Ground-Engagement Mode Control for Turf-Safe Skid-Steer Turning
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Solution Overview
Problem
Skid-steer power machines often cause undesirable disturbance and damage to delicate ground surfaces during sharp turns due to the differential rotational speed of their tractive elements, particularly on turf or lawns.
Innovation Solution
Implementing a control system with ground-engagement modes that define minimum turn radii and adjust operator inputs to ensure the power machine turns at a radius that avoids damaging the ground, by modifying actuator commands to restrict rotational capability based on selected modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If skid-steer steering is used to enable tight turns, then the power machine can change direction quickly, but sharp turns cause damage to delicate ground surfaces
Solution Approach 1:
The control system dynamically adjusts the turn radius based on the selected ground-engagement mode. When a mode protecting delicate ground is active, the system modifies operator inputs to enforce a minimum turn radius, preventing sharp turns that would damage the ground while still allowing necessary directional changes.
Solution Approach 2:
The system changes the operational parameters of the drive actuators by modifying the speed differential between left and right actuators. By controlling the parameter of rotational speed difference, the system achieves turns at controlled radii that protect ground surfaces while maintaining steering functionality.
2Object-affected harmful factors
If the turn radius is increased to protect ground, then ground disturbance is reduced, but the power machine's agility and responsiveness decrease
Solution Approach 1:
The control system dynamically adjusts the turn radius based on the selected ground-engagement mode. When a mode protecting delicate ground is active, the system modifies operator inputs to enforce a minimum turn radius, preventing sharp turns that would damage the ground while still allowing necessary directional changes.
Solution Approach 2:
The control device continuously monitors operator inputs and ground-engagement mode selections, providing real-time feedback control. The system processes modified operator inputs to ensure actuator movements comply with the selected mode's turn radius constraints, balancing ground protection with operational responsiveness.
3Object-affected harmful factors
If operator inputs are modified to enforce minimum turn radius, then ground protection is achieved, but the operator has less direct control over turning precision
Solution Approach 1:
The control device continuously monitors operator inputs and ground-engagement mode selections, providing real-time feedback control. The system processes modified operator inputs to ensure actuator movements comply with the selected mode's turn radius constraints, balancing ground protection with operational responsiveness.
Solution Approach 2:
The control system automatically processes and modifies operator inputs based on the selected ground-engagement mode. The system serves itself by autonomously adjusting actuator commands to enforce minimum turn radius constraints without requiring additional manual intervention from the operator.
Data Source
AI summary
A power machine can include a control device configured to select a ground-engagement mode from a plurality of ground-engagement modes. An operator input can be received from an operator input device to command movement of one or more drive actuators to provide turning travel. The one or more drive actuators can be commanded to provide modified turning travel based on the selected ground-engagement mode.