Work Vehicle Lift Assembly Trajectory Control
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Solution Overview
Problem
Current lift assemblies for work vehicles are limited to a single pre-defined vertical lift path, restricting the ability to alter the lift path for various tasks and optimizing performance, with a need for improved control over actuators or cylinders to enhance operational flexibility.
Innovation Solution
A system and method for controlling a lift assembly using a computing device to determine and actively control the operation of lift and control cylinders based on input commands, allowing the loader arms to move along predetermined travel paths with precise velocity control, incorporating a trajectory-based control methodology and a control model that adjusts the dynamic pivot point to achieve desired travel paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If complex four-bar linkages are used to achieve a substantially vertical lift path, then the lift path is optimized for increasing rated operating capacity, but the ability to alter the lift path for various tasks is lost
Solution Approach 1:
The patent applies the dynamics principle by making the lift assembly configurable between different operational modes. The system can dynamically switch between a radial lift path configuration and a substantially vertical lift path configuration, allowing the loader arms to adapt to different task requirements. This is achieved through controllable linkages that can change the geometric relationship between components during operation, rather than being fixed in a single configuration.
2Device complexity
If a radial lift path is used, then the lift assembly is simpler without complex four-bar linkages, but the rated operating capacity is not optimized
Solution Approach 1:
The patent implements universality by designing a lift assembly that can perform multiple functions through a single configurable system. The same lift assembly structure can operate in radial lift mode for general purposes and switch to substantially vertical lift mode for optimized rated operating capacity. This multi-functionality eliminates the need for separate dedicated systems for each lift path type, allowing one assembly to serve multiple operational needs.
3Adaptability or versatility
If the lift path is fixed to a single pre-defined path, then the mechanical configuration is simpler, but the ability to optimize performance for various tasks is restricted
Solution Approach 1:
The system employs dynamics by enabling the lift assembly to transition between different geometric configurations during operation. The controllable linkages allow the system to adjust the lift path in real-time based on task requirements, switching between radial and substantially vertical paths. This dynamic reconfiguration capability provides performance optimization for various tasks while maintaining a relatively simple base mechanical structure.
Data Source
AI summary
A method for controlling a lift assembly for a work vehicle may include receiving an input command associated with controlling movement of a loader arm of the lift assembly, and determining a travel velocity at which a reference location on the loader arm is to be moved based on the input command. In addition, the method may include determining at least one lift cylinder command and at least one control cylinder command based at least in part on the determined travel velocity and position-based inputs associated with moving the reference location along a predetermined travel path, and actively controlling an operation of a lift cylinder and a control cylinder of the lift assembly based on the lift cylinder command(s) and the control cylinder command(s), respectively, such that the reference location on the loader arm is moved along the predetermined travel path at the determined travel velocity.