Work Vehicle Controller Slip-Based Load Adjustment
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Solution Overview
Problem
Conventional automatic control systems for work vehicles, such as bulldozers, struggle with maintaining efficient and high-quality digging operations due to sudden blade elevation caused by excessive load, leading to uneven topography and frequent shoe slip issues, especially in topographies with large undulations, and are sensitive to inappropriate target load settings.
Innovation Solution
A control system that includes a controller programmed to adjust the target value based on slip determination, allowing the work implement to be controlled according to a target design surface, thereby managing excessive loads and reducing slip occurrences, while automatically updating the target soil amount to optimize digging efficiency and quality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the blade is controlled to conform to a final design surface, then the topography can be shaped accurately, but the load on the blade may increase rapidly causing sudden blade elevation and rough finish quality
Solution Approach 1:
The control system dynamically adjusts the target load value based on actual operating conditions. When a slip is detected, the target load is reduced to prevent excessive blade elevation. This dynamic adjustment allows the blade to maintain stable contact with the ground while still achieving the desired topography shaping, resolving the contradiction between shaping accuracy and position stability.
Solution Approach 2:
The system implements feedback control by monitoring blade load and detecting slips in real-time. Based on this feedback, the controller automatically adjusts the target load value to maintain optimal digging conditions. This feedback mechanism ensures that the blade remains stable during topography shaping operations while preventing sudden elevations that would compromise finish quality.
2Ease of operation
If a predetermined target load value is used for blade control, then automatic control can be simplified, but shoe slip occurs frequently when the target value is not appropriate
Solution Approach 1:
The target load value is transformed from a static predetermined parameter to a dynamic value that automatically adjusts based on slip detection. The controller maintains operational simplicity by automatically modifying the target load when slips occur, eliminating the need for complex manual adjustments while improving slip prevention capability.
Solution Approach 2:
The control system performs self-adjustment by automatically detecting slips and modifying the target load value without operator intervention. This self-service capability maintains the simplicity of automatic control while enhancing the system's ability to prevent slips under varying operating conditions.
3Reliability
If the blade is raised when load becomes excessively high, then shoe slip can be suppressed, but the topography becomes uneven and digging work efficiency decreases
Solution Approach 1:
The system takes preliminary action by proactively adjusting the target load value before excessive blade elevation occurs. When a slip is detected, the target load is reduced in advance to prevent the blade from rising suddenly. This preliminary adjustment maintains continuous digging contact and prevents topography unevenness, thereby preserving digging efficiency while suppressing slips.
Solution Approach 2:
The control system rapidly adjusts the target load value in response to slip detection, quickly transitioning to a safer operating parameter. This rapid response skips the intermediate state of excessive load that would cause blade elevation, maintaining digging continuity and efficiency while preventing slip-related disruptions.
Data Source
AI summary
A work vehicle includes a travel device and a work implement. A control system for the work vehicle includes a controller. The controller controls the work implement according to a predetermined target value. The controller determines whether a slip of the travel device has occurred during control of the work implement. The controller changes the target value according to a result of determination of the slip.