Tracked Vehicle Motion Correction Using IMU Track Synchronization
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Solution Overview
Problem
Conventional systems for controlling tracked ground engaging units in working machines, such as excavators, are inadequate in quickly adjusting and synchronizing the speed of left-side and right-side crawler tracks, leading to hydro-mechanical mismatch issues that require machine downtime for adjustments and skilled operator intervention to counteract.
Innovation Solution
An automatic control system utilizing a rotation sensor and an angular rate gyroscope or Inertial Measurement Unit (IMU) to measure and correct the orientation and motion of the main frame relative to the undercarriage and external reference frame, enabling precise control of the crawler tracks without relying on sensors within the undercarriage, thus addressing hydro-mechanical mismatching.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional hydro-mechanical control systems are used for crawler tracks, then the system structure is simple, but the track speed synchronization is poor and requires machine downtime for adjustments
Solution Approach 1:
The patent implements a feedback control system using sensors (rotation sensor and IMU) to continuously monitor the actual orientation and motion of the main frame, comparing it with the desired trajectory, and automatically adjusting the electro-hydraulic control of left and right crawler tracks to eliminate speed mismatches in real-time, thereby achieving reliable track synchronization without machine downtime
Solution Approach 2:
The patent replaces conventional pure hydro-mechanical control with an electro-hydraulic control system that uses electronic sensors and controllers to regulate track speeds, enabling precise synchronization through electronic feedback rather than relying solely on mechanical adjustments that require downtime
2Measurement precision
If sensors are placed within the undercarriage for direct measurement, then the measurement is direct, but communication issues arise between the undercarriage and machine control system
Solution Approach 1:
The patent uses the main frame as an intermediary platform to mount sensors (rotation sensor measuring lower track frame to upper structure orientation, and IMU measuring orientation in external reference frame). These sensors on the main frame communicate reliably with the machine control system while still enabling precise measurement of undercarriage motion through the measured orientation and angular rate data
3Ease of operation
If automatic control systems are implemented for track synchronization, then the operator skill requirement is reduced, but the device complexity increases
Solution Approach 1:
The patent implements a self-regulating control system where the controller automatically detects track speed mismatches through sensor feedback and adjusts the electro-hydraulic control of crawler tracks without operator intervention, making the system self-correcting and reducing dependence on operator skill while the automated functions manage the complexity
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables precise machine travel motion and direction control, reducing the need for machine downtime and operator skill requirements by automatically adjusting track speeds and orientations in real-time, effectively mitigating hydro-mechanical mismatching.
Implementation Method 1
a rotation sensor measuring the orientation between a lower track frame and an upper structure
Implementation Method 2
a second sensor such as an angular rate gyroscope as part of an Inertial Measurement Unit (IMU) or as a stand-alone device
Data Source
AI summary
A working machine includes an undercarriage supported by first and second ground engaging units powered by first and second drive units, a main frame supported by the undercarriage, a first sensor configured to sense an orientation and relative angular motion of the main frame with respect to the undercarriage, a second sensor configured to sense an orientation and relative angular motion of the main frame in an external reference frame independent of the undercarriage, and a controller functionally linked to the first and second sensors. The controller is configured to receive commands corresponding to an intended movement of the first and second ground engaging units, and generate control signals to the first and second drive units to achieve or maintain the intended movement taking into account a detected orientation of the main frame relative to the undercarriage and a detected orientation of the main frame in the external reference frame.