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

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Fan, Zhejun
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US09/040,634
• Time in Patent Office: 958 Days
• Field of Search: 701/50, 701/41, 701/42, 701/67, 180/6.7, 180/8.7, 180/9.44, 180/9.64, 180/411, 180/422, 172/2, 172/7, 172/4.5, 192/54.3
• US Class Current: 701/50
• CPC Class Codes: B60W 10/02 including control of driveline clutches
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/16 Pitch
• CPC Class Codes: B60W 2520/18 Roll
• CPC Class Codes: B60W 2710/021 Clutch engagement state
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B60Y 2200/25 Track vehicles
• CPC Class Codes: B62D 11/08 using brakes or clutches as main steering-effecting means
• CPC Class Codes: B62D 11/183 Control systems therefor

Abstract

The present invention is an apparatus and method to control the steering of a tracked machine having a clutch/brake steering system. The tracked machine has a left drive and a right drive. The left drive has a clutch and brake and the right drive has a clutch and brake. The present invention includes a navigator to determine a desired trajectory, determine a desired left drive velocity and a desired right drive velocity, and generate desired left and right drive velocity signals. The present invention also includes a left speed sensor and a right speed sensor to determine actual left and right drive velocities, and generate actual left and right drive velocity signals. A clutch/brake controller is included to receive the desired left and right drive velocity signals and the actual left and right drive velocity signals, and control at least one of the left and right drive velocities.

Claims

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.

2. An apparatus, as set forth in claim 1, wherein the clutch/brake controller includes:

a left clutch controller and a left brake controller, the left clutch and left brake controllers being controllably coupled together to control the left drive velocity; and

a right clutch controller and a right brake controller, the right clutch and right brake controllers being controllably coupled together to control the right drive velocity.

3. An apparatus, as set forth in claim 2, wherein the external torque estimator is adapted to deliver the steering control external torque value to the left clutch controller and the right clutch controller.

4. An apparatus, as set forth in claim 3, wherein the external torque estimator includes means for determining an angle of inclination of the tracked machine.

5. An apparatus, as set forth in claim 4, wherein the means for determining an angle of inclination includes at least one of a pitch angle sensor and a roll angle sensor.

6. An apparatus, as set forth in claim 4, wherein the steering control external torque of the tracked machine is determined by:

space="preserve" listing-type="equation">T.sub.REST =M.sub.g [(K.sub.5 *sin(α

))-(K.sub.6 *COT)],

where T_REST is the steering control external torque of the tracked machine, M_g is the weight of the tracked machine, K₅ is a parameter indicating a center of gravity of the tracked machine, α

is the angle of inclination of the tracked machine, K₆ is a parameter indicating a torque due to a tractive force of the tracked machine, and COT is a coefficient of traction determined as a function of the material over which the tracked machine traverses.

7. An apparatus, as set forth in claim 2, wherein the clutch brake controller further includes:

a left brake valve signal generator adapted to receive a control signal from the left brake controller, and responsively control the left brake;

a left clutch valve signal generator adapted to receive a control signal from the left clutch controller, and responsively control the left clutch;

a right brake valve signal generator adapted to receive a control signal from the right brake controller; and

responsively control the right brake; and

a right clutch valve signal generator adapted to receive a control signal from the right clutch controller, and responsively control the right clutch.

8. An apparatus, as set forth in claim 2, wherein the clutch/brake controller further includes:

a left brake controller selector to determine a level of coupling of the left brake controller to the left clutch controller; and

a right brake controller selector to determine a level of coupling of the right brake controller to the right clutch controller.

9. A method 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, including the steps of:

determining a desired trajectory of motion of the tracked machine;

determining a desired left drive velocity and a desired right drive velocity as a function of the desired trajectory;

generating a desired left drive velocity signal and a desired right drive velocity signal;

determining an actual left drive velocity and responsively generating an actual left drive velocity signal;

determining an actual right drive velocity and responsively generating an actual right drive velocity signal;

determining a steering control external torque value of the tracked machine; and

controlling at least one of the left drive velocity and the right drive velocity as a function of the desired left drive velocity signal, the desired right drive velocity signal, the actual left drive velocity signal, the actual right drive velocity signal, and the steering control external torque value.

10. A method, as set forth in claim 9, wherein controlling at least one of the left drive velocity and the right drive velocity includes the steps of:

generating a control signal from a left brake controller to control the left brake;

generating a control signal from a left clutch controller to control the left clutch;

generating a control signal from a right brake controller to control the right brake; and

generating a control signal from a right clutch controller to control the right clutch.

11. A method, as set forth in claim 10, wherein controlling at least one of the left drive velocity and the right drive velocity further includes the steps of:

selecting a level of coupling of the left brake controller to the left clutch controller; and

selecting a level of coupling of the right brake controller to the right clutch controller.