Crab Steering Control for Articulated Tractors on Side Hills
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Solution Overview
Problem
Articulated tractors face challenges in maintaining precise control when operating on hillsides or under lateral forces, leading to sliding issues due to uncompensated lateral forces, which affect their ability to travel straight.
Innovation Solution
A system comprising a front axle steering system, a rear axle steering system, and vehicle environment sensors, controlled by a controller that detects lateral forces and adjusts both steering systems to a crab steering correction angle to compensate for lateral forces, improving traction and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If articulated tractors operate on hillsides or under lateral forces, then they can perform work tasks, but they experience sliding and cannot maintain straight travel
Solution Approach 1:
The system applies preliminary anti-action by detecting lateral forces before they cause significant sliding, and automatically applying crab steering correction to counteract the lateral force. The controller continuously monitors lateral acceleration and adjusts steering angles proactively to prevent sliding, rather than reacting after the vehicle has already deviated from its intended path.
Solution Approach 2:
The system implements feedback by using sensors to detect actual lateral acceleration and comparing it to predicted lateral acceleration. The controller uses this feedback information to continuously adjust the crab steering correction angle, creating a closed-loop control system that maintains straight travel despite lateral forces acting on the articulated tractor.
2Device complexity
If conventional steering systems are used on articulated tractors, then the structure remains simple, but precise control under lateral forces is compromised
Solution Approach 1:
The system applies dynamics by transitioning from a static steering system to a dynamic crab steering system. The steering correction angle is not fixed but is continuously adjusted based on detected lateral forces and acceleration. The system dynamically modifies front and rear axle steering angles in real-time to maintain optimal control precision under varying lateral force conditions.
Solution Approach 2:
The system implements parameter changes by modifying steering angles based on detected lateral acceleration. The controller calculates a crab steering correction angle and applies it to both front and rear axles, changing the steering parameters dynamically. This allows the system to adapt steering precision to the actual operating conditions without requiring a completely complex mechanical restructuring.
Data Source
AI summary
Steering a vehicle in an electronic steering mode of operation that includes a front axle steering system, a rear axle steering system, one or more vehicle environment sensors, and a controller operatively coupled with the front axle steering system, the rear axle steering system, and the vehicle environment sensors. Commanding the vehicle to operate at a desired vehicle speed, detecting a lateral force acting on the vehicle in response to input from the vehicle environment sensors, and determining an actual lateral acceleration of the vehicle and a predicted lateral acceleration of the vehicle from the desired vehicle speed. Determining a lateral acceleration error by comparing the predicted lateral acceleration to the actual lateral acceleration, and determining if the lateral acceleration error exceeds a lateral acceleration limit, then turning both of the front axle steering system and the rear axle steering system to a crab steering correction angle.