Work Machine Controller Steering Speed Priority
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Solution Overview
Problem
Conventional work machines struggle to smoothly perform steering angle changes based on a travel route and speed adjustments when the steering angle reaches or exceeds a threshold value, requiring improved control mechanisms for stable operation under various control modes.
Innovation Solution
A controller for a work machine comprising a first control module for steering angle adjustments based on a travel route and a second control module for speed control when the steering angle is at or above a threshold value, with the first control module prioritizing steering angle changes and the second module increasing front wheel rotation speed or braking rear wheels accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the first control module performs steering angle adjustments based on a travel route, then the work machine can follow the target travel route accurately, but the machine may become unstable when the steering angle reaches or exceeds a threshold value during turns
Solution Approach 1:
The control system dynamically switches between different control modes based on the steering angle. When the steering angle is below the threshold, auto-steering control is active to maintain precise route following. When the steering angle reaches or exceeds the threshold, the system transitions to acceleration control or brake control to ensure stable turning. This dynamic adaptation resolves the contradiction by adjusting the control strategy according to the current operating conditions.
Solution Approach 2:
The system changes the control parameter (control mode) based on the steering angle threshold. By monitoring the steering angle and comparing it against a predetermined threshold, the system switches between auto-steering control and turn-specific control (acceleration or brake control). This parameter-based switching ensures that the appropriate control strategy is applied at each stage of the turning process, maintaining both precision and stability.
2Speed
If the second control module increases front wheel rotation speed or applies brake control when steering angle is at or above threshold, then turning performance is improved, but the coordination between steering control and speed control becomes complex
Solution Approach 1:
The control system is segmented into distinct functional modules: the first control module handles auto-steering control for route following, while the second control module handles acceleration control or brake control for turning. Each module operates independently within its designated control range, simplifying the overall system architecture. The segmentation allows each module to be optimized for its specific function without increasing overall complexity.
Solution Approach 2:
The controller acts as an intermediary that coordinates between the steering angle input and the two control modules. It receives the steering angle signal, determines the appropriate control mode based on the threshold comparison, and activates the corresponding module. This intermediary function simplifies the coordination complexity by providing a centralized decision-making layer that manages the interaction between steering control and speed control.
Data Source
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AI summary
The invention refers to a controller for a work machine, comprising a first control module configured to perform a first control for a steering device to change a steering angle based on a travel route, and a second control module configured to perform a second control on a speed of a traveling device when the steering angle is equal to or above a threshold value, wherein the first control module prioritizes and performs the first control over the second control to be performed by the second control module. Further, a work machine and a method for controlling a work machine are provided.