Articulated Machine Propulsion Control for Uphill Stability
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Solution Overview
Problem
Articulated machines face instability when traveling uphill due to the normal component of propulsion force from the rear axle, which can cause the rear portion to not move during turning, leading to potential destabilization.
Innovation Solution
A system that includes a sensor to detect the articulation angle and a control module to adjust power distribution between the front and rear powertrains based on the articulation angle, grade, and payload, allowing for real-time control of propulsion to maintain stability and rimpull.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the rear axle produces large magnitude of propulsion force during uphill turning, then the machine can maintain forward momentum, but the normal component of propulsion force causes the rear portion to not move, leading to destabilization
Solution Approach 1:
The control system dynamically adjusts the propulsion force parameters based on articulation angle and operating conditions. When articulation angle exceeds the threshold during uphill turning, the system reduces the magnitude of propulsion force from the rear axle to eliminate the destabilizing normal component, while maintaining sufficient forward momentum through coordinated front axle propulsion.
2Ease of operation
If the front frame pulls the articulated machine during uphill turning, then the machine can navigate the turn, but the rear portion may not move, causing destabilization
Solution Approach 1:
The system implements dynamic power distribution between front and rear powertrains based on real-time articulation angle sensing. During uphill turning when articulation angle exceeds threshold, the control module dynamically reduces power to the rear powertrain while maintaining or increasing power to the front powertrain, enabling the front frame to pull the machine through the turn while preventing rear portion stagnation and destabilization.
3Productivity
If power is distributed equally to front and rear powertrains during uphill turning, then both axles contribute to propulsion, but the normal component of rear propulsion force causes instability
Solution Approach 1:
The control system applies differential power distribution strategy where the rear powertrain receives reduced power specifically during uphill turning conditions (when articulation angle exceeds threshold), while the front powertrain maintains full power output. This localized adjustment of power quality to the rear axle eliminates the harmful normal force component while preserving overall propulsion efficiency through front axle dominance.
Data Source
AI summary
A system for controlling propulsion of a machine is described. The system includes a first sensor for generating a first signal indicative of an articulation angle of the machine. The system also includes at least one transmission power unit coupled to front and rear powertrains of the machine. The system further includes a control module in communication with the first sensor and the at least one transmission power unit. The control module is configured to receive the first signal from the first sensor. The control module is also configured to control the at least one transmission power unit to provide power to at least one of the front powertrain or the rear powertrain, based on the articulation angle of the machine.