Variable gain steering control system for a work machine

• US 6,148,939 A
• Filed: 12/22/1998
• Issued: 11/21/2000
• Est. Priority Date: 12/22/1998
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Ufheil, Steven T., Brookhart, Roy V.
• Primary Examiner(s): Hurley, Kevin
• Application Number:
  US09/218,922
• Time in Patent Office: 700 Days
• Field of Search: 180/6.2, 180/6.44, 180/6.48, 180/6.5, 180/333, 180/6.7, 701/41, 701/42
• US Class Current: 180/6.48
• CPC Class Codes: B62D 11/183 Control systems therefor

Abstract

A steering control system for controlling the steering of a work machine which utilizes differential speed control for maneuvering the machine wherein the operator of the work machine can select any one of a plurality of different steering modes which vary the gain of the operator input steering device based upon operating or environmental conditions, or based upon other sensed conditions of the work machine such as the ground speed of the machine. The present steering control system includes an operator input device actuatable to command a particular direction of movement of the work machine, a steering mode switch or other operator selectable mechanism for selecting any one of a plurality of different steering mode correlations established between actuation of the operator input device and operation of the respective left and right drive motors associated with the work machine, each steering mode correlation representing a different mode of operation of the left and right drive motors for the same input to the operator input device, and an electronic controller coupled with the operator input device and with the steering mode switch or other mechanism for receiving signals therefrom and for outputting signals to control the operation of the left and right drive motors in accordance with the selected steering mode.

Claims

1. A control system for controlling the steering of a work machine wherein the work machine utilizes differential speed control for turning the machine and likewise includes left and right drive motors for enabling the work machine to move in a plurality of directions, said control system comprising:

an operator input device actuatable to command a particular direction of movement of the work machine including fore and aft movement and turning movement of the work machine;

operator selectable means for selecting any one of a plurality of different steering mode correlations between the actuation of the operator input device and operation of the respective left and right drive motors, each steering mode correlation representing a different mode of operation of the left and right drive motors for the same input to the operator input device; and

an electronic controller coupled with said operator input device and with said operator selectable means for receiving signals therefrom, said controller being operable to receive a signal from said operator selectable means indicative of which steering mode correlation has been selected for use, and a signal from said operator input device indicative of a particular direction of movement of the work machine being commanded by the operator;

said controller outputting a signal to control the operation of the left and right drive motors in accordance with the selected steering mode correlation when said controller receives a signal from the operator selectable means indicative of which steering mode correlation has been selected for use, and a signal from said operator input device indicative of the particular direction of movement of the work machine being commanded by the operator.

2. The control system, as set forth in claim 1, wherein said operator input device is a two-axis joystick, one axis controlling fore and aft movement of the work machine and the other axis controlling left and right movement of the work machine.

3. The control system, as set forth in claim 1, wherein said operator selectable means includes a steering mode switch positionable to select any one of said plurality of steering mode correlations.

4. The control system, as set forth in claim 1, wherein said operator selectable means includes a computer system having operator selectable commands for selecting any one of said plurality of steering mode correlations.

5. The control system, as set forth in claim 1, wherein one of said plurality of steering mode correlations is a speed compensating mode based upon the ground speed of the work machine, said speed compensating mode including a plurality of different steering mode correlations, each steering mode correlation representing a different mode of operation of the left and right drive motors for the same input to the operator input device based upon the ground speed of the work machine, a different steering mode correlation existing for a predetermined incremental change in the work machine ground speed,

said control system further including a speed sensor associated with each of said left and right drive motors for determining the ground speed of the work machine,

said controller being coupled with said speed sensors for receiving signals therefrom indicative of the speed of the work machine,

said controller outputting a signal to control the operation of the left and right drive motors in accordance with one of the plurality of steering mode correlations associated with said speed compensating mode when said controller receives a signal from said operator selectable means indicative of the speed compensating mode having been selected for use, a signal from said speed sensors indicative of the ground speed of the work machine, and a signal from said operator input device indicative of the particular direction of movement of the work machine being commanded by the operator.

6. The control system, as set forth in claim 5, wherein the plurality of steering mode correlations associated with the speed compensating steering mode are structured such that movement of the operator input device in any particular direction to achieve a specific mode of operation of the left and right drive motors increases as the ground speed of the work machine increases.

7. The control system, as set forth in claim 1, wherein each of the left and right drive motors includes at least one solenoid for controlling the operation thereof, said controller outputting a signal to the appropriate solenoids associated with the left and right drive motors based upon the particular steering mode correlation selected by the operator selectable means and based upon the particular direction of movement of the work machine being commanded by the operator by actuation of the operator input device.

8. The control system, as set forth in claim 1, wherein the work machine includes an implement system and at least one work tool mountable to the implement system, and wherein at least one of said steering mode correlations is structured based upon parameters associated with the operation of the at least one work tool when such work tool is mounted to the work machine.

9. A steering control system for controlling the steering of a work machine which utilizes differential speed control for turning the machine wherein the work machine includes left and right drive motors for effecting fore and aft movement and turning movement of the work machine, said steering control system comprising:

an operator input device positionable to command a particular direction of movement of the work machine;

a steering mode switch positionable to select any one of a plurality of different steering mode gains effective between actuation of the operator input device and operation of the respective left and right drive motors, each steering mode gain representing a different mode of operation of the left and right drive motors for the same positioning of the operator input device, said plurality of different steering mode gains including a speed compensating mode based upon the ground speed of the work machine, said speed compensating mode including a plurality of different steering mode gains effective between the actuation of the operator input device and operation of the respective left and right drive motors when so selected, each steering mode gain associated with said speed compensating mode representing a different mode of operation of said left and right drive motors for the same operator input based upon the ground speed of the work machine, a different steering mode gain existing for a predetermined incremental change in work machine around speed when said speed compensating mode is selected;

an electronic controller coupled with said operator input device and with said steering mode switch for receiving signals therefrom, said controller being operable to receive a signal from said steering mode switch indicative of which steering mode gain has been selected for use, and a signal from said operator input device indicative of a particular direction of movement of the work machine being commanded by the operator;

said controller outputting a signal to control the operation of the left and right drive motors in accordance with the selected steering mode gain when said controller receives a signal from said steering mode switch indicative of which steering mode gain has been selected for use, and a signal from said operator input device indicative of the particular direction of movement of the work machine being commanded by the operator.

10. The steering control system, as set forth in claim 9, wherein said operator input device is a joystick, said joystick being movable in the fore, aft, left and right directions so as to generate a signal indicative of a particular direction of movement of the work machine based upon the positioning of said joystick relative to a neutral position.

11. The steering control system, as set forth in claim 9, wherein each of said left and right drive motors includes a solenoid for controlling the forward movement of the work machine and a solenoid for controlling the reverse movement of the work machine, said controller outputting appropriate signals to the respective forward and reverse solenoids associated with the left and right drive motors based upon the selected steering mode gain to control the operation of said left and right drive motors to achieve the particular direction of movement of the work machine being commanded by the operator through the positioning of the operator input device.

12. The steering control system, as set forth in claim 9, wherein said plurality of different steering mode gains further includes first and second steering mode gains, said steering mode switch being positionable to select either of said first steering mode gain or said second steering mode gain, said first steering mode gain being representative of normal operation of the left and right drive motors wherein full scale movement of said operator input device to command at least fore and aft movement of the work machine outputs a signal to initiate a predetermined operation of said drive motors, and said second steering mode gain being representative of a reduced operation of the left and right drive motors wherein full scale movement of said operator input device to command at least fore and aft movement of the work machine outputs a signal to initiate operation of said left and right drive motors at a level of operation which is less than the predetermined operation of said drive motors initiated by said first steering mode gain.

13. The steering control system, as set forth in claim 9, wherein

said steering control system further includes at least one speed sensor associated with the work machine for determining the ground speed thereof, said controller being coupled with said at least one speed sensor for receiving signals therefrom indicative of the ground speed of the work machine, said controller outputting a signal to control the operation of the left and right drive motors in accordance with the steering mode gain appropriate for the particular ground speed of the work machine when the controller receives a signal from said steering mode switch indicative of the speed compensating mode having been selected for use, a signal from said at least one speed sensor indicative of the ground speed of the work machine, and a signal from said operator input device indicative of the particular direction of movement of the work machine being commanded by the operator.

14. The steering control system, as set forth in claim 13, wherein the plurality of different steering mode gains associated with said speed compensating mode are structured such that a greater operator input to said operator input device is required to achieve a certain mode of operation of said left and right drive motors at faster work machine ground speeds as compared to slower work machine ground speeds.