Automatic steering system and method for a work vehicle with feedback gain dependent on a sensed payload
First Claim
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1. An automatic steering system for a work vehicle comprising:
- a position sensor for detecting a position of the vehicle;
a fill-state sensor for detecting optically or ultrasonically a height of material in a tank of the vehicle to calculate a sensed payload as a volume of the material in the tank;
a memory for storing information about a nominal path of the vehicle; and
a control unit coupled to the position sensor, to the memory and to a steering actuator, the control unit configured to submit control signals to the steering actuator that depend upon a feedback gain and a lateral offset between the actual position and the nominal path, wherein the feedback gain for the steering actuator depends upon the sensed payload of the vehicle and where the feedback gain increases linearly with the payload.
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Abstract
An automatic steering system for a work vehicle comprises a position sensor for detecting a position of the vehicle, a memory for storing information about a nominal path of the vehicle and a control unit coupled to the position sensor, to the memory and to a steering actuator for steering the vehicle. The control submits control signals to the steering actuator that depend upon a feedback gain and a lateral offset between the actual position and the nominal path. The feedback gain depends upon a sensed payload of the vehicle.
80 Citations
10 Claims
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1. An automatic steering system for a work vehicle comprising:
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a position sensor for detecting a position of the vehicle; a fill-state sensor for detecting optically or ultrasonically a height of material in a tank of the vehicle to calculate a sensed payload as a volume of the material in the tank; a memory for storing information about a nominal path of the vehicle; and a control unit coupled to the position sensor, to the memory and to a steering actuator, the control unit configured to submit control signals to the steering actuator that depend upon a feedback gain and a lateral offset between the actual position and the nominal path, wherein the feedback gain for the steering actuator depends upon the sensed payload of the vehicle and where the feedback gain increases linearly with the payload. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for automatic steering a work vehicle comprising:
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storing information about a nominal path of the vehicle; detecting a position of the vehicle; optically or ultrasonically sensing a height of material within a tank of the vehicle to calculate a payload of the vehicle as a volume of material in the tank; determining a feedback gain for the steering actuator, the feedback gain dependent upon the volume of the sensed payload, where the feedback gain increases linearly with the payload; and steering the vehicle dependent upon the feedback gain and a lateral offset between the actual position and the nominal path. - View Dependent Claims (8, 9, 10)
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Specification