (6)

Country Link
US (1) US3776322A (enrdf_load_stackoverflow)
AT (1) AT309597B (enrdf_load_stackoverflow)
CH (1) CH516161A (enrdf_load_stackoverflow)
DE (1) DE2023346A1 (enrdf_load_stackoverflow)
FR (1) FR2088533B3 (enrdf_load_stackoverflow)
GB (1) GB1289912A (enrdf_load_stackoverflow)

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3913680A (en) * 1972-10-25 1975-10-21 Allis Chalmers Control system for percentage of wheel slippage of a tractor
US3957121A (en) * 1973-05-28 1976-05-18 Kabushiki Kaisha Komatsu Seisakusho Automatic control system for earth-moving equipment
US4053018A (en) * 1973-05-23 1977-10-11 Kabushiki Kaisha Komatsu Seisakusho Automatic control system for earth-moving equipment
US4077475A (en) * 1975-04-25 1978-03-07 Kubota Tekko Kabushiki Kaisha Tractor type vehicle including engine and load control therefor and provided with rotary working implement
US4086563A (en) * 1975-07-10 1978-04-25 Dickey-John Corporation Wheel slippage monitor
FR2445967A1 (fr) * 1979-01-05 1980-08-01 Muzellec Yvon Systeme de securite detectant toute variation de vitesse entre plusieurs pieces en mouvement de rotation, applicable a la surveillance des pressions des pneumatiques d'un vehicule
US4263973A (en) * 1977-12-16 1981-04-28 Boulais Marcel J Laser beam level control with automatic override
US4344499A (en) * 1978-12-08 1982-08-17 C. Van Der Lely N.V. Tractor with anti-slipping and overloading controls
US4433748A (en) 1980-11-11 1984-02-28 Fuji Jukogyo Kabushiki Kaisha Instructing system for a four-wheel drive vehicle
US4518044A (en) * 1982-03-22 1985-05-21 Deere & Company Vehicle with control system for raising and lowering implement
EP0151323A2 (en) 1982-03-22 1985-08-14 Deere & Company Working depth control system for vehicle with ground working inplement
EP0128715A3 (en) * 1983-06-06 1986-06-11 Deere & Company Hitch control system
US4778025A (en) * 1986-06-09 1988-10-18 Honda Giken Kogyo Kabushiki Kaisha Method for controlling slip of a driving wheel of a vehicle
US4846283A (en) * 1987-09-08 1989-07-11 J. I. Case Company Engine-sensing draft control system with multiple feedback compensation mechanisms
US4873639A (en) * 1986-03-04 1989-10-10 Honda Giken Kogyo Kabushiki Kaisha Traction control system for controlling slip of a driving wheel of a vehicle
US4873638A (en) * 1986-05-09 1989-10-10 Honda Giken Kogyo Kabushiki Kaisha Traction control system for controlling slip of a driving wheel of a vehicle
US4886123A (en) * 1985-06-26 1989-12-12 Robert Bosch Gmbh Control device for position-control of implement coupled to an agricultural vehicle

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3235818A1 (de) * 1982-09-28 1984-03-29 Robert Bosch Gmbh, 7000 Stuttgart Einrichtung zur steuerung der arbeitstiefe eines bodenbearbeitungsgeraetes
DE3413435A1 (de) * 1984-04-09 1985-10-17 Alfred Teves Gmbh, 6000 Frankfurt Regeleinrichtung fuer kraftfahrzeuge
DE3423032A1 (de) * 1984-06-22 1986-01-02 Alfred Teves Gmbh, 6000 Frankfurt Regeleinrichtung fuer kraftfahrzeuge

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2654301A (en) * 1946-05-23 1953-10-06 Deere & Co Draft control mechanism
US3060602A (en) * 1960-07-22 1962-10-30 Honeywell Regulator Co Control apparatus
US3477152A (en) * 1966-03-25 1969-11-11 United Aircraft Corp Control of earthmoving machinery
US3500190A (en) * 1967-06-23 1970-03-10 Gen Electric Vehicle velocity measuring system employing adjustable width pulse generating system
US3560854A (en) * 1967-10-16 1971-02-02 John I Moss Inc Pulse actuated speed responsive system
US3609313A (en) * 1968-01-16 1971-09-28 Sa. Dite Regulation system for the hydraulic control of braking of a vehicle with pneumatic tires
US3614173A (en) * 1969-06-27 1971-10-19 Bendix Corp Slip command skid control
US3617099A (en) * 1968-11-12 1971-11-02 Nissan Motor Antispin device for motor vehicles

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2654301A (en) * 1946-05-23 1953-10-06 Deere & Co Draft control mechanism
US3060602A (en) * 1960-07-22 1962-10-30 Honeywell Regulator Co Control apparatus
US3477152A (en) * 1966-03-25 1969-11-11 United Aircraft Corp Control of earthmoving machinery
US3500190A (en) * 1967-06-23 1970-03-10 Gen Electric Vehicle velocity measuring system employing adjustable width pulse generating system
US3560854A (en) * 1967-10-16 1971-02-02 John I Moss Inc Pulse actuated speed responsive system
US3609313A (en) * 1968-01-16 1971-09-28 Sa. Dite Regulation system for the hydraulic control of braking of a vehicle with pneumatic tires
US3617099A (en) * 1968-11-12 1971-11-02 Nissan Motor Antispin device for motor vehicles
US3614173A (en) * 1969-06-27 1971-10-19 Bendix Corp Slip command skid control

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3913680A (en) * 1972-10-25 1975-10-21 Allis Chalmers Control system for percentage of wheel slippage of a tractor
US4053018A (en) * 1973-05-23 1977-10-11 Kabushiki Kaisha Komatsu Seisakusho Automatic control system for earth-moving equipment
US3957121A (en) * 1973-05-28 1976-05-18 Kabushiki Kaisha Komatsu Seisakusho Automatic control system for earth-moving equipment
US4077475A (en) * 1975-04-25 1978-03-07 Kubota Tekko Kabushiki Kaisha Tractor type vehicle including engine and load control therefor and provided with rotary working implement
US4086563A (en) * 1975-07-10 1978-04-25 Dickey-John Corporation Wheel slippage monitor
US4263973A (en) * 1977-12-16 1981-04-28 Boulais Marcel J Laser beam level control with automatic override
US4344499A (en) * 1978-12-08 1982-08-17 C. Van Der Lely N.V. Tractor with anti-slipping and overloading controls
FR2445967A1 (fr) * 1979-01-05 1980-08-01 Muzellec Yvon Systeme de securite detectant toute variation de vitesse entre plusieurs pieces en mouvement de rotation, applicable a la surveillance des pressions des pneumatiques d'un vehicule
US4433748A (en) 1980-11-11 1984-02-28 Fuji Jukogyo Kabushiki Kaisha Instructing system for a four-wheel drive vehicle
US4518044A (en) * 1982-03-22 1985-05-21 Deere & Company Vehicle with control system for raising and lowering implement
EP0151323A2 (en) 1982-03-22 1985-08-14 Deere & Company Working depth control system for vehicle with ground working inplement
EP0128715A3 (en) * 1983-06-06 1986-06-11 Deere & Company Hitch control system
EP0280376A3 (en) * 1983-06-06 1988-09-07 Deere & Company Hitch control system
US4886123A (en) * 1985-06-26 1989-12-12 Robert Bosch Gmbh Control device for position-control of implement coupled to an agricultural vehicle
US4873639A (en) * 1986-03-04 1989-10-10 Honda Giken Kogyo Kabushiki Kaisha Traction control system for controlling slip of a driving wheel of a vehicle
US4873638A (en) * 1986-05-09 1989-10-10 Honda Giken Kogyo Kabushiki Kaisha Traction control system for controlling slip of a driving wheel of a vehicle
US4778025A (en) * 1986-06-09 1988-10-18 Honda Giken Kogyo Kabushiki Kaisha Method for controlling slip of a driving wheel of a vehicle
US4846283A (en) * 1987-09-08 1989-07-11 J. I. Case Company Engine-sensing draft control system with multiple feedback compensation mechanisms

Also Published As

Publication number Publication date
FR2088533A7 (enrdf_load_stackoverflow) 1972-01-07
AT309597B (de) 1973-08-27
GB1289912A (enrdf_load_stackoverflow) 1972-09-20
FR2088533B3 (enrdf_load_stackoverflow) 1973-08-10
DE2023346A1 (de) 1971-12-02
CH516161A (de) 1971-11-30

Similar Documents

Publication Publication Date Title
US3776322A (en) Electronic slip control
DE19712021A1 (de) Detektorschaltung für einen Vibrationskreisel und ein diesen verwendendes Vibrationskreiselgerät
US3809956A (en) Apparatus for electrical determination of differential speed of two rotating members
DE2210026A1 (de) Frequenz Spannung Wandler
DE2417407A1 (de) Wegstrecken- und geschwindigkeitsmessvorrichtung
GB2090090A (en) Amplifier circuit
US3435362A (en) Wideband differential amplifier having improved gain control
EP0271601B1 (de) Synchron-Demodulator mit digitaler Signalausgabe
DE2101887C2 (de) Beschleunigungsmesser
DE2320941A1 (de) Verfahren zum messen einer geschwindigkeit und geschwindigkeits- oder drehzahlaufnehmer zur durchfuehrung des verfahrens
US4001642A (en) Anti-lock vehicle brake systems
DE1165901B (de) Einrichtung zur elektronischen Messung mechanischer Leistungen
US3693113A (en) Serrasoid phase modulator
GB1059752A (en) Control for electric coupling apparatus
DE803547C (de) Schaltung zur Entnahme einer elektrischen Wechselspannung von einer veraenderlichen Reaktanz
DE2503444A1 (de) In festkoerpertechnik aufgebautes potentiometer
EP1014029A3 (de) Detektorschaltung
EP0514590B1 (de) Verfahren zur Füllstandsmessung
DE2110023C3 (de) Schaltungsanordnung mit zwei zuein ander komplementären Transistoren zum Unterhalten der Schwingungen von elektro mechanischen Schwingern
DE3222279C2 (enrdf_load_stackoverflow)
US2994826A (en) Frequency modulated discriminator circuit
DE2035164C (de) Einrichtung zum Messen einer vanab len Große mit einem Meßwertumformer
DE2137124C3 (de) Steuerschaltung für eine blockiergeschützte Fahrzeugbremse
DE3702169C2 (enrdf_load_stackoverflow)
GB1218231A (en) Electric circuit for pulse control of d.c. motors, especially for electrically driven vehicles