Pivot Axle Locking Control for Tipping Stability on Uneven Terrain
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Solution Overview
Problem
Existing pivot axle locking systems in wheeled working machines require manual intervention for locking and unlocking, leading to inconsistent machine stability and potential tipping risks, especially in dynamic and uneven terrain conditions.
Innovation Solution
A method and system that automatically control the pivot axle locking based on real-time calculation of torques and machine posture, using sensors to determine the tipping line and provide control commands to the locking mechanism, allowing for early intervention and stable operation without feedback loops.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual locking control is used, then the operator can control the pivot axle locking, but the machine stability becomes inconsistent and tipping risks increase in dynamic conditions
Solution Approach 1:
The pivot axle locking system automatically determines its own locking status based on calculated torques and tipping line analysis without requiring continuous operator intervention. The system monitors machine posture, motion state, and forces to self-regulate the locking mechanism, eliminating manual control requirements while maintaining stability.
Solution Approach 2:
The patent replaces manual mechanical control with an automated calculation-based control system. Torques are calculated based on machine posture and forces, and locking decisions are made through automated comparison with tipping line thresholds, substituting operator judgment with computational analysis.
2Reliability
If automatic locking is implemented without feedback loop, then control deviation is eliminated, but the system requires accurate torque calculation and tipping line determination
Solution Approach 1:
The system pre-calculates tipping lines for different locking states and stores them for reference. By preparing stability thresholds in advance and comparing real-time torque calculations against these pre-determined lines, the system achieves accurate control without requiring complex real-time feedback loops.
Solution Approach 2:
The patent introduces torque calculation as an intermediary between machine state sensing and locking control. Rather than directly monitoring axle position or using complex feedback, the system uses torque as a mediating parameter that integrates multiple factors (posture, forces, motion state) into a single control-relevant quantity.
Data Source
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Figure 2b~3
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AI summary
The invention relates to a locking control method for a pivot axle of a wheeled working machine comprising the steps: determining a current posture and motion state of the working machine and static and dynamic forces acting on the working machine, preferably using a multibody simulation model; 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.