Work Vehicle Multi-Mode Turn Control via Steering and Braking
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Solution Overview
Problem
Work vehicles, such as agricultural tractors, face limitations in executing turns due to the maximum turning radius imposed by their steering systems and certain operating conditions, which restrict their ability to follow curved paths effectively.
Innovation Solution
A system and method that utilize a combination of steering and braking to facilitate multi-mode turns by determining optimal steering and braking commands based on actual rates, allowing for continuous adjustment during the turning operation through a controller that analyzes and updates the necessary commands using a cost function considering various system constraints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If steering system is used to execute turns, then the work vehicle can change direction, but the maximum turning radius is restricted based on vehicle speed
Solution Approach 1:
The patent combines steering control with braking control to execute turns. The controller simultaneously manages the steering actuator and steering brake to achieve a desired turning radius that would be impossible with steering alone. This merging of two control functions resolves the contradiction between speed and turning radius.
Solution Approach 2:
The system dynamically adjusts multiple parameters including steering angle, braking force, vehicle speed, and turning radius based on real-time conditions. By changing these parameters in coordination, the vehicle can execute turns with optimized radius at various speeds, overcoming the fixed relationship between speed and turning radius in traditional steering-only systems.
2Adaptability or versatility
If steering system operates at maximum capacity, then turning capability is maximized, but operating conditions limit the ability to effectively steer along curved paths
Solution Approach 1:
The controller continuously monitors actual steering rate, actual braking rate, and vehicle position, then adjusts steering and braking commands accordingly. This closed-loop feedback ensures the vehicle reliably follows the desired curved path even under varying operating conditions, enhancing both adaptability and steering effectiveness.
Solution Approach 2:
The system dynamically adjusts the ratio of steering to braking based on real-time vehicle state and path requirements. Rather than operating at fixed maximum capacity, the controller modulates both steering and braking inputs dynamically to maintain optimal turning performance across different operating conditions, improving reliability while enhancing adaptability.
3Productivity
If combination of steering and braking is used for turns, then turning efficiency is improved, but system complexity increases
Solution Approach 1:
The controller serves multiple functions: it manages steering actuator, steering brake, monitors sensor inputs, calculates optimal control commands, and adjusts parameters in real-time. By making the controller universal and multi-functional, the patent achieves improved turning efficiency without proportionally increasing overall system complexity, as the additional control logic is integrated into the existing controller architecture.
Data Source
AI summary
A method for executing multi-mode turns with a work vehicle includes transmitting initial steering and braking commands for controlling an operation of a steering actuator(s) and a steering brake(s), respectively, of the work vehicle to initiate execution of a multi-mode turning operation. The method also includes determining allowable steering and braking rates for the work vehicle based at least in part on an actual steering rate and an actual braking rate, respectively, of the work vehicle during execution of the multi-mode turning operation, and determining updated steering and braking commands based at least in part on the allowable steering and braking rates. In addition, the method includes transmitting the updated steering and braking commands to control the operation of the steering actuator(s) and the steering brake(s), respectively, to continue execution of the multi-mode turning operation.