Work Machine Steering Neutralization During Direction Switching
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Solution Overview
Problem
Work machines may continue to travel forward due to inertia after the shift lever is switched to rearward travel, leading to incorrect steering and wandering during automatic steering control.
Innovation Solution
The controller sets the steering angle to a neutral position when the traveling direction status is unknown, preventing incorrect steering during direction changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the controller determines traveling direction based on shift lever position, then the automatic steering control can be executed, but the work machine may continue traveling forward due to inertia causing incorrect steering
Solution Approach 1:
The controller preliminarily determines that traveling direction status is unknown when the shift lever is operated, before the actual direction change is confirmed. This preliminary action prevents the controller from issuing incorrect steering commands during the inertia period when the work machine continues moving forward despite the shift lever being in reverse position.
Solution Approach 2:
The controller uses feedback from the traveling direction status determination to control the steering actuator. By setting the steering angle to neutral when direction status is unknown, the system receives feedback that prevents wrong steering actions, and only issues steering commands when the traveling direction is clearly determined.
2Speed
If the steering angle is actively controlled during direction switching, then the work machine can respond quickly to direction changes, but the work machine may be steered in the wrong direction due to inertia
Solution Approach 1:
The controller applies preliminary anti-action by setting the steering angle to neutral when traveling direction status is unknown. This counteracts the potential harmful effect of incorrect steering by neutralizing the steering input during the critical transition period when inertia may cause the work machine to continue moving forward despite reverse gear engagement.
3Manufacturing precision
If the controller continuously adjusts steering angle, then the work machine can maintain precise path following, but wandering occurs during direction transitions due to inertia
Solution Approach 1:
The controller segments the traveling direction determination into distinct states: unknown, forward, and reverse. By dividing the direction control into discrete segments rather than continuous adjustment, the system avoids unstable intermediate steering commands during direction transitions, improving overall traveling stability while maintaining path following accuracy during steady-state operation.
Data Source
AI summary
A work machine includes a traveling wheel, a steering actuator, and a controller. The steering actuator changes the steering angle of the traveling wheel from a neutral angle to the left or right. The controller controls the steering actuator. The controller executes an automatic steering control to control the steering angle by the steering actuator so that the work machine travels along a predetermined target path. The controller determines a traveling direction status indicating the forward or rearward traveling direction of the work machine. The controller sets the steering angle to the neutral angle upon determining that the traveling direction status is unknown during the automatic steering control.