Implement Position Control for Mobile Machinery Vibration Reduction
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Solution Overview
Problem
Existing systems for controlling implement position in mobile machines, such as dozers and tractors, face challenges in responding adequately to both steady state and transient load changes, particularly due to complex algorithms and slow response times when dealing with varying terrain and material characteristics, leading to undesirable machine vibration and engine operation issues.
Innovation Solution
A method and system that utilize sensors to determine steady state and transient commands, with a controller receiving signals from pressure, speed, and traction device sensors to adjust the implement's position based on these commands, allowing for quicker responses to changing material characteristics through a combination of hydraulic actuators and control algorithms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual control of implement depth is used by operator, then machine can operate within desirable conditions, but control complexity and skill requirement increase significantly
Solution Approach 1:
The control system automatically adjusts implement depth based on sensed operating conditions without requiring manual operator intervention. The system senses engine torque, machine speed, and implement position, then autonomously controls the hydraulic actuator to maintain optimal operating conditions, eliminating the need for skilled manual control while ensuring reliable engine operation.
Solution Approach 2:
The system continuously senses operating parameters including engine torque, machine speed, and implement position, compares these to desired conditions, and automatically adjusts implement depth in real-time. This closed-loop feedback control maintains desirable engine operation without requiring operator skill or manual intervention.
2Measurement precision
If complex control algorithms are used to determine composite error, then control accuracy improves, but system response time to rapid load changes decreases
Solution Approach 1:
The control algorithm is segmented into distinct functional blocks: a feedforward block that directly responds to implement position errors, and a feedback block that processes engine torque and speed signals. This segmentation allows the system to maintain control accuracy while improving response speed to rapid load changes by avoiding overly complex composite error calculations.
Solution Approach 2:
The feedforward control block provides preliminary action by directly responding to implement position errors before the feedback loop can fully process torque and speed signals. This anticipatory control improves response time to rapid load changes while maintaining accuracy through the subsequent feedback adjustment.
3Productivity
If implement engages hard soil at deep depth, then material manipulation effectiveness increases, but machine vibration and resistance increase
Solution Approach 1:
The system continuously senses engine torque and machine speed as indicators of resistance and vibration conditions. When hard soil engagement causes excessive torque or speed variation, the feedback control automatically reduces implement depth to eliminate vibration and harmful effects, then restores depth when conditions improve, maintaining productivity while preventing damage.
Solution Approach 2:
The implement depth is dynamically adjusted in real-time based on sensed operating conditions rather than remaining fixed. The system automatically increases depth when soil is soft and decreases depth when hard soil causes vibration, optimizing material manipulation effectiveness while preventing harmful vibration through continuous adaptive control.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system provides effective steady state and transient control of implement position, improving machine operation by adjusting depth of cut in real-time to maintain desirable engine torque and reduce vibration, enhancing the operator's ability to manage varying terrain and material conditions.
Implementation Method 1
The system includes at least one hydraulic actuator operatively connecting the implement to a frame of a machine
Implementation Method 2
a first sensor configured to sense a pressure of pressurized fluid associated with the at least one hydraulic actuator
Implementation Method 3
a traction device operatively connected to the frame and configured to propel the machine relative to a surface
Data Source
AI summary
A system for controlling implement position including a method for controlling movement of an implement is disclosed. The method includes determining a first parameter configured to affect control of the implement with respect to a first timing. The method also includes determining a second parameter configured to affect control of the implement with respect to a second timing. The second timing is shorter than the first timing. The method also includes selectively establishing a third parameter as a function of the first and second parameters when the second parameter is greater than a predetermined value. The method further includes controlling a position of the implement as a function of the third parameter.