Automatic articulation behavior during error and high speed conditions

• US 9,234,330 B2
• Filed: 03/17/2014
• Issued: 01/12/2016
• Est. Priority Date: 03/17/2014
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Sharma, Amit, Budde, Steven C., De Veer, Brad Van
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): PAIGE, TYLER D
• Application Number:
  US14/216,496
• Publication Number:
  US 20150259883A1
• Time in Patent Office: 666 Days
• Field of Search: 701/87, 701/41, 701/47, 180/400
• US Class Current: 1/1
• 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 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence
• CPC Class Codes: B62D 6/02 responsive only to vehicle speed
• CPC Class Codes: B62D 9/00 Steering deflectable wheels not otherwise provided for steering positon indicators B62D15/02
• CPC Class Codes: E02F 3/7659 with the vertical centre-line of the scraper blade disposed laterally relative to the central axis of the chassis
• CPC Class Codes: E02F 9/0841 Articulated frame, i.e. having at least one pivot point between two travelling gear units tractor-trailer combinations B62D53/00
• CPC Class Codes: E02F 9/2087 Control of vehicle steering for steering with hydraulic or pneumatic drives E02F9/225
• CPC Class Codes: E02F 9/225 Control of steering, e.g. for hydraulic motors driving the vehicle tracks steering in general B62D

Abstract

When engaged, an articulation controller automatically adjusts an angle of articulation between a front frame and a rear frame of a motor grader based on a steering angle of the front wheels. If a groundspeed of the motor grader exceeds a threshold groundspeed, the articulation controller enters a mode that only allows decreasing the angle of articulation of the motor grader. When the angle of articulation reaches zero, the articulation controller disengages until the groundspeed is reduced below the threshold groundspeed.

Claims

1. A method of operating a motor grader having front wheels that are steerable, the front wheels attached to a front frame, the front frame and a rear frame pivotally connected at an articulation joint, the method comprising:

engaging at an electronic controller an automatic articulation control function that controls articulation of the motor grader at the articulation joint based on a steering angle of the front wheels;

operating the motor grader at an articulation angle with a magnitude greater than a threshold angle between the front frame and the rear frame responsive to instructions from the electronic controller;

determining at the electronic controller that a condition exists that indicates automatic articulation control function should be disengaged;

responsive to the determination, configuring the automatic articulation control function to only allow decreasing the articulation angle; and

decreasing the articulation angle of the motor grader until the articulation angle reaches the threshold angle.

2. The method of claim 1, further comprising disengaging via the electronic controller, the automatic articulation control function after the articulation angle reaches the threshold angle.

3. The method of claim 1, wherein the condition is a groundspeed greater than a designated maximum groundspeed.

4. The method of claim 1, wherein the condition is an inability to determine a groundspeed at the electronic controller.

5. The method of claim 1, wherein the threshold angle is in a range of about −

0.2 degrees and +0.2 degrees of articulation between the front frame and the rear frame.

6. The method of claim 1, further comprising setting an indicator that the electronic controller is operating in a return-to-zero mode.

7. The method of claim 1, wherein decreasing the articulation angle comprises the automatic articulation control function decreasing the articulation angle responsive to a change in the steering angle of the front wheels.

8. A system that manages articulation in a motor grader having a front frame and a rear frame pivotally connected at an articulation joint, the system comprising:

a groundspeed sensor that reports a groundspeed of the motor grader;

a steering sensor that reports a steering angle of wheels attached to the front frame;

a control mechanism that changes an angle of the front frame relative to the rear frame; and

an electronic controller coupled to the groundspeed sensor, the steering sensor, and the control mechanism, the electronic controller including;

a groundspeed sensor input;

a steering angle sensor input;

an output configured to operate the control mechanism;

a memory configured to store executable instructions and data; and

a processor coupled to the groundspeed sensor input, the steering angle sensor input, the output, and the memory, the processor configured to execute stored executable instructions that cause the electronic controller, responsive to data from the steering sensor, to cause the control mechanism via the output to increase and decrease an angle of articulation when the groundspeed is less than a maximum groundspeed, and to cause the electronic controller to operate in a return-to-zero mode that only decreases the angle of articulation using the output when the groundspeed is greater than the maximum groundspeed.

9. The system of claim 8, wherein the processor is configured to execute further stored executable instructions that cause the electronic controller to cease controlling the control mechanism when the angle of articulation is within a threshold range of zero degrees and the groundspeed remains greater than the maximum groundspeed.

10. The system of claim 8, further comprising an articulation sensor coupled to the electronic controller, the articulation sensor reporting the angle of articulation between the front frame in the rear frame at the articulation joint.

11. The system of claim 8, wherein the control mechanism that changes the angle of articulation of the front frame relative to the rear frame is a hydraulic cylinder.

12. The system of claim 8, further comprising an indicator that is set by the electronic controller when the electronic controller is operating in the return-to-zero mode.

13. A method of controlling an articulation angle in a motor grader using an electronic controller, the method comprising:

receiving, at the electronic controller, a steering signal that indicates a non-zero steering angle;

setting, via the electronic controller, a non-zero articulation angle corresponding to the steering signal;

determining a groundspeed condition associated with disengaging the electronic controller from control of the articulation angle;

responsive to determining the groundspeed condition, operating the electronic controller in a return-to-zero mode that only processes steering signals associated with decreasing the articulation angle of the motor grader towards center;

reducing the articulation angle responsive to steering signals associated with decreasing the articulation angle; and

disengaging the electronic controller from control of the articulation angle when the articulation angle reaches approximately zero.

14. The method of claim 13, wherein the groundspeed condition is a groundspeed greater than a threshold groundspeed.

15. The method of claim 13, wherein the groundspeed condition is an inability to determine groundspeed at the electronic controller.

16. The method of claim 13, further comprising setting an indicator that the electronic controller is operating in the return-to-zero mode.