Earthmoving Implement Control System for Grade Stability
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Controlling the movement of earthmoving machine implements, such as dozer blades or buckets, is complex and time-consuming, requiring expert skill, and existing automatic control systems can be unstable under varying loading conditions and machine speeds, leading to suboptimal final grades.
Innovation Solution
A control system comprising a load sensor, grade control system, implement position sensor, and controller that generates machine control commands based on loading conditions, desired positions, and actual positions, using dynamic proportional, integral, and derivative gains to stabilize movement and achieve precise positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If autonomous grade control system is used to automatically control the implement, then operator control is simplified and positioning accuracy is improved, but system stability deteriorates under varying loading conditions and machine speeds
Solution Approach 1:
The control system dynamically adjusts proportional, integral, and derivative gains based on real-time machine speed and loading condition data. This dynamic parameter adjustment allows the system to maintain stability across varying operating conditions while preserving positioning accuracy, directly resolving the contradiction between measurement precision and reliability
Solution Approach 2:
The system changes control parameters (PID gains) based on detected machine speed and load conditions. By modifying these parameters in response to varying operating conditions, the system maintains both positioning accuracy and stability, overcoming the limitation of fixed-parameter systems that become unstable under varying loads
2Measurement precision
If expert operator skill is used to control the implement, then positioning accuracy is improved, but time consumption and operational complexity increase
Solution Approach 1:
The control system performs self-adjustment by automatically detecting machine speed and loading conditions, then autonomously modifying control parameters to maintain optimal positioning accuracy. This eliminates the need for expert operator intervention while preserving precision and reducing time consumption
Solution Approach 2:
The system continuously monitors machine speed and load conditions, using this feedback to dynamically adjust control parameters. This closed-loop feedback mechanism enables the system to maintain expert-level positioning accuracy automatically, eliminating time-consuming manual adjustments while preserving precision
3Device complexity
If fixed control parameters are used in the automatic control system, then system simplicity is maintained, but adaptability to varying loading conditions and speeds deteriorates
Solution Approach 1:
The system transitions from fixed to dynamic control parameters by continuously adjusting PID gains based on real-time machine speed and loading conditions. This dynamic approach maintains reasonable system simplicity while dramatically improving adaptability to varying operating conditions
Solution Approach 2:
The system changes control parameters based on detected operating conditions, allowing it to adapt to varying loads and speeds without requiring completely complex reconfiguration. This parameter adjustment strategy balances simplicity with adaptability
Data Source
AI summary
The disclosure describes a control system for controlling the movement of an implement associated with a machine. The control system includes a load sensor, a grade control system, an implement position sensor, and a controller. The load sensor is configured to generate a load signal indicative of a loading condition of the implement. The grade control system is configured to generate a desired implement position signal indicative of a desired implement position. The implement position sensor is configured to generate an implement position signal indicative of a position of the implement. The controller is configured to generate a machine control command to move the implement as a function of the load signal, the desired implement position signal, and the implement position signal.