Work Vehicle Controller Dynamic Blade Trajectory Adjustment
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Solution Overview
Problem
Conventional control systems for work vehicles, such as bulldozers, often result in uneven terrain due to sudden blade elevation when load increases, leading to inefficient digging and difficulty in maintaining smooth work surfaces.
Innovation Solution
A control system that includes a controller programmed to decide a target profile for the work site, acquire the load on the work vehicle, and modify the target profile based on the load magnitude to adjust the blade's trajectory, ensuring efficient operation and minimizing terrain irregularities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If load control is used to suppress track slippage by raising the blade when load becomes excessively high, then work efficiency is improved, but terrain irregularities increase making subsequent digging difficult
Solution Approach 1:
The control system dynamically adjusts the target blade height based on real-time load conditions. When load increases, the system modifies the target profile to prevent excessive blade raising, thereby maintaining terrain smoothness while still managing load effectively. This dynamic adjustment resolves the contradiction between productivity and terrain precision.
Solution Approach 2:
The control system continuously monitors load on the work vehicle and uses this feedback to adjust the target blade height. By incorporating load feedback into the height control loop, the system prevents sudden blade elevations that cause terrain irregularities, thus maintaining both productivity and terrain smoothness.
2Manufacturing precision
If the blade is controlled to conform to design terrain, then terrain accuracy is improved, but sudden blade elevation occurs when load increases causing uneven terrain
Solution Approach 1:
The system dynamically modifies the target blade height profile based on real-time load conditions. When load increases, the target height is adjusted to prevent sudden blade elevation, thereby maintaining terrain uniformity while still achieving terrain accuracy through controlled adjustments.
Solution Approach 2:
The control system takes preliminary action by adjusting the target blade height before load-induced elevation occurs. By proactively modifying the target profile in response to load increases, the system prevents terrain irregularities before they form, maintaining both accuracy and uniformity.
3Reliability
If the blade is raised suddenly when load increases, then track slippage is suppressed, but very uneven terrain is formed making digging work difficult
Solution Approach 1:
The control system dynamically adjusts target blade height based on real-time load monitoring. This dynamic adjustment prevents sudden blade elevation that causes terrain unevenness, while still maintaining sufficient blade contact with the ground to prevent track slippage, thereby ensuring both reliability and digging smoothness.
Solution Approach 2:
By continuously monitoring load and providing feedback to the height control system, the controller can make gradual adjustments that prevent track slippage without causing sudden blade elevation. This feedback mechanism ensures terrain smoothness is maintained while preventing slippage.
Data Source
AI summary
A control system for a work vehicle includes a controller. The controller decides a target profile of a work site. The controller generates a command signal to move a work implement according to the target profile. The controller acquires the load to which the work vehicle is subjected. The controller modifies the target profile according to the magnitude of the load. The controller generates a command signal to operate the work implement according to the modified target profile.