Use of triangular numbers in calculation of jerk limited speed profile for determination of target speeds and feed-forward torque for speed controller

Patent metadata

Field	Value
Publication number	US-12337840-B2
Application number	US-202217869421-A
Country	US
Kind code	B2
Filing date	Jul 20, 2022
Priority date	Jul 20, 2022
Publication date	Jun 24, 2025
Grant date	Jun 24, 2025

Abstract

Speed control techniques include, based on a set of target speed inputs indicative a target speed for an electric motor, determining a set of profiling inputs including (i) the target speed and (ii) a set of desired acceleration calibrations, performing jerk-based profiling based on the set of profiling inputs to determine at least one of an open-loop acceleration command and a profiled target speed, determining a closed-loop torque adjustment based on the profiled target speed and a measured speed of the electric motor, determining an electric motor torque command based on the open-loop acceleration command and the closed-loop torque adjustment, and controlling the electric motor based on the respective electric motor torque command to improve vehicle responsiveness in reaching the target speed.

First claim

What is claimed is:

1. A speed control system for a vehicle having a powertrain including an electric motor, the speed control system comprising:
a set of sensors that measure a set of system inputs including (i) a measured speed of the electric motor and (ii) a set of target speed inputs indicative of a target speed for the electric motor; and
a controller configured to perform a speed control technique including:
based on at least the set of target speed inputs, determine a set of profiling inputs including (i) the target speed and (ii) a set of desired acceleration calibrations;
based on the set of profiling inputs, perform jerk-based profiling to determine an open-loop acceleration command and a profiled target speed;
based on the profiled target speed and the measured speed of the electric motor, determine a closed-loop torque adjustment;
based on the open-loop acceleration command and the closed-loop torque adjustment, determine an electric motor torque command; and
control the electric motor based on the electric motor torque command.

2. The speed control system of claim 1 , wherein the controller is further configured to perform the jerk-based profiling to determine the open-loop acceleration command (A) as follows:

A
=

N
tgt

-

N

prof

-
prev

-

N
˙

tgt

×
dT

LTC
×
dT

+

N
˙

t
⁢
g
⁢
t

-

J
⁡
(

L
⁢
T
⁢
C

-
1

)

×
dT

2

,

where N tgt represents the target speed, which is dynamically changing, {dot over (N)} tgt represents the change in the target speed, N prof_prev represents a previously profiled target speed, LTC represents a number of loops to converge (LTC) to the profiled target speed, J represents the jerk limits, and t represents time or a product of LTC and a time step (dT).

3. The speed control system of claim 2 , wherein the controller is further configured to perform the jerk-based profiling to determine the LTC to the profiled target speed as follows:

LTC
=

max
⁢

(

1
,

⌈

1
2

⁢

(

8
⁢

❘
"\[LeftBracketingBar]"

N
tgt

-

N
prof_prev

-

N
.

tgt

×
dT

J
×
dT
×
dT

❘
"\[RightBracketingBar]"

+
1

-
1

)

⌉

)

.

4. The speed control system of claim 1 , wherein the controller is configured to perform the speed control technique continuously during electric motor operation.

5. The speed control system of claim 1 , wherein the controller is configured to utilize a closed-loop speed observer to determine the closed-loop torque adjustment based on the profiled target speed and the measured speed of the electric motor.

6. The speed control system of claim 1 , wherein the target speed is a dynamically changing target speed and not a stationary target speed.

7

Assignees

• Tuller Zachary L
• Patel Nadirsh
• Bhakare Allwyn D
• Sathyamoorthy Naresh
• Lee Andy M
• Fca Us Llc

Inventors

• Tuller Zachary L
• Patel Nadirsh
• Bhakare Allwyn D
• Sathyamoorthy Naresh
• Lee Andy M

Classifications

• B60W40/107

  Longitudinal acceleration · CPC title

• B60W10/12

  including control of differentials · CPC title

• B60W50/0098

  Details of control systems ensuring comfort, safety or stability not otherwise provided for · CPC title

• B60W2050/0008

  Feedback, closed loop systems or details of feedback error signal · CPC title

• B60W2710/083

  Torque · CPC title