Work Vehicle Steering Override Control at Full Lock
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Solution Overview
Problem
In work vehicles with automatic steering, excessive torque is generated when steered wheels are turned beyond a fully turned state, leading to potential motor damage and reduced operator usability due to the need for large forces to switch to manual steering.
Innovation Solution
A control method that determines whether the steered wheels are in a fully turned state using a turning angle determination condition, which includes torque and steering angle criteria, to prevent further automatic steering and reduce the risk of motor damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the threshold value of torque for override state determination is set to be large, then automatic steering cancellation is avoided, but excessive torque generation in the motor is prolonged and motor damage may occur
Solution Approach 1:
The system performs preliminary determination of whether the steered wheel is in a fully turned state by checking steering angle and torque conditions before the override state is triggered. This early detection allows the system to take preventive action by canceling automatic steering mode before excessive torque can cause motor damage, while maintaining automatic steering stability through proper threshold settings.
Solution Approach 2:
The system continuously monitors steering angle and torque as feedback parameters to determine the fully turned state. By using feedback from steering angle sensor and torque sensor, the system can detect when the steered wheel reaches maximum rotation and adjust the automatic steering control accordingly, preventing both override cancellations and motor damage.
2Reliability
If the threshold value of torque for override state determination is set to be large, then automatic steering cancellation is avoided, but the force required for manual steering operation increases
Solution Approach 1:
The system determines the fully turned state in advance by monitoring steering angle and torque conditions before the operator needs to manually steer. When the steered wheel is detected to be in a fully turned state, the system proactively cancels automatic steering mode, ensuring that the steering wheel becomes easily operable before the operator needs to take control, thus maintaining both stability and ease of operation.
Solution Approach 2:
The system uses feedback from steering angle and torque sensors to continuously assess the steering state. This feedback mechanism allows the system to recognize when manual intervention may be needed and automatically transitions to manual mode, ensuring the steering wheel remains easy to operate while maintaining overall system reliability.
Data Source
AI summary
A control method of a work vehicle is a control method of a work vehicle having an automatic steering mode for automatically steering a steered wheel using a motor. The control method includes: in the automatic steering mode, controlling the motor; determining whether the work vehicle is in an override state on the basis of a determination condition related to torque generated in the motor; and changing the determination condition.