Adaptive Earthmoving Implement Control System
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Solution Overview
Problem
Controlling the movement of earthmoving machine implements, such as dozer blades or buckets, is complex and time-consuming, requiring expert skill, and existing automatic control systems can be unstable due to varying machine speeds and loading conditions, leading to suboptimal final grades and potential resonance issues.
Innovation Solution
A control system comprising a speed sensor, grade control system, implement position sensor, and controller that generates machine control commands based on speed, desired position, and loading conditions, using dynamic proportional, integral, and derivative gains to stabilize movement and achieve precise positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If automatic control system is used to position the implement, then operator skill requirement is reduced, but system stability deteriorates under varying machine speeds and loading conditions
Solution Approach 1:
The control system dynamically adjusts proportional, integral, and derivative gains based on real-time machine speed and loading conditions. The controller modifies control parameters adaptively to maintain stability across varying operating conditions, transforming a static control system into a dynamic one that responds to changing工况.
Solution Approach 2:
The system implements feedback control by continuously monitoring implement position, machine speed, and loading conditions. The controller uses this feedback information to adjust control commands and stabilize the implement movement, ensuring reliable operation under varying conditions through closed-loop control.
2Device complexity
If implement positioning is performed manually by operator, then system complexity is reduced, but positioning precision and time consumption increase
Solution Approach 1:
The patent replaces manual mechanical control with an automated electronic control system that uses sensors, controllers, and actuators. This substitution enables precise positioning through electronic control commands while reducing the complexity of manual operation requirements.
Solution Approach 2:
The control system performs self-adjustment by automatically monitoring its own performance through position sensors and loading sensors, then modifying control parameters without external intervention. This self-service capability maintains high positioning precision while reducing the need for complex manual adjustment procedures.
3Device complexity
If control system uses fixed gains, then device complexity is reduced, but adaptability to varying speeds and loading conditions deteriorates
Solution Approach 1:
The control system transitions from fixed gains to dynamic gains that automatically adapt to varying machine speeds and loading conditions. The controller modifies proportional, integral, and derivative gains in real-time based on sensor feedback, enabling the system to maintain optimal performance across different operating conditions.
Solution Approach 2:
The system changes control parameters (gains) dynamically based on operating conditions. The controller adjusts proportional gain, integral gain, and derivative gain as functions of machine speed and loading, allowing the control system to adapt to varying conditions without requiring complex reconfiguration.
4Productivity
If autonomous grade control system is implemented, then productivity is improved, but resonance issues and grading quality deterioration may occur under varying conditions
Solution Approach 1:
The system uses feedback from position sensors and loading sensors to continuously monitor and adjust implement positioning. This feedback mechanism enables the controller to compensate for resonance conditions and maintain high grading quality while operating at varying speeds and under different loading conditions.
Solution Approach 2:
The control system dynamically adjusts damping and stiffness characteristics through adaptive gain modification. By changing control parameters in response to detected resonance conditions and loading variations, the system maintains stable operation and high grading precision across varying productivity conditions.
Data Source
AI summary
The disclosure describes a control system for controlling the movement of an implement associated with a machine. The control system includes a speed sensor, a grade control system, an implement position sensor, and a controller. The speed sensor is configured to generate a speed signal indicative of a machine speed. The grade control system is configured to generate a desired implement position signal indicative of a desired implement position. The implement position sensor is configured to generate an implement position signal indicative of a position of the implement. The controller is configured to generate a machine control command to move the implement as a function of the speed signal, the desired implement position signal, and the implement position signal.