| 摘要 |
<p>A vehicle propel system is disclosed, including a hydrostatic transmission having wheel motors (37L,37R) and a variable displacement pump (39), variable in response to a pump displacement command signal (51). The system involves determining (67) anticipated motor flow, and generating a signal (69) corresponding thereto. A pressure command signal (77) corresponds to the desired pump pressure. Actual motor flow is sensed (75), and a processor (49) calculates pump flow and compares it to actual motor flow (75) to determine system leakage (107). The processor then modifies the anticipated motor flow signal (69) to compensate for system leakage (107), and generates the appropriate pump displacement command signal (51). The use of feed-forward terms, such as anticipated motor flow (69), pump speed and commanded pressure times leakage gain to calculate desired pump displacement allow a lesser gain to be used for the feedback term (measured pump pressure 59), thereby reducing "wheel hop". <IMAGE></p> |
