Machine control system utilizing inertial yaw sensor

A method of operating a machine having a frame, a drive train differential gear set connecting a first pair of traction devices and a second pair of traction devices, comprising using a control unit for:

• sensing a first speed of at least one traction device of the first pair of traction devices with a first speed sensor;
• sensing a second speed of at least one traction device of the second pair of traction devices with a second speed sensor;
• determining a first time-based average speed indicative of the speed of the first pair of traction devices and a second time-based average speed indicative of the speed of the second pair of traction devices;
• and
• selectively engaging a clutch assembly associated with the drive-train differential gear set to engage the differential gear set when:
• the first sensed speed oscillates about the first time-based average speed of the first pair of traction devices,
• the second sensed speed oscillates about the second time-based average speed of the second pair of traction devices, and
• the oscillating first sensed speed oscillates out of phase with respect to the oscillating second sensed speed.

A method of operating an articulated truck having a frame, a front cab supported relative to an operating surface by a first pair of traction devices, a dump body supported relative to the operating surface by a second pair of traction devices, an articulation joint interconnecting the front cab and the dump body, a drive train differential gear set connecting the first pair of traction devices and a second pair of traction devices, comprising using a control unit for:

• sensing a first speed of at least one traction device of the first pair of traction devices with a first speed sensor;
• sensing a second speed of at least one traction device of the second pair of traction devices with a second speed sensor;
• determining a first time-based average speed indicative of the speed of the first pair of traction devices and a second time-based average speed indicative of the speed of the second pair of traction devices;
• and
• selectively engaging a clutch assembly associated with the drive-train differential gear set to engage the differential gear set when:
• the first sensed speed oscillates about the first time-based average speed of the first pair of traction devices,
• the second sensed speed oscillates about the second time-based average speed of the second pair of traction devices, and
• the oscillating first sensed speed oscillates out of phase with respect to the oscillating second sensed speed.

A method of operating a machine having a frame, a drive train differential gear set connecting a first pair of traction devices and a second pair of traction devices, comprising using a control unit for:

• sensing a first speed of at least one traction device of the first pair of traction devices with a first speed sensor;
• sensing a second speed of at least one traction device of the second pair of traction devices with a second speed sensor;
• and
• selectively engaging a clutch assembly associated with the drive-train differential gear set to engage the differential gear set when:
• the first sensed speed oscillates about a first time-based average speed of the first pair of traction devices, or
• the second sensed speed oscillates about a second time-based average speed of the second pair of traction devices.