A personal watercraft, driving control system, and method for controlling the watercraft. The watercraft includes a jet powered propulsion system; a steering system including a handle; and the driving control system including an electrically actuated device coupled to the steering system for applying torque to the steering system; at least one sensor positioned adjacent the steering system; and a controller. The controller is configured to: determine whether user torque is being applied to the steering system; and responsive to determining that the user torque is not being applied: determine a steering angle; determine a target angle for returning the steering system to a center position; compare the steering angle to the target angle; determine a centering torque; and operate the electrically actuated device to apply the centering torque to the steering, with the centering torque being applied only by the electrically actuated device.
An electric power steering system is provided. The electric power steering system includes an electric motor (12), a battery (14) configured to provide power, and a motor drive circuit (18) configured to provide power from the battery (14) to the motor (12). The motor drive circuit (18) includes a set of branches (28a, 28b 28c), each including two transistors (30a, 30b; 30c 30d; 30e, 30f) configured to operate in a conducting or non-conducting state. The electric power steering system includes a phase isolation circuit (20) including a set of phase isolation branches (32a, 32b, 32c), the branches (32a, 32b, 32c) being coupled to the phase windings (26a, 26b, 26c) of the electric motor (12). A phase isolation branch (32a, 32b, 32c) includes a bidirectional TVS diode (36a, 36b, 36c) and a phase isolation transistor (34a, 34b, 34c), the phase isolation transistor (34a, 34b, 34c) being configured to operate in a conducting or non-conducting state. The electric power steering system includes a fault detector configured to detect a fault condition and switch the phase isolation transistors (34a, 34b, 34c) to the non-conducting state in response to detecting the fault condition.
A snowmobile having enhanced steering control has driving control system including an electrically actuated device coupled to a steering system having a user operated steering element with the device applying torque to the steering system, a throttle, a plurality of sensors including a torque sensor and at least one additional sensor to generate terrain condition data and operational data, and at least one controller coupled to the device and the sensors. The at least one controller selects a terrain condition mode using the generated terrain condition and generated operational data, determines the torque to apply responsive to the angle and speed of rotation of user operated steering element, and operates the electrically actuated device to apply the torque to the steering system, with the torque being applied only by the electrically actuated device.
A torque sensor including a shaft that receives an applied torque is disclosed. The shaft includes a magnetoelastic region that generates a non-negligible magnetic field responsive to the applied torque and one or more null regions that each generates a negligible magnetic field. The torque sensor includes a plurality of null region sensors proximal a null region that generate a null region magnetic field measure corresponding to a magnitude of an ambient magnetic field. The torque sensor includes a magnetoelastic region sensor proximal the magnetoelastic region that generates a magnetoelastic region magnetic field measure corresponding to the magnitude of the ambient magnetic field and a magnitude of the non-negligible magnetic field. The torque sensor includes a controller coupled to the null region sensors and the magnetoelastic region sensor that calculates a magnitude of the applied torque based on the null region magnetic field measures and the magnetoelastic region magnetic field measure.
G01L 3/10 - Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
G01L 5/22 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
A sensor assembly for a vehicle including a sensor module having a main printed circuit board (PCB). A plurality of auxiliary printed circuit boards (PCBs) are coupled to the main PCB and electrically connected to the main PCB. Each of the plurality of auxiliary PCBs has at least one sensor that is configured to generate a signal. Each of the plurality of auxiliary PCBs are coupled to each other in a defined position relative to each other. A plurality of attachment elements couple the plurality of auxiliary PCBs and the main PCB to at least partially maintain the defined positions of the auxiliary PCBs relative to each other and to electrically connect the plurality of auxiliary PCBs to the main PCB. A retainer abuts the plurality of auxiliary PCBs.
G01L 3/10 - Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
Systems, methods, and devices for enhancing steering control of a recreational vehicle. One or more mechanical dampers are coupled to and resist movement of a steering system of the recreational vehicle, and an electrically actuated device is coupled to the steering system for applying torque to the steering system. A sensor is also positioned adjacent the steering system that generates data indicating an operational state of the recreational vehicle. A first torque applied to the steering system by the one or more mechanical dampers is estimated based on the operational state, a second torque to apply to the steering system by the electrically actuated device is calculated based on the estimated first torque and the operational state, and the electrically actuated device is operated to apply the second torque to the steering system.
A torque sensor assembly including a shaft configured to receive an applied torque. The shaft includes at least one region being magnetoelastic and configured to generate a magnetic field in response to the applied torque. A plurality of sensors, circumferentially positioned around the at least one region, configured to generate a plurality of signals that are indicative of the magnetic field. Each of the plurality of signals includes multiple harmonic components. A controller is connected with the plurality of sensors and being configured to receive the plurality of signals and determine (i) an average of the plurality of signals in order to cancel at least one of the harmonic components of the multiple harmonic components for each of the plurality of signals, and (ii) a magnitude of the applied torque based on the average of the plurality of signals.
G01L 3/10 - Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
G01L 5/22 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
8.
Enhanced steering control system for personal watercrafts
Systems, methods, and devices for enhancing steering control of a personal watercraft. An electrically actuated device is coupled to the steering system of the personal watercraft and applies torque to the steering system. At least one sensor is positioned adjacent the steering system and generates operational data of the personal watercraft. At least one controller is coupled to the electrically actuated device and the at least one sensor, and is configured to determine a first torque to apply to the steering system based on the operational data responsive to a second torque being applied to the steering system. The at least one controller is further configured to operate the electrically actuated device to apply the first torque to the steering system for providing enhanced steering control of the personal watercraft, with the first torque being applied only by the electrically actuated device.
A torque sensor including a shaft that receives an applied torque is disclosed. The shaft includes a magnetoelastic region that generates a non-negligible magnetic field responsive to the applied torque and null regions that generate a negligible magnetic field. The torque sensor includes null region sensors that generate a null region magnetic field measure corresponding to an ambient magnetic field. The torque sensor includes a magnetoelastic region sensor that generates a magnetoelastic region magnetic field measure corresponding to the ambient magnetic field and the non-negligible magnetic field. The torque sensor includes a controller that determines whether a null region sensor has entered an intense ambient magnetic field condition and whether a magnetoelastic region sensor has entered a magnetoelastic region sensor saturation condition. The controller also calculates a magnitude of the applied torque based on the null region magnetic field measures and the magnetoelastic region magnetic field measure.
G01L 3/10 - Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
G01L 5/22 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
A method for controlling a power steering system utilizes a vehicle having a motor, a controller coupled to the motor, and a steering assembly. The method includes detecting a steering rate using the controller. A base level steering damping is computed using the steering rate. At least one approximate vehicle acceleration is determined. A steering torque of the steering assembly is sensed through a torque sensor configured to sense the steering torque of the steering assembly. Moreover, a user torque is determined using the torque sensor. A damping boost is computed using the user torque and the at least one approximate vehicle acceleration. A final steering damping gain is determined using the base level steering damping and the damping boost. The final steering damping gain is applied to the steering assembly to minimize unwanted feedback to the steering assembly.
A snowmobile having enhanced steering control has driving control system including an electrically actuated device coupled to a steering system having a user operated steering element with the device applying torque to the steering system, a throttle, a plurality of sensors including a torque sensor and at least one additional sensor to generate terrain condition data and operational data, and at least one controller coupled to the device and the sensors. The at least one controller selects a terrain condition mode using the generated terrain condition and generated operational data, determines the torque to apply responsive to the angle and speed of rotation of user operated steering element, and operates the electrically actuated device to apply the torque to the steering system, with the torque being applied only by the electrically actuated device.
A snowmobile having enhanced steering control has driving control system including an electrically actuated device coupled to a steering system having a user operated steering element with the device applying torque to the steering system, a throttle, a plurality of sensors including a torque sensor and at least one additional sensor to generate terrain condition data and operational data, and at least one controller coupled to the device and the sensors. The at least one controller selects a terrain condition mode using the generated terrain condition and generated operational data, determines the torque to apply responsive to the angle and speed of rotation of user operated steering element, and operates the electrically actuated device to apply the torque to the steering system, with the torque being applied only by the electrically actuated device.
Systems, methods, and devices for enhancing steering control of a recreational vehicle. One or more mechanical dampers are coupled to and resist movement of a steering system of the recreational vehicle, and an electrically actuated device is coupled to the steering system for applying torque to the steering system. A sensor is also positioned adjacent the steering system that generates data indicating an operational state of the recreational vehicle. A first torque applied to the steering system by the one or more mechanical dampers is estimated based on the operational state, a second torque to apply to the steering system by the electrically actuated device is calculated based on the estimated first torque and the operational state, and the electrically actuated device is operated to apply the second torque to the steering system.
A sensor assembly for a vehicle including a sensor module having a main printed circuit board (PCB). A plurality of auxiliary printed circuit boards (PCBs) are coupled to the main PCB and electrically connected to the main PCB. Each of the plurality of auxiliary PCBs has at least one sensor that is configured to generate a signal. Each of the plurality of auxiliary PCBs are coupled to each other in a defined position relative to each other. A plurality of attachment elements couple the plurality of auxiliary PCBs and the main PCB to at least partially maintain the defined positions of the auxiliary PCBs relative to each other and to electrically connect the plurality of auxiliary PCBs to the main PCB. A retainer abuts the plurality of auxiliary PCBs.
A torque sensor assembly including a shaft configured to receive an applied torque. The shaft includes at least one region being magnetoelastic and configured to generate a magnetic field in response to the applied torque. A plurality of sensors, circumferentially positioned around the at least one region, configured to generate a plurality of signals that are indicative of the magnetic field. Each of the plurality of signals includes multiple harmonic components. A controller is connected with the plurality of sensors and being configured to receive the plurality of signals and determine (i) an average of the plurality of signals in order to cancel at least one of the harmonic components of the multiple harmonic components for each of the plurality of signals, and (ii) a magnitude of the applied torque based on the average of the plurality of signals.
G01L 3/10 - Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
G01L 5/22 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
16.
Magnetoelastic type torque sensor with temperature dependent error compensation
A torque sensor assembly comprises a shaft configured to receive an applied torque. The shaft comprises at least one region, which is magneto-elastic and configured to generate a magnetic field in response to the applied torque. A pair of sensing coils disposed adjacent to the region is configured to sense the magnetic field. One or more sensors sense a temperature of each of the sensing coils. A controller is coupled to the pair of sensing coils and the sensor(s). The controller is configured to receive the sensed temperature of each of the sensing coils, determine a temperature difference between the sensing coils and generate an output signal based on the sensed magnetic field. The output signal accounts for the temperature difference between the sensing coils.
G01L 3/10 - Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
G01K 1/14 - SupportsFastening devicesArrangements for mounting thermometers in particular locations
G01L 5/22 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
G01L 25/00 - Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
17.
ENHANCED STEERING CONTROL SYSTEM FOR PERSONAL WATERCRAFTS
Systems, methods, and devices for enhancing steering control of a personal watercraft. An electrically actuated device is coupled to the steering system of the personal watercraft and applies torque to the steering system. At least one sensor is positioned adjacent the steering system and generates operational data of the personal watercraft. At least one controller is coupled to the electrically actuated device and the at least one sensor, and is configured to determine a first torque to apply to the steering system based on the operational data responsive to a second torque being applied to the steering system. The at least one controller is further configured to operate the electrically actuated device to apply the first torque to the steering system for providing enhanced steering control of the personal watercraft, with the first torque being applied only by the electrically actuated device.
A torque sensor is provided. The torque sensor includes a shaft configured to receive an applied torque. The shaft includes a first region and a second region, both regions being magnetoelastic. The first region and the second region generate a first magnetic field and a second magnetic field in response to the applied torque. The shaft also includes a third region disposed between the first region and the second region. The third region generates a substantially negligible magnetic field in response to the applied torque. The torque sensor also includes a first sensor disposed adjacent to the first region, a second sensor disposed adjacent to the second region, and a third sensor disposed adjacent the third region. The first sensor senses the first magnetic field, the second sensor senses the second magnetic field, and the third sensor senses an ambient magnetic field.
G01L 3/10 - Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
G01L 5/00 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
G01L 5/13 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the tractive or propulsive power of vehicles
G01L 5/22 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
A method for controlling a power steering system utilizes a vehicle having a motor, a controller coupled to the motor, and a steering assembly. The method includes detecting a steering rate using the controller and determining a vehicle speed. A base level steering damping is computed using the steering rate and the vehicle speed. At least one approximate vehicle acceleration is determined. A steering torque of the steering assembly is sensed through a torque sensor configured to sense the steering torque of the steering assembly. Moreover, a user torque is determined using the torque sensor. A damping boost is computed using the user torque and the at least one approximate vehicle acceleration. A final steering damping gain is determined using the base level steering damping and the damping boost. The final steering damping gain is applied to the steering assembly to minimize unwanted feedback to the steering assembly.
Techniques for limiting electrical current provided to a motor for an electric power steering system are provided. A first estimated temperature of the motor is determined for a first time step. The first estimated temperature of the motor is filtered to produce a first filtered estimated temperature of the motor. A second estimated temperature of the motor is determined for a second time step subsequent to the first time step. The first filtered estimated temperature is compared with the second estimated temperature to determine whether the motor is heating or cooling. The filter is adjusted in response to determining whether the motor is heating or cooling. The second estimated temperature of the motor is filtered with the adjusted filter to produce a second filtered estimated temperature of the motor. A limit on electrical current provided to the motor is set using the second filtered estimated temperature.
H02P 29/032 - Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
H02P 29/60 - Controlling or determining the temperature of the motor or of the drive
B62D 5/04 - Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
H02H 7/08 - Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
A method for controlling a power steering system utilizes a vehicle having a motor, a controller coupled to the motor, and a steering assembly. The method includes detecting a steering rate using the controller and determining a vehicle speed. A base level steering damping is computed using the steering rate and the vehicle speed. At least one approximate vehicle acceleration is determined. A steering torque of the steering assembly is sensed through a torque sensor configured to sense the steering torque of the steering assembly. Moreover, a user torque is determined using the torque sensor. A damping boost is computed using the user torque and the at least one approximate vehicle acceleration. A final steering damping gain is determined using the base level steering damping and the damping boost. The final steering damping gain is applied to the steering assembly to minimize unwanted feedback to the steering assembly.
B62D 6/02 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
B62D 5/04 - Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
A torque sensor is provided. The torque sensor includes a shaft configured to receive an applied torque. The shaft includes a first region and a second region, both regions being magnetoelastic. The first region and the second region generate a first magnetic field and a second magnetic field in response to the applied torque. The shaft also includes a third region disposed between the first region and the second region. The third region generates a substantially negligible magnetic field in response to the applied torque. The torque sensor also includes a first sensor disposed adjacent to the first region, a second sensor disposed adjacent to the second region, and a third sensor disposed adjacent the third region. The first sensor senses the first magnetic field, the second sensor senses the second magnetic field, and the third sensor senses an ambient magnetic field.
G01L 3/10 - Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
G01L 5/00 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
24.
TECHNIQUES FOR LIMITING ELECTRICAL CURRENT PROVIDED TO A MOTOR IN AN ELECTRIC POWER STEERING SYSTEM
Techniques for limiting electrical current provided to a motor for an electric power steering system are provided. A first estimated temperature of the motor is determined for a first time step. The first estimated temperature of the motor is filtered to produce a first filtered estimated temperature of the motor. A second estimated temperature of the motor is determined for a second time step subsequent to the first time step. The first filtered estimated temperature is compared with the second estimated temperature to determine whether the motor is heating or cooling. The filter is adjusted in response to determining whether the motor is heating or cooling. The second estimated temperature of the motor is filtered with the adjusted filter to produce a second filtered estimated temperature of the motor. A limit on electrical current provided to the motor is set using the second filtered estimated temperature.
B62D 5/04 - Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
H02H 7/08 - Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
H02P 23/14 - Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
25.
Electronically assisted reverse gate system for a jet propulsion watercraft
An automatic trim system for a jet propulsion watercraft is provided. Control electronics are in communication with a steering angle sensor to monitor the steering angle of the watercraft, and evaluate a target setting for the trim taking the steering angle into consideration. Control signals are sent to an appropriate actuating device for adjusting the trim angle accordingly.
B60L 3/00 - Electric devices on electrically-propelled vehicles for safety purposesMonitoring operating variables, e.g. speed, deceleration or energy consumption
26.
Electronically assisted reverse gate system for a jet propulsion watercraft
An electronically assisted reverse gate system for a jet propulsion watercraft is provided. Control electronics are in communication with the operator interface of the watercraft to obtain commands from the operator, such as a selection between a forward, reverse or neutral mode, a braking command or a slow mode. The control electronics evaluates the target setting for these commands. This evaluation is made taking into consideration the operating conditions of the watercraft. Control signals are sent to an appropriate actuating device to adjust the gate orientation accordingly.
B60L 3/00 - Electric devices on electrically-propelled vehicles for safety purposesMonitoring operating variables, e.g. speed, deceleration or energy consumption
B60L 15/00 - Methods, circuits or devices for controlling the propulsion of electrically-propelled vehicles, e.g. their traction-motor speed, to achieve a desired performanceAdaptation of control equipment on electrically-propelled vehicles for remote actuation from a stationary place, from alternative parts of the vehicle or from alternative vehicles of the same vehicle train
27.
Commonly actuated trim and reverse system for a jet propulsion watercraft
A commonly actuated trim and reverse system for a jet propulsion watercraft is provided. The system includes a movable actuator connected to a movement transfer mechanism. The movement transfer mechanism is operable to adjust both the trim angle of the steering nozzle of the watercraft and the orientation of the reverse gate, as a function of the movement of the actuator. Control electronics evaluate the target steering for the trim angle and gate orientation and control the movement of the actuator accordingly.
B63H 11/10 - Marine propulsion by water jets the propulsive medium being ambient water having means for deflecting jet or influencing cross-section thereof
B63H 11/107 - Direction control of propulsive fluid
B63H 11/11 - Direction control of propulsive fluid with bucket or clamshell-type reversing means
An automatic trim system for a jet propulsion watercraft is provided. Control electronics are in communication with a steering angle sensor to monitor the steering angle of the watercraft, and evaluate a target setting for the trim taking the steering angle into consideration. Control signals are sent to an appropriate actuating device for adjusting the trim angle accordingly.
B60L 3/00 - Electric devices on electrically-propelled vehicles for safety purposesMonitoring operating variables, e.g. speed, deceleration or energy consumption
patents
