Joystick Steering Control With Counterforce Torque Position Adjustment
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Solution Overview
Problem
In steer-by-wire systems using a joystick lever, achieving sufficient counterforce torque is challenging due to increased operational counterforce when the speed reduction ratio is increased, leading to larger motor sizes and difficulty in adjusting the operation unit to fit user body types.
Innovation Solution
A work vehicle with a hydraulic actuator, actual steering angle detecting part, operating unit, relative angle detecting part, steering control part, and position adjustment control part, which includes a biasing mechanism to adjust the rotation angle of the operating unit based on detected angles, reducing the size of the operation unit and providing operational feel without the need for large motors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the speed reduction ratio is increased to produce sufficient counterforce torque, then the counterforce torque is improved, but the operational counterforce becomes too large and the motor size increases
Solution Approach 1:
The patent replaces the traditional mechanical speed reducer with a control system that uses a motor to generate counterforce torque. The control unit calculates the required counterforce torque based on the steering wheel angle and steering operation amount, then controls the motor to output the calculated torque directly, eliminating the need for mechanical speed reduction and large-scale motors.
Solution Approach 2:
The patent changes the control parameter from fixed mechanical speed reduction to variable electronic control of motor torque. The control unit dynamically adjusts the motor output torque based on real-time steering conditions (steering wheel angle and operation amount), allowing sufficient counterforce torque to be generated without requiring a large motor or speed reducer.
2Force
If the speed reduction ratio is increased to produce sufficient counterforce torque, then the counterforce torque is improved, but the operation unit size increases making it difficult to adjust to user body types
Solution Approach 1:
The patent replaces the mechanical speed reducer with a control system that uses a motor to generate counterforce torque. The control unit calculates the required counterforce torque based on the steering wheel angle and steering operation amount, then controls the motor to output the calculated torque directly, eliminating the need for mechanical speed reduction and large-scale motors.
Solution Approach 2:
The patent makes the operation unit dynamically adjustable by allowing the control unit to modify the counterforce torque characteristics based on user preferences and different operating conditions. The system can adapt the steering feel and operation unit characteristics to suit different user body types without requiring physical size changes.
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 solution allows for a compact operation unit that provides adequate counterforce and operational feel, improving user experience and reducing the complexity of adjusting the unit to fit different user types.
Implementation Method 1
a hydraulic actuator that changes an actual steering angle
Implementation Method 2
The biasing part biases the operating part to a predetermined position with respect to the rotating part
Data Source
AI summary
A work vehicle includes a hydraulic actuator that changes an actual steering angle, an actual steering angle detecting part, an operating unit that performs a steering operation, a relative angle detecting part, a steering control part, and a position adjustment control part. The operating unit includes an operating part, a support part, a rotating part, a biasing part biasing the operating part to a predetermined position with respect to the rotating part, and a position adjusting part that adjusts the rotating part. The relative angle detecting part detects a relative rotation angle of the operating part with respect to the rotating part. The steering control part controls the hydraulic actuator based on a rotation operation of the operating part. The position adjustment control part sets a torque based on the relative rotation angle and uses the torque to control the position adjusting part based on the actual steering angle.