Blade Control Device Corrected Design Surface for Slope Transitions
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Solution Overview
Problem
The hydraulic system controlling the blade in work vehicles experiences control delays when transitioning between surfaces of different slopes, leading to failure in following the design surface and excavating beyond the desired shape.
Innovation Solution
A blade control device with a corrected design surface generation unit that connects surfaces of different slopes and a blade control unit that outputs control commands based on this corrected surface to maintain the blade's height, ensuring accurate excavation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the blade control system uses a hydraulic system to control the blade height, then the blade can be controlled to follow the design surface, but control delay occurs when passing through boundaries between surfaces of different slopes, causing the blade to excavate beyond the design surface
Solution Approach 1:
The system performs preliminary action by predicting the future position of the blade based on current motion trends and the corrected design surface. Instead of reacting to actual position errors after they occur, the controller calculates where the blade will be and what the target height should be at that future position, allowing the hydraulic system to begin adjusting before the actual boundary crossing occurs. This predictive approach compensates for the inherent hydraulic delay.
Solution Approach 2:
The system implements feedback by continuously monitoring the blade's actual position, comparing it with the predicted target position on the corrected design surface, and adjusting the control commands accordingly. The feedback loop uses the relationship between blade motion trends and corrected design surface to dynamically adjust control parameters, ensuring the blade follows the desired trajectory even during boundary transitions between different slope surfaces.
2Adaptability or versatility
If the control system responds to the initial design surface with different slopes, then the blade can be controlled during transitions, but the control delay causes failure to follow the design surface accurately
Solution Approach 1:
The system applies parameter changes by modifying the design surface parameters to create a corrected design surface with continuous slopes. Instead of directly controlling the blade to follow the initial design surface with abrupt slope changes, the controller uses a corrected surface where the slope transitions gradually. This parameter modification of the target trajectory allows the hydraulic control system to track the blade position accurately without exceeding the design surface, even during boundary transitions.
Solution Approach 2:
The corrected design surface is prepared in advance by smoothing the slope transitions before the blade reaches the boundary areas. By pre-processing the design surface data to eliminate abrupt slope changes, the system provides a predictable target trajectory that the hydraulic control system can follow without experiencing large position errors that would require rapid, delayed corrections.
Data Source
AI summary
A blade control device includes: a corrected design surface generation unit that generates a corrected design surface connecting a first surface existing in front of a work vehicle and a second surface having a different slope from a slope of the first surface on an initial design surface indicating a target shape of an excavation object to be excavated using a blade of the work vehicle; and a blade control unit that outputs a control command to control a height of the blade based on the corrected design surface.