Control system for reducing powertrain induced vibrations

• US 9,376,116 B1
• Filed: 03/09/2015
• Issued: 06/28/2016
• Est. Priority Date: 03/09/2015
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Wang, Jingdou, Ge, Xinyu, Zhang, Kai
• Primary Examiner(s): Alharbi, Adam
• Application Number:
  US14/642,291
• Time in Patent Office: 477 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B60W 2030/206 related or induced by the engine
• CPC Class Codes: E02F 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)
• CPC Class Codes: F16F 15/02 Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems F16F15/005 takes precedence ; layered products B32B; suppression of vibration in ships B63; relieving load on bearings, using magnetic means F16C39/06

Abstract

A vibration control system is disclosed for a machine having a powertrain secured by a mounting system. The control system may include a first sensor, a second sensor, a vibration inducing device, and a controller. The first sensor may be configured to generate a first signal indicative of a parameter of a work cycle of the machine, and the second sensor may be configured to generate a second signal indicative of vibrations induced by the powertrain. The controller may be in communication with the first sensor, the second sensor, and the vibration inducing device. The controller may be configured to classify a current operation of the machine as one of a plurality of predetermined segments of a work cycle based on the first signal, to predict a vibration profile that will be generated by the machine during a future segment of the work cycle, to tune a listening window based on the vibration profile, and to generate a command wave directed to the vibration inducing device to generate canceling vibrations during the future segments based on the second signal received within the listening window.

Claims

1. A vibration control system for a machine having a powertrain secured to the machine by a mounting system, comprising:

a first sensor configured to generate a first signal indicative of a parameter of a work cycle of the machine;

a second sensor configured to generate a second signal indicative of vibrations induced by the powertrain;

a vibration inducing device; and

a controller in communication with the first sensor, the second sensor, and the vibration inducing device, the controller being configured to;

classify a current operation of the machine as one of a plurality of predetermined segments of the work cycle based on the first signal;

predict a vibration profile that will be generated by the machine during a future segment of the work cycle;

tune a listening window based on the vibration profile; and

generate a command wave directed to the vibration inducing device to generate canceling vibrations during the future segment based on the second signal received within the listening window.

2. The control system of claim 1, wherein the vibration inducing device is configured to contact the mounting system and to offset vibrations induced by the powertrain.

3. The control system of claim 1, wherein the current operation is classified by determining a degree of probability based on parameters of a plurality of time points, and the degree of probability is compared to a threshold.

4. The control system of claim 1, wherein the controller includes memory having stored vibration profiles, and the controller is configured to update the stored vibration profiles based on the first and second signals.

5. The control system of claim 1, wherein the controller is further configured to adjust poles of the command wave to optimize a stability margin.

6. The control system of claim 1, wherein the parameter includes at least one of a payload, a grade, a travel direction, a transmission gear, and an engine speed.

7. The control system of claim 1, wherein the second sensor is configured to be positioned on at least one of the mounting system, the powertrain, a frame, and an operator station.

8. The control system of claim 1, wherein the controller is configured to modify the command wave depending on a capacity of the vibration inducing device.

9. The control system of claim 1, wherein the controller is configured to ignore vibrations having frequencies outside of the listening window.

10. The control system of claim 1, wherein the second sensor is configured to provide feedback to the controller.

11. A method of controlling vibrations of a machine having a powertrain, the method comprising:

sensing a parameter indicative of a work cycle of the machine and responsively generating a first signal;

classifying, by a controller, a current operation of the machine as one of a plurality of predetermined segments of the work cycle based on the first signal;

predicting, by a controller, a vibration profile that will be generated by the machine during a future segment of the work cycle;

tuning, by a controller, a listening window based on the vibration profile;

sensing vibrations induced by the powertrain and received within the listening window; and

generating, by a controller, a command wave based on the sensed vibrations to generate canceling vibrations during the future segment.

12. The method of claim 11, wherein the canceling vibrations offset vibrations induced by the powertrain.

13. The method of claim 11, further including tuning the listening window based on predicted non-powertrain induced vibrations.

14. The method of claim 11, further including filtering out vibrations according to a threshold of duration.

15. The method of claim 11, further including filtering out vibrations according to a threshold of amplitude.

16. The method of claim 11, further including adjusting poles of the canceling vibrations to optimize a stability margin.

17. The method of claim 11, further including modifying the command wave based on the capacity of the vibration inducing device.

18. The method of claim 11, further including ignoring vibrations having frequencies outside of the listening window.

19. The method of claim 11, further including accessing memory having stored vibration profiles, and updating the stored vibration profiles based on the first and second signals.

20. A machine comprising:

a frame;

an implement system connected to the frame and configured to perform a work cycle;

a powertrain supported by the frame and including an engine and a transmission; and

a vibration control system including;

a first sensor configured to generate a first signal indicative of a parameter of the work cycle;

a second sensor configured to generate a second signal indicative of vibrations induced by the powertrain;

a vibration inducing device; and

a controller in communication with the first sensor, the second sensor, and the vibration inducing device, the controller being configured to;

classify a current operation of the machine as one of a plurality of predetermined segments of the work cycle based on the first signal;

predict a vibration profile that will be generated by the machine during a future segment of the work cycle;

tune a listening window based on the vibration profile; and

generate a command wave directed to the vibration inducing device to generate canceling vibrations during the future segment based on the second signal received in the listening window.