System and method for controlling track slip of a machine
AssigneeCaterpillar Inc.
InventorsRandall T. Anderson, Timothy A. Evans
Life of this patent
Estimating the term…
Abstract
A method, system, and machine for controlling the output of an engine of a machine includes calculating the difference between a measured track slip based on track speed and ground speed and a calculated target track slip depending on track speed and chassis pitch, inputting the difference into a controller to determine a propulsion engine torque limit, and limiting the engine toque to the propulsion engine torque limit plus a steering system input torque.
Claims18
A method for controlling an engine torque of a machine having an engine initially operating at an initial output torque, the method comprising:
- calculating a first target track slip from a track speed of a traction device of the machine;
- calculating a second target track slip from a chassis pitch of the machine;
- calculating an actual track slip from the difference between the track speed and a ground speed of the machine;
- determining a total engine torque limit based on a difference between the actual track slip and the first target track slip;
- and
- limiting the initial output torque to the total engine torque limit.
A system for controlling track slip of a track-type tractor having continuous tracks and an engine initially operating at an initial output torque, the system comprising:
- a traction device speed sensor that provides a signal indicative of a track speed of the track-type tractor;
- a ground speed sensor that provides a signal indicative of a ground speed of the track-type tractor;
- a steering system input torque sensor that provides a signal indicative of a steering system torque of the track-type tractor;
- and
- a controller operably connected to the traction device speed sensor, the ground speed sensor, the steering system input torque sensor, and the engine;
- wherein the controller receives the signals for the track speed, the ground speed, and the steering system torque, wherein the controller is configured to calculate a total engine torque limit from the received signals, wherein the controller sends a control signal to the engine which limits the initial output torque to the total engine torque limit, and wherein the controller is further configured to calculate a propulsion engine torque limit from the received track speed, chassis pitch, and ground speed signals.
A machine for performing a work function, the machine comprising:
- at least one traction device which contacts a ground and may rotate about a chassis of the machine;
- an engine capable of producing an output torque;
- a chassis pitch sensor that produces a signal indicative of a chassis pitch of the machine;
- a traction device speed sensor that produces a signal indicative of a track speed of the at least one traction device;
- a ground speed sensor that produces a signal indicative of a ground speed of the machine;
- a controller operatively connected to the engine, the at least one traction device, the chassis pitch sensor, and the ground speed sensor;
- wherein the controller may receive the signals produced by the chassis pitch sensor, the traction device speed sensor, and the ground speed sensor, the controller may determine a total engine torque limit from the received signals, and the controller may send a control signal to the engine which limits the output torque of the engine to the total engine torque limit.
Dependencies are inferred from the claim text.