Steering system having multiple strategies and variable deadzone

• US 8,046,134 B2
• Filed: 10/20/2010
• Issued: 10/25/2011
• Est. Priority Date: 10/30/2006
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Ma, Yongmin, Huang, Xiaodong, Carr, Brent M., Krone, John J., Westphalen, Mark L., Edler, Brad A.
• Primary Examiner(s): Beaulieu; Yonel
• Application Number:
  US12/908,116
• Publication Number:
  US 20110035112A1
• Time in Patent Office: 370 Days
• Field of Search: 701 41- 44, 181 62- 624, 181/6.44, 475 18- 19, 180/6.2
• US Class Current: 701/42
• CPC Class Codes: B62D 12/00 Steering specially adapted for vehicles operating in tandem or having pivotally connected frames steering endless tracks or the like B62D11/00; steering specially adapted for trailers B62D13/00
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence
• CPC Class Codes: B62D 6/02 responsive only to vehicle speed

Abstract

A steering system for a machine having at least one steerable traction device is disclosed. The steering system may have a steering actuator operatively connected to the at least one steerable traction device, and a travel speed sensor configured to generate a signal indicative of a travel speed of the machine. The steering mechanism may also have an operator input device having a deadzone. The deadzone may vary in response to the signal. The steering system may also have a controller in communication with the steering actuator, the operator input device, and the travel speed sensor. The controller may be configured to affect operation of the steering actuator in response to operation of the operator input device only when the operation of the operator input device deviates from the deadzone.

Claims

1. A steering system for a machine having at least one steerable traction device, comprising:

an operator input device configured to produce steering signals indicative of a desired machine steering maneuver;

a steering actuator operatively connected to the at least one steerable traction device; and

a controller in communication with the steering actuator and being configured to;

control operation of the steering actuator in response to a position of the operator input device during a first operational condition; and

control operation of the steering actuator in response to a speed of the operator input device during a second operational condition,

wherein the position of the operator input device affects a steering command for operation of the steering actuator during the first operational condition, and

wherein the speed of the operator input device affects a steering command for operation of the steering actuator during the second operational condition.

2. The steering system of claim 1, wherein the first and second operational conditions are travel speeds of the machine.

3. The steering system of claim 1, wherein the first and second operational conditions are manual inputs from an operator indicating a desire for a particular steering control strategy.

4. The steering system of claim 1, wherein the controller is configured to modify a gain of the steering actuator in response to a travel speed of the machine.

5. The steering system of claim 4, wherein the controller is configured to limit the gain of the steering actuator to a value less than a maximum gain value when the travel speed of the machine is above a predetermined value.

6. The steering system of claim 1, wherein the operator input device includes a steering wheel.

7. The steering system of claim 1, wherein the operator input device includes a joystick.

8. The steering system of claim 1, wherein the operator input device includes a steering wheel and a joystick, and wherein the joystick controls operation of the steering actuator in response to a position of the joystick, and the steering wheel controls operation of the steering actuator in response to a speed of the steering wheel.

9. The steering system of claim 1, wherein the steering command is a steering velocity command.

10. A machine comprising:

at least one steerable traction device;

a steering actuator operatively coupled to the at least one steerable traction device;

an operator input device configured to produce steering signals indicative of a desired machine steering maneuver; and

a controller in communication with the steering actuator and being configured to;

control operation of the steering actuator in response to a position of the operator input device during a first operational condition; and

control operation of the steering actuator in response to a speed of the operator input device during a second operational condition,

wherein the position of the operator input device affects a steering command for operation of the steering actuator during the first operational condition, and

wherein the speed of the operator input device affects a steering command for operation of the steering actuator during the second operational condition.

11. The machine of claim 10, wherein the machine includes a forward end and a back end, and wherein the steering actuator is configured to pivot the forward end about an axis relative to the back end.

12. The machine of claim 10, wherein the first and second operational conditions are travel speeds of the machine.

13. The machine of claim 10, wherein the first and second operational conditions are manual inputs from an operator indicating a desire for a particular steering control strategy.

14. The machine of claim 10, wherein the controller is configured to modify a gain of the steering actuator in response to a travel speed of the machine.

15. The machine of claim 14, wherein the controller is configured to limit the gain of the steering actuator to a value less than a maximum gain value when the travel speed of the machine is above a predetermined value.

16. The machine of claim 10, wherein the operator input device includes a steering wheel.

17. The machine of claim 10, wherein the operator input device includes a joystick.

18. The machine of claim 10, wherein the operator input device includes a steering wheel and a joystick, and wherein the joystick controls operation of the steering actuator in response to a position of the joystick, and the steering wheel controls operation of the steering actuator in response to a speed of the steering wheel.

19. The machine of claim 10, wherein the steering command is a steering velocity command.

20. A method for steering a machine having at least one steerable traction device, the method comprising:

moving the at least one steerable traction device in response to a position of an operator input device during a first operational condition; and

moving the at least one steerable traction device in response to a speed of the operator input device during a second operational condition,

wherein the position of the operator input device affects a steering command for operation of the steering actuator during the first operational condition, and

wherein the speed of the operator input device affects a steering command for operation of the steering actuator during the second operational condition.