Steering System Torque-Based Mode Selection
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Solution Overview
Problem
Loaded machines, particularly those with tracks, face difficulties in steering due to conventional methods that either slow down one track or apply excessive torque to the other, leading to slipping issues.
Innovation Solution
A system and method for steering machines that include a controller determining a steering mode based on transmission output torque, allowing for Traction-steering, Assisted-steering, or Implement-steering, where Assisted-steering involves moving an implement and diverting power from one track to steer the machine, and Implement-steering steers without diverting power from the track.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If power is diverted or removed from one track to enable turning, then the machine can pivot around the slower track, but the diverted track slows down which may cause slipping
Solution Approach 1:
The system dynamically adjusts power distribution between tracks based on real-time operating conditions. The controller continuously monitors transmission output torque and automatically selects the optimal steering mode (Traction-steering, Assisted-steering, or Implement-steering), transitioning between different power distribution strategies to prevent slippage while maintaining steering capability.
Solution Approach 2:
The system changes the parameter of power distribution to the tracks based on transmission output torque thresholds. When torque exceeds a first threshold, the system switches from Traction-steering to Assisted-steering or Implement-steering, thereby changing the power distribution parameter to prevent slippage while maintaining steering effectiveness.
2Ease of operation
If power is maintained or added to one track during turning, then the machine can turn effectively, but too much torque is applied to the ground causing the track to slip
Solution Approach 1:
The system uses feedback from transmission output torque monitoring to automatically adjust power distribution. The controller receives torque information and uses it to determine the appropriate steering mode, creating a closed-loop control system that prevents excessive torque application and resulting slippage while maintaining effective steering.
Solution Approach 2:
The power distribution to each track is dynamically adjusted based on real-time torque conditions. The system transitions between different steering modes (Traction-steering, Assisted-steering, Implement-steering) depending on whether transmission output torque exceeds predefined thresholds, thereby dynamically controlling torque application to prevent slippage.
3Ease of operation
If conventional traction-steering is used, then steering is achieved by power diversion, but steering precision is reduced due to track slippage
Solution Approach 1:
The system dynamically selects between Traction-steering, Assisted-steering, and Implement-steering modes based on transmission output torque. This dynamic selection optimizes steering precision by using Implement-steering or Assisted-steering when high torque conditions would cause slippage, thereby maintaining precise steering control across varying operating conditions.
Solution Approach 2:
The system changes the steering control parameter by switching between different steering modes based on torque thresholds. When transmission output torque exceeds the first threshold, the system transitions to Assisted-steering or Implement-steering, changing the control parameter to maintain steering precision without slippage-induced errors.
Data Source
AI summary
A system and method for steering a machine. The system may comprise a controller configured to receive a steering command and determine a target angular turn rate for the body and a target turn direction for the body. The controller may be further configured to determine a steering mode based on a transmission output torque, the steering mode including Traction-steering, Assisted-steering or Implement-steering. When the steering mode is Assisted-steering, the controller is configured to steer the machine in the target turn direction and at the target angular turn rate by (a) moving an implement from a first position to a second position and (b) diverting or removing power from a first ground engaging traction member. When the steering mode is Implement-steering, the controller is configured to move the implement from a first position to a second position to steer the machine in the target turn direction and at the target angular turn rate without diverting or removing power from the first ground engaging traction member.