Pivot Axle Locking Control for Stability and Traction Balance
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Solution Overview
Problem
Existing pivot axle locking systems in wheeled working machines require manual intervention by the operator to lock/unlock based on anticipated stability needs, leading to potential instability and reduced traction in varying terrain conditions.
Innovation Solution
A method and system that automatically control the pivot axle lock/unlock status based on real-time determination of machine posture, motion state, and static/dynamic forces using a multibody simulation model, calculating torques and tipping lines to provide control commands for the pivot axle locking mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual locking control is used, then operator control flexibility is maintained, but stability and safety are reduced due to delayed intervention
Solution Approach 1:
The pivot axle locking system performs self-monitoring and self-locking based on sensor data and control unit evaluation. The system automatically detects instability conditions through sensors (acceleration, position, load) and triggers locking without operator intervention, making the system serve itself by monitoring its own stability state and taking corrective action when needed.
Solution Approach 2:
The system continuously monitors machine state through multiple sensors (acceleration sensors, position sensors, load sensors) and feeds this information back to the control unit. The control unit evaluates this feedback against stability criteria and automatically adjusts the locking state accordingly, creating a closed-loop feedback system that responds dynamically to changing stability conditions.
2Reliability
If automatic locking based on threshold angles is used, then intervention timing is improved, but system complexity and false locking risks increase
Solution Approach 1:
Instead of relying on a single threshold parameter (rotation angle), the system evaluates multiple parameters simultaneously: acceleration values from acceleration sensors, position data from position sensors, load information from load sensors, and temporal patterns of these parameters. This multi-parameter evaluation approach improves locking timing accuracy while avoiding the pitfalls of simple threshold-based systems that may trigger false locking.
Solution Approach 2:
The control unit acts as an intermediary that processes and integrates data from multiple sensor sources (acceleration sensors, position sensors, load sensors) before making locking decisions. Rather than directly comparing single sensor readings to thresholds, the control unit synthesizes information from multiple sources and applies sophisticated evaluation logic, reducing false locking while maintaining system responsiveness.
3Force
If pivot axle remains unlocked for traction, then traction in uneven terrain is improved, but tipping stability is reduced
Solution Approach 1:
The system dynamically adjusts the pivot axle locking state based on real-time stability assessment. During driving phases, the axle remains unlocked to maximize traction and allow natural terrain following. When sensors detect instability conditions (excessive acceleration, critical position changes, unsafe load distributions), the system automatically locks the axle to prevent tipping. This dynamic switching between locked and unlocked states optimizes both traction and stability according to current operating conditions.
Solution Approach 2:
The system performs preliminary stability assessment using sensor data before tipping actually occurs. By continuously monitoring acceleration, position, and load parameters, the control unit predicts potential instability conditions and proactively locks the pivot axle in advance, preventing tipping before it happens. This preliminary anti-action approach maintains traction during normal operation while preventing instability crises.
Data Source
AI summary
Aspects of the present disclosure relate to a locking control method for a pivot axle of a wheeled working machine including: determining, using a multibody simulation model, a current posture and motion state of the working machine and static and dynamic forces acting on the working machine; determining a relevant tipping line based on a current locking status of a pivot axle of the working machine; calculating torques acting on the working machine based on the information on current posture, motion state, static and dynamic forces; determining a control command for a pivot axle locking mechanism of the working machine based on the calculated torques and the tipping line; and providing the control command to a pivot axle locking mechanism.