Implement Angle Control via Chassis Pitch Filtering
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Solution Overview
Problem
Existing control systems for earth-moving machines struggle to accurately adjust the position and movement of work implements in response to changes in machine pitch, particularly on uneven terrain, leading to undercorrection or overcorrection by operators.
Innovation Solution
A control system comprising sensors and a controller that determine the implement's angle relative to the chassis and the chassis's angle with respect to gravity, using low and high pass filters to adjust commands for precise positioning and movement, ensuring the implement maintains a target angle despite pitch changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual adjustment by operator is used to compensate for pitch changes, then the implement position can be adjusted, but the adjustment accuracy deteriorates due to operator difficulty in anticipating implement movement
Solution Approach 1:
The patent replaces manual mechanical adjustment by the operator with an automated electronic control system. Sensors detect implement position and machine pitch, a processor calculates required adjustments, and actuators automatically move the implement. This substitution eliminates operator anticipation difficulties and achieves precise control through electronic feedback and calculation.
2Speed
If control system attempts to adjust for instantaneous pitch changes, then response speed is improved, but control accuracy deteriorates due to inadequate addressing of terrain variations
Solution Approach 1:
The patent implements dynamic control by continuously monitoring both instantaneous pitch changes and cumulative terrain variations through sensors. The processor dynamically adjusts control signals based on real-time data, allowing the system to respond quickly to pitch changes while simultaneously adapting to gradual terrain variations. This dynamic approach maintains accuracy across different timescales.
Solution Approach 2:
The patent employs feedback control where sensors continuously measure implement position and machine pitch, feeding this information back to the processor. The processor compares actual position with desired position and generates corrective control signals. This closed-loop feedback ensures both rapid response to disturbances and long-term accuracy by continuously correcting deviations.
3Stability of the object's composition
If low pass filter is applied to chassis pitch signal, then low-frequency terrain changes are smoothed, but high-frequency disturbance rejection capability is reduced
Solution Approach 1:
The patent changes the parameter of signal frequency by applying a low pass filter to the chassis pitch signal. This filter transforms the signal by removing high-frequency components while preserving low-frequency terrain variations. The result is a smoothed reference signal that improves stability without completely eliminating all dynamic response, as the filter allows passage of meaningful terrain changes.
Data Source
AI summary
A control system for a machine may include a chassis an implement attached to the chassis, a first sensor, a second sensor, and a controller in communication with the first and second sensors. The first sensor may be configured to generate a first signal indicative of an angle of the implement with respect to the chassis. The second sensor may be configured to generate a second signal indicative of an angle of the chassis with respect to gravity. The controller may be configured to determine an implement mainfall angle based on the first signal and the second signal; process the second signal using a low pass filter to determine a filtered chassis pitch angle; determine a target mainfall angle based on the first signal and the filtered chassis pitch angle; and generate a command signal based the target mainfall angle and the implement mainfall angle.