Propulsion control apparatus and method for a paver
AssigneeCaterpillar Paving Products Inc.
InventorsKeith R. Schmidt, Conrad G. Grembowicz, Alan L. Ferguson
Life of this patent
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Abstract
An apparatus is disclosed for controlling the propulsion and steering of a machine. The machine includes a hydrostatic system that drives a pair of ground engaging traction devices. An electronic controller receives operator signals indicative of a desired travel speed and direction, and determines a desired rotational speed of the ground engaging traction devices. The electronic controller produces command signals indicative of the determined speeds to regulate the speed of the ground engaging traction devices to the desired speed.
Claims32
An apparatus for controlling the propulsion of a machine having a hydrostatic system that drives a plurality of ground engaging traction devices, comprising:
- means for producing a desired travel speed signal indicative of a desired speed of machine travel;
- means for producing a steering angle signal indicative of a desired steering angle of the machine travel;
- means for receiving the desired travel speed and steering angle signals, determining a desired rotational speed of the ground engaging traction devices to steer the machine at the desired steering angle, and producing command signals indicative of the desired rotational speeds;
- and
- means for receiving the command signals and responsively controlling the speed of the ground engaging traction devices to the desired speed to cause the machine to steer at a desired turning radius that is independent to the actual speed of travel.
A method of controlling the propulsion of a machine having a plurality of ground engaging traction devices, comprising the steps of:
- producing a desired travel speed signal indicative of a desired speed of machine travel;
- producing a steering angle signal indicative of a desired steering angle of the machine travel;
- receiving the desired travel speed and steering angle signals, determining a desired rotational speed of the ground engaging traction devices to steer the machine at the desired steering angle, and producing command signals indicative of the rotation speeds;
- and
- receiving the command signals and responsively controlling the speed of the ground engaging devices to the desired speed to cause the machine to steer at a desired turning radius that is independent to the actual speed of travel.
A method for controlling the propulsion of a machine having a plurality of ground engaging traction devices, comprising:
- determining a desired travel speed of the machine;
- determining a desired steering angle of the machine;
- determining a respective desired rotational speeds for the ground engaging traction devices to steer the machine at a predetermined turn radius, the predetermined turn radius being a function of the desired steering angle and independent to the actual travel speed of the machine, and the desired rotational speeds being a function of the desired travel speed and the desired steering angle;
- and
- controlling the rotational speeds of the ground engaging traction devices to the desired rotational speeds to cause the machine to steer at the predetermined radius.
A method for controlling the propulsion of a machine having a plurality of ground engaging traction devices, comprising:
- determining a desired travel speed of the machine;
- determining a desired steering angle of the machine;
- determining a difference in the respective desired rotational speeds for the ground engaging traction devices to steer the machine at a predetermined turn radius, the predetermined turn radius being a function of the desired steering angle and independent to the actual travel speed of the machine, and the difference in the desired rotational speeds being a function of the desired travel speed and the desired steering angle;
- and
- controlling the rotational speeds of the ground engaging traction devices to have the difference in the desired rotational speeds to cause the machine to steer at the predetermined radius.
A method for controlling the propulsion of a machine having a plurality of ground engaging traction devices, comprising:
- determining a desired travel speed of the machine;
- determining a desired steering angle of the machine;
- determining respective desired rotational speeds for the ground engaging traction devices to steer the machine at a predetermined turn radius, the predetermined turn radius being one of:
- a function of the desired steering angle and independent to the actual travel speed of the machine when the machine is traveling between a first and second predetermined travel speeds, and
- a function of the desired steering angle and the actual travel speed of the machine when the machine is traveling between a third and fourth predetermined travel speeds,
- and the desired rotational speeds being a function of the desired travel speed and the desired steering angle;
- and
- controlling the rotational speeds of the ground engaging traction devices to the desired rotational speeds to cause the machine to steer at the predetermined radius.
A method for controlling the propulsion of a machine having an operating speed range and a plurality of ground engaging traction devices, comprising:
- determining a desired travel speed of the machine;
- determining a desired steering angle of the machine;
- determining respective desired rotational speeds for the ground engaging traction devices to steer the machine at a predetermined turn radius, the predetermined turn radius being a function of the desired steering angle and independent to the actual travel speed of the machine for at least a portion of the operating speed range of the machine, and the desired rotational speeds being a function of the desired travel speed and the desired steering angle;
- and
- controlling the rotational speeds of the ground engaging traction devices to the desired rotational speeds to cause the machine to steer at the predetermined radius.
Dependencies are inferred from the claim text.