Patent ID: 6196345
Filing Date: 2001-03-06
Classification: B60L,Y02T

Abstract:
A motor vehicle, comprising:a source of electric energy;an electric motor including an output shaft;a source of operator-controlled commanded torque signals;a control system coupled to said source of electric energy, to said electric motor, and to receive torque command signals, for controlling said motor to produce the commanded torque at said output shaft of said motor;a mechanical gearbox including an input shaft coupled to said shaft of said motor and also including an output shaft, for reducing the input shaft speed to produce a lower output shaft speed, with a concomitant increase in the output shaft torque;a drive wheel for supporting and driving said vehicle;an elongated axle shaft coupled to said drive wheel and to said output shaft of said gearbox, for thereby coupling torque to said drive wheel from said gearbox, said axle shaft having a stiffness which, in conjunction with the mass of said vehicle, tends to produce undesired jerky motion;motor speed sensing means for producing signals representative of the speed of said motor:differencing means including a noninverting input port coupled to said source of operator-controlled commanded torque signals and also including an inverting input port, for subtracting signal applied to said inverting input port from said commanded torque signals, for generating said torque command signals; anddamping signal generating means coupled to said motor speed sensing means and to said inverting input port of said differencing means, for coupling to said inverting input port of said differencing means at least the low-frequency components of motor acceleration.