Travel Motor Deceleration Control for Stable Working Machine Turning
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Solution Overview
Problem
Conventional working machines experience unpredictable deceleration due to their traveling states, such as spin turn, pivot turn, and straight traveling, leading to instability and inefficiency.
Innovation Solution
A working machine equipped with left and right traveling motors, rotation detectors, pumps, and a controller that automatically adjusts the speed stages of these motors based on detected rotation speeds and pilot pressures to perform smooth deceleration, preventing unintentional deceleration during specific maneuvers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If automatic deceleration is performed based on operation fluid pressure, then deceleration can be achieved, but unexpected deceleration occurs during certain traveling states
Solution Approach 1:
The controller continuously monitors rotation speeds of both traveling motors and compares them against predetermined thresholds. When the absolute difference between left and right motor rotation speeds exceeds the threshold, the controller suppresses automatic deceleration. This feedback mechanism ensures deceleration only occurs during stable straight traveling, preventing unexpected deceleration during turns while maintaining the desired speed control functionality.
2Ease of operation
If deceleration is suppressed during high rotation speeds, then smooth operation is maintained, but deceleration control is lost at lower speeds
Solution Approach 1:
The deceleration control system dynamically adjusts its behavior based on real-time rotation speed conditions. The controller evaluates the absolute difference between left and right motor rotation speeds and compares it against a predetermined threshold. When operating conditions are favorable (small speed difference), automatic deceleration is enabled for responsive productivity. When conditions indicate turning (large speed difference), deceleration is suppressed for smooth operation. This dynamic adaptation resolves the contradiction between operational smoothness and deceleration responsiveness.
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
Ensures smooth deceleration according to the machine's traveling state, enhancing operational stability and efficiency by preventing unnecessary deceleration during pivotal turns and maintaining speed during straight traveling.
Implementation Method 1
a first rotation detector to detect a first rotation speed that is a rotation speed of the left traveling motor, a second rotation detector to detect a second rotation speed that is a rotation speed of the right traveling motor
Implementation Method 2
a hydraulic pump to deliver pilot fluid and traveling fluid lines connected to pressure receiver portions of the left traveling pump and the right traveling pump
Data Source
AI summary
A working machine includes a machine body, a left traveling device located left on the machine body, a right traveling device located right on the machine body, and a controller configured or programmed to perform automatic deceleration to automatically reduce a first rotation speed of a left traveling motor and a second rotation speed of a right traveling motor by shifting a speed stage of each of the left and right traveling motors from a second speed stage to a first speed stage that is lower than the second speed stage. The controller is configured or programmed to: not perform the automatic deceleration when the first rotation speed or the second rotation speed is equal to or higher than a predetermined rotation speed; and perform the automatic deceleration when the first rotation speed and the second rotation speed are less than the predetermined rotation speed.