Locking control method for a pivot axle, a pivot axle locking controller and a pivot axle locking system
AssigneeVolvo Construction Equipment AB
InventorValentin Pause
Life of this patent
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Abstract
Aspects of the present disclosure relate to a locking control method for a pivot axle of a wheeled working machine including: determining, using a multibody simulation model, a current posture and motion state of the working machine and static and dynamic forces acting on the working machine; determining a relevant tipping line based on a current locking status of a pivot axle of the working machine; calculating torques acting on the working machine based on the information on current posture, motion state, static and dynamic forces; determining a control command for a pivot axle locking mechanism of the working machine based on the calculated torques and the tipping line; and providing the control command to a pivot axle locking mechanism.
Claims15
A locking control method for a pivot axle of a wheeled working machine comprising the steps:
- determining, using a multibody simulation model, a current posture and motion state of a working machine and static and dynamic forces acting on the working machine;
- determining a relevant tipping line based on a current locking status of a pivot axle of the working machine;
- calculating torques acting on the working machine based on information on the current posture, the motion state, and the static and dynamic forces;
- determining a control command for a pivot axle locking mechanism of the working machine based on the calculated torques and the tipping line;
- and
- providing the control command to the pivot axle locking mechanism.
A pivot axle locking system comprising:
- a pivot axle locking mechanism comprising a hydraulic locking valve, and
- a pivot axle locking controller configured to perform operations comprising:
- determining, using a multibody simulation model, a current posture and motion state of a working machine and static and dynamic forces acting on the working machine;
- determining a relevant tipping line based on a current locking status of a pivot axle of the working machine;
- calculating torques acting on the working machine based on information on the current posture, the motion state, and the static and dynamic forces;
- determining a control command for the pivot axle locking mechanism of the working machine based on the calculated torques and the tipping line;
- and
- providing the control command to the pivot axle locking mechanism.
Dependencies are inferred from the claim text.