Motor Grader Differential Control Using Turning Angular Velocity
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Solution Overview
Problem
In motor graders, the automatic differential locker locking/unlocking mode fails to prevent rear wheel slippage during turning, and the sensors used for steering and articulation angles are prone to damage.
Innovation Solution
A work machine equipped with a differential device, a differential control device, and sensors that detect turning angular velocity, allowing the controller to prohibit or limit differential motion between wheels, thereby preventing slippage and protecting sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the automatic differential locker locking/unlocking mode is used based on front wheel steering angle and articulation angle sensors, then the differential locker can be automatically controlled during turning, but the rear wheel cannot get out of slippage during turning motion
Solution Approach 1:
The patent replaces the mechanical sensor system (steering angle sensor and articulation angle sensor) with an angular velocity sensor that detects turning motion through angular velocity. This substitution enables more reliable detection of turning states, allowing the differential locker to be properly controlled even during turning motion when slippage occurs, thus resolving the contradiction between automatic control ease and slippage prevention reliability
Solution Approach 2:
The patent changes the detection parameter from static angles (steering angle and articulation angle) to dynamic angular velocity. This parameter change allows the system to detect turning motion more accurately and respond appropriately to slippage conditions during turning, enabling the differential locker to lock when needed and preventing the reliability issue while maintaining automatic operation
2Measurement precision
If the front wheel steering angle sensor is disposed nearby the front wheel and the articulation angle sensor is disposed nearby the connection portion between front frame and rear frame, then the sensors can detect steering and articulation angles, but the sensors are likely to suffer from damage
Solution Approach 1:
The patent extracts the angular velocity sensor from the vulnerable locations (near front wheel and frame connection portion) and places it in a safer location on the vehicle body. This extraction maintains the ability to detect turning motion through angular velocity while removing the sensor from environments where it is susceptible to damage from wheel splashes, vibrations, and mechanical stress
Solution Approach 2:
The patent uses angular velocity as an intermediary parameter to indirectly detect turning motion without requiring direct measurement at the vulnerable sensor locations. The angular velocity sensor can be positioned anywhere on the vehicle body and still accurately detect turning states, serving as a mediator that preserves measurement capability while improving sensor protection
Data Source
AI summary
The differential control device prohibits or limits a differential motion generated by the differential device. The sensor detects a turning angular velocity of the motor grader. Based on the turning angular velocity detected by the sensor, the controller controls the differential control device to perform the differential prohibition or limitation.