Vehicle center of gravity active suspension control system

• US 8,825,294 B2
• Filed: 07/28/2011
• Issued: 09/02/2014
• Est. Priority Date: 07/28/2011
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Norris, William R., Romig, Bernard E.
• Primary Examiner(s): Cheung, Calvin
• Assistant Examiner(s): Ramesh, Krishnan
• Application Number:
  US13/192,900
• Publication Number:
  US 20130030650A1
• Time in Patent Office: 1,132 Days
• Field of Search: 701/40
• US Class Current: 701/40
• CPC Class Codes: B60G 17/018 characterised by the use of a specific signal treatment or control method
• CPC Class Codes: B60G 17/0182 involving parameter estimation, e.g. observer, Kalman filter
• CPC Class Codes: B60G 2400/63 Location of the center of gravity
• CPC Class Codes: B60G 2600/1879 Fuzzy Logic Control
• CPC Class Codes: B60G 2800/915 Suspension load distribution

Abstract

A method of controlling a vehicle suspension system including the steps of detecting, computing and altering the center of gravity of the vehicle. The detecting step includes the detecting of a center of gravity of the vehicle thereby defining a detected center of gravity. The computing step includes computing what alteration of a plurality of actuators is needed to substantially reduce a value of a difference between the detected center of gravity and a preferred center of gravity using a fuzzy relations control strategy. The computing step is carried out in a controller. The altering step includes altering the center of gravity of the vehicle by way of the controller actuating at least one of the actuators connected to suspension elements of the vehicle dependent upon the alteration arrived at in the computing step.

Claims

1. A center of gravity control system for a vehicle, comprising:

a plurality of ground engaging traction devices connected to the vehicle by suspension elements;

a plurality of actuators connected to the suspension elements, the plurality of actuators configured to be activated to shift a center of gravity of the vehicle;

a plurality of sensors positioned about the vehicle; and

a controller connected to each of said plurality of actuators,

said controller configured to receive information from said plurality of sensors, said information relating to at least one of mass distributions of the vehicle and mass distributions of loads carried by the vehicle thereby defining distributed masses, and

said controller configured to compute a detected center of gravity of the vehicle based on the information and

to compute at least one alteration of said actuators needed to reduce a value of a difference between said detected center of gravity of the vehicle and a desired center of gravity using a fuzzy relations control strategy,

wherein based on the computed alteration said controller is configured to activate at least one of said plurality of actuators connected to the suspension elements of the vehicle to shift the center of gravity of the vehicle.

2. The center of gravity control system of claim 1, wherein certain ones of the plurality of sensors are positioned about a chassis of the vehicle and other ones of the plurality of sensors are positioned on the suspension elements of the vehicle.

3. The center of gravity control system of claim 2, wherein said controller is a multi-objective nonlinear controller that is configured to control fluid flow to the plurality of actuators.

4. The center of gravity control system of claim 1, wherein said computed alteration is computed in three dimensions.

5. The center of gravity control system of claim 1, wherein said fuzzy relations control strategy includes using fuzzy membership functions and linguistic variables without using rate of error changes as input to the fuzzy relations control strategy.

6. The center of gravity control system of claim 5, wherein the linguistic variables are used as classifiers within a rule based structure to define a relative importance of the fuzzy membership functions, and wherein the linguistic variables each have a corresponding degree of importance assigned thereto.

7. The center of gravity control system of claim 1, further comprising:

a load activating element connected between the vehicle and an acquired load external to the vehicle, wherein the desired center of gravity is dynamically determined based on the acquired load.

8. The center of gravity control system of claim 7, wherein the vehicle is one of an agricultural vehicle, a construction vehicle, and a forestry vehicle.

9. The center of gravity control system of claim 1, further comprising:

at least one three-dimensional laser that is used to predict the desired center of gravity based upon anticipated changes in terrain upon which the vehicle is travelling.

10. The center of gravity control system of claim 9, wherein said fuzzy relations control strategy includes said activation of said actuators dependent on a current state of the vehicle without any prior state input being provided to the fuzzy relations control strategy.

11. A method of controlling a center of gravity of a vehicle, the method comprising:

detecting the center of gravity of the vehicle thereby defining a detected center of gravity;

computing at least one alteration of a plurality of actuators needed to reduce a value of a difference between said detected center of gravity and a preferred center of gravity using a fuzzy relations control strategy,

said computing step being carried out in a controller and said plurality of actuators configured to be activated to shift the center of gravity of the vehicle; and

altering the center of gravity of the vehicle by way of said controller actuating at least one of said actuators connected to suspension elements of the vehicle dependent upon said alteration arrived at in said computing step.

12. The method of claim 11, wherein some of the plurality of sensors are positioned about a chassis of the vehicle and other of the plurality of sensors are positioned on the suspension elements of the vehicle.

13. The method of claim 12, wherein said controller is a multi-objective nonlinear controller that is configured to control fluid flow to the plurality of actuators.

14. The method of claim 11, wherein said computed alteration is computed in three dimensions.

15. The method of claim 11, wherein said fuzzy relations control strategy includes using fuzzy membership functions and linguistic variables without using rate of error changes as input to the fuzzy relations control strategy.

16. The method of claim 15, wherein the linguistic variables are used as classifiers within a rule based structure to define a relative importance of the fuzzy membership functions, and wherein the linguistic variables each have a corresponding degree of importance assigned thereto.

17. The method of claim 11, further comprising:

dynamically determining the desired center of gravity based on an acquired load external to the vehicle.

18. The method of claim 17, wherein the vehicle is one of an agricultural vehicle, a construction vehicle, and a forestry vehicle.

19. The method of claim 11, further comprising:

predicting the desired center of gravity based upon anticipated changes in terrain upon which the vehicle is travelling.

20. The method of claim 19, wherein said fuzzy relations control strategy includes said actuating of said actuators dependent on a current state of the vehicle without any prior state input being provided to the fuzzy relations control strategy.