Work Machine Steering Control for Smooth Small Angle Operation
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Solution Overview
Problem
Existing work machines with position control and speed control types face difficulties in performing smooth very small steering angle operations and returning to a straight direction, requiring skilled experience from operators.
Innovation Solution
A work machine with a controller that adjusts the steering angle of the traveling wheels based on the operating amount of a steering member, allowing for speed-controlled steering in the left or right ranges and automatic return to a neutral angle when the steering member is positioned in the neutral range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If position control type is used, then the steering angle corresponds to the operating amount of the steering member, but it is not easy to smoothly perform very small steering angle operations
Solution Approach 1:
The patent applies dynamics by switching between two control modes (position control and speed control) depending on the steering member's position. When the steering member is in the neutral range, position control is used for precision; when in the left or right steering range, speed control is used for smooth operation. This dynamic switching resolves the contradiction between precision and smoothness.
Solution Approach 2:
The patent changes the control parameter based on the steering member's position. In the neutral range, the control target is steering angle (position control). In the left/right steering ranges, the control target is steering angle change speed (speed control). This parameter change allows the system to optimize for either precision or smoothness depending on the operational context.
2Ease of operation
If speed control type is used, then very small steering angle operations can be performed smoothly, but the operator must operate the steering member in the opposite direction to return to straight direction
Solution Approach 1:
The patent applies self-service through the automatic return function. When the steering member is returned to the neutral range, the control unit automatically controls the actuator to return the steering angle to the neutral angle, eliminating the need for the operator to manually counter-steer. This resolves the complexity issue while maintaining smooth operation capability.
Solution Approach 2:
The system uses feedback from the steering member's position to determine the appropriate control mode. When the steering member is in the neutral range, the system detects this and activates automatic return control, where the actuator adjusts the steering angle based on the steering member position feedback. This feedback mechanism simplifies the returning operation.
3Ease of operation
If speed control type is used, then very small steering angle operations can be performed smoothly, but operations for turning and traveling straight require skilled experience
Solution Approach 1:
The patent dynamically switches control modes based on steering member position. Position control is used when the steering member is near neutral (for precise positioning), and speed control is used when the steering member is in the left/right ranges (for smooth turning). This dynamic adaptation makes the system usable by operators of all skill levels.
Solution Approach 2:
The control unit performs multiple functions: position control, speed control, and automatic return control. This multi-functionality ensures that the system adapts to different operational needs, making it universally applicable to both novice and experienced operators regardless of their skill level.
Data Source
AI summary
A work machine includes a vehicle body, a traveling wheel supported by the vehicle body, an actuator to change a steering angle of the traveling wheel from a neutral angle to left or right, a first steering member, and a controller. The first steering member is operable between a left steering range, a right steering range, and a neutral range. The controller controls the actuator so that the steering angle of the traveling wheel is changed to the left and right at speeds that correspond to operating amounts of the first steering member when the first steering member is positioned in the left and right steering ranges, respectively. The controller controls the actuator so that the steering angle returns to the neutral angle when the first steering member is positioned in the neutral range.