Track Slip Control for Self-Propelled Machines
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Solution Overview
Problem
Self-propelled machines, such as track-type tractors, experience track slip in loose soil, leading to energy and fuel loss, excessive wear, and user fatigue due to the need for manual adjustment of engine torque, which is a skill requiring experience and mental focus.
Innovation Solution
A system and method that automatically calculates and limits engine torque based on track speed, ground speed, chassis pitch, and steering pump torque using sensors and a controller to maintain optimal torque output and prevent excessive track slip.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of energy
If manual deceleration is used to reduce track slip, then track wear and energy loss are reduced, but operator fatigue increases and productivity decreases
Solution Approach 1:
The system enables self-service by implementing automatic track slip control through sensors that monitor track speed and ground speed, calculating actual track slip, and automatically adjusting engine torque without operator intervention. This eliminates the need for manual deceleration while reducing fuel loss and track wear.
Solution Approach 2:
The system implements feedback by continuously monitoring track slip through speed sensors and using this information to automatically adjust engine torque output. The controller receives feedback from track speed sensors and ground speed sensors, calculates actual track slip, and adjusts engine torque accordingly to prevent excessive slip while maintaining productivity.
2Loss of energy
If engine torque is reduced to prevent track slip, then fuel economy improves, but machine productivity decreases
Solution Approach 1:
The system applies dynamics by continuously and dynamically adjusting engine torque based on real-time track slip conditions rather than using a fixed torque reduction. The controller dynamically modifies torque output to match actual slip conditions, allowing maximum productivity when slip is minimal and reducing torque only when necessary to prevent excessive slip.
Solution Approach 2:
The system implements parameter changes by adjusting engine torque as a variable parameter based on measured track slip. Rather than maintaining a constant reduced torque, the system changes torque parameters dynamically according to actual slip conditions, optimizing both fuel economy and productivity.
3Ease of operation
If automatic torque control is implemented, then operator fatigue is reduced and ease of operation improves, but device complexity increases
Solution Approach 1:
The system achieves universality by integrating multiple functions into a single control unit that handles track slip detection, calculation, and torque adjustment. The controller performs multiple tasks including receiving sensor signals, calculating track slip, determining appropriate torque reduction, and executing engine torque control, thereby managing complexity through functional integration.
Solution Approach 2:
The system uses an intermediary approach by introducing a control unit that mediates between the engine and the track slip conditions. This intermediary controller processes sensor information and translates it into appropriate torque adjustments, simplifying the overall control architecture while achieving automatic track slip management.
Data Source
AI summary
A method, system, and machine for controlling the output of an engine of a machine includes calculating the difference between a measured track slip based on track speed and ground speed and a calculated target track slip depending on track speed and chassis pitch, inputting the difference into a controller to determine a propulsion engine torque limit, and limiting the engine toque to the propulsion engine torque limit plus a steering system input torque.