Blade Control Apparatus for Work Vehicle Height Accuracy
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Solution Overview
Problem
A blade controlled by a hydraulic system in work vehicles may not follow changes in vehicle speed and blade load effectively, leading to poor controllability in forming a desired ground profile.
Innovation Solution
A blade control apparatus that calculates and adjusts the target height of the blade tip based on absolute position, vehicle inclination, and designed surface data, using a hydraulic cylinder to reduce the difference between estimated and target heights, while considering blade load data and vehicle speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the blade is controlled to be at a target height with high responsiveness, then the blade can quickly reach the desired position, but it cannot follow the changes in vehicle speed and blade load
Solution Approach 1:
The control apparatus predicts future blade height based on current operation instructions and actual height data. By calculating the estimated height at a future time point before实际控制 occurs, the system proactively adjusts control signals to compensate for hydraulic system delays, enabling the blade to follow desired profiles accurately while maintaining responsiveness to vehicle speed and load changes
Solution Approach 2:
The system continuously acquires actual blade height data and compares it with the estimated future height and target height. Based on this feedback loop, the control unit dynamically adjusts operation instructions to the hydraulic cylinder, ensuring the blade maintains target height while adapting to changing vehicle speed and blade load conditions
2Speed
If the blade control system responds quickly to maintain target height, then responsiveness is improved, but overshoots and undulations occur
Solution Approach 1:
By estimating the blade height at a future time point before the actual control action is executed, the system anticipates the blade's position and adjusts control signals in advance. This predictive approach prevents overshooting by accounting for hydraulic system response delays, while maintaining quick responsiveness to height deviations
Solution Approach 2:
The control apparatus calculates the estimated future height and uses this information to preemptively counteract potential overshoots and undulations. By adjusting control signals based on predicted future states rather than reacting to past errors, the system stabilizes blade height while preserving responsiveness
Data Source
AI summary
The blade control apparatus includes outputting an instruction to operate a hydraulic cylinder, calculating a target height of the blade tip according to absolute position data, vehicle body inclination angle data, and designed surface data, acquiring target height data at a first point of time, calculating an actual height of the blade tip at the first point of time according to the absolute position data, the vehicle body inclination angle data, and the cylinder length data, and estimating an estimated height of the blade tip at a third point of time later than the first point of time, according to an instruction at a second point of time earlier than the first point of time, and actual height data of the blade tip at the first point of time or a point of time earlier than the first point of time.