Automatic Steering Override Control at Full Wheel Lock
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Solution Overview
Problem
In work vehicles with automatic steering, excessive torque is generated when steered wheels are turned beyond a fully turned state, leading to potential motor damage and reduced operator operability due to the need for large forces to switch to manual steering.
Innovation Solution
A control method that determines whether the steered wheels are in a fully turned state using a turning angle determination condition, which includes torque and steering angle thresholds, to prevent further automatic steering and limit motor torque, thereby preventing override states and motor damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the threshold value of torque for override state determination is set to be large, then automatic steering cancellation is avoided, but excessive torque generation is prolonged and motor damage risk increases
Solution Approach 1:
The system performs preliminary determination of fully turned state using turning angle determination processing before excessive torque can cause damage. By detecting when the steered wheel has reached its maximum turning angle in advance, the system can prevent further torque application that would lead to motor damage while maintaining reliable automatic steering operation within normal ranges.
Solution Approach 2:
The system implements feedback by continuously monitoring the steering angle and torque conditions, then adjusting the automatic steering control accordingly. When the turning angle determination condition is met (indicating fully turned state), the system provides feedback to cancel or modify automatic steering, preventing excessive torque generation while maintaining stable operation during normal conditions.
2Reliability
If the threshold value of torque for override state determination is set to be large, then automatic steering cancellation is avoided, but force required for manual steering operation increases
Solution Approach 1:
The system determines the fully turned state in advance using turning angle criteria before the operator needs to take over manual control. By identifying when the wheel is already at maximum angle, the system can prevent situations where both automatic steering and manual operation would contend for the same mechanical range, thereby reducing the force required for manual steering intervention.
Solution Approach 2:
The system provides feedback about the steered wheel's angular position to the control mechanism, enabling intelligent adjustment of automatic steering behavior. When the feedback indicates a fully turned state, the system modifies its control output to assist rather than resist manual operation, thereby reducing the force burden on the operator while maintaining automatic steering stability during normal operation.
Data Source
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AI summary
[Problem] To provide a control method of a work vehicle, a work vehicle control program, a work vehicle control system, and a work system, by which appropriate determination of an override state becomes possible. [Solution] A control method of a work vehicle (10) is a control method of a work vehicle (10) having an automatic steering mode for automatically steering a steered wheel (111) using a motor (421). The control method includes: in the automatic steering mode, controlling the motor (421); determining whether the work vehicle (10) is in an override state on the basis of a determination condition related to torque generated in the motor (421); and changing the determination condition. (Figure 4)