Method and apparatus for controlling slip

• US 6,317,676 B1
• Filed: 06/07/2000
• Issued: 11/13/2001
• Est. Priority Date: 06/07/2000
• Status: Expired due to Term

• Current Assignee: AGCO Corporation
• Original Assignee: Caterpillar Incorporated
• Inventors: Thate, Jeffrey M., Gengler, Eric P.
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US09/589,505
• Time in Patent Office: 524 Days
• Field of Search: 701/82, 701/50, 172/2, 172/4, 172/4.5, 180/9.4, 373/99
• US Class Current: 701/82
• CPC Class Codes: A01B 63/1117 using a hitch position sensor
• CPC Class Codes: E02F 3/844 for positioning the blade, e.g. hydraulically
• CPC Class Codes: E02F 9/2029 Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence

Abstract

Apparatuses and methods for controlling the slip of a work machine having a ground-engaging traction device and a hitch operable to receive a ground-engaging implement. A control system receives an actual velocity signal indicative of an actual velocity of the work machine, an apparent velocity signal indicative of an apparent velocity of the work machine, and a desired slip signal indicative of a desired slip of the work machine. The control system determines an actual derivative of slip of the work machine as a function of the actual velocity signal and the apparent velocity signal, and transmits a control signal as a function of the desired slip signal, the actual velocity signal, the apparent velocity signal, and the actual derivative of the slip. The control signal controls the vertical position of one of the hitch and the ground-engaging implement.

Claims

1. An apparatus for controlling slip of a work machine having a ground-engaging traction device and a hitch operable to receive a ground-engaging implement, comprising:

a first sensor operable to transmit an actual velocity signal as a function of a velocity of the work machine;

a second sensor operable to transmit an apparent velocity signal as a function of a velocity of the ground-engaging traction device;

a desired slip transmitter operable to transmit a desired slip signal as a function of a desired slip of the work machine; and

a control system coupled with the first and second sensors to receive the actual velocity signal and the apparent velocity signal, and coupled with the desired slip transmitter to receive the desired slip signal, the control system operable to determine an actual derivative of slip of the work machine as a function of the actual velocity signal and the apparent velocity signal, and further operable to transmit a control signal as a function of the desired slip signal, the actual velocity signal, the apparent velocity signal, and the actual derivative of slip, the control system operable to control the position of at least one of the hitch and the ground-engaging implement.

2. The apparatus of claim 1 further comprising the ground-engaging implement coupled with the hitch.

3. The apparatus of claim 1 wherein the velocity of the ground-engaging traction device is a function of a rotational velocity of the ground-engaging traction device and a diameter of a driving member of the ground-engaging traction device.

4. The apparatus of claim 1 wherein the desired slip transmitter is operable to transmit the desired slip signal to the control system as a function of an operator input.

5. The apparatus of claim 1 wherein the control signal is operable to raise and lower at least one of the hitch and the ground-engaging implement.

6. The apparatus of claim 1 wherein the control system comprises:

a first summer coupled with the first and second sensors to receive the actual and apparent velocity signals, the first summer operable to transmit an actual slip signal as a function of the difference between the actual and apparent velocity signals;

a second summer coupled with the desired slip transmitter to receive the desired slip signal and coupled with the first summer to receive the actual slip signal, the second summer operable to transmit a slip error signal as a function of the difference between the desired slip signal and the actual slip signal;

differentiator coupled with the first summer to receive the actual slip signal, the differentiator operable to transmit an actual derivative slip signal as a function of the actual slip signal;

a third summer coupled with the second summer and the differentiator to receive the slip error signal and the actual derivative slip signal, the third summer operable to transmit a derivative slip error signal as a function of the slip error signal and the derivative slip signal; and

a controller coupled with the third summer to receive the derivative slip error signal, the controller operable to transmit the control signal as a function of the derivative slip error signal.

7. The apparatus of claim 6 wherein the controller comprises a proportional plus integral controller.

8. The apparatus of claim 6, further comprising a signal multiplier disposed between the second summer and the third summer, the signal multiplier operable to receive the slip error signal from the second summer, to multiply the slip error signal by a predetermined gain, and to transmit the multiplied slip error signal to the third summer.

9. An apparatus for controlling slip of a work machine having a ground-engaging traction device and a hitch operable to receive a ground-engaging implement, comprising a controller operable to receive an actual velocity signal indicative of an actual velocity of the work machine, an apparent velocity signal indicative of an apparent velocity of the work machine, and a desired slip signal indicative of a desired slip of the work machine, the controller operable to determine an actual derivative of slip of the work machine as a function of the actual velocity signal and the apparent velocity signal, and further operable to transmit a control signal as a function of the desired slip signal, the actual velocity signal, the apparent velocity signal, and the actual derivative of slip, the control signal operable to control the vertical position of one of the hitch and the ground-engaging implement.

10. A work machine, comprising:

a frame;

a moveable hitch coupled with the frame;

a motor coupled with the frame and operable to exert a locomotive force;

a ground-engaging traction device coupled with the frame and coupled with the motor to receive the locomotive force, the ground-engaging traction device operable to propel the work machine as a function of the locomotive force;

a first sensor coupled with the frame, the first sensor operable to transmit an actual velocity signal as a function of a velocity of the work machine;

a second sensor coupled with the ground-engaging traction device, the second sensor operable to transmit an apparent velocity signal as a function of a velocity of the ground-engaging traction device;

a hitch height input coupled with the frame, the hitch height input operable to transmit a desired hitch height signal as a function of an operator input;

a desired slip transmitter coupled with the frame and operable to transmit a desired slip signal as a function of an operator input;

a first control system coupled with the first and second sensors to receive the actual velocity signal and the apparent velocity signal, and coupled with the desired slip transmitter to receive the desired slip signal, the controller operable to determine an actual derivative of slip of the work machine as a function of the actual velocity signal and the apparent velocity signal, and further operable to transmit a control signal as a function of the desired slip signal, the actual velocity signal, the apparent velocity signal, and the actual derivative of the slip;

a second control system coupled with the hitch height input to receive the desired hitch height signal and coupled with the first control system to receive the control signal, the second control system operable to transmit a second control signal as a function of the desired hitch height signal and the first control signal; and

an actuator coupled with the hitch and coupled with the second control system to receive the second control signal, the actuator operable to control the vertical position of the hitch as a function of the second control signal.

11. The work machine of claim 10 further comprising a ground-engaging work implement coupled with the hitch.

12. A method for controlling slip of a work machine having a hitch operable to receive a ground-engaging implement, comprising:

determining a desired slip of the work machine;

determining an actual slip of the work machine;

determining a derivative of the actual slip of the work machine; and

controlling the position of one of the hitch and the ground-engaging implement as a function of the desired slip, the actual slip, and the derivative of the actual slip of the work machine.

13. The method of claim 12 wherein the derivative of the slip comprises the rate of change of slip over a predetermined amount of time.

14. The method of claim 12 wherein the work machine includes a ground-engaging traction device, and determining the actual slip comprises:

determining a velocity of the work machine;

determining a velocity of the ground-engaging traction device; and

determining the actual slip as a function of the velocity of the work machine and the velocity of the ground-engaging traction device.

15. The method of claim 12 wherein controlling the position of the hitch comprises raising and lowering the hitch.