CA2329268C - Variable current limit control for vehicle electric drive system - Google Patents
Variable current limit control for vehicle electric drive system Download PDFInfo
- Publication number
- CA2329268C CA2329268C CA002329268A CA2329268A CA2329268C CA 2329268 C CA2329268 C CA 2329268C CA 002329268 A CA002329268 A CA 002329268A CA 2329268 A CA2329268 A CA 2329268A CA 2329268 C CA2329268 C CA 2329268C
- Authority
- CA
- Canada
- Prior art keywords
- inverter
- rectifier
- limit
- coupled
- foot pedal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/46—Series type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
- B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
- B60K6/54—Transmission for changing ratio
- B60K6/547—Transmission for changing ratio the transmission being a stepped gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/12—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of electric gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/20—Off-Road Vehicles
- B60Y2200/22—Agricultural vehicles
- B60Y2200/221—Tractors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/904—Component specially adapted for hev
- Y10S903/906—Motor or generator
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/904—Component specially adapted for hev
- Y10S903/915—Specific drive or transmission adapted for hev
- Y10S903/916—Specific drive or transmission adapted for hev with plurality of drive axles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/904—Component specially adapted for hev
- Y10S903/915—Specific drive or transmission adapted for hev
- Y10S903/917—Specific drive or transmission adapted for hev with transmission for changing gear ratio
- Y10S903/919—Stepped shift
Abstract
A vehicle electric drive system includes an internal combustion engine, an electric motor/generator driven by the engine, a first inverter/rectifier coupled to motor/generator, a buss coupled to the first inverter/rectifier, a second inverter/rectifier coupled to the buss, and a traction motor/generator coupled to an output of the second inverter/rectifier, an operator speed control member, and a controller coupled to the second inverter/rectifier for controlling a current output of the second inverter/rectifier as a function of a positio n of the speed control member. Also included is an operator controlled foot pedal and a transducer coupled to the foot pedal and generating a signal representing foot pedal position which is supplied to the controller. The controller limits current supplied by the second inverter/rectifier to the traction motor/generator to a limit current as a function of the transducer signal. The controller, foot pedal and transducer cooperate to vary the limit current in response to movement of the foot pedal. A spring biases the foot pedal to an upper limit position. The controller causes the second inverter/rectifier to supply to the traction motor/generator a maximum amount of current, (such maximum current being a function of the foo t pedal position), but not more thanthat required to achieve the speed commanded by the speed control.
Description
VARIABLE CURRENT LIMIT CONTROL FOR VEHICLE ELECTRIC DRIVE SYSTEM
Background of the Invention This invention relates to an electric drive system for a vehicle.
Vehicle electric drive systems or AC electric traction drives have been proposed to overcome some of the deficiencies of mechanical transmission systems, such as a limited number of speeds, increased costs of engineering and manufacturing components, and limiting vehicle configuration options. Such an electric drive system, as shown in US Patent No. 5,568,023 issued 22 Oct. 1996 to Grayer et al., typically includes an engine-driven 3-phase electric motorlgenerator coupled to an inverter/rectifier, which, in turn, is coupled to a DC buss. The buss feeds an inverterlrectifier which supplies power to a traction motorlgenerator which drives an axle or a wheel. The inverterlrectifiers invert the DC current on the buss to 3-phase AC current at a frequency to drive the wheels at the speed directed by the operator. An external power source applied to the tractor through the drive wheels and tending to move the tractor at a speed faster than the requested speed will cause the motors to act as generators and the whole sequence of power conversion will be reversed, regenerating mechanical power back into the engine. This regeneration action causes the engine to absorb power from externally forced loads in a manner similar to that of current mechanical transmissions.
Typically, the speed of the traction motorlgenerators is controlled by controlling the frequency of the current driving the motor. When the speed control is engaged, the drive will engage with full force or torque authority. Operators of conventional tractors with mechanical transmissions can depress a clutch pedal to release or reduce the torque driving the vehicle. By slowly engaging or disengaging such a mechanical clutch, the operator can control the torque being applied by the engine to move the vehicle. Therefore, by modulating the engagement of the clutch, the operator controls movement of the vehicle by controlling the driving force or torque that the wheels can exert. It would be desirable to have a similar clutch type control capability in an electric drive system.
Summar~of the Invention Accordingly, an object of this invention is to provide a vehicle electric drive system with a control which operates in a manner similar to a clutch control of a conventional mechanical drive vehicle.
These and other objects are achieved by the present invention, wherein a vehicle electric drive system includes an engine driven electric motorlgenerator, a first inverter/rectifier coupled to motorlgenerator, a buss coupled to the first inverterlrectifier, a second inverterlrectifier coupled to the buss, and a traction motorlgenerator coupled to an output of the second inverterlrectifier. Electronic controllers control operation of the inverterlrectifiers in response to an operator speed control member. In addition, an operator controlled foot pedal is coupled to a transducer which generates a limit command signal representing the position of the foot pedal. An electronic control unit receives the limit command signal and limits current supplied by the second inverter/rectifierto the traction motorlgenerator to a limit current which is a function of the limit command signal and motor speed.
Brief Descrption of the Drawings Fig. 1 is a simplified schematic diagram of a vehicle electric drive system according to the present invention;
Fig. 2 is a simplified schematic diagram of a operator control assembly for use with the present invention;
Fig. 3 is a logic flow diagram of an algorithm executed by the vehicle ECU of the control system of Fig. 1.
Description of the Preferred Embodiment Referring to Fig. 1, a vehicle electric drive system 10 includes an internal combustion engine 12 controlled by electronic engine control unit (ECU) 13. The engine 12 drives a 3-phase electric motor/generator 14 which supplies electrical power to and receives power from a bi-directional inverterlrectifier 16, which is coupled to a high voltage DC buss 18. The buss 18 feeds power to and receives power from bi-directional inverterlrectifiers 20 and 22.
Inverter/rectifier 20 is coupled to traction motorlgenerator 24 which drives and receives power from front wheels 26. Inverterlrectifier 22 is coupled to traction motor/generator 28 which drives and receives power from rear wheels 30 via axle 32 via speed reducer 34.
Speed reducer 34 includes a highllow range box 35 which is controlled by a highllow range selector lever 37. Each inverterlrectifier 16, 20 and 22 is controlled by a corresponding micro-controller 17, 21 and 23, respectively. There are no batteries involved in the drive train as are normally used on drives for automobiles and buses.
The motors 24 and 28 are preferably DC brushless permanent magnet motors.
Preferably, the rear motor 28 drives the rear axle through a two speed mechanically shifted gear box. Two speed gearing results in efficient motor operation because high gear provides the required speed to the axle for transport speeds, while the low gear provides the required torque to the axle for heavy pulling at low speeds.
An electronic vehicle control unit VCU 40 communicates with an operator control assembly 36, the ECU 13, various sensors (not shown), and the micro-controllers 21 and 23.
As best seen in Fig. 2, control assembly 36 includes a speed control lever 62 (or pedal or the equivalent) movable in a guide slot 64 with a forward branch 66, a reverse branch 68, a park
Background of the Invention This invention relates to an electric drive system for a vehicle.
Vehicle electric drive systems or AC electric traction drives have been proposed to overcome some of the deficiencies of mechanical transmission systems, such as a limited number of speeds, increased costs of engineering and manufacturing components, and limiting vehicle configuration options. Such an electric drive system, as shown in US Patent No. 5,568,023 issued 22 Oct. 1996 to Grayer et al., typically includes an engine-driven 3-phase electric motorlgenerator coupled to an inverter/rectifier, which, in turn, is coupled to a DC buss. The buss feeds an inverterlrectifier which supplies power to a traction motorlgenerator which drives an axle or a wheel. The inverterlrectifiers invert the DC current on the buss to 3-phase AC current at a frequency to drive the wheels at the speed directed by the operator. An external power source applied to the tractor through the drive wheels and tending to move the tractor at a speed faster than the requested speed will cause the motors to act as generators and the whole sequence of power conversion will be reversed, regenerating mechanical power back into the engine. This regeneration action causes the engine to absorb power from externally forced loads in a manner similar to that of current mechanical transmissions.
Typically, the speed of the traction motorlgenerators is controlled by controlling the frequency of the current driving the motor. When the speed control is engaged, the drive will engage with full force or torque authority. Operators of conventional tractors with mechanical transmissions can depress a clutch pedal to release or reduce the torque driving the vehicle. By slowly engaging or disengaging such a mechanical clutch, the operator can control the torque being applied by the engine to move the vehicle. Therefore, by modulating the engagement of the clutch, the operator controls movement of the vehicle by controlling the driving force or torque that the wheels can exert. It would be desirable to have a similar clutch type control capability in an electric drive system.
Summar~of the Invention Accordingly, an object of this invention is to provide a vehicle electric drive system with a control which operates in a manner similar to a clutch control of a conventional mechanical drive vehicle.
These and other objects are achieved by the present invention, wherein a vehicle electric drive system includes an engine driven electric motorlgenerator, a first inverter/rectifier coupled to motorlgenerator, a buss coupled to the first inverterlrectifier, a second inverterlrectifier coupled to the buss, and a traction motorlgenerator coupled to an output of the second inverterlrectifier. Electronic controllers control operation of the inverterlrectifiers in response to an operator speed control member. In addition, an operator controlled foot pedal is coupled to a transducer which generates a limit command signal representing the position of the foot pedal. An electronic control unit receives the limit command signal and limits current supplied by the second inverter/rectifierto the traction motorlgenerator to a limit current which is a function of the limit command signal and motor speed.
Brief Descrption of the Drawings Fig. 1 is a simplified schematic diagram of a vehicle electric drive system according to the present invention;
Fig. 2 is a simplified schematic diagram of a operator control assembly for use with the present invention;
Fig. 3 is a logic flow diagram of an algorithm executed by the vehicle ECU of the control system of Fig. 1.
Description of the Preferred Embodiment Referring to Fig. 1, a vehicle electric drive system 10 includes an internal combustion engine 12 controlled by electronic engine control unit (ECU) 13. The engine 12 drives a 3-phase electric motor/generator 14 which supplies electrical power to and receives power from a bi-directional inverterlrectifier 16, which is coupled to a high voltage DC buss 18. The buss 18 feeds power to and receives power from bi-directional inverterlrectifiers 20 and 22.
Inverter/rectifier 20 is coupled to traction motorlgenerator 24 which drives and receives power from front wheels 26. Inverterlrectifier 22 is coupled to traction motor/generator 28 which drives and receives power from rear wheels 30 via axle 32 via speed reducer 34.
Speed reducer 34 includes a highllow range box 35 which is controlled by a highllow range selector lever 37. Each inverterlrectifier 16, 20 and 22 is controlled by a corresponding micro-controller 17, 21 and 23, respectively. There are no batteries involved in the drive train as are normally used on drives for automobiles and buses.
The motors 24 and 28 are preferably DC brushless permanent magnet motors.
Preferably, the rear motor 28 drives the rear axle through a two speed mechanically shifted gear box. Two speed gearing results in efficient motor operation because high gear provides the required speed to the axle for transport speeds, while the low gear provides the required torque to the axle for heavy pulling at low speeds.
An electronic vehicle control unit VCU 40 communicates with an operator control assembly 36, the ECU 13, various sensors (not shown), and the micro-controllers 21 and 23.
As best seen in Fig. 2, control assembly 36 includes a speed control lever 62 (or pedal or the equivalent) movable in a guide slot 64 with a forward branch 66, a reverse branch 68, a park
2 branch 70, a neutral position 72 and a hold zero speed position 74. Control assembly 36 also includes conventional transducers 76 which are operatively coupled to the lever 62 and which generate lever position signals which are communicated to the VCU 40.
Control assembly may be similar to the shift quadrant which is used on production John Deere 7000 Series tractors. Control assembly 36 also preferably includes a torque hold switch 78 which is operatively coupled to the lever 62 and which generates a torque hold signal when lever 62 is in a neutral or park position.
Referring again to Fig. 1, rotor position sensors 44, 46 and 48 are coupled to each of the motor/generators 14, 24 and 28 and supply a rotation pasition signal to the corresponding micro-controllers 21 and 23, 42, which derive a speed signal therefrom. The inverter/rectifiers 20, 22 invert and convert the DC buss current to a 3-phase AC current at a frequency to drive the wheels at a speed commanded by the operator via the speed control lever 62. The rotor position sensors 46, 48, and the micro-controllers 21, 23 form a closed speed control loop for each of the electric drive motors 24 and 28, in which the micro-controllers 21, 23 calculate a speed error from the difference between the commanded speed from lever 62 and the actual speed derived from sensors 46, 48, and a current is applied to the motors as a function of the speed error.
According to the present invention, an additional operator control device, preferably a foot operated pedal 50, is coupled to a transducer 52 , such as a potentiometer, which generates a transducer signal (or limit command signal) representing the position of the pedal 50. A spring 54 biases the pedal 50 to its raised position. A three position front wheel drive FWD switch 56, and left and right brake switches 58 and 60 are also coupled to the VCU 40. The brake switches are preferably operatively coupled to left and right brake pedals (not shown). The VCU 40 receives signals from the switches 56, 58 and 60, the speed control lever 62 and the clutch pedal transducer 52. The VCU 40 also receives signals from a range box sensor switch 61 which provides VCU 40 with a signal representing the status of the high/iow range box 35. The VCU 40 executes an algorithm represented in simplified form by Fig. 2, and generates a torque limit signal which has a value which can vary from 0 to 100%. The inverter/rectifiers 20, 22 and their associated microcontrollers 21, 23 cooperate in response to the torque limit signal to limit the current supplied to the traction motor/generators 24, 28 to limit the torque thereof accordingly.
Referring now to Fig. 3, the algorithm begins at step 100 when called from a main algorithm loop (not shown) which generates a vehicle speed command value which is applied to the micro-controllers 21, 23. Step 102 scans the various sensors and operator
Control assembly may be similar to the shift quadrant which is used on production John Deere 7000 Series tractors. Control assembly 36 also preferably includes a torque hold switch 78 which is operatively coupled to the lever 62 and which generates a torque hold signal when lever 62 is in a neutral or park position.
Referring again to Fig. 1, rotor position sensors 44, 46 and 48 are coupled to each of the motor/generators 14, 24 and 28 and supply a rotation pasition signal to the corresponding micro-controllers 21 and 23, 42, which derive a speed signal therefrom. The inverter/rectifiers 20, 22 invert and convert the DC buss current to a 3-phase AC current at a frequency to drive the wheels at a speed commanded by the operator via the speed control lever 62. The rotor position sensors 46, 48, and the micro-controllers 21, 23 form a closed speed control loop for each of the electric drive motors 24 and 28, in which the micro-controllers 21, 23 calculate a speed error from the difference between the commanded speed from lever 62 and the actual speed derived from sensors 46, 48, and a current is applied to the motors as a function of the speed error.
According to the present invention, an additional operator control device, preferably a foot operated pedal 50, is coupled to a transducer 52 , such as a potentiometer, which generates a transducer signal (or limit command signal) representing the position of the pedal 50. A spring 54 biases the pedal 50 to its raised position. A three position front wheel drive FWD switch 56, and left and right brake switches 58 and 60 are also coupled to the VCU 40. The brake switches are preferably operatively coupled to left and right brake pedals (not shown). The VCU 40 receives signals from the switches 56, 58 and 60, the speed control lever 62 and the clutch pedal transducer 52. The VCU 40 also receives signals from a range box sensor switch 61 which provides VCU 40 with a signal representing the status of the high/iow range box 35. The VCU 40 executes an algorithm represented in simplified form by Fig. 2, and generates a torque limit signal which has a value which can vary from 0 to 100%. The inverter/rectifiers 20, 22 and their associated microcontrollers 21, 23 cooperate in response to the torque limit signal to limit the current supplied to the traction motor/generators 24, 28 to limit the torque thereof accordingly.
Referring now to Fig. 3, the algorithm begins at step 100 when called from a main algorithm loop (not shown) which generates a vehicle speed command value which is applied to the micro-controllers 21, 23. Step 102 scans the various sensors and operator
3 inputs and converts analog signals to digital signals. Step 104 converts the values from step 102 to engineering units. Step 106 scales and adds an offset to the signal from transducer 52 to form a clutch command signal so that the range of the clutch command signal corresponds to an upper portion of the movement range of the pedal 50.
Preferably, 100%
clutch command signal will correspond to a position of pedal 50 slightly below its fully raised position, and a zero clutch command signal will correspond to when pedal 50 is depressed about 75%. Step 108 calculates a vehicle speed command signal (Veh_ spd_cmd) based on a vehicle mode and the position of the speed control lever 62.
Step 110 checks the consistency of the inputs commands and performs a safety check. If there is a failure, step 110 directs the algorithm to step 112 which sets a vehicle speed command value to zero and sets a torque limit value to zero, else to step 114.
Step 114 limits a rate of change of the vehicle speed command value.
Step 116 calculates a rear motor speed required to achieve the desired speed, based on the vehicle speed command value, Veh_ spd cmd, and upon a rear gear ratio, as per the following C language computer statements:
RRGrat = Hi Gear Ratio;
if(Lo_Rng) RRGrat = Lo Gear Ratio ;
Rmot Spd_Cmd = RRGrat * veh spd cmd;
Veh spd_cmd is the vehicle speed command computed from operator inputs, limited by actual vehicle speed, It is a function of an effective rear gearboxltire ratio value, RRGrat determined from a range box sensor 61. Lo Rng is True when selector 37 is in its low speed range position. Hi Gear Ratio is the ratio of rear wheel speed to vehicle speed in the high speed range of the range box 35. It includes the effect of rear tire rolling radius as well as the actual gear reduction. Lo Gear Ratio is the ratio of rear wheel speed to vehicle speed in the low speed range. Finally, the rear motor speed command, Rmot Spd_Cmd, is calculated as a function of gear ratio, RRGrat, times veh spd cmd.
Step 118 calculates a rear motor torque limit value as a function of the position of the clutch command signal and of the speed control lever 62, as per the following C language computer statements:
Rmot Torq Lim = Torq Lim;
if ((Trq_Hld == FALSE)) Rmot Torq_Lim = 0.0;
The Rear Axle Torque Level is set equal to Torq_Lim, which is the desired
Preferably, 100%
clutch command signal will correspond to a position of pedal 50 slightly below its fully raised position, and a zero clutch command signal will correspond to when pedal 50 is depressed about 75%. Step 108 calculates a vehicle speed command signal (Veh_ spd_cmd) based on a vehicle mode and the position of the speed control lever 62.
Step 110 checks the consistency of the inputs commands and performs a safety check. If there is a failure, step 110 directs the algorithm to step 112 which sets a vehicle speed command value to zero and sets a torque limit value to zero, else to step 114.
Step 114 limits a rate of change of the vehicle speed command value.
Step 116 calculates a rear motor speed required to achieve the desired speed, based on the vehicle speed command value, Veh_ spd cmd, and upon a rear gear ratio, as per the following C language computer statements:
RRGrat = Hi Gear Ratio;
if(Lo_Rng) RRGrat = Lo Gear Ratio ;
Rmot Spd_Cmd = RRGrat * veh spd cmd;
Veh spd_cmd is the vehicle speed command computed from operator inputs, limited by actual vehicle speed, It is a function of an effective rear gearboxltire ratio value, RRGrat determined from a range box sensor 61. Lo Rng is True when selector 37 is in its low speed range position. Hi Gear Ratio is the ratio of rear wheel speed to vehicle speed in the high speed range of the range box 35. It includes the effect of rear tire rolling radius as well as the actual gear reduction. Lo Gear Ratio is the ratio of rear wheel speed to vehicle speed in the low speed range. Finally, the rear motor speed command, Rmot Spd_Cmd, is calculated as a function of gear ratio, RRGrat, times veh spd cmd.
Step 118 calculates a rear motor torque limit value as a function of the position of the clutch command signal and of the speed control lever 62, as per the following C language computer statements:
Rmot Torq Lim = Torq Lim;
if ((Trq_Hld == FALSE)) Rmot Torq_Lim = 0.0;
The Rear Axle Torque Level is set equal to Torq_Lim, which is the desired
4 percentage of available torque to be used for speed control based on the position of the operator's clutch pedal. The resultant Rmot Torq_Lim is passed to the rear motor controller and it is the maximum percentage of available torque that the controller can apply in its attempt to maintain the commanded rear motor speed. If the load torque is below this level, the commanded motor(wheel)speed is maintained. If the load torque is above this level, the motor (wheel) speed slows down.
The Torq_Hld==FALSE statement checks for the Neutral position 72 of speed control lever 62. Trq_Hld is always True if the operator's lever 62 is not at the zero speed position 74. When the lever 62 is in the zero speed position, the operator can engage or disengage the Trq_Hld switch 78 to make Trq_Hld True in which case the motor controller 17 applies torque (up to the Torq Lim) to maintain the commanded speed (zero), or False, in which case the operator is commanding free wheeling (neutral) or zero motor torque, regardless of the position of clutch pedal 50.
Step 120 calculates a front motor speed command value, Fmot Spd_Cmd, required to achieve the desired speed, based on the vehicle speed command value and upon a front gear ratio, as per the following C language computer statements:
Fmot Spd_Cmd = veh spd cmd * FRGrat * Bst;
where FRGrat is a ratio between front and rear wheel speeds (it includes the effect of rear tire rolling radius as well as the actual gear reduction. Bst is an effective boost ratio of the front wheel to rear wheel speed to maintain adequate load sharing. Thus, the front motor speed command is the product of the vehicle speed command, the effective gear ratio, and the boost factor.
Simultaneous application of both brake pedals modifies this speed command as described below in connection with step 122.
Step 122 calculates a front motor torque limit value as a function of the position of the pedal 50 and of the speed control lever 62, as per the following C language computer statements:
Fmot Torq_Lim=Torq_Lim; (1 ) if ((Trq_Hld==FALSE)) (2) Fmot Torq_Lim=0.0; (3) if (MFWD_On==FALSE) (4) Fmot Torq_Lim=0.0; (5) if ((MFWD_On)&&(MFWD Auto)) (6) { (7)
The Torq_Hld==FALSE statement checks for the Neutral position 72 of speed control lever 62. Trq_Hld is always True if the operator's lever 62 is not at the zero speed position 74. When the lever 62 is in the zero speed position, the operator can engage or disengage the Trq_Hld switch 78 to make Trq_Hld True in which case the motor controller 17 applies torque (up to the Torq Lim) to maintain the commanded speed (zero), or False, in which case the operator is commanding free wheeling (neutral) or zero motor torque, regardless of the position of clutch pedal 50.
Step 120 calculates a front motor speed command value, Fmot Spd_Cmd, required to achieve the desired speed, based on the vehicle speed command value and upon a front gear ratio, as per the following C language computer statements:
Fmot Spd_Cmd = veh spd cmd * FRGrat * Bst;
where FRGrat is a ratio between front and rear wheel speeds (it includes the effect of rear tire rolling radius as well as the actual gear reduction. Bst is an effective boost ratio of the front wheel to rear wheel speed to maintain adequate load sharing. Thus, the front motor speed command is the product of the vehicle speed command, the effective gear ratio, and the boost factor.
Simultaneous application of both brake pedals modifies this speed command as described below in connection with step 122.
Step 122 calculates a front motor torque limit value as a function of the position of the pedal 50 and of the speed control lever 62, as per the following C language computer statements:
Fmot Torq_Lim=Torq_Lim; (1 ) if ((Trq_Hld==FALSE)) (2) Fmot Torq_Lim=0.0; (3) if (MFWD_On==FALSE) (4) Fmot Torq_Lim=0.0; (5) if ((MFWD_On)&&(MFWD Auto)) (6) { (7)
5 if ((veh spd cmd-Auto maxf)>0.) (8) Fmot Torq_Lim=0.0; (9) if ((veh spd cmd+Auto_maxr)<0.) (10) Fmot Torq Lim=0.0; (11 ) } (12) if (Fmot Spd_Cmd>3000.) (13) { (14) if ((Fmot Torq_Lim<10.)&&(Torq_Lim>10.)) (15) Fmot Torq_Lim=10.; (16) } (17) if((Rt Brk)&&(Lt_Brk)) (18) { ( Fmot Torq_Lim=Brk Torq; (20) Fmot Spd_Cmd=0.0; } (21 ) In statement (1) a front motor torque limit is set based on the position of clutch pedal 50 where Torq_Lim is the desired percentage of available torque to be used for speed control based on the position of the clutch pedal 50. The resultant Fmot Torq_Lim is passed to the front motor controller 21 and it is the maximum percentage of available torque that the controller can apply in its attempt to maintain the commanded front motor speed. If the load torque is below this level, the commanded motor (wheel) speed is maintained. If the load torque is above this level, the motor (wheel) speed slows down.
In statements 2 and 3, the Trq_Hld value represents the status of switch 78, and is always True if the operator's lever 62 is not at the zero speed position 74.
When the control lever 62 is in the zero speed position 74, the operator can engage or disengage the Trq_Hld switch 78 to makeTrq_Hld True in which case the motor controller applies torque (up to the Torq_Lim) to maintain the commanded speed (zero), or False, in which case the operator is commanding free wheeling (neutral) or zero motor torque, regardless of the position of clutch pedal 50.
With respect to statements 4 and 5, the 3 position switch 56 controls the engagement of the front wheel drive. The 3 positions of switch 56 set MFWD On to True or False or to a third automatic mode. In the automatic mode, the front wheel drive is engaged (Fmot Torq_Lim=Torq Lim) below a speed of Auto maxf (if moving forward) and is disengaged (Fmot Torq Lim=0) above that speed. In reverse and automatic mode, the
In statements 2 and 3, the Trq_Hld value represents the status of switch 78, and is always True if the operator's lever 62 is not at the zero speed position 74.
When the control lever 62 is in the zero speed position 74, the operator can engage or disengage the Trq_Hld switch 78 to makeTrq_Hld True in which case the motor controller applies torque (up to the Torq_Lim) to maintain the commanded speed (zero), or False, in which case the operator is commanding free wheeling (neutral) or zero motor torque, regardless of the position of clutch pedal 50.
With respect to statements 4 and 5, the 3 position switch 56 controls the engagement of the front wheel drive. The 3 positions of switch 56 set MFWD On to True or False or to a third automatic mode. In the automatic mode, the front wheel drive is engaged (Fmot Torq_Lim=Torq Lim) below a speed of Auto maxf (if moving forward) and is disengaged (Fmot Torq Lim=0) above that speed. In reverse and automatic mode, the
6 front wheel drive is engaged (Fmot Torq_Lim=Torq_Lim) below a speed of -Auto maxr and is disengaged (Fmot Torq_Lim=0) above that speed.
Statements 6 -12 implement the MFWD Auto feature.
In statements 13 - 17, operate to cause the front motor controller 21 to maintain the torque of the front motor 24 at a minimum of 10% of maximum whenever the front motor speed command exceeds 3000 rpm, unless the a lower torque is commanded by the clutch pedal 50.
Statements 18 - 21 provide a brake pedal override function. To provide front wheel braking torque when both brakes 58,60 are applied (Rt Brk= True and Lt Brk=
True) statements 18 - 21 override all other speed and torque commands to the front wheel motor.
Whenever both brakes are applied, a retarding torque up to the magnitude of Brk Torq will be applied to slow the vehicle (regardless of vehicle direction).
Step 124 modifies the front motor torque limit value to zero if the FWD switch 56 is in its OFF, or if the FWD switch 56 is in its AUTO position and the front motor speed exceeds a preset limit speed.
Step 126 sets front motor speed to zero and sets the front motor torque limit value to a preset percentage of maximum available torque at current motor speed if the left and right brake switches 58 and 60 are both on.
Step 128 causes an exit from this subroutine.
Thus, the fully raised position of the pedal 50 represents a 100% current limit, that is 100% of the torque that the motor 24 or 28 is able to exert at its present operating speed.
Depressing the pedal 50 rotates the potentiometer 52 and changes the clutch command signal supplied to the VCU 40. The operator inputs a vehicle speed command through the speed control lever 62, which the VCU, by steps 116 and 120, converts to rear and front motor speed commands for the rear electric drive motor 28 and for the front electric drive motor 24. Each of the electric drive motors 24 and 28 is in a closed speed control loop formed by the rotor position sensors 46, 48, and the micro-controllers 21, 23, in which the micro-controllers 21, 23 generate a motor torque command value which is a function of a speed error, which is the difference between the commanded speed calculated from lever 62 in steps 116 and 120 and the actual speed derived from sensors 46, 48. The torque generated by each motor 24, 28 is a function of the motor current. Preferably, the current is also electronically limited by the micro-controllers 21 and 23 in order to protect the motor and the controller. In addition, according to the present invention, the motor current and torque is further limited or varied as a function of the position of pedal 50.
Statements 6 -12 implement the MFWD Auto feature.
In statements 13 - 17, operate to cause the front motor controller 21 to maintain the torque of the front motor 24 at a minimum of 10% of maximum whenever the front motor speed command exceeds 3000 rpm, unless the a lower torque is commanded by the clutch pedal 50.
Statements 18 - 21 provide a brake pedal override function. To provide front wheel braking torque when both brakes 58,60 are applied (Rt Brk= True and Lt Brk=
True) statements 18 - 21 override all other speed and torque commands to the front wheel motor.
Whenever both brakes are applied, a retarding torque up to the magnitude of Brk Torq will be applied to slow the vehicle (regardless of vehicle direction).
Step 124 modifies the front motor torque limit value to zero if the FWD switch 56 is in its OFF, or if the FWD switch 56 is in its AUTO position and the front motor speed exceeds a preset limit speed.
Step 126 sets front motor speed to zero and sets the front motor torque limit value to a preset percentage of maximum available torque at current motor speed if the left and right brake switches 58 and 60 are both on.
Step 128 causes an exit from this subroutine.
Thus, the fully raised position of the pedal 50 represents a 100% current limit, that is 100% of the torque that the motor 24 or 28 is able to exert at its present operating speed.
Depressing the pedal 50 rotates the potentiometer 52 and changes the clutch command signal supplied to the VCU 40. The operator inputs a vehicle speed command through the speed control lever 62, which the VCU, by steps 116 and 120, converts to rear and front motor speed commands for the rear electric drive motor 28 and for the front electric drive motor 24. Each of the electric drive motors 24 and 28 is in a closed speed control loop formed by the rotor position sensors 46, 48, and the micro-controllers 21, 23, in which the micro-controllers 21, 23 generate a motor torque command value which is a function of a speed error, which is the difference between the commanded speed calculated from lever 62 in steps 116 and 120 and the actual speed derived from sensors 46, 48. The torque generated by each motor 24, 28 is a function of the motor current. Preferably, the current is also electronically limited by the micro-controllers 21 and 23 in order to protect the motor and the controller. In addition, according to the present invention, the motor current and torque is further limited or varied as a function of the position of pedal 50.
7 As the pedal 50 is depressed, the VCU 40 responds to the changing clutch command signal from potentiometer 52 by causing the microcontrollers 21, 23 to reduce the current supplied to motors 24, 28 and to thereby limit the torque of the motors until the torque reaches zero at a nearly fully depressed position of pedal 50. From the operator's viewpoint, this system operates and reacts like a mechanical slipping clutch, however, there are no slipping surfaces to wear out, and control is easier to achieve. The system can operate indefinitely at low torque levels without damaging any components. The system allows an operator to move a vehicle slowly and with little force, such as when maneuvering close to buildings or hitching up to implements. This system permits an operator to engage the drive slowly and smoothly, and to precisely control the force exerted. It is possible for the drive axle to be exerting full torque at low or zero speed with the engine essentially at idle. With the clutchlinching pedal, the operator has full control of axle torque, so that the desired level of drive line torque can be maintained, even though one of the operator's cues to drive line torque level, engine noise, is less noticeable. This makes it easier to control the vehicle when hitching up to a mounted implement, for example, With this system, engine power is transmitted to traction drives independent of engine speed, with a mechanically simple design and with an infinitely variable speed ratio.
While the present invention has been described in conjunction with a specific embodiment, it is understood that many alternatives, modifications and variations will be apparent to those skilled in the art in light of the foregoing description.
Accordingly, this invention is intended to embrace all such alternatives, modifications and variations which fall within the spirit and scope of the appended claims.
While the present invention has been described in conjunction with a specific embodiment, it is understood that many alternatives, modifications and variations will be apparent to those skilled in the art in light of the foregoing description.
Accordingly, this invention is intended to embrace all such alternatives, modifications and variations which fall within the spirit and scope of the appended claims.
8
Claims (10)
1. In vehicle electric drive system having an internal combustion engine, an electric motor/generator driven by the engine, a first inverter/rectifier coupled to motor/generator, a bus coupled to the first inverter/rectifier, a second inverter/rectifier coupled to the bus, and a traction motor/generator coupled to an output of the second inverter/rectifier, an operator speed control member, and a controller coupled to the second inverter/rectifier for controlling a current output of the second inverter/rectifier as a function of a position of the speed control member, a limit control comprising:
an operator controlled limit control member; and a transducer coupled to the limit control member and generating a limit command signal representing the position of the limit control member, the controller receiving the limit command signal and limiting current supplied by the second inverter/rectifier to the traction motor/generator to a limit current which is a function of the limit command signal so that from an operator's viewpoint, in response to manipulation of the operator controlled limit control member, the electric drive system operates and reacts like a mechanical slipping clutch.
an operator controlled limit control member; and a transducer coupled to the limit control member and generating a limit command signal representing the position of the limit control member, the controller receiving the limit command signal and limiting current supplied by the second inverter/rectifier to the traction motor/generator to a limit current which is a function of the limit command signal so that from an operator's viewpoint, in response to manipulation of the operator controlled limit control member, the electric drive system operates and reacts like a mechanical slipping clutch.
2. The control of claim 1, wherein:
the controller, limit control member and transducer cooperate to vary the limit current in response to movement of the limit control member.
the controller, limit control member and transducer cooperate to vary the limit current in response to movement of the limit control member.
3. The control of claim 1, wherein:
a spring biases the limit control member to an upper limit position; and the controller causing the second inverter/rectifier to supply to the traction motor/generator the limit current, but not more than that required to achieve a speed commanded by the speed control.
a spring biases the limit control member to an upper limit position; and the controller causing the second inverter/rectifier to supply to the traction motor/generator the limit current, but not more than that required to achieve a speed commanded by the speed control.
4. The control of claim 1, wherein:
the limit control member is a foot pedal.
the limit control member is a foot pedal.
5. The control of claim 1, wherein:
the controller scales the signal from the transducer so that the limit command signal will vary from zero to a maximum value.
the controller scales the signal from the transducer so that the limit command signal will vary from zero to a maximum value.
6. The control of claim 5, wherein:
the limit control member is movable from a fully raised position to a fully depressed position; and the controller applies an offset to the signal from the transducer so that a limit command signal of zero corresponds to a less than fully depressed limit control member position and a limit command signal of 100 percent corresponds to a less than fully raised limit control member position.
the limit control member is movable from a fully raised position to a fully depressed position; and the controller applies an offset to the signal from the transducer so that a limit command signal of zero corresponds to a less than fully depressed limit control member position and a limit command signal of 100 percent corresponds to a less than fully raised limit control member position.
7. In vehicle electric drive system having an internal combustion engine, an electric motor/generator driven by the engine. a first inverter/rectifier coupled to motor/generator, a bus coupled to the first inverter/rectifier, a second inverter/rectifier coupled to the bus, and a traction motor/generator coupled to an output of the second inverter/rectifier, an operator speed control member, and a controller coupled to the second inverter/rectifier for controlling a current output of the second inverter/rectifier as a function of a position of the speed control member, a further control comprising:
an operator controlled foot pedal; and a transducer coupled to the foot pedal and generating a limit signal representing a position of the foot pedal, the controller receiving the transducer signal and limiting current supplied by the second inverter/rectifier to the traction motor/generator to a limit current which is a function of the transducer signal so that from an operator's viewpoint, in response to manipulation of the operator controlled foot pedal, the electric drive system operates and reacts like a mechanical slipping clutch.
an operator controlled foot pedal; and a transducer coupled to the foot pedal and generating a limit signal representing a position of the foot pedal, the controller receiving the transducer signal and limiting current supplied by the second inverter/rectifier to the traction motor/generator to a limit current which is a function of the transducer signal so that from an operator's viewpoint, in response to manipulation of the operator controlled foot pedal, the electric drive system operates and reacts like a mechanical slipping clutch.
8. The control of claim 7, wherein:
the controller, foot pedal and transducer cooperate to vary the limit current in response to movement of the foot pedal.
the controller, foot pedal and transducer cooperate to vary the limit current in response to movement of the foot pedal.
9. The control of claim 7, wherein:
a spring biases the foot pedal to an upper limit position; and the control unit causing the second inverter/rectifier to supply to the traction motor/generator a maximum amount of current, but not more than that required to achieve a speed commanded by the speed control, when the foot pedal is in its upper limit position.
a spring biases the foot pedal to an upper limit position; and the control unit causing the second inverter/rectifier to supply to the traction motor/generator a maximum amount of current, but not more than that required to achieve a speed commanded by the speed control, when the foot pedal is in its upper limit position.
10. A vehicle electric drive system comprising:
an internal combustion engine;
an electric motor/generator driven by the engine;
a first inverter/rectifier coupled to motor/generator;
a bus coupled to the first inverter/rectifier;
a second inverter/rectifier coupled to the bus;
a traction motor/generator coupled to an output of the second inverter/rectifier;
an operator speed control member;
a controller coupled to the second inverter/rectifier for controlling a current output of the second inverter/rectifier as a function of a position of the speed control member;
an operator controlled foot pedal; and a transducer coupled to the foot pedal and generating a transducer signal representing foot pedal position, said transducer signal being communicated to the controller, the controller limiting current supplied by the second inverter/rectifier to the traction motor/generator to a limit current as a function of the transducer signal so that from an operator's viewpoint, in response to manipulation of the operator controlled foot pedal, the electric drive system operates and reacts like a mechanical slipping clutch.
an internal combustion engine;
an electric motor/generator driven by the engine;
a first inverter/rectifier coupled to motor/generator;
a bus coupled to the first inverter/rectifier;
a second inverter/rectifier coupled to the bus;
a traction motor/generator coupled to an output of the second inverter/rectifier;
an operator speed control member;
a controller coupled to the second inverter/rectifier for controlling a current output of the second inverter/rectifier as a function of a position of the speed control member;
an operator controlled foot pedal; and a transducer coupled to the foot pedal and generating a transducer signal representing foot pedal position, said transducer signal being communicated to the controller, the controller limiting current supplied by the second inverter/rectifier to the traction motor/generator to a limit current as a function of the transducer signal so that from an operator's viewpoint, in response to manipulation of the operator controlled foot pedal, the electric drive system operates and reacts like a mechanical slipping clutch.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/604,148 US6492785B1 (en) | 2000-06-27 | 2000-06-27 | Variable current limit control for vehicle electric drive system |
US09/604,148 | 2000-06-27 |
Publications (2)
Publication Number | Publication Date |
---|---|
CA2329268A1 CA2329268A1 (en) | 2001-12-27 |
CA2329268C true CA2329268C (en) | 2003-12-16 |
Family
ID=24418365
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA002329268A Expired - Fee Related CA2329268C (en) | 2000-06-27 | 2000-12-20 | Variable current limit control for vehicle electric drive system |
Country Status (5)
Country | Link |
---|---|
US (1) | US6492785B1 (en) |
EP (1) | EP1167110B1 (en) |
JP (1) | JP3811373B2 (en) |
CA (1) | CA2329268C (en) |
DE (1) | DE60109854T2 (en) |
Families Citing this family (532)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3536838B2 (en) * | 2002-01-11 | 2004-06-14 | 日産自動車株式会社 | Vehicle driving force control device |
US6986397B2 (en) * | 2002-03-01 | 2006-01-17 | Floorstyle Products, Inc. | Power riding trailer for an implement |
US7011600B2 (en) | 2003-02-28 | 2006-03-14 | Fallbrook Technologies Inc. | Continuously variable transmission |
US9060770B2 (en) | 2003-05-20 | 2015-06-23 | Ethicon Endo-Surgery, Inc. | Robotically-driven surgical instrument with E-beam driver |
US20070084897A1 (en) | 2003-05-20 | 2007-04-19 | Shelton Frederick E Iv | Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism |
JP4097570B2 (en) * | 2003-06-25 | 2008-06-11 | トヨタ自動車株式会社 | Vehicle connector routing structure |
JP4146784B2 (en) * | 2003-11-18 | 2008-09-10 | 富士重工業株式会社 | Hybrid vehicle driving force control device |
US7002317B2 (en) * | 2004-02-18 | 2006-02-21 | Honeywell International Inc. | Matched reactance machine power-generation system |
JP4140552B2 (en) * | 2004-04-28 | 2008-08-27 | トヨタ自動車株式会社 | Automotive power supply device and automobile equipped with the same |
US8215531B2 (en) | 2004-07-28 | 2012-07-10 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument having a medical substance dispenser |
US11896225B2 (en) | 2004-07-28 | 2024-02-13 | Cilag Gmbh International | Staple cartridge comprising a pan |
KR20120088869A (en) | 2004-10-05 | 2012-08-08 | 폴브룩 테크놀로지즈 인크 | Continuously variable transmission |
US7332881B2 (en) | 2004-10-28 | 2008-02-19 | Textron Inc. | AC drive system for electrically operated vehicle |
US7243748B2 (en) * | 2005-01-04 | 2007-07-17 | Deere & Company | Startup interlock for vehicle electric drive system |
US9237891B2 (en) | 2005-08-31 | 2016-01-19 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical stapling devices that produce formed staples having different lengths |
US8800838B2 (en) | 2005-08-31 | 2014-08-12 | Ethicon Endo-Surgery, Inc. | Robotically-controlled cable-based surgical end effectors |
US7669746B2 (en) | 2005-08-31 | 2010-03-02 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US10159482B2 (en) | 2005-08-31 | 2018-12-25 | Ethicon Llc | Fastener cartridge assembly comprising a fixed anvil and different staple heights |
US11484312B2 (en) | 2005-08-31 | 2022-11-01 | Cilag Gmbh International | Staple cartridge comprising a staple driver arrangement |
US11246590B2 (en) | 2005-08-31 | 2022-02-15 | Cilag Gmbh International | Staple cartridge including staple drivers having different unfired heights |
US7934630B2 (en) | 2005-08-31 | 2011-05-03 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US20070194082A1 (en) | 2005-08-31 | 2007-08-23 | Morgan Jerome R | Surgical stapling device with anvil having staple forming pockets of varying depths |
US20070057645A1 (en) * | 2005-09-12 | 2007-03-15 | Evader, Inc. | Hyper-drive button for D.C. motor powered vehicle |
KR101635862B1 (en) | 2005-10-28 | 2016-07-04 | 폴브룩 인텔렉츄얼 프로퍼티 컴퍼니 엘엘씨 | A method of electromechanical power transmission |
US20070106317A1 (en) | 2005-11-09 | 2007-05-10 | Shelton Frederick E Iv | Hydraulically and electrically actuated articulation joints for surgical instruments |
DK1954959T3 (en) | 2005-11-22 | 2013-08-26 | Fallbrook Ip Co Llc | Continuously variable transmission |
KR101317329B1 (en) | 2005-12-09 | 2013-10-15 | 폴브룩 테크놀로지즈 인크 | Continuously variable transmission |
EP1811202A1 (en) | 2005-12-30 | 2007-07-25 | Fallbrook Technologies, Inc. | A continuously variable gear transmission |
US7386382B2 (en) | 2006-01-09 | 2008-06-10 | Deere & Company | Steering compensated speed override for vehicle drive system |
US7882762B2 (en) | 2006-01-30 | 2011-02-08 | Fallbrook Technologies Inc. | System for manipulating a continuously variable transmission |
US9861359B2 (en) | 2006-01-31 | 2018-01-09 | Ethicon Llc | Powered surgical instruments with firing system lockout arrangements |
US20110006101A1 (en) | 2009-02-06 | 2011-01-13 | EthiconEndo-Surgery, Inc. | Motor driven surgical fastener device with cutting member lockout arrangements |
US20110024477A1 (en) | 2009-02-06 | 2011-02-03 | Hall Steven G | Driven Surgical Stapler Improvements |
US8820603B2 (en) | 2006-01-31 | 2014-09-02 | Ethicon Endo-Surgery, Inc. | Accessing data stored in a memory of a surgical instrument |
US20110290856A1 (en) | 2006-01-31 | 2011-12-01 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical instrument with force-feedback capabilities |
US8708213B2 (en) | 2006-01-31 | 2014-04-29 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a feedback system |
US11224427B2 (en) | 2006-01-31 | 2022-01-18 | Cilag Gmbh International | Surgical stapling system including a console and retraction assembly |
US7845537B2 (en) | 2006-01-31 | 2010-12-07 | Ethicon Endo-Surgery, Inc. | Surgical instrument having recording capabilities |
US11278279B2 (en) | 2006-01-31 | 2022-03-22 | Cilag Gmbh International | Surgical instrument assembly |
US8186555B2 (en) | 2006-01-31 | 2012-05-29 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting and fastening instrument with mechanical closure system |
US8763879B2 (en) | 2006-01-31 | 2014-07-01 | Ethicon Endo-Surgery, Inc. | Accessing data stored in a memory of surgical instrument |
US7575144B2 (en) * | 2006-01-31 | 2009-08-18 | Ethicon Endo-Surgery, Inc. | Surgical fastener and cutter with single cable actuator |
US11793518B2 (en) | 2006-01-31 | 2023-10-24 | Cilag Gmbh International | Powered surgical instruments with firing system lockout arrangements |
US20120292367A1 (en) | 2006-01-31 | 2012-11-22 | Ethicon Endo-Surgery, Inc. | Robotically-controlled end effector |
US7753904B2 (en) | 2006-01-31 | 2010-07-13 | Ethicon Endo-Surgery, Inc. | Endoscopic surgical instrument with a handle that can articulate with respect to the shaft |
US8161977B2 (en) | 2006-01-31 | 2012-04-24 | Ethicon Endo-Surgery, Inc. | Accessing data stored in a memory of a surgical instrument |
US8721630B2 (en) | 2006-03-23 | 2014-05-13 | Ethicon Endo-Surgery, Inc. | Methods and devices for controlling articulation |
US20070225562A1 (en) | 2006-03-23 | 2007-09-27 | Ethicon Endo-Surgery, Inc. | Articulating endoscopic accessory channel |
US8992422B2 (en) | 2006-03-23 | 2015-03-31 | Ethicon Endo-Surgery, Inc. | Robotically-controlled endoscopic accessory channel |
DE102006014856A1 (en) * | 2006-03-30 | 2007-10-04 | Siemens Ag | Drive system e.g. diesel electric drive system, for e.g. lorry, has electric drive motors connected with drive wheels by adjusting gears e.g. manual gearbox, where gears are controlled by controller |
US8480529B2 (en) | 2006-06-26 | 2013-07-09 | Fallbrook Intellectual Property Company Llc | Continuously variable transmission |
US8322455B2 (en) | 2006-06-27 | 2012-12-04 | Ethicon Endo-Surgery, Inc. | Manually driven surgical cutting and fastening instrument |
US10568652B2 (en) | 2006-09-29 | 2020-02-25 | Ethicon Llc | Surgical staples having attached drivers of different heights and stapling instruments for deploying the same |
US10130359B2 (en) | 2006-09-29 | 2018-11-20 | Ethicon Llc | Method for forming a staple |
US8485412B2 (en) | 2006-09-29 | 2013-07-16 | Ethicon Endo-Surgery, Inc. | Surgical staples having attached drivers and stapling instruments for deploying the same |
EP2089642B1 (en) | 2006-11-08 | 2013-04-10 | Fallbrook Intellectual Property Company LLC | Clamping force generator |
JP4600390B2 (en) | 2006-12-14 | 2010-12-15 | トヨタ自動車株式会社 | Power supply system, vehicle including the same, and control method thereof |
US11291441B2 (en) | 2007-01-10 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with wireless communication between control unit and remote sensor |
US8684253B2 (en) | 2007-01-10 | 2014-04-01 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor |
US8652120B2 (en) | 2007-01-10 | 2014-02-18 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between control unit and sensor transponders |
US8459520B2 (en) | 2007-01-10 | 2013-06-11 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between control unit and remote sensor |
US8701958B2 (en) | 2007-01-11 | 2014-04-22 | Ethicon Endo-Surgery, Inc. | Curved end effector for a surgical stapling device |
US11039836B2 (en) | 2007-01-11 | 2021-06-22 | Cilag Gmbh International | Staple cartridge for use with a surgical stapling instrument |
US8738255B2 (en) | 2007-02-01 | 2014-05-27 | Fallbrook Intellectual Property Company Llc | Systems and methods for control of transmission and/or prime mover |
US7466091B2 (en) * | 2007-02-09 | 2008-12-16 | Deere & Company | Brake responsive vehicle electric drive system |
CN101657653B (en) | 2007-02-12 | 2014-07-16 | 福博科知识产权有限责任公司 | Continuously variable transmissions and methods therefor |
JP5350274B2 (en) | 2007-02-16 | 2013-11-27 | フォールブルック インテレクチュアル プロパティー カンパニー エルエルシー | Infinitely variable transmission, continuously variable transmission, method, assembly, subassembly, and components therefor |
US8727197B2 (en) | 2007-03-15 | 2014-05-20 | Ethicon Endo-Surgery, Inc. | Staple cartridge cavity configuration with cooperative surgical staple |
US8893946B2 (en) | 2007-03-28 | 2014-11-25 | Ethicon Endo-Surgery, Inc. | Laparoscopic tissue thickness and clamp load measuring devices |
CN101720397B (en) | 2007-04-24 | 2013-01-02 | 福博科技术公司 | Electric traction drives |
US7854681B2 (en) * | 2007-04-30 | 2010-12-21 | Caterpillar Inc | System for controlling a machine with a continuously variable transmission |
US8931682B2 (en) | 2007-06-04 | 2015-01-13 | Ethicon Endo-Surgery, Inc. | Robotically-controlled shaft based rotary drive systems for surgical instruments |
US7905380B2 (en) | 2007-06-04 | 2011-03-15 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a multiple rate directional switching mechanism |
US8534528B2 (en) | 2007-06-04 | 2013-09-17 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a multiple rate directional switching mechanism |
US7832408B2 (en) | 2007-06-04 | 2010-11-16 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a directional switching mechanism |
US11672531B2 (en) | 2007-06-04 | 2023-06-13 | Cilag Gmbh International | Rotary drive systems for surgical instruments |
US8641577B2 (en) | 2007-06-11 | 2014-02-04 | Fallbrook Intellectual Property Company Llc | Continuously variable transmission |
US8308040B2 (en) | 2007-06-22 | 2012-11-13 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument with an articulatable end effector |
US7753245B2 (en) | 2007-06-22 | 2010-07-13 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments |
US11849941B2 (en) | 2007-06-29 | 2023-12-26 | Cilag Gmbh International | Staple cartridge having staple cavities extending at a transverse angle relative to a longitudinal cartridge axis |
JP5450405B2 (en) | 2007-07-05 | 2014-03-26 | フォールブルック インテレクチュアル プロパティー カンパニー エルエルシー | Continuously variable transmission |
US7926889B2 (en) | 2007-10-29 | 2011-04-19 | Textron Innovations Inc. | Hill hold for an electric vehicle |
WO2009065055A2 (en) * | 2007-11-16 | 2009-05-22 | Fallbrook Technologies Inc. | Controller for variable transmission |
US8352138B2 (en) * | 2007-11-30 | 2013-01-08 | Caterpillar Inc. | Dynamic control system for continuously variable transmission |
JP5783723B2 (en) | 2007-12-21 | 2015-09-24 | フォールブルック インテレクチュアル プロパティー カンパニー エルエルシー | Automatic transmission and method thereof |
US8561870B2 (en) | 2008-02-13 | 2013-10-22 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument |
US7905381B2 (en) | 2008-09-19 | 2011-03-15 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument with cutting member arrangement |
US8622274B2 (en) | 2008-02-14 | 2014-01-07 | Ethicon Endo-Surgery, Inc. | Motorized cutting and fastening instrument having control circuit for optimizing battery usage |
US8758391B2 (en) | 2008-02-14 | 2014-06-24 | Ethicon Endo-Surgery, Inc. | Interchangeable tools for surgical instruments |
US8573465B2 (en) | 2008-02-14 | 2013-11-05 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical end effector system with rotary actuated closure systems |
US9179912B2 (en) | 2008-02-14 | 2015-11-10 | Ethicon Endo-Surgery, Inc. | Robotically-controlled motorized surgical cutting and fastening instrument |
US8459525B2 (en) | 2008-02-14 | 2013-06-11 | Ethicon Endo-Sugery, Inc. | Motorized surgical cutting and fastening instrument having a magnetic drive train torque limiting device |
US7866527B2 (en) | 2008-02-14 | 2011-01-11 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with interlockable firing system |
US8584919B2 (en) | 2008-02-14 | 2013-11-19 | Ethicon Endo-Sugery, Inc. | Surgical stapling apparatus with load-sensitive firing mechanism |
BRPI0901282A2 (en) | 2008-02-14 | 2009-11-17 | Ethicon Endo Surgery Inc | surgical cutting and fixation instrument with rf electrodes |
US7819298B2 (en) | 2008-02-14 | 2010-10-26 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with control features operable with one hand |
US8636736B2 (en) | 2008-02-14 | 2014-01-28 | Ethicon Endo-Surgery, Inc. | Motorized surgical cutting and fastening instrument |
US8752749B2 (en) | 2008-02-14 | 2014-06-17 | Ethicon Endo-Surgery, Inc. | Robotically-controlled disposable motor-driven loading unit |
US8657174B2 (en) | 2008-02-14 | 2014-02-25 | Ethicon Endo-Surgery, Inc. | Motorized surgical cutting and fastening instrument having handle based power source |
US7793812B2 (en) | 2008-02-14 | 2010-09-14 | Ethicon Endo-Surgery, Inc. | Disposable motor-driven loading unit for use with a surgical cutting and stapling apparatus |
US11272927B2 (en) | 2008-02-15 | 2022-03-15 | Cilag Gmbh International | Layer arrangements for surgical staple cartridges |
US9615826B2 (en) | 2010-09-30 | 2017-04-11 | Ethicon Endo-Surgery, Llc | Multiple thickness implantable layers for surgical stapling devices |
CA2716908C (en) | 2008-02-29 | 2017-06-27 | Fallbrook Technologies Inc. | Continuously and/or infinitely variable transmissions and methods therefor |
US8317651B2 (en) | 2008-05-07 | 2012-11-27 | Fallbrook Intellectual Property Company Llc | Assemblies and methods for clamping force generation |
JP5457438B2 (en) | 2008-06-06 | 2014-04-02 | フォールブルック インテレクチュアル プロパティー カンパニー エルエルシー | Infinitely variable transmission and control system for infinitely variable transmission |
CN102084155B (en) | 2008-06-23 | 2014-06-11 | 福博科知识产权有限责任公司 | Continuously variable transmission |
US8818661B2 (en) | 2008-08-05 | 2014-08-26 | Fallbrook Intellectual Property Company Llc | Methods for control of transmission and prime mover |
US8469856B2 (en) | 2008-08-26 | 2013-06-25 | Fallbrook Intellectual Property Company Llc | Continuously variable transmission |
PL3476312T3 (en) | 2008-09-19 | 2024-03-11 | Ethicon Llc | Surgical stapler with apparatus for adjusting staple height |
US8210411B2 (en) | 2008-09-23 | 2012-07-03 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting instrument |
US9050083B2 (en) | 2008-09-23 | 2015-06-09 | Ethicon Endo-Surgery, Inc. | Motorized surgical instrument |
US11648005B2 (en) | 2008-09-23 | 2023-05-16 | Cilag Gmbh International | Robotically-controlled motorized surgical instrument with an end effector |
US9005230B2 (en) | 2008-09-23 | 2015-04-14 | Ethicon Endo-Surgery, Inc. | Motorized surgical instrument |
US9386983B2 (en) | 2008-09-23 | 2016-07-12 | Ethicon Endo-Surgery, Llc | Robotically-controlled motorized surgical instrument |
US8608045B2 (en) | 2008-10-10 | 2013-12-17 | Ethicon Endo-Sugery, Inc. | Powered surgical cutting and stapling apparatus with manually retractable firing system |
US8167759B2 (en) | 2008-10-14 | 2012-05-01 | Fallbrook Technologies Inc. | Continuously variable transmission |
US8397971B2 (en) | 2009-02-05 | 2013-03-19 | Ethicon Endo-Surgery, Inc. | Sterilizable surgical instrument |
US8414577B2 (en) | 2009-02-05 | 2013-04-09 | Ethicon Endo-Surgery, Inc. | Surgical instruments and components for use in sterile environments |
US8517239B2 (en) | 2009-02-05 | 2013-08-27 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument comprising a magnetic element driver |
JP2012517287A (en) | 2009-02-06 | 2012-08-02 | エシコン・エンド−サージェリィ・インコーポレイテッド | Improvement of driven surgical stapler |
US8444036B2 (en) | 2009-02-06 | 2013-05-21 | Ethicon Endo-Surgery, Inc. | Motor driven surgical fastener device with mechanisms for adjusting a tissue gap within the end effector |
EP4006381B1 (en) | 2009-04-16 | 2023-08-02 | Fallbrook Intellectual Property Company LLC | Ball planetary continuously variable transmission system |
US8220688B2 (en) | 2009-12-24 | 2012-07-17 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting instrument with electric actuator directional control assembly |
US8851354B2 (en) | 2009-12-24 | 2014-10-07 | Ethicon Endo-Surgery, Inc. | Surgical cutting instrument that analyzes tissue thickness |
US8512195B2 (en) | 2010-03-03 | 2013-08-20 | Fallbrook Intellectual Property Company Llc | Infinitely variable transmissions, continuously variable transmissions, methods, assemblies, subassemblies, and components therefor |
JP5400722B2 (en) * | 2010-07-15 | 2014-01-29 | 三菱自動車工業株式会社 | Control device for electric vehicle |
US8783543B2 (en) | 2010-07-30 | 2014-07-22 | Ethicon Endo-Surgery, Inc. | Tissue acquisition arrangements and methods for surgical stapling devices |
US20120078244A1 (en) | 2010-09-24 | 2012-03-29 | Worrell Barry C | Control features for articulating surgical device |
US9386988B2 (en) | 2010-09-30 | 2016-07-12 | Ethicon End-Surgery, LLC | Retainer assembly including a tissue thickness compensator |
US9364233B2 (en) | 2010-09-30 | 2016-06-14 | Ethicon Endo-Surgery, Llc | Tissue thickness compensators for circular surgical staplers |
US20120080498A1 (en) | 2010-09-30 | 2012-04-05 | Ethicon Endo-Surgery, Inc. | Curved end effector for a stapling instrument |
US9307989B2 (en) | 2012-03-28 | 2016-04-12 | Ethicon Endo-Surgery, Llc | Tissue stapler having a thickness compensator incorportating a hydrophobic agent |
US9204880B2 (en) | 2012-03-28 | 2015-12-08 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator comprising capsules defining a low pressure environment |
US8893949B2 (en) | 2010-09-30 | 2014-11-25 | Ethicon Endo-Surgery, Inc. | Surgical stapler with floating anvil |
US9113865B2 (en) | 2010-09-30 | 2015-08-25 | Ethicon Endo-Surgery, Inc. | Staple cartridge comprising a layer |
US10945731B2 (en) | 2010-09-30 | 2021-03-16 | Ethicon Llc | Tissue thickness compensator comprising controlled release and expansion |
US9351730B2 (en) | 2011-04-29 | 2016-05-31 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator comprising channels |
US11298125B2 (en) | 2010-09-30 | 2022-04-12 | Cilag Gmbh International | Tissue stapler having a thickness compensator |
US9220500B2 (en) | 2010-09-30 | 2015-12-29 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator comprising structure to produce a resilient load |
US11812965B2 (en) | 2010-09-30 | 2023-11-14 | Cilag Gmbh International | Layer of material for a surgical end effector |
US9332974B2 (en) | 2010-09-30 | 2016-05-10 | Ethicon Endo-Surgery, Llc | Layered tissue thickness compensator |
US9414838B2 (en) | 2012-03-28 | 2016-08-16 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator comprised of a plurality of materials |
US9314246B2 (en) | 2010-09-30 | 2016-04-19 | Ethicon Endo-Surgery, Llc | Tissue stapler having a thickness compensator incorporating an anti-inflammatory agent |
US9700317B2 (en) | 2010-09-30 | 2017-07-11 | Ethicon Endo-Surgery, Llc | Fastener cartridge comprising a releasable tissue thickness compensator |
US9220501B2 (en) | 2010-09-30 | 2015-12-29 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensators |
US9232941B2 (en) | 2010-09-30 | 2016-01-12 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator comprising a reservoir |
US9629814B2 (en) | 2010-09-30 | 2017-04-25 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator configured to redistribute compressive forces |
CA2812553C (en) | 2010-09-30 | 2019-02-12 | Ethicon Endo-Surgery, Inc. | Fastener system comprising a retention matrix and an alignment matrix |
US11925354B2 (en) | 2010-09-30 | 2024-03-12 | Cilag Gmbh International | Staple cartridge comprising staples positioned within a compressible portion thereof |
US8695866B2 (en) | 2010-10-01 | 2014-04-15 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a power control circuit |
US8888643B2 (en) | 2010-11-10 | 2014-11-18 | Fallbrook Intellectual Property Company Llc | Continuously variable transmission |
DE102010062227A1 (en) * | 2010-11-30 | 2012-05-31 | Robert Bosch Gmbh | Electric vehicle and method for driving an electric vehicle |
JP5778445B2 (en) | 2011-03-11 | 2015-09-16 | 東芝機械株式会社 | Inverter power generator |
CA2830929A1 (en) | 2011-04-04 | 2012-10-11 | Fallbrook Intellectual Property Company Llc | Auxiliary power unit having a continuously variable transmission |
AU2012250197B2 (en) | 2011-04-29 | 2017-08-10 | Ethicon Endo-Surgery, Inc. | Staple cartridge comprising staples positioned within a compressible portion thereof |
US9072535B2 (en) | 2011-05-27 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments with rotatable staple deployment arrangements |
US11207064B2 (en) | 2011-05-27 | 2021-12-28 | Cilag Gmbh International | Automated end effector component reloading system for use with a robotic system |
US8771136B2 (en) * | 2011-06-10 | 2014-07-08 | GM Global Technology Operations LLC | Hybrid powertrain with operator selectable electric propulsion mode |
US9050084B2 (en) | 2011-09-23 | 2015-06-09 | Ethicon Endo-Surgery, Inc. | Staple cartridge including collapsible deck arrangement |
CN107061653B (en) | 2012-01-23 | 2020-05-26 | 福博科知识产权有限责任公司 | Infinitely variable transmissions, continuously variable transmissions, methods, assemblies, subassemblies, and components thereof |
US9044230B2 (en) | 2012-02-13 | 2015-06-02 | Ethicon Endo-Surgery, Inc. | Surgical cutting and fastening instrument with apparatus for determining cartridge and firing motion status |
BR112014024098B1 (en) | 2012-03-28 | 2021-05-25 | Ethicon Endo-Surgery, Inc. | staple cartridge |
JP6305979B2 (en) | 2012-03-28 | 2018-04-04 | エシコン・エンド−サージェリィ・インコーポレイテッドEthicon Endo−Surgery,Inc. | Tissue thickness compensator with multiple layers |
RU2644272C2 (en) | 2012-03-28 | 2018-02-08 | Этикон Эндо-Серджери, Инк. | Limitation node with tissue thickness compensator |
US9198662B2 (en) | 2012-03-28 | 2015-12-01 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator having improved visibility |
US9101358B2 (en) | 2012-06-15 | 2015-08-11 | Ethicon Endo-Surgery, Inc. | Articulatable surgical instrument comprising a firing drive |
US9561038B2 (en) | 2012-06-28 | 2017-02-07 | Ethicon Endo-Surgery, Llc | Interchangeable clip applier |
US9282974B2 (en) | 2012-06-28 | 2016-03-15 | Ethicon Endo-Surgery, Llc | Empty clip cartridge lockout |
US11202631B2 (en) | 2012-06-28 | 2021-12-21 | Cilag Gmbh International | Stapling assembly comprising a firing lockout |
US9028494B2 (en) | 2012-06-28 | 2015-05-12 | Ethicon Endo-Surgery, Inc. | Interchangeable end effector coupling arrangement |
US9119657B2 (en) | 2012-06-28 | 2015-09-01 | Ethicon Endo-Surgery, Inc. | Rotary actuatable closure arrangement for surgical end effector |
JP6290201B2 (en) | 2012-06-28 | 2018-03-07 | エシコン・エンド−サージェリィ・インコーポレイテッドEthicon Endo−Surgery,Inc. | Lockout for empty clip cartridge |
US9289256B2 (en) | 2012-06-28 | 2016-03-22 | Ethicon Endo-Surgery, Llc | Surgical end effectors having angled tissue-contacting surfaces |
US8747238B2 (en) | 2012-06-28 | 2014-06-10 | Ethicon Endo-Surgery, Inc. | Rotary drive shaft assemblies for surgical instruments with articulatable end effectors |
US20140001231A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Firing system lockout arrangements for surgical instruments |
US9072536B2 (en) | 2012-06-28 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Differential locking arrangements for rotary powered surgical instruments |
US9101385B2 (en) | 2012-06-28 | 2015-08-11 | Ethicon Endo-Surgery, Inc. | Electrode connections for rotary driven surgical tools |
US9408606B2 (en) | 2012-06-28 | 2016-08-09 | Ethicon Endo-Surgery, Llc | Robotically powered surgical device with manually-actuatable reversing system |
US9204879B2 (en) | 2012-06-28 | 2015-12-08 | Ethicon Endo-Surgery, Inc. | Flexible drive member |
US9125662B2 (en) | 2012-06-28 | 2015-09-08 | Ethicon Endo-Surgery, Inc. | Multi-axis articulating and rotating surgical tools |
BR112014032776B1 (en) | 2012-06-28 | 2021-09-08 | Ethicon Endo-Surgery, Inc | SURGICAL INSTRUMENT SYSTEM AND SURGICAL KIT FOR USE WITH A SURGICAL INSTRUMENT SYSTEM |
US9026274B2 (en) | 2012-08-31 | 2015-05-05 | Sikorsky Aircraft Corporation | Method of controlling an electric propulsion system |
US9386984B2 (en) | 2013-02-08 | 2016-07-12 | Ethicon Endo-Surgery, Llc | Staple cartridge comprising a releasable cover |
US10092292B2 (en) | 2013-02-28 | 2018-10-09 | Ethicon Llc | Staple forming features for surgical stapling instrument |
US20140249557A1 (en) | 2013-03-01 | 2014-09-04 | Ethicon Endo-Surgery, Inc. | Thumbwheel switch arrangements for surgical instruments |
BR112015021098B1 (en) | 2013-03-01 | 2022-02-15 | Ethicon Endo-Surgery, Inc | COVERAGE FOR A JOINT JOINT AND SURGICAL INSTRUMENT |
RU2669463C2 (en) | 2013-03-01 | 2018-10-11 | Этикон Эндо-Серджери, Инк. | Surgical instrument with soft stop |
US9345481B2 (en) | 2013-03-13 | 2016-05-24 | Ethicon Endo-Surgery, Llc | Staple cartridge tissue thickness sensor system |
US9883860B2 (en) | 2013-03-14 | 2018-02-06 | Ethicon Llc | Interchangeable shaft assemblies for use with a surgical instrument |
US9629629B2 (en) | 2013-03-14 | 2017-04-25 | Ethicon Endo-Surgey, LLC | Control systems for surgical instruments |
US9332984B2 (en) | 2013-03-27 | 2016-05-10 | Ethicon Endo-Surgery, Llc | Fastener cartridge assemblies |
US9572577B2 (en) | 2013-03-27 | 2017-02-21 | Ethicon Endo-Surgery, Llc | Fastener cartridge comprising a tissue thickness compensator including openings therein |
US9795384B2 (en) | 2013-03-27 | 2017-10-24 | Ethicon Llc | Fastener cartridge comprising a tissue thickness compensator and a gap setting element |
US10136887B2 (en) | 2013-04-16 | 2018-11-27 | Ethicon Llc | Drive system decoupling arrangement for a surgical instrument |
BR112015026109B1 (en) | 2013-04-16 | 2022-02-22 | Ethicon Endo-Surgery, Inc | surgical instrument |
WO2014172422A1 (en) | 2013-04-19 | 2014-10-23 | Fallbrook Intellectual Property Company Llc | Continuously variable transmission |
US9574644B2 (en) | 2013-05-30 | 2017-02-21 | Ethicon Endo-Surgery, Llc | Power module for use with a surgical instrument |
US9924942B2 (en) | 2013-08-23 | 2018-03-27 | Ethicon Llc | Motor-powered articulatable surgical instruments |
MX369362B (en) | 2013-08-23 | 2019-11-06 | Ethicon Endo Surgery Llc | Firing member retraction devices for powered surgical instruments. |
US9585662B2 (en) | 2013-12-23 | 2017-03-07 | Ethicon Endo-Surgery, Llc | Fastener cartridge comprising an extendable firing member |
US9839428B2 (en) | 2013-12-23 | 2017-12-12 | Ethicon Llc | Surgical cutting and stapling instruments with independent jaw control features |
US20150173756A1 (en) | 2013-12-23 | 2015-06-25 | Ethicon Endo-Surgery, Inc. | Surgical cutting and stapling methods |
US9724092B2 (en) | 2013-12-23 | 2017-08-08 | Ethicon Llc | Modular surgical instruments |
US9962161B2 (en) | 2014-02-12 | 2018-05-08 | Ethicon Llc | Deliverable surgical instrument |
CN106232029B (en) | 2014-02-24 | 2019-04-12 | 伊西康内外科有限责任公司 | Fastening system including firing member locking piece |
US20140166725A1 (en) | 2014-02-24 | 2014-06-19 | Ethicon Endo-Surgery, Inc. | Staple cartridge including a barbed staple. |
US9820738B2 (en) | 2014-03-26 | 2017-11-21 | Ethicon Llc | Surgical instrument comprising interactive systems |
BR112016021943B1 (en) | 2014-03-26 | 2022-06-14 | Ethicon Endo-Surgery, Llc | SURGICAL INSTRUMENT FOR USE BY AN OPERATOR IN A SURGICAL PROCEDURE |
US20150272580A1 (en) | 2014-03-26 | 2015-10-01 | Ethicon Endo-Surgery, Inc. | Verification of number of battery exchanges/procedure count |
US9913642B2 (en) | 2014-03-26 | 2018-03-13 | Ethicon Llc | Surgical instrument comprising a sensor system |
US9804618B2 (en) | 2014-03-26 | 2017-10-31 | Ethicon Llc | Systems and methods for controlling a segmented circuit |
US20150297222A1 (en) | 2014-04-16 | 2015-10-22 | Ethicon Endo-Surgery, Inc. | Fastener cartridges including extensions having different configurations |
CN106456176B (en) | 2014-04-16 | 2019-06-28 | 伊西康内外科有限责任公司 | Fastener cartridge including the extension with various configuration |
JP6532889B2 (en) | 2014-04-16 | 2019-06-19 | エシコン エルエルシーEthicon LLC | Fastener cartridge assembly and staple holder cover arrangement |
US9801628B2 (en) | 2014-09-26 | 2017-10-31 | Ethicon Llc | Surgical staple and driver arrangements for staple cartridges |
BR112016023825B1 (en) | 2014-04-16 | 2022-08-02 | Ethicon Endo-Surgery, Llc | STAPLE CARTRIDGE FOR USE WITH A SURGICAL STAPLER AND STAPLE CARTRIDGE FOR USE WITH A SURGICAL INSTRUMENT |
US11185330B2 (en) | 2014-04-16 | 2021-11-30 | Cilag Gmbh International | Fastener cartridge assemblies and staple retainer cover arrangements |
US10045781B2 (en) | 2014-06-13 | 2018-08-14 | Ethicon Llc | Closure lockout systems for surgical instruments |
US10135242B2 (en) | 2014-09-05 | 2018-11-20 | Ethicon Llc | Smart cartridge wake up operation and data retention |
BR112017004361B1 (en) | 2014-09-05 | 2023-04-11 | Ethicon Llc | ELECTRONIC SYSTEM FOR A SURGICAL INSTRUMENT |
US11311294B2 (en) | 2014-09-05 | 2022-04-26 | Cilag Gmbh International | Powered medical device including measurement of closure state of jaws |
US10105142B2 (en) | 2014-09-18 | 2018-10-23 | Ethicon Llc | Surgical stapler with plurality of cutting elements |
MX2017003960A (en) | 2014-09-26 | 2017-12-04 | Ethicon Llc | Surgical stapling buttresses and adjunct materials. |
US11523821B2 (en) | 2014-09-26 | 2022-12-13 | Cilag Gmbh International | Method for creating a flexible staple line |
US10076325B2 (en) | 2014-10-13 | 2018-09-18 | Ethicon Llc | Surgical stapling apparatus comprising a tissue stop |
US9924944B2 (en) | 2014-10-16 | 2018-03-27 | Ethicon Llc | Staple cartridge comprising an adjunct material |
US10517594B2 (en) | 2014-10-29 | 2019-12-31 | Ethicon Llc | Cartridge assemblies for surgical staplers |
US11141153B2 (en) | 2014-10-29 | 2021-10-12 | Cilag Gmbh International | Staple cartridges comprising driver arrangements |
US9844376B2 (en) | 2014-11-06 | 2017-12-19 | Ethicon Llc | Staple cartridge comprising a releasable adjunct material |
US10736636B2 (en) | 2014-12-10 | 2020-08-11 | Ethicon Llc | Articulatable surgical instrument system |
US9844375B2 (en) | 2014-12-18 | 2017-12-19 | Ethicon Llc | Drive arrangements for articulatable surgical instruments |
US10188385B2 (en) | 2014-12-18 | 2019-01-29 | Ethicon Llc | Surgical instrument system comprising lockable systems |
RU2703684C2 (en) | 2014-12-18 | 2019-10-21 | ЭТИКОН ЭНДО-СЕРДЖЕРИ, ЭлЭлСи | Surgical instrument with anvil which is selectively movable relative to staple cartridge around discrete fixed axis |
US9987000B2 (en) | 2014-12-18 | 2018-06-05 | Ethicon Llc | Surgical instrument assembly comprising a flexible articulation system |
US9844374B2 (en) | 2014-12-18 | 2017-12-19 | Ethicon Llc | Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member |
US10004501B2 (en) | 2014-12-18 | 2018-06-26 | Ethicon Llc | Surgical instruments with improved closure arrangements |
US10085748B2 (en) | 2014-12-18 | 2018-10-02 | Ethicon Llc | Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors |
US10117649B2 (en) | 2014-12-18 | 2018-11-06 | Ethicon Llc | Surgical instrument assembly comprising a lockable articulation system |
US10180463B2 (en) | 2015-02-27 | 2019-01-15 | Ethicon Llc | Surgical apparatus configured to assess whether a performance parameter of the surgical apparatus is within an acceptable performance band |
US10321907B2 (en) | 2015-02-27 | 2019-06-18 | Ethicon Llc | System for monitoring whether a surgical instrument needs to be serviced |
US11154301B2 (en) | 2015-02-27 | 2021-10-26 | Cilag Gmbh International | Modular stapling assembly |
US10226250B2 (en) | 2015-02-27 | 2019-03-12 | Ethicon Llc | Modular stapling assembly |
JP2020121162A (en) | 2015-03-06 | 2020-08-13 | エシコン エルエルシーEthicon LLC | Time dependent evaluation of sensor data to determine stability element, creep element and viscoelastic element of measurement |
US10617412B2 (en) | 2015-03-06 | 2020-04-14 | Ethicon Llc | System for detecting the mis-insertion of a staple cartridge into a surgical stapler |
US9895148B2 (en) | 2015-03-06 | 2018-02-20 | Ethicon Endo-Surgery, Llc | Monitoring speed control and precision incrementing of motor for powered surgical instruments |
US9901342B2 (en) | 2015-03-06 | 2018-02-27 | Ethicon Endo-Surgery, Llc | Signal and power communication system positioned on a rotatable shaft |
US10441279B2 (en) | 2015-03-06 | 2019-10-15 | Ethicon Llc | Multiple level thresholds to modify operation of powered surgical instruments |
US10045776B2 (en) | 2015-03-06 | 2018-08-14 | Ethicon Llc | Control techniques and sub-processor contained within modular shaft with select control processing from handle |
US10245033B2 (en) | 2015-03-06 | 2019-04-02 | Ethicon Llc | Surgical instrument comprising a lockable battery housing |
US9924961B2 (en) | 2015-03-06 | 2018-03-27 | Ethicon Endo-Surgery, Llc | Interactive feedback system for powered surgical instruments |
US9993248B2 (en) | 2015-03-06 | 2018-06-12 | Ethicon Endo-Surgery, Llc | Smart sensors with local signal processing |
US9808246B2 (en) | 2015-03-06 | 2017-11-07 | Ethicon Endo-Surgery, Llc | Method of operating a powered surgical instrument |
US10687806B2 (en) | 2015-03-06 | 2020-06-23 | Ethicon Llc | Adaptive tissue compression techniques to adjust closure rates for multiple tissue types |
US10052044B2 (en) | 2015-03-06 | 2018-08-21 | Ethicon Llc | Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures |
US10390825B2 (en) | 2015-03-31 | 2019-08-27 | Ethicon Llc | Surgical instrument with progressive rotary drive systems |
US10405863B2 (en) | 2015-06-18 | 2019-09-10 | Ethicon Llc | Movable firing beam support arrangements for articulatable surgical instruments |
US11058425B2 (en) | 2015-08-17 | 2021-07-13 | Ethicon Llc | Implantable layers for a surgical instrument |
BR112018003693B1 (en) | 2015-08-26 | 2022-11-22 | Ethicon Llc | SURGICAL STAPLE CARTRIDGE FOR USE WITH A SURGICAL STAPPING INSTRUMENT |
US10098642B2 (en) | 2015-08-26 | 2018-10-16 | Ethicon Llc | Surgical staples comprising features for improved fastening of tissue |
MX2022006189A (en) | 2015-09-02 | 2022-06-16 | Ethicon Llc | Surgical staple configurations with camming surfaces located between portions supporting surgical staples. |
US10238390B2 (en) | 2015-09-02 | 2019-03-26 | Ethicon Llc | Surgical staple cartridges with driver arrangements for establishing herringbone staple patterns |
US10105139B2 (en) | 2015-09-23 | 2018-10-23 | Ethicon Llc | Surgical stapler having downstream current-based motor control |
US10085751B2 (en) | 2015-09-23 | 2018-10-02 | Ethicon Llc | Surgical stapler having temperature-based motor control |
US10238386B2 (en) | 2015-09-23 | 2019-03-26 | Ethicon Llc | Surgical stapler having motor control based on an electrical parameter related to a motor current |
US10327769B2 (en) | 2015-09-23 | 2019-06-25 | Ethicon Llc | Surgical stapler having motor control based on a drive system component |
US10076326B2 (en) | 2015-09-23 | 2018-09-18 | Ethicon Llc | Surgical stapler having current mirror-based motor control |
US10363036B2 (en) | 2015-09-23 | 2019-07-30 | Ethicon Llc | Surgical stapler having force-based motor control |
US10299878B2 (en) | 2015-09-25 | 2019-05-28 | Ethicon Llc | Implantable adjunct systems for determining adjunct skew |
US10980539B2 (en) | 2015-09-30 | 2021-04-20 | Ethicon Llc | Implantable adjunct comprising bonded layers |
US10285699B2 (en) | 2015-09-30 | 2019-05-14 | Ethicon Llc | Compressible adjunct |
US10561420B2 (en) | 2015-09-30 | 2020-02-18 | Ethicon Llc | Tubular absorbable constructs |
US11890015B2 (en) | 2015-09-30 | 2024-02-06 | Cilag Gmbh International | Compressible adjunct with crossing spacer fibers |
US10265068B2 (en) | 2015-12-30 | 2019-04-23 | Ethicon Llc | Surgical instruments with separable motors and motor control circuits |
US10368865B2 (en) | 2015-12-30 | 2019-08-06 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US10292704B2 (en) | 2015-12-30 | 2019-05-21 | Ethicon Llc | Mechanisms for compensating for battery pack failure in powered surgical instruments |
US10047861B2 (en) | 2016-01-15 | 2018-08-14 | Fallbrook Intellectual Property Company Llc | Systems and methods for controlling rollback in continuously variable transmissions |
US11213293B2 (en) | 2016-02-09 | 2022-01-04 | Cilag Gmbh International | Articulatable surgical instruments with single articulation link arrangements |
US10433837B2 (en) | 2016-02-09 | 2019-10-08 | Ethicon Llc | Surgical instruments with multiple link articulation arrangements |
BR112018016098B1 (en) | 2016-02-09 | 2023-02-23 | Ethicon Llc | SURGICAL INSTRUMENT |
US10258331B2 (en) | 2016-02-12 | 2019-04-16 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US10448948B2 (en) | 2016-02-12 | 2019-10-22 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US11224426B2 (en) | 2016-02-12 | 2022-01-18 | Cilag Gmbh International | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
CN109154368B (en) | 2016-03-18 | 2022-04-01 | 福博科知识产权有限责任公司 | Continuously variable transmission, system and method |
US10617413B2 (en) | 2016-04-01 | 2020-04-14 | Ethicon Llc | Closure system arrangements for surgical cutting and stapling devices with separate and distinct firing shafts |
US10485542B2 (en) | 2016-04-01 | 2019-11-26 | Ethicon Llc | Surgical stapling instrument comprising multiple lockouts |
US10828028B2 (en) | 2016-04-15 | 2020-11-10 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US10335145B2 (en) | 2016-04-15 | 2019-07-02 | Ethicon Llc | Modular surgical instrument with configurable operating mode |
US10492783B2 (en) | 2016-04-15 | 2019-12-03 | Ethicon, Llc | Surgical instrument with improved stop/start control during a firing motion |
US11607239B2 (en) | 2016-04-15 | 2023-03-21 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
US11179150B2 (en) | 2016-04-15 | 2021-11-23 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
US10426467B2 (en) | 2016-04-15 | 2019-10-01 | Ethicon Llc | Surgical instrument with detection sensors |
US10357247B2 (en) | 2016-04-15 | 2019-07-23 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US10405859B2 (en) | 2016-04-15 | 2019-09-10 | Ethicon Llc | Surgical instrument with adjustable stop/start control during a firing motion |
US10456137B2 (en) | 2016-04-15 | 2019-10-29 | Ethicon Llc | Staple formation detection mechanisms |
US20170296173A1 (en) | 2016-04-18 | 2017-10-19 | Ethicon Endo-Surgery, Llc | Method for operating a surgical instrument |
US11317917B2 (en) | 2016-04-18 | 2022-05-03 | Cilag Gmbh International | Surgical stapling system comprising a lockable firing assembly |
US10478181B2 (en) | 2016-04-18 | 2019-11-19 | Ethicon Llc | Cartridge lockout arrangements for rotary powered surgical cutting and stapling instruments |
US10023266B2 (en) | 2016-05-11 | 2018-07-17 | Fallbrook Intellectual Property Company Llc | Systems and methods for automatic configuration and automatic calibration of continuously variable transmissions and bicycles having continuously variable transmissions |
USD847989S1 (en) | 2016-06-24 | 2019-05-07 | Ethicon Llc | Surgical fastener cartridge |
USD826405S1 (en) | 2016-06-24 | 2018-08-21 | Ethicon Llc | Surgical fastener |
US10675024B2 (en) | 2016-06-24 | 2020-06-09 | Ethicon Llc | Staple cartridge comprising overdriven staples |
CN109310431B (en) | 2016-06-24 | 2022-03-04 | 伊西康有限责任公司 | Staple cartridge comprising wire staples and punch staples |
USD850617S1 (en) | 2016-06-24 | 2019-06-04 | Ethicon Llc | Surgical fastener cartridge |
BR112019011947A2 (en) | 2016-12-21 | 2019-10-29 | Ethicon Llc | surgical stapling systems |
US20180168608A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Surgical instrument system comprising an end effector lockout and a firing assembly lockout |
US10758229B2 (en) | 2016-12-21 | 2020-09-01 | Ethicon Llc | Surgical instrument comprising improved jaw control |
US10617414B2 (en) | 2016-12-21 | 2020-04-14 | Ethicon Llc | Closure member arrangements for surgical instruments |
US10856868B2 (en) | 2016-12-21 | 2020-12-08 | Ethicon Llc | Firing member pin configurations |
US10675026B2 (en) | 2016-12-21 | 2020-06-09 | Ethicon Llc | Methods of stapling tissue |
US10588630B2 (en) | 2016-12-21 | 2020-03-17 | Ethicon Llc | Surgical tool assemblies with closure stroke reduction features |
US20180168648A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Durability features for end effectors and firing assemblies of surgical stapling instruments |
US20180168625A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Surgical stapling instruments with smart staple cartridges |
US11134942B2 (en) | 2016-12-21 | 2021-10-05 | Cilag Gmbh International | Surgical stapling instruments and staple-forming anvils |
US10426471B2 (en) | 2016-12-21 | 2019-10-01 | Ethicon Llc | Surgical instrument with multiple failure response modes |
US11419606B2 (en) | 2016-12-21 | 2022-08-23 | Cilag Gmbh International | Shaft assembly comprising a clutch configured to adapt the output of a rotary firing member to two different systems |
US10993715B2 (en) | 2016-12-21 | 2021-05-04 | Ethicon Llc | Staple cartridge comprising staples with different clamping breadths |
US10682138B2 (en) | 2016-12-21 | 2020-06-16 | Ethicon Llc | Bilaterally asymmetric staple forming pocket pairs |
US10687810B2 (en) | 2016-12-21 | 2020-06-23 | Ethicon Llc | Stepped staple cartridge with tissue retention and gap setting features |
US10517595B2 (en) | 2016-12-21 | 2019-12-31 | Ethicon Llc | Jaw actuated lock arrangements for preventing advancement of a firing member in a surgical end effector unless an unfired cartridge is installed in the end effector |
US10675025B2 (en) | 2016-12-21 | 2020-06-09 | Ethicon Llc | Shaft assembly comprising separately actuatable and retractable systems |
US11684367B2 (en) | 2016-12-21 | 2023-06-27 | Cilag Gmbh International | Stepped assembly having and end-of-life indicator |
CN110099619B (en) | 2016-12-21 | 2022-07-15 | 爱惜康有限责任公司 | Lockout device for surgical end effector and replaceable tool assembly |
US10945727B2 (en) | 2016-12-21 | 2021-03-16 | Ethicon Llc | Staple cartridge with deformable driver retention features |
US20180168615A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Method of deforming staples from two different types of staple cartridges with the same surgical stapling instrument |
US10893864B2 (en) | 2016-12-21 | 2021-01-19 | Ethicon | Staple cartridges and arrangements of staples and staple cavities therein |
US10588632B2 (en) | 2016-12-21 | 2020-03-17 | Ethicon Llc | Surgical end effectors and firing members thereof |
JP7010956B2 (en) | 2016-12-21 | 2022-01-26 | エシコン エルエルシー | How to staple tissue |
USD890784S1 (en) | 2017-06-20 | 2020-07-21 | Ethicon Llc | Display panel with changeable graphical user interface |
US11653914B2 (en) | 2017-06-20 | 2023-05-23 | Cilag Gmbh International | Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument according to articulation angle of end effector |
US10813639B2 (en) | 2017-06-20 | 2020-10-27 | Ethicon Llc | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on system conditions |
US11090046B2 (en) | 2017-06-20 | 2021-08-17 | Cilag Gmbh International | Systems and methods for controlling displacement member motion of a surgical stapling and cutting instrument |
US11382638B2 (en) | 2017-06-20 | 2022-07-12 | Cilag Gmbh International | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified displacement distance |
US10307170B2 (en) | 2017-06-20 | 2019-06-04 | Ethicon Llc | Method for closed loop control of motor velocity of a surgical stapling and cutting instrument |
US10624633B2 (en) | 2017-06-20 | 2020-04-21 | Ethicon Llc | Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument |
US10390841B2 (en) | 2017-06-20 | 2019-08-27 | Ethicon Llc | Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation |
US10980537B2 (en) | 2017-06-20 | 2021-04-20 | Ethicon Llc | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations |
US10327767B2 (en) | 2017-06-20 | 2019-06-25 | Ethicon Llc | Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation |
US10368864B2 (en) | 2017-06-20 | 2019-08-06 | Ethicon Llc | Systems and methods for controlling displaying motor velocity for a surgical instrument |
US10779820B2 (en) | 2017-06-20 | 2020-09-22 | Ethicon Llc | Systems and methods for controlling motor speed according to user input for a surgical instrument |
US11517325B2 (en) | 2017-06-20 | 2022-12-06 | Cilag Gmbh International | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured displacement distance traveled over a specified time interval |
US11071554B2 (en) | 2017-06-20 | 2021-07-27 | Cilag Gmbh International | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on magnitude of velocity error measurements |
US10646220B2 (en) | 2017-06-20 | 2020-05-12 | Ethicon Llc | Systems and methods for controlling displacement member velocity for a surgical instrument |
US10881396B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Surgical instrument with variable duration trigger arrangement |
USD879809S1 (en) | 2017-06-20 | 2020-03-31 | Ethicon Llc | Display panel with changeable graphical user interface |
US10881399B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument |
US10888321B2 (en) | 2017-06-20 | 2021-01-12 | Ethicon Llc | Systems and methods for controlling velocity of a displacement member of a surgical stapling and cutting instrument |
USD879808S1 (en) | 2017-06-20 | 2020-03-31 | Ethicon Llc | Display panel with graphical user interface |
US10772629B2 (en) | 2017-06-27 | 2020-09-15 | Ethicon Llc | Surgical anvil arrangements |
US10993716B2 (en) | 2017-06-27 | 2021-05-04 | Ethicon Llc | Surgical anvil arrangements |
US20180368844A1 (en) | 2017-06-27 | 2018-12-27 | Ethicon Llc | Staple forming pocket arrangements |
US10856869B2 (en) | 2017-06-27 | 2020-12-08 | Ethicon Llc | Surgical anvil arrangements |
US11266405B2 (en) | 2017-06-27 | 2022-03-08 | Cilag Gmbh International | Surgical anvil manufacturing methods |
US11324503B2 (en) | 2017-06-27 | 2022-05-10 | Cilag Gmbh International | Surgical firing member arrangements |
US10716614B2 (en) | 2017-06-28 | 2020-07-21 | Ethicon Llc | Surgical shaft assemblies with slip ring assemblies with increased contact pressure |
USD854151S1 (en) | 2017-06-28 | 2019-07-16 | Ethicon Llc | Surgical instrument shaft |
EP3420947B1 (en) | 2017-06-28 | 2022-05-25 | Cilag GmbH International | Surgical instrument comprising selectively actuatable rotatable couplers |
USD851762S1 (en) | 2017-06-28 | 2019-06-18 | Ethicon Llc | Anvil |
US11020114B2 (en) | 2017-06-28 | 2021-06-01 | Cilag Gmbh International | Surgical instruments with articulatable end effector with axially shortened articulation joint configurations |
US11678880B2 (en) | 2017-06-28 | 2023-06-20 | Cilag Gmbh International | Surgical instrument comprising a shaft including a housing arrangement |
US11564686B2 (en) | 2017-06-28 | 2023-01-31 | Cilag Gmbh International | Surgical shaft assemblies with flexible interfaces |
US11246592B2 (en) | 2017-06-28 | 2022-02-15 | Cilag Gmbh International | Surgical instrument comprising an articulation system lockable to a frame |
USD906355S1 (en) | 2017-06-28 | 2020-12-29 | Ethicon Llc | Display screen or portion thereof with a graphical user interface for a surgical instrument |
US11259805B2 (en) | 2017-06-28 | 2022-03-01 | Cilag Gmbh International | Surgical instrument comprising firing member supports |
US10765427B2 (en) | 2017-06-28 | 2020-09-08 | Ethicon Llc | Method for articulating a surgical instrument |
US10903685B2 (en) | 2017-06-28 | 2021-01-26 | Ethicon Llc | Surgical shaft assemblies with slip ring assemblies forming capacitive channels |
USD869655S1 (en) | 2017-06-28 | 2019-12-10 | Ethicon Llc | Surgical fastener cartridge |
US10211586B2 (en) | 2017-06-28 | 2019-02-19 | Ethicon Llc | Surgical shaft assemblies with watertight housings |
US11007022B2 (en) | 2017-06-29 | 2021-05-18 | Ethicon Llc | Closed loop velocity control techniques based on sensed tissue parameters for robotic surgical instrument |
US10898183B2 (en) | 2017-06-29 | 2021-01-26 | Ethicon Llc | Robotic surgical instrument with closed loop feedback techniques for advancement of closure member during firing |
US10258418B2 (en) | 2017-06-29 | 2019-04-16 | Ethicon Llc | System for controlling articulation forces |
US10398434B2 (en) | 2017-06-29 | 2019-09-03 | Ethicon Llc | Closed loop velocity control of closure member for robotic surgical instrument |
US10932772B2 (en) | 2017-06-29 | 2021-03-02 | Ethicon Llc | Methods for closed loop velocity control for robotic surgical instrument |
US10293805B2 (en) * | 2017-07-18 | 2019-05-21 | Gm Global Technology Operations Llc. | Generator system and control method |
US11471155B2 (en) | 2017-08-03 | 2022-10-18 | Cilag Gmbh International | Surgical system bailout |
US11944300B2 (en) | 2017-08-03 | 2024-04-02 | Cilag Gmbh International | Method for operating a surgical system bailout |
US11304695B2 (en) | 2017-08-03 | 2022-04-19 | Cilag Gmbh International | Surgical system shaft interconnection |
US10729501B2 (en) | 2017-09-29 | 2020-08-04 | Ethicon Llc | Systems and methods for language selection of a surgical instrument |
US10743872B2 (en) | 2017-09-29 | 2020-08-18 | Ethicon Llc | System and methods for controlling a display of a surgical instrument |
US10796471B2 (en) | 2017-09-29 | 2020-10-06 | Ethicon Llc | Systems and methods of displaying a knife position for a surgical instrument |
USD917500S1 (en) | 2017-09-29 | 2021-04-27 | Ethicon Llc | Display screen or portion thereof with graphical user interface |
USD907647S1 (en) | 2017-09-29 | 2021-01-12 | Ethicon Llc | Display screen or portion thereof with animated graphical user interface |
US11399829B2 (en) | 2017-09-29 | 2022-08-02 | Cilag Gmbh International | Systems and methods of initiating a power shutdown mode for a surgical instrument |
US10765429B2 (en) | 2017-09-29 | 2020-09-08 | Ethicon Llc | Systems and methods for providing alerts according to the operational state of a surgical instrument |
USD907648S1 (en) | 2017-09-29 | 2021-01-12 | Ethicon Llc | Display screen or portion thereof with animated graphical user interface |
US11134944B2 (en) | 2017-10-30 | 2021-10-05 | Cilag Gmbh International | Surgical stapler knife motion controls |
US11090075B2 (en) | 2017-10-30 | 2021-08-17 | Cilag Gmbh International | Articulation features for surgical end effector |
US10842490B2 (en) | 2017-10-31 | 2020-11-24 | Ethicon Llc | Cartridge body design with force reduction based on firing completion |
US10779903B2 (en) | 2017-10-31 | 2020-09-22 | Ethicon Llc | Positive shaft rotation lock activated by jaw closure |
US10743875B2 (en) | 2017-12-15 | 2020-08-18 | Ethicon Llc | Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member |
US10743874B2 (en) | 2017-12-15 | 2020-08-18 | Ethicon Llc | Sealed adapters for use with electromechanical surgical instruments |
US10828033B2 (en) | 2017-12-15 | 2020-11-10 | Ethicon Llc | Handheld electromechanical surgical instruments with improved motor control arrangements for positioning components of an adapter coupled thereto |
US11197670B2 (en) | 2017-12-15 | 2021-12-14 | Cilag Gmbh International | Surgical end effectors with pivotal jaws configured to touch at their respective distal ends when fully closed |
US11033267B2 (en) | 2017-12-15 | 2021-06-15 | Ethicon Llc | Systems and methods of controlling a clamping member firing rate of a surgical instrument |
US10869666B2 (en) | 2017-12-15 | 2020-12-22 | Ethicon Llc | Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument |
US10779826B2 (en) | 2017-12-15 | 2020-09-22 | Ethicon Llc | Methods of operating surgical end effectors |
US11006955B2 (en) | 2017-12-15 | 2021-05-18 | Ethicon Llc | End effectors with positive jaw opening features for use with adapters for electromechanical surgical instruments |
US10687813B2 (en) | 2017-12-15 | 2020-06-23 | Ethicon Llc | Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments |
US10779825B2 (en) | 2017-12-15 | 2020-09-22 | Ethicon Llc | Adapters with end effector position sensing and control arrangements for use in connection with electromechanical surgical instruments |
US10966718B2 (en) | 2017-12-15 | 2021-04-06 | Ethicon Llc | Dynamic clamping assemblies with improved wear characteristics for use in connection with electromechanical surgical instruments |
US11071543B2 (en) | 2017-12-15 | 2021-07-27 | Cilag Gmbh International | Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges |
US10716565B2 (en) | 2017-12-19 | 2020-07-21 | Ethicon Llc | Surgical instruments with dual articulation drivers |
US11020112B2 (en) | 2017-12-19 | 2021-06-01 | Ethicon Llc | Surgical tools configured for interchangeable use with different controller interfaces |
US11045270B2 (en) | 2017-12-19 | 2021-06-29 | Cilag Gmbh International | Robotic attachment comprising exterior drive actuator |
USD910847S1 (en) | 2017-12-19 | 2021-02-16 | Ethicon Llc | Surgical instrument assembly |
US10729509B2 (en) | 2017-12-19 | 2020-08-04 | Ethicon Llc | Surgical instrument comprising closure and firing locking mechanism |
US10835330B2 (en) | 2017-12-19 | 2020-11-17 | Ethicon Llc | Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly |
US11076853B2 (en) | 2017-12-21 | 2021-08-03 | Cilag Gmbh International | Systems and methods of displaying a knife position during transection for a surgical instrument |
US11129680B2 (en) | 2017-12-21 | 2021-09-28 | Cilag Gmbh International | Surgical instrument comprising a projector |
US11179151B2 (en) | 2017-12-21 | 2021-11-23 | Cilag Gmbh International | Surgical instrument comprising a display |
US11311290B2 (en) | 2017-12-21 | 2022-04-26 | Cilag Gmbh International | Surgical instrument comprising an end effector dampener |
US11039834B2 (en) | 2018-08-20 | 2021-06-22 | Cilag Gmbh International | Surgical stapler anvils with staple directing protrusions and tissue stability features |
US10912559B2 (en) | 2018-08-20 | 2021-02-09 | Ethicon Llc | Reinforced deformable anvil tip for surgical stapler anvil |
US10842492B2 (en) | 2018-08-20 | 2020-11-24 | Ethicon Llc | Powered articulatable surgical instruments with clutching and locking arrangements for linking an articulation drive system to a firing drive system |
US10779821B2 (en) | 2018-08-20 | 2020-09-22 | Ethicon Llc | Surgical stapler anvils with tissue stop features configured to avoid tissue pinch |
US11291440B2 (en) | 2018-08-20 | 2022-04-05 | Cilag Gmbh International | Method for operating a powered articulatable surgical instrument |
US10856870B2 (en) | 2018-08-20 | 2020-12-08 | Ethicon Llc | Switching arrangements for motor powered articulatable surgical instruments |
US11253256B2 (en) | 2018-08-20 | 2022-02-22 | Cilag Gmbh International | Articulatable motor powered surgical instruments with dedicated articulation motor arrangements |
US11045192B2 (en) | 2018-08-20 | 2021-06-29 | Cilag Gmbh International | Fabricating techniques for surgical stapler anvils |
US11207065B2 (en) | 2018-08-20 | 2021-12-28 | Cilag Gmbh International | Method for fabricating surgical stapler anvils |
US11324501B2 (en) | 2018-08-20 | 2022-05-10 | Cilag Gmbh International | Surgical stapling devices with improved closure members |
US11083458B2 (en) | 2018-08-20 | 2021-08-10 | Cilag Gmbh International | Powered surgical instruments with clutching arrangements to convert linear drive motions to rotary drive motions |
USD914878S1 (en) | 2018-08-20 | 2021-03-30 | Ethicon Llc | Surgical instrument anvil |
US11215268B2 (en) | 2018-11-06 | 2022-01-04 | Fallbrook Intellectual Property Company Llc | Continuously variable transmissions, synchronous shifting, twin countershafts and methods for control of same |
US11174922B2 (en) | 2019-02-26 | 2021-11-16 | Fallbrook Intellectual Property Company Llc | Reversible variable drives and systems and methods for control in forward and reverse directions |
US11172929B2 (en) | 2019-03-25 | 2021-11-16 | Cilag Gmbh International | Articulation drive arrangements for surgical systems |
US11147553B2 (en) | 2019-03-25 | 2021-10-19 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
US11696761B2 (en) | 2019-03-25 | 2023-07-11 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
US11147551B2 (en) | 2019-03-25 | 2021-10-19 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
US11253254B2 (en) | 2019-04-30 | 2022-02-22 | Cilag Gmbh International | Shaft rotation actuator on a surgical instrument |
US11471157B2 (en) | 2019-04-30 | 2022-10-18 | Cilag Gmbh International | Articulation control mapping for a surgical instrument |
US11432816B2 (en) | 2019-04-30 | 2022-09-06 | Cilag Gmbh International | Articulation pin for a surgical instrument |
US11452528B2 (en) | 2019-04-30 | 2022-09-27 | Cilag Gmbh International | Articulation actuators for a surgical instrument |
US11426251B2 (en) | 2019-04-30 | 2022-08-30 | Cilag Gmbh International | Articulation directional lights on a surgical instrument |
US11903581B2 (en) | 2019-04-30 | 2024-02-20 | Cilag Gmbh International | Methods for stapling tissue using a surgical instrument |
US11648009B2 (en) | 2019-04-30 | 2023-05-16 | Cilag Gmbh International | Rotatable jaw tip for a surgical instrument |
US11376098B2 (en) | 2019-06-28 | 2022-07-05 | Cilag Gmbh International | Surgical instrument system comprising an RFID system |
US11051807B2 (en) | 2019-06-28 | 2021-07-06 | Cilag Gmbh International | Packaging assembly including a particulate trap |
US11627959B2 (en) | 2019-06-28 | 2023-04-18 | Cilag Gmbh International | Surgical instruments including manual and powered system lockouts |
US11684434B2 (en) | 2019-06-28 | 2023-06-27 | Cilag Gmbh International | Surgical RFID assemblies for instrument operational setting control |
US11298127B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Interational | Surgical stapling system having a lockout mechanism for an incompatible cartridge |
US11638587B2 (en) | 2019-06-28 | 2023-05-02 | Cilag Gmbh International | RFID identification systems for surgical instruments |
US11219455B2 (en) | 2019-06-28 | 2022-01-11 | Cilag Gmbh International | Surgical instrument including a lockout key |
US11291451B2 (en) | 2019-06-28 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with battery compatibility verification functionality |
US11771419B2 (en) | 2019-06-28 | 2023-10-03 | Cilag Gmbh International | Packaging for a replaceable component of a surgical stapling system |
US11478241B2 (en) | 2019-06-28 | 2022-10-25 | Cilag Gmbh International | Staple cartridge including projections |
US11523822B2 (en) | 2019-06-28 | 2022-12-13 | Cilag Gmbh International | Battery pack including a circuit interrupter |
US11464601B2 (en) | 2019-06-28 | 2022-10-11 | Cilag Gmbh International | Surgical instrument comprising an RFID system for tracking a movable component |
US11246678B2 (en) | 2019-06-28 | 2022-02-15 | Cilag Gmbh International | Surgical stapling system having a frangible RFID tag |
US11298132B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Inlernational | Staple cartridge including a honeycomb extension |
US11259803B2 (en) | 2019-06-28 | 2022-03-01 | Cilag Gmbh International | Surgical stapling system having an information encryption protocol |
US11224497B2 (en) | 2019-06-28 | 2022-01-18 | Cilag Gmbh International | Surgical systems with multiple RFID tags |
US11426167B2 (en) | 2019-06-28 | 2022-08-30 | Cilag Gmbh International | Mechanisms for proper anvil attachment surgical stapling head assembly |
US11553971B2 (en) | 2019-06-28 | 2023-01-17 | Cilag Gmbh International | Surgical RFID assemblies for display and communication |
US11399837B2 (en) | 2019-06-28 | 2022-08-02 | Cilag Gmbh International | Mechanisms for motor control adjustments of a motorized surgical instrument |
US11660163B2 (en) | 2019-06-28 | 2023-05-30 | Cilag Gmbh International | Surgical system with RFID tags for updating motor assembly parameters |
US11229437B2 (en) | 2019-06-28 | 2022-01-25 | Cilag Gmbh International | Method for authenticating the compatibility of a staple cartridge with a surgical instrument |
US11497492B2 (en) | 2019-06-28 | 2022-11-15 | Cilag Gmbh International | Surgical instrument including an articulation lock |
US11464512B2 (en) | 2019-12-19 | 2022-10-11 | Cilag Gmbh International | Staple cartridge comprising a curved deck surface |
US11291447B2 (en) | 2019-12-19 | 2022-04-05 | Cilag Gmbh International | Stapling instrument comprising independent jaw closing and staple firing systems |
US11607219B2 (en) | 2019-12-19 | 2023-03-21 | Cilag Gmbh International | Staple cartridge comprising a detachable tissue cutting knife |
US11844520B2 (en) | 2019-12-19 | 2023-12-19 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
US11931033B2 (en) | 2019-12-19 | 2024-03-19 | Cilag Gmbh International | Staple cartridge comprising a latch lockout |
US11504122B2 (en) | 2019-12-19 | 2022-11-22 | Cilag Gmbh International | Surgical instrument comprising a nested firing member |
US11234698B2 (en) | 2019-12-19 | 2022-02-01 | Cilag Gmbh International | Stapling system comprising a clamp lockout and a firing lockout |
US11911032B2 (en) | 2019-12-19 | 2024-02-27 | Cilag Gmbh International | Staple cartridge comprising a seating cam |
US11304696B2 (en) | 2019-12-19 | 2022-04-19 | Cilag Gmbh International | Surgical instrument comprising a powered articulation system |
US11529139B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Motor driven surgical instrument |
US11446029B2 (en) | 2019-12-19 | 2022-09-20 | Cilag Gmbh International | Staple cartridge comprising projections extending from a curved deck surface |
US11529137B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
US11559304B2 (en) | 2019-12-19 | 2023-01-24 | Cilag Gmbh International | Surgical instrument comprising a rapid closure mechanism |
US11701111B2 (en) | 2019-12-19 | 2023-07-18 | Cilag Gmbh International | Method for operating a surgical stapling instrument |
US11576672B2 (en) | 2019-12-19 | 2023-02-14 | Cilag Gmbh International | Surgical instrument comprising a closure system including a closure member and an opening member driven by a drive screw |
USD966512S1 (en) | 2020-06-02 | 2022-10-11 | Cilag Gmbh International | Staple cartridge |
USD974560S1 (en) | 2020-06-02 | 2023-01-03 | Cilag Gmbh International | Staple cartridge |
USD967421S1 (en) | 2020-06-02 | 2022-10-18 | Cilag Gmbh International | Staple cartridge |
USD975851S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
USD975850S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
USD975278S1 (en) | 2020-06-02 | 2023-01-10 | Cilag Gmbh International | Staple cartridge |
USD976401S1 (en) | 2020-06-02 | 2023-01-24 | Cilag Gmbh International | Staple cartridge |
US20220031350A1 (en) | 2020-07-28 | 2022-02-03 | Cilag Gmbh International | Surgical instruments with double pivot articulation joint arrangements |
US11452526B2 (en) | 2020-10-29 | 2022-09-27 | Cilag Gmbh International | Surgical instrument comprising a staged voltage regulation start-up system |
US11779330B2 (en) | 2020-10-29 | 2023-10-10 | Cilag Gmbh International | Surgical instrument comprising a jaw alignment system |
US11517390B2 (en) | 2020-10-29 | 2022-12-06 | Cilag Gmbh International | Surgical instrument comprising a limited travel switch |
USD980425S1 (en) | 2020-10-29 | 2023-03-07 | Cilag Gmbh International | Surgical instrument assembly |
US11617577B2 (en) | 2020-10-29 | 2023-04-04 | Cilag Gmbh International | Surgical instrument comprising a sensor configured to sense whether an articulation drive of the surgical instrument is actuatable |
US11717289B2 (en) | 2020-10-29 | 2023-08-08 | Cilag Gmbh International | Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable |
USD1013170S1 (en) | 2020-10-29 | 2024-01-30 | Cilag Gmbh International | Surgical instrument assembly |
US11931025B2 (en) | 2020-10-29 | 2024-03-19 | Cilag Gmbh International | Surgical instrument comprising a releasable closure drive lock |
US11844518B2 (en) | 2020-10-29 | 2023-12-19 | Cilag Gmbh International | Method for operating a surgical instrument |
US11896217B2 (en) | 2020-10-29 | 2024-02-13 | Cilag Gmbh International | Surgical instrument comprising an articulation lock |
US11534259B2 (en) | 2020-10-29 | 2022-12-27 | Cilag Gmbh International | Surgical instrument comprising an articulation indicator |
US11678882B2 (en) | 2020-12-02 | 2023-06-20 | Cilag Gmbh International | Surgical instruments with interactive features to remedy incidental sled movements |
US11653920B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Powered surgical instruments with communication interfaces through sterile barrier |
US11944296B2 (en) | 2020-12-02 | 2024-04-02 | Cilag Gmbh International | Powered surgical instruments with external connectors |
US11890010B2 (en) | 2020-12-02 | 2024-02-06 | Cllag GmbH International | Dual-sided reinforced reload for surgical instruments |
US11744581B2 (en) | 2020-12-02 | 2023-09-05 | Cilag Gmbh International | Powered surgical instruments with multi-phase tissue treatment |
US11737751B2 (en) | 2020-12-02 | 2023-08-29 | Cilag Gmbh International | Devices and methods of managing energy dissipated within sterile barriers of surgical instrument housings |
US11849943B2 (en) | 2020-12-02 | 2023-12-26 | Cilag Gmbh International | Surgical instrument with cartridge release mechanisms |
US11627960B2 (en) | 2020-12-02 | 2023-04-18 | Cilag Gmbh International | Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections |
US11653915B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Surgical instruments with sled location detection and adjustment features |
US11751869B2 (en) | 2021-02-26 | 2023-09-12 | Cilag Gmbh International | Monitoring of multiple sensors over time to detect moving characteristics of tissue |
US11730473B2 (en) | 2021-02-26 | 2023-08-22 | Cilag Gmbh International | Monitoring of manufacturing life-cycle |
US11749877B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Stapling instrument comprising a signal antenna |
US11925349B2 (en) | 2021-02-26 | 2024-03-12 | Cilag Gmbh International | Adjustment to transfer parameters to improve available power |
US11812964B2 (en) | 2021-02-26 | 2023-11-14 | Cilag Gmbh International | Staple cartridge comprising a power management circuit |
US11793514B2 (en) | 2021-02-26 | 2023-10-24 | Cilag Gmbh International | Staple cartridge comprising sensor array which may be embedded in cartridge body |
US11744583B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Distal communication array to tune frequency of RF systems |
US11701113B2 (en) | 2021-02-26 | 2023-07-18 | Cilag Gmbh International | Stapling instrument comprising a separate power antenna and a data transfer antenna |
US11723657B2 (en) | 2021-02-26 | 2023-08-15 | Cilag Gmbh International | Adjustable communication based on available bandwidth and power capacity |
US11696757B2 (en) | 2021-02-26 | 2023-07-11 | Cilag Gmbh International | Monitoring of internal systems to detect and track cartridge motion status |
US11717291B2 (en) | 2021-03-22 | 2023-08-08 | Cilag Gmbh International | Staple cartridge comprising staples configured to apply different tissue compression |
US11826012B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Stapling instrument comprising a pulsed motor-driven firing rack |
US11723658B2 (en) | 2021-03-22 | 2023-08-15 | Cilag Gmbh International | Staple cartridge comprising a firing lockout |
US11806011B2 (en) | 2021-03-22 | 2023-11-07 | Cilag Gmbh International | Stapling instrument comprising tissue compression systems |
US11759202B2 (en) | 2021-03-22 | 2023-09-19 | Cilag Gmbh International | Staple cartridge comprising an implantable layer |
US11826042B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Surgical instrument comprising a firing drive including a selectable leverage mechanism |
US11737749B2 (en) | 2021-03-22 | 2023-08-29 | Cilag Gmbh International | Surgical stapling instrument comprising a retraction system |
US11857183B2 (en) | 2021-03-24 | 2024-01-02 | Cilag Gmbh International | Stapling assembly components having metal substrates and plastic bodies |
US11832816B2 (en) | 2021-03-24 | 2023-12-05 | Cilag Gmbh International | Surgical stapling assembly comprising nonplanar staples and planar staples |
US11944336B2 (en) | 2021-03-24 | 2024-04-02 | Cilag Gmbh International | Joint arrangements for multi-planar alignment and support of operational drive shafts in articulatable surgical instruments |
US11849944B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Drivers for fastener cartridge assemblies having rotary drive screws |
US11896219B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Mating features between drivers and underside of a cartridge deck |
US11793516B2 (en) | 2021-03-24 | 2023-10-24 | Cilag Gmbh International | Surgical staple cartridge comprising longitudinal support beam |
US11903582B2 (en) | 2021-03-24 | 2024-02-20 | Cilag Gmbh International | Leveraging surfaces for cartridge installation |
US11744603B2 (en) | 2021-03-24 | 2023-09-05 | Cilag Gmbh International | Multi-axis pivot joints for surgical instruments and methods for manufacturing same |
US11849945B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Rotary-driven surgical stapling assembly comprising eccentrically driven firing member |
US11896218B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Method of using a powered stapling device |
US11786239B2 (en) | 2021-03-24 | 2023-10-17 | Cilag Gmbh International | Surgical instrument articulation joint arrangements comprising multiple moving linkage features |
US11786243B2 (en) | 2021-03-24 | 2023-10-17 | Cilag Gmbh International | Firing members having flexible portions for adapting to a load during a surgical firing stroke |
US20220378426A1 (en) | 2021-05-28 | 2022-12-01 | Cilag Gmbh International | Stapling instrument comprising a mounted shaft orientation sensor |
US11877745B2 (en) | 2021-10-18 | 2024-01-23 | Cilag Gmbh International | Surgical stapling assembly having longitudinally-repeating staple leg clusters |
US11937816B2 (en) | 2021-10-28 | 2024-03-26 | Cilag Gmbh International | Electrical lead arrangements for surgical instruments |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS52155717A (en) | 1976-06-18 | 1977-12-24 | Agency Of Ind Science & Technol | Automatic transmission system for electric vehicle |
US4514665A (en) * | 1983-01-05 | 1985-04-30 | Towmotor Corporation | Current limit control circuit |
US4740898A (en) * | 1986-07-17 | 1988-04-26 | Deere & Company | Automatic engine/transmission control system |
US4772829A (en) * | 1987-05-21 | 1988-09-20 | Caterpillar Industrial Inc. | Apparatus for interactively accelerating an electric drive vehicle |
US5070959A (en) | 1989-11-20 | 1991-12-10 | General Electric Company | Work vehicle having an electric propulsion system with adapted overspeed limit for traction motors |
DE4011291A1 (en) | 1990-04-06 | 1991-10-17 | Magnet Motor Gmbh | ELECTRIC VEHICLE WITH INDIVIDUALLY CONTROLLED DRIVE ELECTRIC MOTORS |
DE4192435C1 (en) * | 1990-10-03 | 2002-08-29 | Hitachi Ltd | Control for electric vehicle |
US5162707A (en) | 1990-10-24 | 1992-11-10 | Fmc Corporation | Induction motor propulsion system for powering and steering vehicles |
US5251132A (en) * | 1991-02-05 | 1993-10-05 | Ford New Holland, Inc. | Clutch pressure control based on output shaft speed |
US5172784A (en) * | 1991-04-19 | 1992-12-22 | Varela Jr Arthur A | Hybrid electric propulsion system |
US5265018A (en) * | 1991-06-03 | 1993-11-23 | Ford New Holland, Inc. | Transmission speed matching control |
US5161405A (en) * | 1991-06-03 | 1992-11-10 | Ford New Holland, Inc. | Clutch pedal positon sensor continuous calibration |
US5105675A (en) * | 1991-06-03 | 1992-04-21 | Ford New Holland, Inc. | Creeper gear engagement/disengagement |
US5101688A (en) * | 1991-06-03 | 1992-04-07 | Ford New Holland, Inc. | Driveline engagement/disengagement |
US5280223A (en) | 1992-03-31 | 1994-01-18 | General Electric Company | Control system for an electrically propelled traction vehicle |
JPH06225403A (en) | 1993-01-25 | 1994-08-12 | Toyota Motor Corp | Controller for hybrid type electric motor vehicle |
US5568023A (en) * | 1994-05-18 | 1996-10-22 | Grayer; William | Electric power train control |
DE4425387C1 (en) | 1994-07-19 | 1996-04-11 | Schmetz Roland Dipl Wirtsch In | Agricultural tractor with electromechanical transmission |
US5627438A (en) * | 1995-01-25 | 1997-05-06 | Barrett; Robert D. | Pulsing control for an inertial drive system for a multi-motor binary array vehicle |
JP3539696B2 (en) * | 1995-02-10 | 2004-07-07 | 富士重工業株式会社 | Constant-speed running control device for electric vehicles |
US5939846A (en) * | 1997-09-04 | 1999-08-17 | General Electric Company | AC motorized wheel control system |
JP3536658B2 (en) * | 1998-03-31 | 2004-06-14 | 日産自動車株式会社 | Drive control device for hybrid vehicle |
-
2000
- 2000-06-27 US US09/604,148 patent/US6492785B1/en not_active Expired - Fee Related
- 2000-12-20 CA CA002329268A patent/CA2329268C/en not_active Expired - Fee Related
-
2001
- 2001-06-22 DE DE60109854T patent/DE60109854T2/en not_active Expired - Lifetime
- 2001-06-22 EP EP01115147A patent/EP1167110B1/en not_active Expired - Lifetime
- 2001-06-27 JP JP2001194285A patent/JP3811373B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
EP1167110B1 (en) | 2005-04-06 |
US6492785B1 (en) | 2002-12-10 |
DE60109854D1 (en) | 2005-05-12 |
JP3811373B2 (en) | 2006-08-16 |
EP1167110A3 (en) | 2003-07-30 |
CA2329268A1 (en) | 2001-12-27 |
JP2002058109A (en) | 2002-02-22 |
DE60109854T2 (en) | 2005-09-29 |
EP1167110A2 (en) | 2002-01-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CA2329268C (en) | Variable current limit control for vehicle electric drive system | |
US8348806B2 (en) | Construction machine and control method thereof | |
US7698044B2 (en) | Method and apparatus for braking and stopping vehicles having an electric drive | |
US8649926B2 (en) | Construction machine and control method thereof | |
CN103043056B (en) | Control vehicle wheel axle torque method and for its control system | |
US6454033B1 (en) | Electro-hydraulic vehicle with energy regeneration | |
JP3921109B2 (en) | Vehicle hybrid system | |
EP1728672B1 (en) | Controller for a hybride four-wheel-drive vehicle | |
JP4623195B2 (en) | Vehicle control apparatus and control method | |
JPH1127802A (en) | Braking controller for electric vehicle | |
CN105593092B (en) | The control device and control method of vehicle | |
JP3307282B2 (en) | Electric vehicle braking control device | |
JP4394069B2 (en) | Start interlock device for vehicle electric drive system | |
EP1958838B1 (en) | Vehicle drive system | |
JP5010555B2 (en) | Inching pedal system for hybrid industrial vehicles | |
JPH0993724A (en) | Electric automobile | |
US8374760B2 (en) | Control of multi-speed transmission | |
JP2005269793A (en) | Hybrid vehicle | |
JP2998007B2 (en) | Vehicle drive | |
US7458916B2 (en) | Control method and device for the propulsion motor unit of a motor vehicle driven by an internal combustion engine | |
CN201371748Y (en) | Device for controlling automobile shift with differential | |
JP2020121623A (en) | Brake control device of vehicle | |
JPH05211703A (en) | Braking controller of electric vehicle | |
JPS63305041A (en) | Apparatus for controlling rotational frequency of engine of agricultural service car |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
EEER | Examination request | ||
MKLA | Lapsed |