Agricultural Machine Speed Control with Dynamic Mass and Draft Loads
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Solution Overview
Problem
Current speed control and brake architectures in autonomous agricultural machines are limited by worst-case scenarios, leading to reduced productivity due to unnecessary speed restrictions based on maximum possible stopping distances, rather than dynamically changing vehicle masses and loads.
Innovation Solution
A computerized system that calculates stopping distances based on dynamically changing vehicle mass and draft loads, adjusting maximum speed limits to ensure effective stopping distances while optimizing productivity by allowing higher speeds when possible.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If speed control is limited to worst-case scenarios, then safety is ensured, but productivity decreases due to unnecessary speed restrictions
Solution Approach 1:
The system dynamically adjusts speed limits based on real-time vehicle mass and draft load conditions rather than using fixed worst-case speed restrictions. The controller continuously monitors changing vehicle mass (e.g., grain cart weight) and draft load (implement resistance) to calculate appropriate speed limits, allowing the vehicle to operate at higher speeds when conditions permit while maintaining safety margins.
Solution Approach 2:
The system changes the speed parameter dynamically based on measured vehicle mass and draft load. Instead of maintaining a constant conservative speed limit, the controller adjusts the maximum speed parameter in real-time according to actual operating conditions, thereby optimizing productivity while ensuring safe stopping distances are maintained.
2Reliability
If fixed maximum speed limits are used, then stopping distance safety is ensured, but operational efficiency decreases due to unnecessary speed restrictions
Solution Approach 1:
The system transitions from static fixed speed limits to dynamic speed limits that adapt to real-time vehicle mass and draft load conditions. The controller continuously calculates appropriate speed limits based on current operating parameters, enabling the vehicle to maintain safe stopping distances while operating at optimized speeds for each specific condition rather than being constrained by a fixed conservative limit.
3Reliability
If conservative speed limits are applied, then safety margins are maintained, but productivity is reduced due to unnecessary speed restrictions
Solution Approach 1:
The system implements feedback control by continuously monitoring vehicle mass and draft load conditions, comparing actual operating parameters against safety requirements, and adjusting speed limits accordingly. This closed-loop approach maintains appropriate safety margins while avoiding unnecessary conservative restrictions, as the controller only limits speed when actual conditions require it.
Solution Approach 2:
The system dynamically changes the speed limit parameter based on real-time measurements of vehicle mass and draft load. Instead of applying a fixed conservative speed limit, the controller adjusts the speed parameter to match actual operating conditions, maintaining safety margins only when necessary while maximizing productivity during favorable conditions.
Data Source
AI summary
One or more techniques and systems are disclosed for controlling a speed of an agricultural machine may comprise determining a mass of a vehicle system of the agricultural machine. The vehicle system may comprise the agricultural machine and one or more of a container and an implement operably connected to the agricultural machine. A controller may calculate a stopping distance of the agricultural machine based on a braking capacity for the agricultural machine and using one or more of a determined dynamically changing mass of the agricultural machine and the dynamically changing brake load of the implement. A maximum speed for the agricultural machine may be determined based on the calculated stopping distance and the speed of the agricultural machine, which may be controlled to be below the maximum speed.