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US 2020/0339106 A1Published application
Dynamic Roll Over Control System for Machines
AssigneeCaterpillar Inc.
InventorsStephen P. Schueth, Joel L. Skalet, Rodney L. Menold, Anthony J. Weltzer
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Abstract
A dynamic roll over control system generates ground speed signals indicative of a current speed and compares the current speed to a desired speed. The desired speed is determined based upon the machine characteristics, the payload of the bed, the yaw rate of the bed, the pitch rate of the bed, and the roll angle of the bed. When the current speed of the machine exceeds the desired speed, the controller generates prime mover control signals to control operation of the prime mover to slow the machine so the current speed does not exceed the desired speed.
Claims20
A dynamic roll over control system for a machine, comprising:
- a prime mover;
- a ground engaging drive mechanism operatively connected to the prime mover;
- a bed configured to carry a payload;
- a payload sensor configured to generate payload signals indicative of the payload of the bed;
- a yaw rate sensor configured to generate yaw rate signals indicative of a yaw rate of the bed;
- a pitch rate sensor configured to generate pitch rate signals indicative of a pitch rate of the bed;
- a roll angle sensor configured to generate roll angle signals indicative of a roll angle of the bed;
- a ground speed sensor configured to generate ground speed signals indicative of a current speed of the machine;
- and
- a controller configured to:
- access machine characteristics of the machine;
- determine the payload of the bed based upon the payload signals;
- determine the yaw rate of the bed based upon the yaw rate signals;
- determine the pitch rate of the bed based upon the pitch rate signals;
- determine the roll angle of the bed based upon the roll angle signals;
- determine a desired speed of the bed based upon the machine characteristics, the payload of the bed, the yaw rate of the bed, the pitch rate of the bed, and the roll angle of the bed;
- determine a current speed of the machine based upon the ground speed signals;
- and
- when the current speed of the machine exceeds the desired speed, generate prime mover control signals to control operation of the prime mover to slow the machine so the current speed does not exceed the desired speed.
16 more elements
A method of controlling stability of a bed of a machine, comprising:
- accessing machine characteristics of the machine;
- determining a payload of the bed based upon payload signals from a payload sensor;
- determining a yaw rate of the bed based upon yaw rate signals from a yaw rate sensor;
- determining a pitch rate of the bed based upon pitch rate signals from a pitch rate sensor;
- determining a roll angle of the bed based upon roll angle signals from a roll angle sensor;
- determining a desired speed of the bed based upon the machine characteristics, the payload of the bed, the yaw rate of the bed, the pitch rate of the bed, and the roll angle of the bed;
- determining a current speed of the machine based upon ground speed signals from a ground speed sensor;
- and
- when the current speed of the machine exceeds the desired speed, generating prime mover control signals to control operation of a prime mover of the machine to slow the machine so the current speed does not exceed the desired speed.
6 more elements
A machine comprising:
- a front frame portion including a front ground engaging drive mechanism;
- a rear frame portion including a rear ground engaging drive mechanism, the rear frame portion being operatively connected to the front frame portion;
- a prime mover operatively connected to at least one of the front ground engaging drive mechanism and the rear ground engaging drive mechanism;
- a bed operatively connected to the rear frame portion and configured to carry a payload;
- a payload sensor configured to generate payload signals indicative of the payload of the bed;
- a yaw rate sensor configured to generate yaw rate signals indicative of a yaw rate of the bed;
- a pitch rate sensor configured to generate pitch rate signals indicative of a pitch rate of the bed;
- a roll angle sensor configured to generate roll angle signals indicative of a roll angle of the bed;
- a ground speed sensor configured to generate ground speed signals indicative of a current speed of the machine;
- and
- a controller configured to:
- access machine characteristics of the machine;
- determine the payload of the bed based upon the payload signals;
- determine the yaw rate of the bed based upon the yaw rate signals;
- determine the pitch rate of the bed based upon the pitch rate signals;
- determine the roll angle of the bed based upon the roll angle signals;
- determine a desired speed of the bed based upon the machine characteristics, the payload of the bed, the yaw rate of the bed, the pitch rate of the bed, and the roll angle of the bed;
- determine a current speed of the machine based upon the ground speed signals;
- and
- when the current speed of the machine exceeds the desired speed, generate prime mover control signals to control operation of the prime mover to slow the machine so the current speed does not exceed the desired speed.
17 more elements
Dependencies are inferred from the claim text.