Motion-control system

• US 7,881,841 B2
• Filed: 12/28/2006
• Issued: 02/01/2011
• Est. Priority Date: 12/28/2006
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Dattilo, James Donald, Thomson, Norval Paul, Stahl, Wendell Dean, Proud, Marc Daniel, Cullen, Shawn I., Her, Kenneth K., Wilson, Arvil Duane
• Primary Examiner(s): Nguyen; Cuong H
• Application Number:
  US11/646,534
• Publication Number:
  US 20080162000A1
• Time in Patent Office: 1,496 Days
• Field of Search: 701 41- 42, 318/561, 180/6.2, 180/6.24, 180/6.62, 180/446
• US Class Current: 701/42
• CPC Class Codes: B62D 6/008 Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications

Abstract

A motion-control system includes an operator interface with an operator-input member and a controllable force feedback device drivingly connected to the operator-input member. The motion-control system may also include controls that regulate the motion of one or more moveable components, including adjusting a first operating parameter in a manner that depends at least in part on a control error between a target value of a second operating parameter and an actual value of the second operating parameter. The target value of the second operating parameter may be based at least in part on the motion of the operator-input member. The controls may also operate the controllable force feedback device to provide feedback force on the operator-input member in a manner that depends at least in part on the control error and such that the derivative of the feedback force with respect to the control error varies dependent at least in part on the control error.

Claims

1. A motion-control system, comprising:

an operator interface, including

an operator-input member;

a controllable force feedback device drivingly connected to the operator-input member; and

controls that regulate the motion of one or more moveable components, including adjusting a first operating parameter in a manner that depends at least in part on a control error between a target value of a second operating parameter and an actual value of the second operating parameter, the target value of the second operating parameter being based at least in part on the motion of the operator-input member; and

wherein the controls also operate the controllable force feedback device to provide feedback force on the operator-input member in a manner that depends at least in part on the control error and such that the derivative of the feedback force with respect to the control error varies dependent at least in part on the control error.

2. The motion-control system of claim 1, wherein the target value of the second operating parameter corresponds to the value of an input signal generated by the operator interface, the input signal corresponding to the position of the operator-input member.

3. The motion-control system of claim 2, wherein:

the controllable force feedback device includes a powered actuator;

operating the controllable force feedback device in a manner to provide the feedback force on the operator-input member in a manner that depends at least in part on the control error includes operating the powered actuator to apply the feedback force to the operator-input member in a manner such that, if an operator releases the operator-input member while the control error has a nonzero value, the controllable force feedback device drives the operator-input member toward a position where the control error would be zero.

4. The motion-control system of claim 1, wherein the target value of the second operating parameter is a target value of a position of one or more moveable components.

5. The motion-control system of claim 4, wherein:

the operator interface generates an input signal that corresponds to the position of the operator-input member; and

the input signal indicates the target value of the second operating parameter.

6. The motion-control system of claim 1, wherein the controls operate the controllable force feedback device in a manner such that

an average value of the derivative of the feedback force with respect to the control error over a first range of contra error values that extends up to a first positive control error value is higher than an average value of the derivative of the feedback force with respect to the control error over a second range of control error values that extends from the first positive control error value to a second positive control error value;

and

the average value of the derivative of the feedback force with respect to the control error over the second range of control error values is lower than an average value of the derivative of the feedback force with respect to the control error over a third range of control error values that extends up from the second positive control error value.

7. The motion-control system of claim 6, wherein the controls operate the controllable force feedback device in a manner such that the derivative of the feedback force with respect to the control error decreases in a stepped manner at the first positive control error value.

8. The motion-control system of claim 6, wherein the controls operate the controllable force feedback device in a manner such that the derivative of the feedback force with respect to the control error increases in a stepped manner at the second positive control error value.

9. The motion-control system of claim 1, wherein:

adjusting the first operating parameter of the motion-control system in a manner that depends at least in part on the control error includes increasing the value of the first operating parameter with increasing control error until a maximum capacity to increase the value of the first operating parameter is reached; and

at a control error value that substantially coincides with the controls reaching the maximum capacity to increase the value of the first operating parameter, the controls increase the derivative of the feedback force with respect to the control error.

10. The motion-control system of claim 1, wherein:

the motion-control system is a steering system of a mobile machine; and

the second operating parameter of the motion-control system relates to a trajectory of the mobile machine.

11. A method of operating a motion-control system, comprising:

adjusting a value of a first operating parameter of the motion-control system based at least in part on a control error between a target value of a second operating parameter and an actual value of a second operating parameter;

determining a target value of the second operating parameter of the motion-control system based at least in part on motion of an operator-input member of an operator interface of the motion-control system; and

operating a controllable force feedback device drivingly connected to the operator-input member to provide feedback force on the operator-input member in a manner that depends at least in part on the control error and such that a derivative of the feedback force with respect to the control error varies as a function of the control error.

12. The method of claim 11, wherein:

adjusting the value of the first operating parameter based at least in part on the control error includes increasing the value of the first operating parameter with increasing control error until a maximum capacity to increase the value of the first operating parameter is reached; and

providing the feedback force on the operator-input member in a manner that depends at least in part on the control error includes increasing a derivative of the feedback force with respect to the control error substantially coincident with reaching a maximum capacity to increase the value of the first operating parameter.

13. The method of claim 11, wherein providing the feedback force on the operator-input member in a manner that depends at least in part on the control error includes

decreasing the derivative of the feedback force with respect to the control error at a first positive value of control error;

and

increasing the derivative of the feedback force with respect to the control error at a second positive value of control error, the second positive value of control error being higher than the first.

14. The method of claim 13, wherein adjusting the value of the first operating parameter based at least in part on the control error includes increasing the value of the first operating parameter with increasing control error in a manner such that a maximum capacity to increase the first operating parameter is reached substantially coincident with the second positive control error value.

15. The method of claim 11, wherein:

the motion-control system is a steering system of a mobile machine; and

the second operating parameter relates to a trajectory of the mobile machine.

16. A steering system for a mobile machine, comprising:

an operator interface, including

an operator-input member;

a controllable force-feedback device drivingly connected to the operator-input member;

controls that operate the controllable force feedback device to provide feedback force on the operator-input member based at least in part on a control error between a target value of an operating parameter of the steering system and an actual value of the operating parameter, wherein the operating parameter is a steering angle of the mobile machine, and the controls regulate the feedback force in a manner such that

a derivative of the feedback force with respect to the control error decreases at a first positive control error value, and

the derivative of the feedback force with respect to the control error increases at a second positive control error value, the second positive control error value being higher than the first.

17. The steering system of claim 16, wherein the controls further regulate the feedback force in a manner such that

an average value of the derivative of the feedback force with respect to the control error over a first range of control error values extending up to the first positive control error value is higher than an average value of the derivative of the feedback force with respect to the control error over a second range of control error values extending from the first positive control error value to the second positive control error value;

and

the average value of the derivative of the feedback force with respect to the control error over the second range is lower than an average value of the derivative of the feedback force with respect to the control error over a third range of control error values extending up from the second positive control error value.

18. The steering system of claim 16, wherein the controls adjust the value of an additional operating parameter of the steering system as a function of the control error, including increasing the value of the additional operating parameter with increasing control error until a maximum capacity to increase the value of the additional operating parameter is reached substantially coincident with the second positive control error value.

19. The steering system of claim 18, wherein the additional operating parameter is the a rate of change of the turning radius of the mobile machine.