Machine Stability Control via Gyro Yaw Integration
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Solution Overview
Problem
Off-highway machines with certain propel systems tend to deviate from a straight path due to environmental stimuli, requiring operator correction, as existing systems fail to maintain stable tracking without external intervention.
Innovation Solution
A stability control system comprising a gyroscope and a controller that generates control signals for the machine's plants, using yaw signals to minimize accumulated yaw and maintain straight tracking by differentiating actual rotation from drift, and adjusting control signals based on user input to prevent unintended deviations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If operator manually corrects machine deviation, then machine can maintain straight path, but operator workload increases and response time is delayed
Solution Approach 1:
The gyroscope continuously measures yaw rate and the controller continuously integrates yaw signals to predict accumulated deviation before it becomes a significant error, allowing the system to proactively adjust control signals to prevent deviation rather than react to it
Solution Approach 2:
The system establishes a closed-loop feedback mechanism where the gyroscope provides continuous yaw rate feedback to the controller, which integrates this information and adjusts control signals based on the accumulated yaw, creating a self-correcting system that automatically maintains straight path
2Reliability
If stability control system is added, then straight path maintenance improves, but device complexity increases
Solution Approach 1:
The controller serves multiple functions: it processes user input control signals for plant actuation, receives and integrates gyroscope yaw signals, determines whether turning components are present, and automatically adjusts control signals to minimize accumulated yaw, consolidating these functions into a single control unit
Solution Approach 2:
The gyroscope acts as an intermediary sensor that provides objective yaw rate measurements to the controller, enabling automatic stability control without requiring direct operator observation or manual correction inputs
3Reliability
If control signals are altered based on yaw signal, then accumulated yaw is minimized, but control precision may be affected
Solution Approach 1:
Instead of directly controlling yaw angle, the system controls the derivative of yaw (yaw rate) by using a gyroscope to measure yaw rate and the controller to integrate this information, inverting the control approach from position-based to rate-based control
Solution Approach 2:
The controller applies partial correction by only adjusting control signals when yaw signals exceed a cut-off threshold or when no turning component is detected, avoiding excessive correction that would undermine operator intent while still providing sufficient correction to minimize accumulated yaw
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 effectively stabilizes the machine's trajectory, preventing unintentional deviations from a straight path due to environmental factors, thereby reducing the need for operator correction and ensuring consistent tracking.
Implementation Method 1
a gyroscope, disposed on the machine... The gyroscope generates a yaw signal
Data Source
AI summary
According to the present disclosure, a system and method for providing stability control to a machine includes generating a yaw signal at a gyroscope disposed on the machine and receiving the yaw signal at a controller in communication with the gyroscope. The controller is also in communication with a user input that generates control signals for driving at least one plant of the machine. The controller is configured to alter the control signals provided to the at least one plant from the user input based at least in part on the yaw signal.