System and method for controlling the acceleration of a work vehicle

Patent metadata

Field	Value
Publication number	US-9340208-B1
Application number	US-201514673944-A
Country	US
Kind code	B1
Filing date	Mar 31, 2015
Priority date	Mar 31, 2015
Publication date	May 17, 2016
Grant date	May 17, 2016

Abstract

A method for controlling acceleration of a work vehicle may generally include determining a vehicle speed error based on a desired speed and an actual speed of the work vehicle, calculating an initial acceleration command based on the vehicle speed error, monitoring a current engine load on the vehicle engine, determining an engine load error for the engine based on the current engine load and calculating an acceleration limit for the work vehicle based on the engine load error, wherein the acceleration limit is calculated via a PID control algorithm implemented by a computing device of the vehicle. The method may also include controlling the operation of the engine and/or the transmission of the work vehicle based on a final acceleration command to adjust the actual speed of the work vehicle, wherein the final acceleration command corresponds to the lesser of the initial acceleration command and the acceleration limit.

First claim

What is claimed is:

1. A method for controlling acceleration of a work vehicle, the method comprising:
determining, by a computing device, a vehicle speed error based on a desired speed for the work vehicle and an actual speed of the work vehicle;
calculating, by the computing device, an initial acceleration command for the work vehicle based on the vehicle speed error;
monitoring, by the computing device, a current engine load on an engine of the work vehicle;
determining, by the computing device, an engine load error for the engine based on the current engine load;
calculating, by the computing device, an acceleration limit for the work vehicle based on the engine load error, the acceleration limit being calculated via a PID control algorithm implemented by the computing device; and
controlling, by the computing device, the operation of at least one of the engine or a transmission of the work vehicle based on a final acceleration command to adjust the actual speed of the work vehicle, the final acceleration command corresponding to the lesser of the initial acceleration command and the acceleration limit.

2. The method of claim 1 , further comprising resetting an integral term associated with the PID control algorithm when the vehicle speed error falls within a predetermined tolerance range.

3. The method of claim 2 , wherein the predetermined tolerance range corresponds to zero plus or minus about 0.4 kilometers per hour.

4. The method of claim 1 , wherein controlling the operation of the least one of the engine or the transmission of the work vehicle based on the final acceleration command comprises splitting the final acceleration command between the engine and the transmission such that an operational parameter of both the engine and the transmission is varied in order to adjust the actual speed of the work vehicle.

5. The method of claim 4 , wherein the operational parameter for the engine corresponds to an engine speed and the operational parameter for the transmission corresponds to a transmission ratio.

6. The method of claim 1 , further comprising calculating a proportional term, an integral term and a derivative term associated with the PID control algorithm based on the engine load error.

7. The method of claim 6 , wherein calculating the acceleration limit comprises summing the proportional term, the integral term and the derivative term.

8. The method of claim 1 , wherein determining the engine load error comprises determining a difference between the current engine load and a maximum engine load for the engine.

9. The method of claim 1 , wherein determining the vehicle speed error comprises:
receiving an operator input associated with the desired speed for the work vehicle;
monitoring the actual speed of the work vehicle; and
determining a difference between the operator-selected desired speed and the monitored actual speed.

10. A method for controlling acceleration of a work vehicle, the method comprising:
determining, by a computing device, a vehicle speed error based on a difference between a desired speed for the work vehicle and an actual speed of the work vehicle;
calculating, by the computing device, an initial acceleration command for the work vehicle based on the vehicle speed error;
monitoring, by the computing device, a current engine load on an engine of the work vehicle;
determining, by the computing device, an engine load error for the engine based on a difference between the current engine load and a maximum engine load for the engine;
calculating, by the computing device, an acceleration limit for the work vehicle based on the engine load error, the acceleration limit being calculated via a PID control algorithm implemented by the computing device;
controlling, by the computing device, the operation of at least one of the engine or a transmission of the work vehicle based on a final acceleration command to adjust the actual speed of the work vehicle, the final acceleration command corresponding to the lesser of the initial acceleration command and the acceleration limit; and
resetting, by the computing device, an integral term associated with the PID control algorithm when the vehicle speed error falls within a predetermined tolerance range.

11. The method of claim 10 , wherein the predetermined tolerance range corresponds to zero plus or minus about 0.4 kilometers per hour.

12. The method of claim 10 , wherein controlling the operation of the least one of the engine or the transmission of the work vehicle based on the final acceleration command comprises splitting the final acceleration command between the engine and the transmission such that an operational parameter of both the engine and the transmission is varied in order to adjust the actual speed of the work vehicle.

13. The method of claim 12 , wherein the operational parameter for the engine corresponds to an engine speed and the operational parameter for the transmission corresponds to a transmission ratio.

14. A system for controlling acceleration of a work vehicle, the system comprising:
an engine;
a transmission rotatably coupled to the engine; and
a controller communicatively coupled to the engine and the transmission, the controller including at least one processor and associated memory, the memory storing instructions that, when implemented by the at least one processor, configure the controller to:
determine a vehicle speed error based on a desired speed for the work vehicle and an actual speed of the work vehicle;
calculate an initial acceleration command for the work vehicle based on the vehicle speed error;
monitor a current engine load on the engine;
determine an engine load error for the engine based on the current engine load;
implement a PID control algorithm to calculate an acceleration limit for the work vehicle based on the engine load error; and
control the operation of at least one of the engine or the transmission based on a final acceleration command to adjust the actual speed of the work vehicle, the final acceleration command corresponding to the lesser of the initial acceleration command and the acceleration limit.

15. The system of claim 14 , wherein the controller is further configured to reset an integral term associated with the PID control algorithm when the vehicle speed error falls within a predetermined tolerance range.

16. The system of claim 15 , wherein the predetermined tolerance range corresponds to zero plus or minus about 0.4 kilometers per hour.

17. The system of claim 14 , wherein the controller is configured to split the final acceleration command between the engine and the transmission such that an operational parameter of both the engine and the transmission is varied in order to adjust the actual speed of the work vehicle.

18. The system of claim 17 , wherein the operational parameter for the engine corresponds to an engine speed and the operational parameter for the transmission corresponds to a transmission ratio.

19. The system of claim 14 , wherein the controller is configured to calculate a proportional term, an integral term and a derivative term associated with the PID control algorithm based on the engine load error.

20. The system of claim 19 , wherein the controller is configured to calculate the acceleration limit by summing the proportional term, the integral term and the derivative term.

Assignees

• Cnh Ind America Llc
• Cnh Ind America Llc

Inventors

• Kuros Pawel
• Omran Ashraf
• Hartman Brian A

Classifications

• B60W2520/10

  Longitudinal speed · CPC title

• F16H2061/009

  using formulas or mathematic relations for calculating parameters · CPC title

• B60W30/143 Primary

  Speed control (B60W30/16 takes precedence) · CPC title

• B60W2720/106

  Longitudinal acceleration · CPC title

• B60W10/06

  including control of combustion engines · CPC title