Work Vehicle Control System Slip Recovery
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Solution Overview
Problem
Existing control systems for work vehicles delay emergence from slip during excavation due to the blade tip remaining stationary, leading to repeated slip occurrences.
Innovation Solution
A control system that adjusts the virtual design surface to a position above the blade tip when slip occurs, allowing the blade tip to move relative to the actual topography and facilitating quicker re-contact with the ground, thereby reducing slip repetition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the blade is controlled to rise with respect to the vehicle body when slip occurs, then the load on the blade is reduced, but the blade tip remains stationary relative to the ground and the front part of the vehicle takes longer to contact the ground
Solution Approach 1:
Instead of controlling the blade to rise relative to the vehicle body (conventional approach), the patent inverts the control target to make the blade tip rise relative to the ground by changing the design plane position. This ensures the blade tip moves forward to contact the ground while still reducing load through controlled lifting.
Solution Approach 2:
The patent changes the parameter being controlled from blade position relative to vehicle body to blade tip position relative to ground by dynamically adjusting the design plane. This parameter transformation allows the system to achieve both load reduction and faster ground contact.
2Force
If the blade is controlled to rise with respect to the vehicle body when slip occurs, then the load on the blade is reduced, but the slip occurs repeatedly because the blade tip returns to the same position
Solution Approach 1:
The patent implements feedback by detecting slip occurrence and responding by changing the design plane to prevent future slip. The system learns from each slip event by adjusting the design plane to a higher position, preventing recurrence through continuous adaptation.
Solution Approach 2:
The patent takes preliminary action by proactively changing the design plane position in advance before slip can occur again. By raising the design plane after detecting slip, the system prevents future slip events rather than merely reacting to them.
3Force
If the relative angle of the work implement with respect to the vehicle body is changed to raise the blade, then the blade load is reduced, but the blade tip does not move forward and emergence from slip is delayed
Solution Approach 1:
Instead of changing the blade angle relative to the vehicle body (conventional approach), the patent inverts the control strategy to directly control the blade tip position relative to the ground by adjusting the design plane. This ensures forward movement of the blade tip while still achieving load reduction.
Solution Approach 2:
The patent transforms the control parameter from blade angle relative to vehicle to blade tip position relative to ground. This parameter change enables simultaneous achievement of load reduction and forward blade tip movement by controlling the design plane position.
Data Source
AI summary
A control system for a work vehicle includes a controller. The controller receives actual topography information of a work target. The controller determines a design surface that is positioned below the actual topography. The controller generates a command signal to move a work implement of the work vehicle along the design surface. The controller determines if slip of the work vehicle has occurred. Upon determining that slip has occurred, the controller changes the design surface to a position equal to or higher than a blade tip position of the work implement when the slip occurred.