Skid-Steer Turn Control for Delicate Ground Protection
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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 opposing tractive elements, particularly on turf or lawns.
Innovation Solution
Implement a control system that allows for different ground-engagement modes with defined turn profiles to modify operator inputs, restricting sharp turns and adjusting actuator commands to ensure a minimum turn radius is maintained, thereby minimizing ground disturbance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If skid-steer steering is used to enable tight turning radius, then the power machine can maneuver in confined spaces, but sharp turns cause ground disturbance and damage to delicate surfaces
Solution Approach 1:
The system dynamically adjusts the turn radius based on the selected ground-engagement mode. When a mode protecting delicate ground is active, the control device modifies the drive actuator commands to enforce a minimum turn radius, preventing sharp turns that would damage the ground while still allowing necessary maneuvers.
Solution Approach 2:
The control device changes the operational parameters of the drive actuators based on the selected ground-engagement mode. By modifying the speed differential and rotational commands between opposing drive actuators, the system achieves different turn radii appropriate for different ground conditions, protecting delicate surfaces while maintaining maneuverability.
2Object-affected harmful factors
If the turn radius is increased to protect delicate ground, then ground disturbance is reduced, but the power machine's agility and responsiveness decrease
Solution Approach 1:
The system dynamically adjusts the turn radius based on the selected ground-engagement mode. When a mode protecting delicate ground is active, the control device modifies the drive actuator commands to enforce a minimum turn radius, preventing sharp turns that would damage the ground while still allowing necessary maneuvers.
Solution Approach 2:
The ground-engagement modes are segmented into different categories (e.g., delicate ground mode, general terrain mode), each with specific turn radius constraints. This segmentation allows the system to apply appropriate turning limitations only when needed, maintaining full agility on suitable terrains while protecting vulnerable surfaces.
3Adaptability or versatility
If multiple ground-engagement modes are implemented to adapt to different terrains, then the power machine's versatility increases, but the control system complexity increases
Solution Approach 1:
A single control device performs multiple functions by implementing different ground-engagement modes. The control device receives operator inputs, determines the appropriate mode based on terrain conditions or operator selection, and automatically adjusts drive actuator commands accordingly. This multi-functional approach increases versatility without proportionally increasing complexity.
Solution Approach 2:
The control device uses feedback from the operator's ground-engagement mode selection and drive actuator responses to automatically adjust the turn radius and drive commands. This feedback mechanism allows the system to adapt to different terrains through a standardized control architecture, managing complexity through intelligent automation rather than additional hardware.
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.