Adaptive Machine Speed Control for Cross-Track Error Reduction
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Solution Overview
Problem
Modern mobile machinery, such as agricultural and earthmoving machines, face challenges in maintaining precise control over velocity and horizontal steering due to sources like measurement device limitations, imprecise steering linkages, and external environmental factors, leading to cross track errors that affect efficiency and soil compaction.
Innovation Solution
A computer-implemented method that captures sensor data to estimate the actual position of the machine, calculates cross track errors, and adjusts velocity to reduce these errors by comparing actual and target cross track error metrics, using a velocity control loop in conjunction with a steering control loop to achieve optimal horizontal control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the machine operates at higher velocity to increase productivity, then productivity improves, but cross track error increases leading to reduced manufacturing precision
Solution Approach 1:
The system continuously measures actual position using sensors (GNSS, IMU, wheel encoders) and compares it to the desired guidance path, calculating cross-track error in real-time. This feedback loop enables dynamic velocity adjustment to maintain precision while operating at high speeds, resolving the contradiction between productivity and manufacturing precision.
Solution Approach 2:
The velocity control system dynamically adjusts operating velocity based on real-time cross-track error measurements and machine dynamics characteristics. By making velocity adaptive rather than fixed, the system can operate at higher average speeds while automatically reducing velocity when precision requirements demand, thus resolving the contradiction between productivity and manufacturing precision.
2Manufacturing precision
If steering linkage precision is increased to improve horizontal control, then manufacturing precision improves, but device complexity increases
Solution Approach 1:
The system replaces complex mechanical steering precision requirements with electronic control and sensor-based feedback. Instead of relying solely on precision mechanical linkages, the invention uses GNSS receivers, IMUs, and electronic velocity control to achieve high horizontal control accuracy, thereby reducing mechanical complexity while improving or maintaining precision.
Solution Approach 2:
The introduction of electronic sensors and control systems acts as an intermediary between the operator and the steering mechanism. This intermediary layer provides real-time position feedback and automated velocity adjustment, achieving high precision horizontal control without requiring overly complex mechanical steering linkages.
3Manufacturing precision
If measurement device precision is increased to reduce cross track error, then manufacturing precision improves, but device complexity increases
Solution Approach 1:
The system uses a multi-functional sensor suite where GNSS receivers, IMUs, and wheel encoders serve multiple purposes simultaneously. These sensors not only measure position for cross-track error calculation but also provide velocity, orientation, and terrain information. This multi-functionality reduces the need for additional specialized sensors, thereby limiting the increase in device complexity while improving measurement precision.
4Manufacturing precision
If velocity control adjustments are made frequently to reduce cross track error, then manufacturing precision improves, but loss of time increases due to continuous velocity changes
Solution Approach 1:
The system calculates predicted cross-track error based on current position, velocity, and guidance path information before the deviation occurs. By taking preliminary action to adjust velocity in anticipation of potential deviations, the system maintains precision without requiring continuous reactive adjustments, thereby reducing time loss while improving manufacturing precision.
Data Source
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AI summary
Described herein are systems, methods, and techniques for controlling a velocity of an implement-equipped machine (150). An actual position (122) of the implement-equipped machine is estimated based on sensor data captured using the machine's sensors (155). A cross track error (168) between a target position (129) and the actual position is calculated. An actual cross track error metric is calculated based on the cross track error. The actual cross track error metric is compared to a target cross track error metric to determine a velocity adjustment, where the velocity adjustment is determined so as to reduce a difference between the actual cross track error metric and the target cross track error metric. The velocity of the implement-equipped machine (150) is adjusted by the velocity adjustment.