Method and device for ascertaining the steering angle of a steerable machine
First Claim
1. A method for ascertaining a steering angle (α
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3) of at least one steerable wheel of a set of steerable wheels of a machine that can be directionally controlled, which machine comprises at least said set of steerable wheels and at least one set of drivable wheels having a specific wheelbase (a1) relative to said steerable wheels and spaced from one another by a track width (b1), comprising;
detecting a wheel velocity of the at least two drivable wheels;
ascertaining a wheel velocity difference (Δ
v) between velocities (v1;
v2) of said two drivable wheels;
ascertaining a yaw rate (ψ
) using the relationship
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Accused Products
Abstract
The present invention relates to a device and method for ascertaining the steering angle (α3) of at least one steerable wheel of a set of steerable wheels of a machine that can be directionally controlled, which machine comprises at least said set of steerable wheels and at least one set of drivable wheels showing a specific wheelbase (a1) relative to said steerable wheels and spaced from one another by a specific track width (b1), wherein by means of an ascertained wheel velocity difference of the two driven wheels a yaw rate (ψ) and a real circle radius (r1) of the driven wheel on the inside of the curve are ascertained. It is then possible to ascertain the steering angle (α) from these values by way of the geometrical relationship of wheelbase (a1) and track width (b1) of the machine.
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Citations
16 Claims
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1. A method for ascertaining a steering angle (α
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3) of at least one steerable wheel of a set of steerable wheels of a machine that can be directionally controlled, which machine comprises at least said set of steerable wheels and at least one set of drivable wheels having a specific wheelbase (a1) relative to said steerable wheels and spaced from one another by a track width (b1), comprising;
detecting a wheel velocity of the at least two drivable wheels; ascertaining a wheel velocity difference (Δ
v) between velocities (v1;
v2) of said two drivable wheels;ascertaining a yaw rate (ψ
) using the relationship - View Dependent Claims (2, 3, 4, 5, 6, 7)
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3) of at least one steerable wheel of a set of steerable wheels of a machine that can be directionally controlled, which machine comprises at least said set of steerable wheels and at least one set of drivable wheels having a specific wheelbase (a1) relative to said steerable wheels and spaced from one another by a track width (b1), comprising;
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8. A method for ascertaining a steering angle (α
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3) of at least one steerable wheel of a set of steerable wheels of a machine that can be directionally controlled, which machine comprises at least said set of steerable wheels and at least one set of drivable wheels having a specific wheelbase (a1) relative to said steerable wheels and spaced from one another by a track width (b1), comprising;
detecting a wheel velocity (v1;
v2), or a measured value directly related thereto, such as the revolution count (n1;
n2), of the at least two drivable wheels;ascertaining a real circle radius (r1) of the driven wheel (1) on an inside of a curve using the relationship - View Dependent Claims (9, 10, 11, 12, 13, 14)
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3) of at least one steerable wheel of a set of steerable wheels of a machine that can be directionally controlled, which machine comprises at least said set of steerable wheels and at least one set of drivable wheels having a specific wheelbase (a1) relative to said steerable wheels and spaced from one another by a track width (b1), comprising;
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15. A device for ascertaining a steering angle (α
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3) of at least one steerable wheel of a set of steerable wheels of a machine that can be directionally controlled, which machine comprises at least said set of steerable wheels and at least one set of drivable wheels having a specific wheelbase (a1) relative to said steerable wheels and spaced from one another by a track width (b1), said device comprising;
a plurality of wheel velocity sensors for detecting respective wheel velocities (v1, v2) of said drivable wheels, and a control device adapted to receive the detected wheel velocities (v1, v2) of said driven wheels, from which the control device ascertains the steering angle (α
3) of at least one steerable wheel using at least one of the following relationships; - View Dependent Claims (16)
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3) of at least one steerable wheel of a set of steerable wheels of a machine that can be directionally controlled, which machine comprises at least said set of steerable wheels and at least one set of drivable wheels having a specific wheelbase (a1) relative to said steerable wheels and spaced from one another by a track width (b1), said device comprising;
Specification