WO2011151816A1 - Controller for a drive system - Google Patents

Controller for a drive system Download PDF

Info

Publication number
WO2011151816A1
WO2011151816A1 PCT/IL2011/000416 IL2011000416W WO2011151816A1 WO 2011151816 A1 WO2011151816 A1 WO 2011151816A1 IL 2011000416 W IL2011000416 W IL 2011000416W WO 2011151816 A1 WO2011151816 A1 WO 2011151816A1
Authority
WO
WIPO (PCT)
Prior art keywords
primary controller
vehicle
speed
controller according
motor
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.)
Ceased
Application number
PCT/IL2011/000416
Other languages
English (en)
French (fr)
Inventor
Ran Braier
Arie Perry
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.)
Israel Aerospace Industries Ltd
Original Assignee
Israel Aerospace Industries Ltd
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
Priority to SG2012087045A priority Critical patent/SG185771A1/en
Priority to CA2800416A priority patent/CA2800416A1/en
Priority to CN201180026740.7A priority patent/CN103025594B/zh
Priority to JP2013513038A priority patent/JP5985469B2/ja
Priority to KR1020127033461A priority patent/KR20130103680A/ko
Priority to EP11730083.0A priority patent/EP2576309A1/en
Application filed by Israel Aerospace Industries Ltd filed Critical Israel Aerospace Industries Ltd
Priority to HK13104825.8A priority patent/HK1177722B/xx
Priority to US13/700,874 priority patent/US8825338B2/en
Publication of WO2011151816A1 publication Critical patent/WO2011151816A1/en
Priority to IL223251A priority patent/IL223251A/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
    • 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
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/46—Series type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/15—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with additional electric power supply
    • 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
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • 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
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • 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
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
    • B64F1/10—Ground or aircraft-carrier-deck installations for launching aircraft using self-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
    • 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
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/46—Automatic regulation in accordance with output requirements
    • F16H61/47—Automatic regulation in accordance with output requirements for achieving a target output speed
    • 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
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/46—Automatic regulation in accordance with output requirements
    • F16H61/472—Automatic regulation in accordance with output requirements for achieving a target output torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/48—Drive Train control parameters related to transmissions
    • B60L2240/486—Operating parameters
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0677—Engine power
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/081—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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/10—Change speed gearings
    • B60W2710/1033—Input power
    • 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
    • B60W2720/28—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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/30—Wheel torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/93—Conjoint control of different elements

Definitions

  • a drive system for a vehicle comprises a prime mover (such as a diesel engine), usually outputting constant power, and which powers a generator, which in turn drives motors in each of the vehicle wheels.
  • a prime mover such as a diesel engine
  • generator which in turn drives motors in each of the vehicle wheels.
  • System speed of response, maneuverability and varying conditions are usually not of concern.
  • a drive system carries a load having multiple degrees of freedom, with resonant frequencies lower than that of the drive system itself, maneuvering of the vehicle is difficult if not impossible.
  • a controller which controls both the vehicle speed and traction force at the same time, by using controllable variable displacement hydraulic motors. This is accomplished by having a speed controller which controls the speed of the vehicle by controlling several system inputs, and a traction force controller to determine the traction force of the vehicle controlling same inputs, as well as based on control of parameters of the vehicle. To accomplish this, each of the two controllers controls the prime mover RPM, the hydraulic pump displacement, and the hydraulic motor displacement to drive the vehicle. The measured RPM of the prime mover is used as feedback for the speed controller, the measured vehicle speed is used as feedback for both the speed controller and the traction force controller, and the measured drive pressure of the hydraulic system of the vehicle is used as feedback for the traction force controller.
  • Vehicle speed, acceleration and traction force are governed simultaneously by a controller which constantly controls dynamically all vehicle moving parameters, the prime mover speed, the vehicle speed and traction, in real time.
  • the overall system control is accomplished by having a speed controller which controls the speed of the vehicle based on user desired speed input, and a force controller to determine the acceleration to reach the desired speed and the traction force of the vehicle based on user input and a force envelope, road conditions, parameters of the vehicle, and induced structural limitations, while taking the current speed of the vehicle into account.
  • each of the two controllers controls the prime mover, the hydraulic pump, and the hydraulic motor to drive the vehicle.
  • the measured RPM of the prime mover is used as feedback for the speed controller, and compared to desired power output.
  • the measured vehicle speed is used as feedback for both the speed controller and the force controller, and the measured acceleration and traction force (which can be measured by any one of several known methods) of the vehicle is used as feedback for the force controller.
  • the invention enables the real time control of hydraulically driven vehicles, utilizing varying governing rules according to the specific requirement and as function of varying conditions, typically impossible today.
  • a primary controller configured for controlling operation of a drive system comprising a prime mover, a generator, and a motor, wherein the prime mover is configured to provide energy to the generator, which is configured to drive the motor, the controller comprising:
  • a speed controller configured for determining a target speed of the motor dependent on externally-supplied speed input
  • a torque controller configured for determining a target torque of the motor based on externally- supplied torque input and on parameters of the vehicle
  • the primary controller is configured to:
  • the speed controller may be further configured to determine the target speed dependent on the power output of the prime mover and on the measured actual speed of the motor, with the torque controller being further configured to determine the target torque based on the measured actual speed and the measured actual torque of the motor.
  • a primary controller being configured for controlling operation of a vehicle driven by a drive system, the controller comprising:
  • a speed controller configured for determining a target speed of the vehicle dependent on externally-supplied speed input
  • a traction force controller configured for determining target traction force and acceleration of the vehicle based on externally- supplied traction input and on parameters of the vehicle
  • the primary controller is configured to:
  • X 6 * Dpo(Pe/V 0 )X 5 + ⁇ 60 ( ⁇ 6 / ⁇ 0 ) ⁇ 7 - (C t p e /V 0 )X 6 - D m0 (r/R)( e /V 0 )X 4 - ⁇ ⁇ 0 ( ⁇ 6 / ⁇ 0 ) ⁇ 9
  • X10* (Ac m Kmotor/M m c)X 12 - (B m /M m c m )X10 - (K m /M m c)X9 - (K motor Fp rem /M m c)
  • D m o, Dpo, cOeo, a> m o, and P 0 are system operating point values
  • R is the gear ratio
  • R is the wheel radius
  • Kpump, Kmotor, K m , K p , F prep , and Fp rem are pump and motor controller parameters
  • y f(u)
  • D p D m
  • codes are used as a basis for the primary controller 24 inputs to operate the vehicle 10 by controlling co e , V t , and P as system outputs.
  • Any known numerical computing environment for example as sold under the name MATLAB® (with or without Simulink®), can be used to develop an open loop transfer function G(s).
  • the open loop transfer function is solved in order to obtain the dynamic behavior of the system (i.e., its dominant poles).
  • a parameter and order of magnitude analysis is performed in order to eliminate insignificant elements and neglect fast responding dynamics, thus simplifying state matrices A, B, and C.
  • pump and motor valve control system may be designed such that they are fast enough so that their dynamic responses and related swashplate (pump and motor) movements are fast relative to input servo-valve voltage and can be regarded as pure gain.
  • slow-changing disturbance loads e.g., wind and slope
  • control piston spring preload coefficient may be disregarded.
  • the speed controller 26 and force controller 28 control the displacement of the hydraulic pump 20a (D p ), the displacement of the hydraulic motor 22a (D m ), and the desired speed of the prime mover 18 (codes), which are implemented via the HDS 12. This affects, inter alia, the actual speed of the prime mover 18 (co e ), the traction of the vehicle (F), the pressure of the HDS (P), the velocity of the vehicle 10 (V t ), and the speed of the hydraulic motor (co m ).
  • the vehicle may be supplied with one or more instruments to measure these values, for example a prime mover speed sensor 30, a vehicle traction sensor 32, an HDS pressure sensor 34, a vehicle velocity sensor 36, and a motor speed sensor 38.
  • a prime mover speed sensor 30 for example a bicycle cranks 34
  • a vehicle traction sensor 32 for example a bicycle cranks 34
  • a vehicle velocity sensor 36 for example a bicycle cranks 34
  • a motor speed sensor 38 may be provided for example as is known in the art.
  • the drive system 12 is an electric drive system.
  • the prime mover 18 may be any suitable prime mover, such as a diesel engine.
  • the generator 20 may be an electric generator 20b, and the motors 22 may be any suitable types of electric motors 20b. It will be appreciated that the speed and torque of the electric motors 22b may be controlled in any suitable way, depending on the type of electric motor provided, as is well known.
  • An open loop transfer function for the electric drive system may be determined similar to as described above, mutatis mutandis.
  • the primary controller may be configured for use, mutatis mutandis, with any type of system driven by an HDS and subject to a multi-degree of freedom load, such as construction and/or lifting equipment, antennas, etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
PCT/IL2011/000416 2010-05-30 2011-05-30 Controller for a drive system Ceased WO2011151816A1 (en)

Priority Applications (9)

Application Number Priority Date Filing Date Title
CA2800416A CA2800416A1 (en) 2010-05-30 2011-05-30 Controller for a drive system
CN201180026740.7A CN103025594B (zh) 2010-05-30 2011-05-30 用于驱动系统的控制器
JP2013513038A JP5985469B2 (ja) 2010-05-30 2011-05-30 駆動システムのためのコントローラ
KR1020127033461A KR20130103680A (ko) 2010-05-30 2011-05-30 구동 시스템용 제어기
EP11730083.0A EP2576309A1 (en) 2010-05-30 2011-05-30 Controller for a drive system
SG2012087045A SG185771A1 (en) 2010-05-30 2011-05-30 Controller for a drive system
HK13104825.8A HK1177722B (en) 2010-05-30 2011-05-30 Controller for a drive system
US13/700,874 US8825338B2 (en) 2010-05-30 2011-05-30 Controller for a drive system
IL223251A IL223251A (en) 2010-05-30 2012-11-26 Visit the propulsion system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IL206061 2010-05-30
IL206061A IL206061A0 (en) 2010-05-30 2010-05-30 Controller for a hydraulic drive system

Publications (1)

Publication Number Publication Date
WO2011151816A1 true WO2011151816A1 (en) 2011-12-08

Family

ID=43570593

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IL2011/000416 Ceased WO2011151816A1 (en) 2010-05-30 2011-05-30 Controller for a drive system

Country Status (10)

Country Link
US (1) US8825338B2 (enExample)
EP (1) EP2576309A1 (enExample)
JP (1) JP5985469B2 (enExample)
KR (1) KR20130103680A (enExample)
CN (1) CN103025594B (enExample)
BE (1) BE1020463A5 (enExample)
CA (1) CA2800416A1 (enExample)
IL (2) IL206061A0 (enExample)
SG (1) SG185771A1 (enExample)
WO (1) WO2011151816A1 (enExample)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB201512196D0 (en) * 2015-07-13 2015-08-19 Airbus Operations Ltd Methods and control systems for controlling a drive system of an aircraft
EP3217043A1 (en) * 2016-03-10 2017-09-13 Dana Rexroth Transmission Systems S.r.l. Method for automatically controlling the gear ratio of a transmission of a vehicle, control system, vehicle and computer program for carrying out such method
GB2559168B (en) * 2017-01-30 2021-01-27 Jaguar Land Rover Ltd Controlling movement of a vehicle
EP3995372A1 (en) * 2020-11-09 2022-05-11 Volvo Truck Corporation A method for controlling an actuator of a vehicle

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020010538A1 (en) * 2000-06-09 2002-01-24 Nissan Motor Co., Ltd. Drive force control system for vehicles
US20070227792A1 (en) * 2006-03-31 2007-10-04 Mazda Motor Corporation Hybrid system of vehicle
WO2008038270A2 (en) 2006-09-28 2008-04-03 Israel Aerospace Industries Ltd. System and method for transferring airplanes
WO2008139440A2 (en) 2007-05-16 2008-11-20 Israel Aerospace Industries Ltd. Towbarless airplane tug
DE102008025683A1 (de) * 2007-12-28 2009-07-02 Robert Bosch Gmbh Verfahren zur Ansteuerung eines Fahrantriebs
US20090265065A1 (en) * 2005-12-26 2009-10-22 Komatsu Ltd. Construction vehicle

Family Cites Families (122)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US296622A (en) 1884-04-08 Hand-screw
US2539010A (en) 1946-07-09 1951-01-23 Homer M Cox Aircraft propelling device
US2751990A (en) 1950-11-13 1956-06-26 Boeing Co Airplane ground tug
US2966222A (en) 1956-09-05 1960-12-27 Martin Co Apparatus for moving aircraft over the ground
US2957650A (en) 1957-10-21 1960-10-25 Boeing Co Ground maneuvering system for jet airplanes
US3064746A (en) * 1958-04-14 1962-11-20 Clark Equipment Co Tow tractor
US3279722A (en) 1964-08-07 1966-10-18 Nat Can Retinning Co Aircraft moving device
GB1249465A (en) 1967-11-30 1971-10-13 Emi Ltd Improvements relating to automatic vehicle guidance systems
SE411736B (sv) 1974-06-15 1980-02-04 Birkeholm Mogens Forfarande och anordning for bogsering av ett fordon, exempelvis ett flygplan
US4153265A (en) 1975-06-05 1979-05-08 Owens-Illinois, Inc. Off-road vehicle
US4007890A (en) 1975-09-30 1977-02-15 The Boeing Company Aircraft towing braking system
US4122960A (en) 1975-11-26 1978-10-31 Clark Equipment Company Pedal linkage for the boom arms and attachment carrier of a skid-steered tractor vehicle
US4036384A (en) 1976-07-16 1977-07-19 Johnson Philip L Truck for transport of airplane by its nose landing wheel
DE2812434A1 (de) 1977-04-07 1978-10-12 Secmafer Buchelay Sa Zugmaschine zum bewegen von grossraumflugzeugen auf flugplaetzen
FR2454409A1 (fr) 1979-04-18 1980-11-14 Sovam Vehicule tracteur notamment pour avions gros porteurs
US4482961A (en) 1981-09-18 1984-11-13 The Boeing Company Automatic control system for directional control of an aircraft during landing rollout
DE3318077C2 (de) 1983-05-18 1986-09-18 Krauss-Maffei AG, 8000 München Schleppfahrzeug für Flugzeuge
DE3327628A1 (de) 1983-07-30 1985-02-14 Krauss-Maffei AG, 8000 München Rangierfahrzeug
DE3327629A1 (de) 1983-07-30 1985-02-07 Krauss-Maffei AG, 8000 München Rangierfahrzeug
DE3467139D1 (en) 1983-08-18 1987-12-10 Bruun Svend Aage Johan Method and tractor for towing aeroplanes
FI78426C (fi) 1983-09-13 1989-08-10 Matti Sinkkonen Foerflyttningsanordning foer foerflyttning av hjulfoersedd anordning.
FR2581965B1 (fr) 1985-05-15 1987-07-03 Val Notre Dame Soudure Meca Ap Timon automoteur-tracteur pour avion
GB8513414D0 (en) 1985-05-28 1985-07-03 Air Traction Ind Ltd Aircraft ground-handling vehicle
DE3521429A1 (de) 1985-06-14 1986-12-18 Krauss-Maffei AG, 8000 München Rangierfahrzeug zum manoevrieren von flugzeugen
US5202075A (en) 1985-08-30 1993-04-13 Imperial Chemical Industries Plc Process for moulding articles from curable compositions
DE3534045A1 (de) 1985-09-24 1987-04-16 Krauss Maffei Ag Schleppfahrzeug zum manoevrieren von flugzeugen
DE3534044A1 (de) 1985-09-24 1987-04-16 Krauss Maffei Ag Schleppfahrzeug fuer flugzeuge
NL8600340A (nl) 1986-02-12 1987-09-01 Aarding Bv Inrichting voor het verplaatsen van een vliegtuig.
DE3616807A1 (de) 1986-05-17 1987-11-19 Joerg Schopf Schlepper zum bugsieren eines flugzeuges ohne schleppstange
FR2608986B1 (fr) 1986-12-26 1990-11-30 Messier Hispano Sa Dispositif de freinage au remorquage d'un avion au sol
EP0437285A3 (en) 1987-01-23 1992-06-03 Goldhofer Fahrzeugwerk Gmbh & Co. Aircraft ground-handling vehicle
DE3710045A1 (de) 1987-03-27 1988-10-27 Krauss Maffei Ag Rangierfahrzeug zum manoevrieren von flugzeugen am boden
DE3732647A1 (de) 1987-09-28 1989-04-20 Krauss Maffei Ag Bremssystem fuer ein schleppfahrzeug fuer flugzeuge
DE3732644C1 (de) 1987-09-28 1988-09-15 Krauss Maffei Ag Schleppfahrzeug fuer Flugzeuge - Definierte Verzurrkraefte
DE3732664C1 (de) 1987-09-28 1988-09-15 Krauss Maffei Ag Schleppfahrzeug fuer Flugzeuge - Lenkergesteuerte Hubschaufel
DE3732645C1 (de) 1987-09-28 1988-09-29 Krauss Maffei Ag Schleppfahrzeug fuer Flugzeuge - Niederhaltesystem
DE3732663A1 (de) 1987-09-28 1989-04-27 Krauss Maffei Ag Schleppfahrzeuge fuer flugzeuge - schwenkantrieb hubschaufel
SE459413B (sv) 1987-10-14 1989-07-03 Birkeholm Mogens Saett foer att foerhindra oeverbelastning av ett flygplans noshjulsstaell under bogsering med traktor samt traktor foer utoevning av saettet
US5082082A (en) 1988-01-04 1992-01-21 Djh Engineering Center, Inc. Multi-purpose service vehicle
SE8800688L (sv) 1988-02-29 1989-08-30 Fmt Int Trade System foer automatisk foerflyttning av flygplan paa marken
GB8805133D0 (en) 1988-03-03 1988-03-30 Soil Machine Dynamics Ltd Aircraft ground handling vehicle
FI79500C (fi) 1988-03-08 1990-01-10 Tana Jyrae Ky I parhjul gripande foerflyttningsanordning.
US5346354A (en) 1988-05-30 1994-09-13 Hellstroem Nils Erik Carriage for transferring objects
FR2637694B1 (fr) 1988-10-07 1991-10-18 Electr Et Entreprises Dispositif de detection de la position d'un mobile, notamment d'un aeronef, dans un plan
DE3837151A1 (de) 1988-11-02 1990-05-03 Volker Schardt Schleppfahrzeug zum rangieren von grossraumflugzeugen am boden
US4913253A (en) 1988-12-01 1990-04-03 Rayco Manufacturing, Inc. Motor driven tug vehicle
DE3901650C2 (de) 1989-01-20 1994-06-01 Goldhofer Fahrzeugwerk Schleppfahrzeug zum Manövrieren von Flugzeugen
US4950121A (en) 1989-01-25 1990-08-21 Aeromover Systems Inc. Universal method and apparatus for attaching an aircraft tug to an airplane
FI81533C (fi) 1989-03-31 1990-11-12 Tana Jyrae Ky Kraftoeverfoeringssystem foer transportanordning som griper om dubbelhjul.
DE58905326D1 (de) 1989-04-28 1993-09-23 Gutehoffnungshuette Man Flugzeug-schlepper ohne schleppstange (drehschaufel).
EP0394535B1 (de) 1989-04-28 1993-03-24 MAN Gutehoffnungshütte Aktiengesellschaft Flugzeug-Schlepper ohne Schleppstange (Schwenkteleskop)
DE3917255A1 (de) 1989-05-26 1990-11-29 Schopf Masch Verfahren und vorrichtung zum aufnehmen eines flugzeugbugfahrwerks durch einen flugzeugschlepper
JP2000344085A (ja) * 1999-06-03 2000-12-12 Toyota Motor Corp 車輪制御状態表示装置
DE3928854A1 (de) 1989-08-31 1991-03-07 Schopf Masch Verfahren und vorrichtung zum schleppen eines flugzeugs mit angehobenem bugrad
DE4007610C2 (de) 1990-03-09 1994-02-24 Krauss Maffei Ag Meß- bzw. Überwachungseinrichtung für kraftbeanspruchte Teile
DE4009419C2 (de) 1990-03-23 1997-09-11 Krauss Maffei Ag Bugfahrwerk-Einspannvorrichtung für ein Flugzeug-Schleppfahrzeug
DE4023023C2 (de) 1990-07-19 1997-04-10 Goldhofer Fahrzeugwerk Schleppfahrzeug zum Manövrieren von Flugzeugen
GB2246754A (en) 1990-07-25 1992-02-12 Mitsui Shipbuilding Eng Airship yaw line tractor
DE4024894C2 (de) 1990-08-06 1997-05-22 Krauss Maffei Ag Schleppfahrzeug für Flugzeuge
GB9019791D0 (en) 1990-09-11 1990-10-24 Iles Frank Movement of aircraft
US5151003A (en) 1990-11-30 1992-09-29 Eric W. Paulson Universal aircraft nosewheel cradle and tug assembly
US5261778A (en) 1990-11-30 1993-11-16 Eric W. Paulson Universal aircraft tug assembly
US5302075A (en) 1990-11-30 1994-04-12 Eric W. Paulson Universal aircraft nosewheel cradle and tug assembly
JPH0767893B2 (ja) 1991-01-31 1995-07-26 クラウス―マツフアイ アクチエンゲゼルシヤフト 航空機用のけん引車
DE4131649A1 (de) 1991-09-23 1993-03-25 Krauss Maffei Ag Schleppfahrzeug fuer flugzeuge
DE4102861C2 (de) 1991-01-31 1996-01-25 Krauss Maffei Ag Schleppfahrzeug für Flugzeuge
FR2675919B1 (fr) 1991-04-25 1993-08-20 Aerospatiale Procede et installation automatises pour deplacer un objet non cooperatif, notamment pour assurer les deplacements au sol des aeronefs.
JPH0559973A (ja) * 1991-06-21 1993-03-09 Rootasu Res Kk 自動車用複合原動装置
DE4129407C2 (de) 1991-09-04 1995-07-06 Gutehoffnungshuette Man Schleppfahrzeug ohne Schleppstange zum Bugsieren von Flugzeugen
FR2689090B1 (fr) 1992-03-24 1997-06-13 Hydroland Sa Vehicule de convoyage d'avion au sol.
US5302074A (en) 1992-04-01 1994-04-12 Kalmar Motor Ab Wheeled vehicle for ground transport of aircraft
DE4306026C2 (de) 1993-02-26 1997-09-18 Krauss Maffei Ag Schleppfahrzeug für Flugzeuge
DE4322985C2 (de) 1993-07-09 1997-05-07 Gutehoffnungshuette Man Flugzeugschlepper ohne Schleppstange
DE4324211A1 (de) 1993-07-19 1995-01-26 Linde Ag Verfahren zum Betreiben eines Fahrantriebs für ein ziehendes oder schiebendes oder für ein gezogenes oder geschobenes Fahrzeug und für das Verfahren vorgesehenes Fahrzeug
DE4340919A1 (de) 1993-09-20 1995-03-23 Schopf Masch Schleppfahrzeug für Flugzeuge
IT1263472B (it) 1993-09-20 1996-08-05 Fresia Spa Trattore per il traino di aeromobile attraverso le sue ruote centrali anteriori sterzanti,con sollevamento o meno delle stesse.
DE4336197A1 (de) 1993-10-23 1995-04-27 Gutehoffnungshuette Man Schleppfahrzeug für Flugzeuge
DE4447860C2 (de) 1994-05-02 2002-03-28 Goldhofer Fahrzeugwerk Schleppfahrzeug zum Manövrieren von Flugzeugen
US5381987A (en) 1994-05-31 1995-01-17 Carns; William A. Utility vehicle for towing and servicing aircraft
DE4446047C2 (de) 1994-12-22 1997-07-03 Krauss Maffei Verkehrstechnik Schleppfahrzeug für Flugzeuge
DE4446048C3 (de) 1994-12-22 2000-04-06 Krauss Maffei Verkehrstechnik Schleppfahrzeug für Flugzeuge
SE503046C2 (sv) 1995-01-17 1996-03-18 Bo Elfstroem Anordning för optisk mätning av styrvinkeln vid dragning av flygplan på marken
US5655733A (en) 1995-04-25 1997-08-12 Roach; William W. Aircraft ground transporter
US6405975B1 (en) 1995-12-19 2002-06-18 The Boeing Company Airplane ground maneuvering camera system
GB9608561D0 (en) 1996-04-25 1996-07-03 Iles Frank Aircraft wheel lifting device
JP2001505512A (ja) 1996-12-09 2001-04-24 アーゲ ヨハン ブルン，スベンド 牽引時の航空機の先頭車輪及び航空機用牽引車にかかる過荷重を防止する方法
DE19721315C1 (de) 1997-05-21 1998-06-10 Krauss Maffei Verkehrstechnik Schleppfahrzeug für Flugzeuge
US6112838A (en) 1997-05-29 2000-09-05 Klein; John J. Towing apparatus
JP3374720B2 (ja) * 1997-09-29 2003-02-10 日産自動車株式会社 ハイブリッド車両の制御装置
JP4138997B2 (ja) 1999-04-02 2008-08-27 前澤工業株式会社 沈殿池の排泥構造
DE19931865A1 (de) 1999-07-09 2001-01-11 Schopf Maschb Gmbh Schleppfahrzeug für Flugzeuge
JP2001037008A (ja) * 1999-07-21 2001-02-09 Nissan Motor Co Ltd ハイブリッド車両の制御装置
US6751588B1 (en) 1999-11-23 2004-06-15 Sony Corporation Method for performing microphone conversions in a speech recognition system
AUPQ463099A0 (en) 1999-12-14 2000-01-13 Nepean Engineering Pty Ltd Tug for aircraft
US6305484B1 (en) 2000-03-31 2001-10-23 Leblanc Edward L. Automated aircraft towing vehicle system
US6390762B1 (en) 2000-05-01 2002-05-21 Strategic Technologies, Inc. Apparatus for positioning a massive article under a second article for attachment thereto
SE518719C2 (sv) 2000-06-26 2002-11-12 Kalmar Motor Ab Dragfordon för flygplan och ingrepps- och lyftanordning därför
CN2458238Y (zh) 2000-12-21 2001-11-07 张积洪 无拖杆牵引车飞机机型选择定位装置
US6600992B2 (en) 2001-05-17 2003-07-29 Airborne Holding, Llc Airport ground navigation system
US6543790B2 (en) 2001-06-11 2003-04-08 Raymond W. Johnson Aircraft towbar
US6923281B2 (en) 2001-08-23 2005-08-02 General Motors Corporation Full size vehicle remote control technology
RU2302980C2 (ru) 2001-11-29 2007-07-20 Государственное образовательное учреждение высшего профессионального образования Воронежское высшее военное авиационное инженерное училище (военный институт) Автоматический увеличитель сцепного веса буксировщика воздушных судов
JP3711927B2 (ja) * 2001-12-12 2005-11-02 三菱自動車工業株式会社 ハイブリッド車両の制御装置
GB0217028D0 (en) 2002-07-23 2002-08-28 Douglas Equipment Ltd An aircraft handler
ITRM20020475A1 (it) 2002-09-25 2004-03-26 Roberto Maggiori Dispositivo di trattore da traino.
RU2271316C2 (ru) 2002-12-11 2006-03-10 Воронежский военный авиационный инженерный институт Автоматический увеличитель сцепного веса буксировщика воздушных судов
CN1240583C (zh) 2002-12-30 2006-02-08 李京岐 飞机救援车
WO2004114252A1 (en) 2003-06-23 2004-12-29 Roberto Gentile Airfield vehicle monitoring system and respective vehicle
US20050196256A1 (en) 2004-03-08 2005-09-08 Fmc Technologies, Inc. Method and system for over-steer avoidance
FR2873990B1 (fr) 2004-08-06 2006-09-15 Daniel Barre Chariot de manutention automoteur a conducteur accompagnant pour avion de tourisme
EP1634808A1 (de) 2004-09-11 2006-03-15 Tokx GmbH & Co.KG Fahrzeug zum Schleppen und Rangieren von Luftfahrzeugen
US20060056949A1 (en) 2004-09-15 2006-03-16 Kersten Eckert Transport vehicle for aircraft
US20060278756A1 (en) 2005-05-05 2006-12-14 Aaron Marshall Airplane tug
JP4279276B2 (ja) * 2005-08-09 2009-06-17 本田技研工業株式会社 作業機
FR2911658B1 (fr) 2007-01-22 2009-04-24 Poclain Hydraulics Ind Soc Par Dispositif de transmission hydrostatique d'un engin.
JP4653769B2 (ja) * 2007-03-06 2011-03-16 株式会社クボタ トラクタ用の静油圧式無段変速装置
US20090183499A1 (en) * 2008-01-17 2009-07-23 Basf Catalysts Llc Apparatus and control method for avoiding shock in diesel filters
JP4274282B1 (ja) * 2008-02-07 2009-06-03 トヨタ自動車株式会社 車両用駆動装置の制御装置およびプラグインハイブリッド車両
DE102008035342B4 (de) 2008-07-29 2011-06-22 Becker, Andreas, Dipl.-Ing., 42897 Automatisches System zum Manövrieren von Luftfahrzeugen am Boden
IL198950A (en) * 2008-11-25 2013-01-31 Israel Aerospace Ind Ltd Towbarless airplane tug
US8181725B2 (en) 2009-09-29 2012-05-22 Hamilton Sundstrand Corporation Aircraft tug
US8308611B2 (en) * 2010-01-22 2012-11-13 GM Global Technology Operations LLC Shift control systems and methods for an automatic transmission

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020010538A1 (en) * 2000-06-09 2002-01-24 Nissan Motor Co., Ltd. Drive force control system for vehicles
US20090265065A1 (en) * 2005-12-26 2009-10-22 Komatsu Ltd. Construction vehicle
US20070227792A1 (en) * 2006-03-31 2007-10-04 Mazda Motor Corporation Hybrid system of vehicle
WO2008038270A2 (en) 2006-09-28 2008-04-03 Israel Aerospace Industries Ltd. System and method for transferring airplanes
WO2008139440A2 (en) 2007-05-16 2008-11-20 Israel Aerospace Industries Ltd. Towbarless airplane tug
WO2008139437A1 (en) 2007-05-16 2008-11-20 Israel Aerospace Industries Ltd. System and method for transferring airplanes
DE102008025683A1 (de) * 2007-12-28 2009-07-02 Robert Bosch Gmbh Verfahren zur Ansteuerung eines Fahrantriebs

Also Published As

Publication number Publication date
IL223251A0 (en) 2013-02-03
BE1020463A5 (nl) 2013-11-05
CN103025594B (zh) 2016-02-03
US20130110336A1 (en) 2013-05-02
HK1177722A1 (zh) 2013-08-30
IL223251A (en) 2016-12-29
KR20130103680A (ko) 2013-09-24
EP2576309A1 (en) 2013-04-10
CA2800416A1 (en) 2011-12-08
JP2013532090A (ja) 2013-08-15
CN103025594A (zh) 2013-04-03
IL206061A0 (en) 2010-11-30
SG185771A1 (en) 2012-12-28
JP5985469B2 (ja) 2016-09-06
US8825338B2 (en) 2014-09-02

Similar Documents

Publication Publication Date Title
US20150105951A1 (en) Regenerative braking in the presence of an antilock braking system control event
CN102548823B (zh) 用于车辆性能控制的系统与方法
GB2466086A (en) Trailer with drive torque determination
WO2011151816A1 (en) Controller for a drive system
EP2733007A1 (en) A hybrid working machine providing or receiving electrical power
Suleman et al. Adaptive control of an aeroelastic flight vehicle using piezoelectric actuators
CN102431555A (zh) 用于车辆中速度控制的积分器饱和的单侧检测和禁用
CN105339229B (zh) 用于运行机动车的控制系统和方法
US9708794B2 (en) Electromechanical drive for a working machine
CN117940364A (zh) 升降装置和在坡度上进行控制的方法
Hippalgaonkar et al. Optimal power management of hydraulic hybrid mobile machines—Part II: Machine implementation and measurements
Xiaochao et al. Design of an aircraft autonomous traction taxiing system based on hydraulic secondary control
Popescu et al. Simulation of multi-motor propulsion system for energy efficiency in electric vehicles
Leng et al. Allocation control algorithms design and comparison based on distributed drive electric vehicles
JP2013532090A5 (enExample)
HK1177722B (en) Controller for a drive system
AU2021464668B2 (en) Lift device and method of controlling
US9802559B2 (en) Working machine for operating as an auxiliary power plant
EP2752330B1 (en) A mobile working machine with intermediate circuit voltage control
US12472830B2 (en) Method for controlling an electric drive unit of a vehicle, computer program, computer readable medium, control unit, electric drive unit, and vehicle
He et al. Experimental evaluation of dynamic force distribution method for EV motion control
Cheong et al. Cornering stability improvement for 4 wheel drive hybrid electric vehicle
JP2011152009A (ja) 作業用車両の走行駆動装置
Zheng et al. Braking energy recovery and control strategy of electric loaders
Atkins Integration and performance of regenerative braking and energy recovery technologies in vehicles

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 201180026740.7

Country of ref document: CN

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 11730083

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2800416

Country of ref document: CA

ENP Entry into the national phase

Ref document number: 2013513038

Country of ref document: JP

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 13700874

Country of ref document: US

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 10147/CHENP/2012

Country of ref document: IN

WWE Wipo information: entry into national phase

Ref document number: 2011730083

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 20127033461

Country of ref document: KR

Kind code of ref document: A

REG Reference to national code

Ref country code: BR

Ref legal event code: B01A

Ref document number: 112012030257

Country of ref document: BR

REG Reference to national code

Ref country code: BR

Ref legal event code: B01E

Ref document number: 112012030257

Country of ref document: BR

ENPW Started to enter national phase and was withdrawn or failed for other reasons

Ref document number: 112012030257

Country of ref document: BR