Dynamic deadband for automatic articulation

Patent metadata

Field	Value
Publication number	US-9234331-B1
Application number	US-201414323714-A
Country	US
Kind code	B1
Filing date	Jul 3, 2014
Priority date	Jul 3, 2014
Publication date	Jan 12, 2016
Grant date	Jan 12, 2016

Abstract

An articulation control system for a machine may include an actual steering sensor configured to provide a signal indicative of an actual steering angle, a timer configured to provide a signal indicative of an elapsed predetermined period of time, and a controller in communication with the actual steering sensor and the timer. The controller may be configured to regulate automatic articulation to zero based on signals received from the actual steering sensor and the timer.

First claim

What is claimed is:

1. An articulation control system for a machine, comprising:
an actual steering sensor configured to provide a signal indicative of an actual steering angle;
a timer configured to provide a signal indicative of an elapsed predetermined period of time; and
a controller in communication with the actual steering sensor and the timer, the controller configured to regulate automatic articulation to zero based on signals received from the actual steering sensor and the timer, when the machine is in an auto-articulation mode.

2. The articulation control system of claim 1 , wherein the controller is configured to regulate automatic articulation to zero within a dead band range of actual steering angles.

3. The articulation control system of claim 2 , further comprising a desired steering sensor in communication with the controller, the desired steering sensor configured to provide a signal indicative of a desired steering angle, the controller configured to regulate automatic articulation to zero within a dead band range of desired steering angles.

4. The articulation control system of claim 2 , wherein the controller is configured to regulate automatic articulation to zero when the actual steering angle is within the dead band range of actual steering angles for a predetermined period of time.

5. The articulation control system of claim 4 , further comprising an actual articulation sensor in communication with the controller, the actual articulation sensor configured to provide a signal indicative of an actual articulation angle, the controller configured to regulate automatic articulation to zero when the actual articulation angle is within a dead band range of actual articulation angles proximate to zero.

6. The articulation control system of claim 5 , wherein the controller is configured to regulate automatic articulation to zero when the actual articulation angle is approaching zero.

7. The articulation control system of claim 6 , wherein the controller is configured to set a target articulation angle to zero and set a dead band on an articulation error in order to regulate automatic articulation to zero.

8. The articulation control system of claim 7 , wherein the controller is configured to stop regulating automatic articulation to zero when the actual steering angle is outside the dead band range of actual steering angles.

9. The articulation control system of claim 3 , wherein the controller is configured to stop regulating automatic articulation to zero when the desired steering angle is outside the dead band range of desired steering angles.

10. The articulation control system of claim 1 , wherein the controller is configured to set a standard dead band on an articulation error.

11. A method for controlling an articulation of a machine having a controller, the method comprising:
the controller determining the machine is driving in a straight line direction of travel; and
the controller increasing a standard dead band on articulation error upon determining the machine is driving in the straight line direction of travel.

12. The method of claim 11 , further comprising the controller increasing a standard dead band on articulation error in order to decrease sensitivity to minor steering corrections when the machine is operating in an automatic articulation mode.

13. The method of claim 11 , further comprising the controller receiving a signal from a timer indicative of an elapsed predetermined period of time, and the controller determining the machine is driving in a straight line direction of travel based on the signal received from the timer.

14. The method of claim 11 , further comprising the controller receiving a signal from an actual steering sensor indicative of an actual steering angle, and the controller determining the machine is driving in a straight line direction of travel based on the signal received from the actual steering sensor.

15. The method of claim 11 , further comprising the controller receiving a signal from an actual articulation sensor indicative of an actual articulation angle, and the controller determining the machine is driving in a straight line direction of travel based on the signal received from the actual articulation sensor.

16. An articulated machine, comprising:
a first frame including a first traction device and a steering apparatus operable to control an actual steering angle of the first traction device;
a second frame pivotally coupled to the first frame at an articulation joint, the second frame including a second traction device;
an actual steering sensor configured to provide a signal indicative of the actual steering angle of the first traction device; and
a controller in operative communication with the first frame, the second frame, and the actual steering sensor, the controller configured to regulate an articulation angle between the first frame and the second frame to zero when the actual steering angle of the first traction device is within a dead band range of actual steering angles.

17. The articulated machine of claim 16 , further comprising a timer in communication with the controller, the controller configured to regulate the articulation angle to zero when the actual steering angle is within the dead band range of actual steering angles for a predetermined period of time.

18. The articulated machine of claim 17 , further comprising a desired steering sensor in communication with the controller, the desired steering sensor configured to provide a signal indicative of a desired steering angle from operator input, the controller configured to regulate the articulation angle to zero when the desired steering angle is within a dead band range of desired steering angles.

19. The articulated machine of claim 17 , further comprising an actual articulation sensor in communication with the controller, the actual articulation sensor configured to provide a signal indicative of an actual articulation angle between the first frame and the second frame, the controller configured to regulate the articulation angle to zero when the actual articulation angle is within a dead band range of actual articulation angles proximate to zero.

20. The articulated machine of claim 19 , wherein the controller is configured to regulate the articulation angle to zero when the actual articulation angle is approaching zero.

Assignees

• Caterpillar Inc

Inventors

• Sharma Amit
• Budde Steven C

Classifications

• B62D12/00

  Steering specially adapted for vehicles operating in tandem or having pivotally connected frames (steering endless tracks or the like B62D11/00; steering specially adapted for trailers B62D13/00) · CPC title

• E02F9/0841

  Articulated frame, i.e. having at least one pivot point between two travelling gear units (tractor-trailer combinations B62D53/00) · CPC title

• E02F9/225 Primary

  Control of steering, e.g. for hydraulic motors driving the vehicle tracks (steering in general B62D) · CPC title

• E02F3/764

  with the scraper blade being pivotable about a vertical axis · CPC title

• B62D9/00

  Steering deflectable wheels not otherwise provided for (steering positon indicators B62D15/02) · CPC title