Work Vehicle Actuator Speed Control for Impact Suppression
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Solution Overview
Problem
Existing work vehicles face challenges in reducing the impact generated at the dump end during bucket dumping, which affects operational efficiency and productivity.
Innovation Solution
A control method for work vehicles that adjusts the operating speed of the actuator based on the boom and bucket postures, limiting the operating speed to prevent excessive impact during dumping by determining the operable amount before the bucket reaches the stopper and changing the limit speed according to the operation amount and rising speed of the boom.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If the operating speed of the actuator is limited to suppress impact at the dump end, then the impact is reduced, but the productivity decreases due to slower operation
Solution Approach 1:
The operating speed limit of the actuator is made dynamic rather than fixed. The control device adjusts the speed limit in real-time based on the calculated operable amount (distance to stopper) and the current rising speed of the boom. When the operable amount is large and boom rising speed is high, a larger speed limit is applied; when the operable amount is small, a smaller speed limit is applied. This dynamic adjustment resolves the contradiction by adapting the speed limitation to actual operational conditions.
Solution Approach 2:
The patent changes the parameter of actuator operating speed based on multiple variables including the operable amount (distance from current bucket position to stopper), boom rising speed, and operation amount. By continuously adjusting these parameters, the system optimizes the balance between impact suppression and productivity maintenance, allowing faster operations when safe and slower operations when approaching the stopper.
2Productivity
If the operating speed of the actuator is increased to maintain productivity, then the productivity is improved, but the impact at the dump end increases
Solution Approach 1:
The control device performs preliminary calculations of the operable amount (distance to stopper) based on current boom and bucket postures before the bucket reaches the stopper. Using this advance information, the system proactively adjusts the actuator speed limit to prevent excessive impact before it occurs, rather than reacting after the impact happens. This preliminary action allows maintaining higher speeds for longer periods while still preventing damage.
Solution Approach 2:
The system continuously monitors the actual positions of the boom and bucket, calculates the current operable amount, and compares it with the predetermined safe distance. Based on this feedback loop, the control device dynamically adjusts the operating speed limit to maintain productivity while preventing impact. The feedback mechanism ensures that speed adjustments are based on real-time conditions rather than fixed predetermined values.
3Object-affected harmful factors
If a fixed speed limit is applied to the actuator, then the impact is suppressed, but the operational efficiency decreases due to unnecessary speed reduction
Solution Approach 1:
The patent replaces fixed speed limiting with dynamic speed adjustment based on real-time operational conditions. The operating speed limit is continuously modified according to the operable amount (calculated from current boom angle and bucket position) and boom rising speed. This allows the system to maintain high speeds when the bucket is far from the stopper and only reduce speed when necessary, eliminating unnecessary speed reductions and improving operational efficiency.
Data Source
AI summary
In controlling a work vehicle including a boom supported by a vehicle body and configured to turn, and a bucket supported by a side, away from the vehicle body, of the boom and configured to turn according to an operation of an actuator, an operation amount for raising the boom or a rising speed of the boom, and an operable amount that the actuator is able to operate before the bucket reaches the stopper based on the posture of the boom and the posture of the bucket, are obtained, and an operating speed of the actuator is limited according to the operable amount of the actuator before the bucket reaches the stopper, and based on the operation amount for raising the boom or the rising speed of the boom obtained, a limit amount of the operating speed of the actuator is changed.