Back to results
US 12,752,844 B2Granted
Variable wheel speed control of differential hydraulic drive harvester implement
AssigneeMoline, Illinois
InventorsMahi Agrawal, Sameer Gorivale
Life of this patent
Estimating the term…
Abstract
An implement includes a steering input operable to receive a desired vehicle steering command and a differential hydraulic drive system. A drive controller determines an acceleration rate of the steering input while receiving the desired vehicle steering command and defines a left acceleration rate and a right acceleration for a left hydraulic drive system and a right hydraulic drive system respectively based on the acceleration rate of the steering input while receiving the desired vehicle steering command. The drive controller communicates the left acceleration rate and the right acceleration rate to the differential hydraulic drive system to achieve the desired vehicle steering command.
Claims20
An implement comprising:
- a steering input operable to receive a desired vehicle steering command;
- a differential drive system having a left drive system operable to rotate a left ground engaging element at a first rotational speed, and a right drive system operable to rotate a right ground engaging element at a second rotational speed;
- a steering input acceleration sensor operable to detect data related to an acceleration rate of the steering input;
- a drive controller including a processor and a memory having a drive control algorithm stored thereon, wherein the processor is operable to execute the drive control algorithm to:
- determine an acceleration rate of the steering input while receiving the desired vehicle steering command, from data detected by the steering input acceleration sensor;
- define a left acceleration rate for the left drive system to change a velocity of the left ground engaging element from an initial left-side velocity to a commanded left-side velocity for achieving the desired vehicle steering command, wherein the left acceleration rate is defined based on the acceleration rate of the steering input while receiving the desired vehicle steering command;
- define a right acceleration rate for the right drive system to change a velocity of the right ground engaging element from an initial right-side velocity to a commanded right-side velocity for achieving the desired vehicle steering command, wherein the right acceleration rate is defined based on the acceleration rate of the steering input while receiving the desired vehicle steering command;
- communicate a left control signal to the left drive system commanding the left acceleration rate for controlling the left drive system;
- and
- communicate a right control signal to the right drive system commanding the right acceleration rate for controlling the right drive system.
7 more elements
A self-propelled windrower implement comprising:
- a steering input operable to receive a desired vehicle steering command;
- a propulsion input operable to receive a desired vehicle speed command;
- a differential hydraulic drive system having a left hydraulic drive system operable to rotate a left ground engaging element at a first rotational speed, and a right hydraulic drive system operable to rotate a right ground engaging element at a second rotational speed;
- a steering input acceleration sensor operable to detect data related to an acceleration rate of the steering input;
- a propulsion input acceleration sensor operable to detect data related to an acceleration rate of the propulsion input;
- a drive controller including a processor and a memory having a drive control algorithm stored thereon, wherein the processor is operable to execute the drive control algorithm to:
- determine an acceleration rate of the steering input while receiving the desired vehicle steering command, from data detected by the steering input acceleration sensor;
- determine an acceleration rate of the propulsion input while receiving the desired vehicle speed command, from data detected by the propulsion input acceleration sensor;
- define a left acceleration rate for the left hydraulic drive system to change a velocity of the left ground engaging element from an initial left-side velocity to a commanded left-side velocity for achieving one of the desired vehicle steering command or the desired vehicle speed command, wherein the left acceleration rate is defined based on one of the acceleration rate of the steering input while receiving the desired vehicle steering command or the acceleration rate of the propulsion input while receiving the desired vehicle speed command;
- define a right acceleration rate for the right hydraulic drive system to change a velocity of the right ground engaging element from an initial right-side velocity to a commanded right-side velocity for achieving one of the desired vehicle steering command or the desired vehicle speed command, wherein the right acceleration rate is defined based on one of the acceleration rate of the steering input while receiving the desired vehicle steering command or the acceleration rate of the propulsion input while receiving the desired vehicle speed command;
- communicate a left control signal to the left hydraulic drive system commanding the left acceleration rate;
- and
- communicate a right control signal to the right hydraulic drive system commanding the right acceleration rate.
10 more elements
A method of controlling a differential drive system of an implement, the method comprising:
- determining, with a drive controller, one of an acceleration rate of a steering input while receiving a desired vehicle steering command, from data detected by a steering input acceleration sensor, or an acceleration rate of a propulsion input while receiving a desired vehicle speed command, from data detected by a propulsion input acceleration sensor;
- defining a left acceleration rate for the left drive system, with the drive controller, to change a velocity of a left ground engaging element from an initial left-side velocity to a commanded left-side velocity for achieving one of the desired vehicle steering command or the desired vehicle speed command, wherein the left acceleration rate is defined based on one of the acceleration rate of the steering input while receiving the desired vehicle steering command or the acceleration rate of the propulsion input while receiving the desired vehicle speed command;
- defining a right acceleration rate for the right drive system, with the drive controller, to change a velocity of a right ground engaging element from an initial right-side velocity to a commanded right-side velocity for achieving one of the desired vehicle steering command or the desired vehicle speed command, wherein the right acceleration rate is defined based on one of the acceleration rate of the steering input while receiving the desired vehicle steering command or the acceleration rate of the propulsion input while receiving the desired vehicle speed command;
- communicating a left control signal to the left drive system with the drive controller to command the left acceleration rate;
- and
- communicating a right control signal to the right drive system with the drive controller to command the right acceleration rate.
3 more elements
Dependencies are inferred from the claim text.