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Apparatus and method for controlling the steering of a tracked machine

  • US 6,141,613 A
  • Filed: 03/18/1998
  • Issued: 10/31/2000
  • Est. Priority Date: 03/18/1998
  • Status: Expired due to Fees
First Claim
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1. An apparatus for controlling the steering of a tracked machine having a clutch/brake steering system, the tracked machine having a left drive and a right drive, the left drive having a left clutch and a left brake, the right drive having a right clutch and a right brake, comprising:

  • a navigator located on the tracked machine to determine a desired trajectory, responsively determine a desired left drive velocity and a desired right drive velocity, and generate a desired left drive velocity signal and a desired right drive velocity signal, respectively;

    a left speed sensor located on the tracked machine to determine an actual left drive velocity and generate an actual left drive velocity signal;

    a right speed sensor located on the tracked machine to determine an actual right drive velocity and generate an actual right drive velocity signal; and

    a clutch/brake controller located on the tracked machine adapted to receive the desired left drive velocity signal, the desired right drive velocity signal, the actual left drive velocity signal, and the actual right drive velocity signal, and responsively control at least one of the left drive velocity and the right drive velocity;

    wherein the clutch/brake controller further includes an external torque estimator to determine a steering control external torque of the tracked machine, and responsively deliver a steering control external torque value to the clutch/brake controller.

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