Boots – shoes – and leggings
Patent
1986-08-07
1989-01-17
Chin, Gary
Boots, shoes, and leggings
318 52, 180197, B61C 1508
Patent
active
047991615
ABSTRACT:
The commencement of a developing period of slip is detected by the fact that a time-differential value v.sub.s of a creep velocity v.sub.s (a relative velocity between a peripheral velocity v.sub.m of a driving wheel and a vehicle velocity v.sub.t) exceeds a predetermined reference .delta..sub.1. The termination of the developing period is detected by the fact that a time-differential value v.sub.m of the peripheral velocity v.sub.m becomes equal to zero. During the developing period, a torque command Tp to a main motor controller is decreased by a re-adhesion control signal Tfa which is formed by the combination of a time-dependent component e.sub.1 and a slip-dependent component e.sub.2. After termination of the developing period, the torque command Tp is decreased with time at an appropriate time constant. According to the present invention, the arithmetic logic operation for control can be much simplified without any deterioration of a adhesion performance of an electric vehicle.
REFERENCES:
patent: 3614173 (1971-10-01), Branson
patent: 3658388 (1972-04-01), Hasegawa
patent: 4136303 (1979-01-01), Almquist et al.
patent: 4701682 (1987-10-01), Hirotsu et al.
Hirotsu Tetsuji
Kasai Syoji
Kozu Eiji
Nakamura Kiyoshi
Yamaguchi Hiroshi
Chin Gary
Hitachi , Ltd.
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