The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 02, 2015
Filed:
Apr. 15, 2014
Abb Oy, Helsinki, FI;
Markku Talja, Järvenpää, FI;
ABB OY, Helsinki, FI;
Abstract
A method and arrangement for preventing slip in a wheeled vehicle having two or more driving wheels that are operated with electric motors. The motor of each driving wheel includes a torque limit applicable to limit torque of the motor. For each driving wheel, the method includes setting an angular acceleration limit for the wheel, detecting angular acceleration of the driving wheel continuously, comparing the detected angular acceleration with the angular acceleration limit continuously, if the detected angular acceleration is higher than the angular acceleration limit, reducing the torque limit from its current value until the angular acceleration of the wheel is below the angular acceleration limit, increasing the torque limit at a first rate to a value lower than the value from which it was reduced, and increasing the torque limit at a second rate to the maximum value, the second rate being lower than the first rate.