MIMO Grade Control Using Gain Matrixes for Heavy Equipment
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Solution Overview
Problem
Current grade control systems for construction equipment are unstable, difficult to initialize, and prone to operator errors due to their reliance on Single Input Single Output (SISO) systems, which fail to account for actuation reciprocity, resulting in inaccurate slope control.
Innovation Solution
A Multi-Input-Multi-Output (MIMO) system is implemented, using a processor coupled with multiple sensors and height-adjusting cylinders to determine a gain matrix and transmit simultaneous actuation inputs, accounting for actuation reciprocity and sensor errors to achieve precise control of cross-slope, long-slope, and elevation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a Single Input Single Output (SISO) system is used for grade control, then the system structure is simple, but the control accuracy and stability deteriorate due to failure to account for actuation reciprocity
Solution Approach 1:
The patent transitions from a one-dimensional SISO control approach to a multi-dimensional Multi-Input-Multi-Output (MIMO) control framework. By considering multiple sensors and actuators simultaneously and their interrelationships, the system accounts for actuation reciprocity across different degrees of freedom, thereby improving slope control accuracy without excessively increasing structural complexity.
Solution Approach 2:
The patent implements a feedback mechanism where sensor measurements are continuously processed to determine actuator commands. The control system uses feedback from multiple sensors to adjust multiple actuators in a coordinated manner, accounting for the reciprocal effects of actuation on the system state, which improves both stability and accuracy.
2Speed
If a Proportional-Integral-Derivative (PID) controller is used, then the control response can be adjusted, but operator tuning errors and time delays increase
Solution Approach 1:
The patent implements a self-tuning control system that automatically determines optimal controller parameters without requiring manual operator intervention. The system uses sensor feedback and mathematical models to autonomously adjust control gains and parameters, eliminating tuning time delays and reducing operator errors while maintaining responsive control.
Solution Approach 2:
The control system performs preliminary calculations and parameter optimizations in advance based on system models and operational conditions. By pre-determining control parameters and anticipating system behavior, the system reduces real-time tuning requirements and accelerates the control response without sacrificing accuracy.
3Reliability
If a MIMO system with gain matrix is implemented, then control accuracy and stability improve, but the computational complexity increases
Solution Approach 1:
The patent segments the complex MIMO control problem into manageable computational components. By decomposing the gain matrix calculations and control law implementations into discrete, modular computational steps, the system achieves high control stability while keeping computational complexity tractable through structured organization of mathematical operations.
Data Source
AI summary
A multiple-input multiple-output (MIMO) computer control system in a heavy equipment machine is in communication with multiple sensors in order to measure deviations from a path to be followed. Sensor corrections are applied to return the heavy equipment machine to a path to be followed or to restrain the machine from deviating from the path to be followed. Sensor corrections affect a controlled variable, such as cross-slope. Sensor corrections may account for false positives and false negatives. Sensor corrections are applied to the heavy equipment machine using a gain matrix (G). The multiple vectors of gain values comprising the gain matrix (G) are utilized by the MIMO computer control system to simultaneously and proportionally actuate each drive leg of the machine to obtain a desired grade including a compensated slope and/or elevation.