Predictive Input Shaping for Grading Machine Blade Control
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Solution Overview
Problem
Conventional control systems for dozing machines have an inherent response delay, which prevents timely adjustment of the blade height to compensate for terrain disturbances like ditches, leading to instability and oscillations in the graded terrain.
Innovation Solution
A predictive control system that uses sensor data to determine the vehicle's trajectory and terrain profile, detects ditches by analyzing the terrain profile's derivatives, and generates compensation values to adjust the implement's height based on shape characteristics, combining these with initial error values to achieve a target terrain surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If conventional control systems are used to adjust blade height, then the system structure is simple, but the response delay prevents timely compensation for terrain disturbances
Solution Approach 1:
The control system predicts future terrain disturbances ahead of the vehicle's current position and pre-adjusts the blade height to compensate for these anticipated disturbances. This preliminary action eliminates the response delay inherent in conventional reactive control systems, as the blade is already positioned correctly when the vehicle reaches the disturbance.
Solution Approach 2:
A predictive model acts as an intermediary between the terrain profile data and the control actuator. This model processes sensor data to forecast upcoming disturbances and generates appropriate control commands, bridging the gap between slow conventional control and the need for rapid response.
2Reliability
If the blade height is not timely adjusted, then the control system remains stable, but ditches are created and perpetuated causing oscillations in graded terrain
Solution Approach 1:
The system continuously receives feedback from terrain profile sensors and vehicle state sensors, updating the predictive model in real-time. This closed-loop feedback ensures that the blade height adjustments are based on accurate, current information about both the terrain and vehicle dynamics, preventing the creation of new ditches and eliminating oscillations.
Solution Approach 2:
The control system applies preliminary anti-action by predicting and counteracting terrain disturbances before they can cause harmful effects. By pre-positioning the blade to compensate for upcoming ditches or bumps, the system prevents the creation of new terrain irregularities and maintains grading quality.
Data Source
AI summary
Systems and methods for adjusting a height of an implement mounted on a body of a vehicle as the vehicle travels over a terrain are provided. Sensor data is received from a set of sensors disposed on the vehicle. A trajectory associated with the vehicle is determined based on the received sensor data. A profile of the terrain is estimated based on the determined trajectory associated with the vehicle. A ditch is detected in the terrain and compensation values for adjusting the height of the implement are determined based on the estimated profile of the terrain to compensate for the detected ditch. One or more control signals are transmitted to one or more actuators for adjusting the height of the implement based on the determined compensation values.