Differential Hydraulic Drive Steering With Variable Wheel Acceleration
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Solution Overview
Problem
Existing agricultural implements with differential hydraulic drive systems face challenges in responding to varying steering and speed commands, as they control wheel velocities uniformly regardless of the speed at which the commands are applied, making maneuvering difficult for operators.
Innovation Solution
A differential drive system with variable acceleration rates for left and right drive systems based on the acceleration rate of the steering or propulsion input, controlled by a processor that adjusts wheel velocities dynamically to match the command's speed, allowing for user-defined preferences.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the implement controls the differential drive system in the same manner for all steering inputs, then the control system is simple and reliable, but the ease of operation deteriorates because the vehicle response is challenging when executing different steering maneuvers at different speeds
Solution Approach 1:
The control system dynamically adjusts the acceleration rate of wheel velocity changes based on the acceleration rate of the steering input. The processor monitors how quickly the steering input is applied and相应ly modifies the acceleration rate at which the differential drive system changes wheel velocities, making the vehicle response adaptive rather than fixed.
Solution Approach 2:
The system changes the parameter of acceleration rate for wheel velocity control based on the steering input acceleration rate. When steering input is applied quickly, the system allows faster acceleration rates; when steering input is applied slowly, the system uses slower acceleration rates, thereby optimizing the vehicle response to match operator intent.
2Adaptability or versatility
If the implement uses a fixed acceleration rate for wheel velocity changes, then the device complexity is low, but the adaptability deteriorates because the same control manner is used regardless of whether executing a slow short steering input or a quick large steering input
Solution Approach 1:
The system incorporates feedback by monitoring the acceleration rate of the steering input and using this information to adjust the acceleration rate of the wheel velocity changes. The processor continuously receives steering input data, determines its acceleration rate, and accordingly defines the acceleration rate for the differential drive system, creating a closed-loop adaptive control mechanism.
Solution Approach 2:
The control system transitions from a static, fixed acceleration rate to a dynamic acceleration rate that adapts in real-time based on the steering input characteristics. This dynamic adjustment enables the system to accommodate various steering maneuvers with different time scales and magnitudes.
Data Source
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AI summary
An implement (20) includes a steering input (38) operable to receive a desired vehicle steering command and a differential hydraulic drive system (46). A drive controller (64) determines an acceleration rate of the steering input (38) while receiving the desired vehicle steering command and defines a left acceleration rate and a right acceleration rate for a left hydraulic drive system (48) and a right hydraulic drive system (50), respectively, based on the acceleration rate of the steering input (38) while receiving the desired vehicle steering command. The drive controller (64) communicates the left acceleration rate and the right acceleration rate to the differential hydraulic drive system (46) to achieve the desired vehicle steering command. (Figure 1)