Agricultural Steering Control With Pivot-Angle Collision Limits
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Solution Overview
Problem
Existing agricultural machine steering systems complicate maneuverability, especially on curved tracks or in tight spaces, requiring excessive effort and risking collisions by limiting steering angles based on component clearance rather than operational needs.
Innovation Solution
The system limits the pivot angle of the pendulum axis relative to the vehicle frame based on a predetermined maximum steering angle, allowing larger angles for efficient operation while preventing collisions by using adjustable mechanical or hydraulic means to control wheel movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the maximum steering angle is limited based on wheel suspension deflection to prevent collisions, then collision avoidance is improved, but maneuverability deteriorates
Solution Approach 1:
The patent applies dynamics by making the pendulum axis itself adjustable rather than fixed. The control system dynamically changes the pivot angle of the pendulum axis relative to the vehicle frame based on operating conditions, allowing the steering system to adapt between collision prevention mode and maneuverability mode. This resolves the contradiction by making the limitation dynamic rather than static.
Solution Approach 2:
The patent changes the parameter of pendulum axis orientation by allowing pivoting about a pivot axis. The maximum permissible pivot angle is adjusted as a variable parameter based on the specified maximum steering angle, transforming the fixed geometric constraint into an adjustable parameter that can be optimized for different operational requirements.
2Manufacturing precision
If the pendulum axis pivot angle is limited to ensure maximum steering angle, then steering precision is improved, but operational flexibility deteriorates
Solution Approach 1:
The patent makes the steering system universal by enabling it to serve multiple functions: precise steering control when needed and enhanced maneuverability when required. The control system selects between different maximum steering angles (and corresponding pendulum axis pivot angles) based on the specified operating mode, allowing the same hardware to adapt to diverse operational requirements without sacrificing precision in any given mode.
Data Source
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AI summary
An agricultural machine (1), in particular a tractor, comprises: - a vehicle frame (2), - at least two wheel axles (3), - at least three wheels (5, 6) and - a steering system (7), wherein the wheel axles (3, 4) are connected to the vehicle frame (2) at least indirectly in a force-transmitting manner, wherein at least one wheel axle (3) is formed by a pivoting axle (4) which is pivotably mounted relative to the vehicle frame (2) about a pivot axis (10), wherein at least one wheel (5) on the pivoting axle (3) is formed by a steerable wheel (5) which is pivotable relative to the pivoting axle (4) about a steering axis (19) such that a steering angle (8) of the steerable wheel (5) relative to a longitudinal direction (18) of the machine (1) can be changed, wherein the steering behavior of the machine (1) can be improved by means of the steering system (7) while avoiding a collision of the steerable wheel (5) with other machine parts.To optimize steering behavior in different operating modes and simultaneously prevent collisions between a steerable wheel (5) and other machine parts, it is proposed that, by means of the control system (7), a pivot angle (22) about the pivot axis (10) relative to the vehicle frame (2) can be limited by means of the control system (7) depending on a predefinable steering angle (8) of the steerable wheel (5). Furthermore, a method for steering an agricultural machine (1) is described.