Closed loop transmission torque control
First Claim
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1. A method for providing, in a machine including a hydrostatic transmission, output torque control having situation-based system response, the method comprising:
- maintaining a plurality of state-based gain schedules associated with situational states of the machine;
determining machine operational values for the machine;
determining, by a situational state calculator, a situational state of the machine based on the machine operational values;
selecting, by a situational gain scheduler, a gain value based on the situational state of the machine, the selecting including at least specifying one of the plurality of state-based gain schedules based upon the situational state of the machine; and
executing output torque control of the hydrostatic transmission via a closed loop control module and an open loop control module, wherein the closed loop control module applies the gain value to render a closed loop torque control output value.
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Abstract
The described system and method provide improved transmission performance and response with closed loop torque feedback by implementing situational gain scheduling and nonlinear control techniques for continuously variable transmissions. The system uses contextual information regarding the operation of the machine to determine a gain to be applied in associated PID control logic. In an embodiment, the determined gain is applied in the integral portion of the closed loop controller.
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Citations
20 Claims
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1. A method for providing, in a machine including a hydrostatic transmission, output torque control having situation-based system response, the method comprising:
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maintaining a plurality of state-based gain schedules associated with situational states of the machine; determining machine operational values for the machine; determining, by a situational state calculator, a situational state of the machine based on the machine operational values; selecting, by a situational gain scheduler, a gain value based on the situational state of the machine, the selecting including at least specifying one of the plurality of state-based gain schedules based upon the situational state of the machine; and executing output torque control of the hydrostatic transmission via a closed loop control module and an open loop control module, wherein the closed loop control module applies the gain value to render a closed loop torque control output value. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A controller for providing, in a machine including a hydrostatic transmission, output torque control having situation-based system response, the controller comprising a non-transitory computer readable medium having thereon computer executable instructions executed by the controller to facilitate performing the steps comprising:
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maintaining a plurality of state-based gain schedules associated with situational states of the machine; determining machine operational values for the machine; determining, by a situational state calculator, a situational state of the machine based on the machine operational values; selecting, by a situational gain scheduler, a gain value based on the situational state of the machine, the selecting including at least specifying one of the plurality of state-based gain schedules based upon the situational state of the machine; and executing output torque control of the hydrostatic transmission via a closed loop control module and an open loop control module, wherein the closed loop control module applies the gain value to render a closed loop control output value. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A machine for employing transmission, in a machine, output torque control having situation-based system response, the machine comprising:
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a hydrostatic transmission; a plurality of user input elements operable by a machine user to affect the operation of the hydrostatic transmission; a plurality of state-based gain schedules associated with situational states of the machine; a measurement facility for determining machine operational values for the machine; and a controller configured with a non-transitory computer-readable medium including computer-executable instructions facilitating; determining a situational state of the machine based on the machine operational values, selecting a gain value based on the situational state of the machine, the selecting including at least specifying one of the plurality of state-based gain schedules based upon the situational state of the machine, and executing output torque control of the hydrostatic transmission via a closed loop control module and an open loop control module, wherein the closed loop control module applies the gain value to render a closed loop control output value. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification