System and method for controlling slip
AssigneeCaterpillar Inc.
InventorsJoshua Callaway, Todd R. Farmer
Life of this patent
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Abstract
A system for automated control of a ground-engaging traction device includes sensors to indicate a speed of the ground-engaging traction device, an acceleration of the machine, and a pitch rate of the machine. A controller determines a drive acceleration based upon the speed, and a ground acceleration based upon the acceleration and the pitch rate. The controller determines a command signal at least in part based upon an operator input command signal and a difference between the drive acceleration and the ground acceleration. A method is also provided.
Claims20
A system for automated control of a ground-engaging traction device of a machine having a drive system, comprising:
- a drive sensor configured to provide a drive signal indicative of a speed of the ground-engaging traction device;
- a first sensor configured to provide an acceleration signal indicative of a measured acceleration of the machine;
- a second sensor configured to provide a pitch rate signal indicative of a measured pitch rate of the machine;
- and
- a controller configured to:
- determine a drive acceleration based upon the drive signal;
- determine a ground acceleration based upon the acceleration signal and the pitch rate signal,
- compare the drive acceleration to the ground acceleration;
- determine a command signal at least in part based upon an operator input command signal and a difference between the drive acceleration and the ground acceleration;
- and
- transmit the command signal to the drive system to control the ground-engaging traction device.
A method for controlling a ground-engaging traction device of a machine having a drive system, the method comprising:
- receiving a drive signal at a controller indicative of a speed of the ground-engaging traction device;
- receiving an acceleration signal at the controller indicative of a measured acceleration of the machine;
- receiving a pitch rate signal at the controller indicative of a measured pitch rate of the machine determining a drive acceleration based upon the drive signal;
- determining a ground acceleration based upon the acceleration signal and the pitch rate signal,
- comparing the drive acceleration to the ground acceleration;
- determining a command signal at least in part based upon an operator input command signal and a difference between the drive acceleration and the ground acceleration;
- and
- transmitting the command signal from the controller to the drive system to control the ground-engaging traction device.
Dependencies are inferred from the claim text.