Work Vehicle Implement Position Control via Sliding Mode
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Solution Overview
Problem
Conventional work vehicles face challenges in maintaining a constant angular position of implements, such as buckets, during lifting and lowering operations due to poor system responsiveness and imprecise control, particularly due to the non-linearity of lift assembly dynamics.
Innovation Solution
A closed-loop control system that uses a combination of feed-forward, feedback, and forcing control algorithms, incorporating a sliding mode control design, to adjust the position of the implement based on signals from position, movement, and fluid pressure sensors, ensuring the implement maintains a fixed orientation relative to a reference point.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If conventional control algorithms are used to automatically maintain constant angular implement position, then automation is improved, but system responsiveness and measurement precision deteriorate
Solution Approach 1:
The control system continuously monitors the actual implement position and angular orientation using sensors, compares these measurements against the desired position, and automatically adjusts the loader arm movement to eliminate any deviation. This closed-loop feedback mechanism ensures precise maintainance of constant angular implement position throughout the lifting operation.
2Extent of automation
If conventional control algorithms are used to automatically maintain constant angular implement position, then automation is improved, but system responsiveness deteriorates
Solution Approach 1:
The control system predicts the required implement position adjustments based on the current loader arm movement state and pre-calculates the necessary corrections before deviations occur. This anticipatory control approach allows the system to respond proactively to changing conditions, maintaining responsiveness while achieving precise constant angular position control.
3Device complexity
If manual adjustment of implement position is used during loader arm movement, then system complexity is reduced, but ease of operation deteriorates
Solution Approach 1:
The control system autonomously manages implement position control without requiring continuous manual intervention. The operator simply commands loader arm movement, and the system automatically adjusts the implement position to maintain constant angular orientation throughout the lifting operation, significantly reducing operational complexity and effort.
Data Source
AI summary
A method for automatically adjusting the position of an implement of a lift assembly may generally include receiving a signal indicative of a position and/or a movement parameter of loader arms of the lift assembly and receiving a signal indicative of a pressure of a hydraulic fluid supplied within the lift assembly. The method may also include calculating a first correction signal associated with adjusting the position of the implement, wherein the correction signal is calculated by inputting the position and/or the movement parameter and the fluid pressure into a control equation based on a model of the operational dynamics of the lift assembly. In addition, the method may include generating a valve command signal based at least in part on the correction signal and transmitting the valve command signal to a valve for maintaining the implement at a fixed orientation relative as the loader arms are being moved.