Work Vehicle Speed Control for Stability
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Solution Overview
Problem
Work vehicles with independently driven right and left wheels face instability due to differences in target speeds when operating change speed tools, leading to vehicle inclination and hunting during straight running.
Innovation Solution
A controller adjusts target speeds for the electric motors based on detection information from change speed operation position detectors, ensuring the speed difference between wheels is minimized, even when operation positions differ, by setting target speeds closer together or applying set ratios to operation position corresponding speeds.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If target speeds are set based on operation positions of change speed operation tools, then the electric motors can be controlled to achieve desired running speeds, but the speed difference between right and left wheels increases causing vehicle inclination and hunting
Solution Approach 1:
The control device applies preliminary anti-action by detecting the operation positions of both change speed operation tools and calculating target speeds that compensate for expected speed differences before they cause vehicle instability. The system proactively adjusts target speeds to prevent the harmful effect of speed mismatch between wheels, rather than reacting after instability occurs.
Solution Approach 2:
The control device implements feedback by continuously detecting the operation positions of the change speed operation tools and using this information to dynamically adjust the target speeds of the electric motors. The detected operation positions serve as feedback input that allows the system to maintain balanced wheel speeds and prevent vehicle hunting and inclination.
2Ease of operation
If change speed operation tools are manually operated independently for straight running, then the driver can control each wheel's speed, but operation position differences between right and left hands cause speed mismatch
Solution Approach 1:
The control device applies self-service by automatically compensating for operation position differences without requiring the driver to manually coordinate both hands precisely. The system uses the detected operation positions from both sides and autonomously calculates appropriate target speeds, eliminating the need for the driver to achieve precise manual positioning match.
Solution Approach 2:
The control device changes the parameter of target speed based on the detected operation positions. Instead of directly using operation positions as target speeds (which would preserve speed differences), the system transforms the operation position data into adjusted target speeds that account for the differences in operation positions, thereby maintaining wheel speed balance.
Data Source
AI summary
A work vehicle includes a pair of electric motors independently running and driving right and left running wheels in a state of being able to create straight running state and turning running; a pair of right and left change speed operation tools independently manually operated and performing a change speed operation to the right and left running wheels; and a controller controlling operation. The controller controls the operation of the respective electric motors by setting target speeds with regard to the respective electric motors such that the speed difference in the target speeds is smaller than the speed difference corresponding to the difference in the operation positions of the respective change speed operation tools by a set amount in a case where the operation positions of the respective change speed operation tools are different between right and left.