System and method for controlling slip
First Claim
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1. A system for automated control of a ground-engaging traction device of a machine having a drive system, the traction device engaging a ground surface, the system comprising:
- a drive sensor configured to provide a drive signal indicative of a speed of the ground-engaging traction device;
a first sensor configured to provide an acceleration signal indicative of a measured acceleration of the machine;
a second sensor configured to provide a pitch rate signal indicative of a measured pitch rate of the machine; and
a controller configured to;
determine a drive acceleration based upon the drive signal;
determine a ground acceleration based upon the acceleration signal and the pitch rate signal, the ground acceleration being parallel to the ground surface;
compare the drive acceleration to the ground acceleration;
determine a command signal at least in part based upon an operator input command signal and a difference between the drive acceleration and the ground acceleration; and
transmit the command signal to the drive system to control the ground-engaging traction device.
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Abstract
A system for automated control of a ground-engaging traction device includes sensors to indicate a speed of the ground-engaging traction device, an acceleration of the machine, and a pitch rate of the machine. A controller determines a drive acceleration based upon the speed, and a ground acceleration based upon the acceleration and the pitch rate. The controller determines a command signal at least in part based upon an operator input command signal and a difference between the drive acceleration and the ground acceleration. A method is also provided.
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Citations
20 Claims
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1. A system for automated control of a ground-engaging traction device of a machine having a drive system, the traction device engaging a ground surface, the system comprising:
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a drive sensor configured to provide a drive signal indicative of a speed of the ground-engaging traction device; a first sensor configured to provide an acceleration signal indicative of a measured acceleration of the machine; a second sensor configured to provide a pitch rate signal indicative of a measured pitch rate of the machine; and a controller configured to; determine a drive acceleration based upon the drive signal; determine a ground acceleration based upon the acceleration signal and the pitch rate signal, the ground acceleration being parallel to the ground surface; compare the drive acceleration to the ground acceleration; determine a command signal at least in part based upon an operator input command signal and a difference between the drive acceleration and the ground acceleration; and transmit the command signal to the drive system to control the ground-engaging traction device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for automated control of a ground-engaging traction device of a machine having a drive system, the traction device engaging a ground surface, the system comprising:
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a drive sensor configured to provide a drive signal indicative of a speed of the ground-engaging traction device; a first sensor configured to provide an acceleration signal indicative of a measured acceleration of the machine; a second sensor configured to provide a pitch rate signal indicative of a measured pitch rate of the machine; and a controller configured to; determine a drive acceleration based upon the drive signal; determine a ground acceleration based upon the acceleration signal and the pitch rate signal, the ground acceleration being parallel to the ground surface; compare the drive acceleration to the ground acceleration; generate a slip factor based upon a difference between the drive acceleration and the ground acceleration; determine a command signal at least in part based upon an operator input command signal, the slip factor, and a difference between the drive acceleration and the ground acceleration; and transmit the command signal to the drive system to control the ground-engaging traction device. - View Dependent Claims (13)
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14. A method for controlling a ground-engaging traction device of a machine having a drive system, the traction device engaging a ground surface, the method comprising:
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receiving a drive signal at a controller indicative of a speed of the ground-engaging traction device; receiving an acceleration signal at the controller indicative of a measured acceleration of the machine; receiving a pitch rate signal at the controller indicative of a measured pitch rate of the machine; determining a drive acceleration based upon the drive signal; determining a ground acceleration based upon the acceleration signal and the pitch rate signal, the ground acceleration being parallel to the ground surface; comparing the drive acceleration to the ground acceleration; determining a command signal at least in part based upon an operator input command signal and a difference between the drive acceleration and the ground acceleration; and transmitting the command signal from the controller to the drive system to control the ground-engaging traction device. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification