Work Vehicle Blade Control for Faster Slip Recovery
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Solution Overview
Problem
Existing control systems for work vehicles delay emergence from slip during excavation due to prolonged time for the blade tip to move from the stuck position, leading to repeated slip occurrences.
Innovation Solution
A control system that raises the virtual design surface when the blade tip is positioned below the initial target surface during slip, allowing the blade to move along a changed surface and quickly regain contact with the ground, thereby reducing slip repetition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the blade is controlled to rise with respect to the vehicle body when slip occurs, then the load on the blade is reduced, but the time for the front part of the vehicle to contact the ground is prolonged
Solution Approach 1:
The invention changes the control dimension from relative blade-vehicle motion to absolute blade-ground motion. By controlling the blade tip to maintain a predetermined distance above the ground surface rather than simply raising the blade relative to the vehicle body, the system achieves faster emergence from slip while maintaining slip avoidance effectiveness.
2Reliability
If the blade is controlled to rise with respect to the vehicle body when slip occurs, then the load on the blade is reduced, but the blade tip remains at the same position causing repeated slip
Solution Approach 1:
The invention implements feedback control by continuously monitoring the blade tip position relative to the ground surface and adjusting the blade angle accordingly. The controller calculates the required blade angle based on the detected blade tip position and the predetermined distance above ground, ensuring the blade tip moves to a new position that prevents repeated slip while maintaining effective load reduction.
Data Source
AI summary
A control system for a work vehicle includes a controller. The controller receives actual topography information of a work target. The controller determines a design surface that is positioned below the actual topography. The controller generates a command signal to move the work implement along the design surface. The controller determines if slip of the work vehicle has occurred. The controller raises the design surface when the blade tip of the work implement is positioned below an initial target surface when the slip occurs. The initial target surface is the design surface before the occurrence of the slip.