Track system for steered, untrack vehicles
AssigneeRobert Bosch GmbH
InventorsWolfgang Maisch, Erich Rubel
Life of this patent
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Abstract
To prevent sudden and violent control swings in the guidance system of vehicles which are guided in a guide path by sensing an electrical or magnetic field derived from a guide track conductor, which sensed field is evaluated in a servo steering system to maintain a transducer at a given distance from the conductor, a limiter stage is provided to which the steering command signal is applied to limit the command signal to predetermine swings; preferably, a low pass filter is also connected to the transducer output to have the command signal applied thereto, the output of the low pass filter being connected to the limiter stage to permit wide, gradual control swings of the servo system while inhibiting wide, rapid swings.
Claims11
Guiding system for steered, untracked vehicles having a sensing transducer (10) sensing the field of a guidance conductor (C) located in a guide path, and providing a steering command signal;
- a speed signal terminal (18) providing a signal representative of vehicle speed;
- and servo steering means (11, 12, 13, 14) responsive to said steering command signal and providing an output steering said vehicle under command of said steering command signal,
- wherein the servo steering means includes
- a limiter stage (16) having the steering command signal applied thereto and connected to limit said command signal, said speed signal being connected to said limiter stage (16) to control the limiting band width or range of said limiter stage in accordance with the level of said speed signal representing different vehicle speeds;
- the different vehicle speeds to narrow the range of control and hence the response range of the servo steering means at high vehicle speeds while providing for a wide range of control and hence high level, extensive response at low vehicle speeds;
- and means (17) connected to and controlled by the command signal, and further connected to and controlling said limiter stage (16) to set the half, or center position of the response range, as controlled by the speed signal, of the servo steering means as a function of the command signal.
Dependencies are inferred from the claim text.