Patent Grant
11248362
Not applicable.
Not applicable.
This disclosure relates to closed loop feedback circle drive systems for controlling a multi-speed circle rotate motor (e.g., a variable displacement or two speed hydraulic motor) utilized to adjust the rotational position of a blade on a motor grader.
A motor grader is often equipped with a circle drive system for adjusting the rotational position of a blade-circle assembly; that is, an assembly including a relatively large, generally circular structure or “circle” beneath which a blade is suspended. Conventionally, a circle drive system includes either a hydraulic cylinder arrangement or a fixed displacement hydraulic motor for rotating the blade-circle assembly and, therefore, the blade about a blade rotation axis perpendicular to the motor grader's direction of travel. As a specific example, in one common design, the circle is imparted with a toothed inner periphery, which forms a large annular gear engaged by a smaller gear or pinion. The pinion is mechanically linked to the output shaft of a fixed displacement hydraulic motor, whether directly or indirectly through intervening gearing, such as a gearbox reduction. During motor grader operation, operator commands received via a joystick (or a similar input device) are relayed to a valve actuator, which is mechanically linked to a spool contained in a directional control valve. The valve actuator adjusts the translational position of the spool within the directional control valve in accordance with the operator commands. This regulates the direction and rate of hydraulic fluid flow through the fixed displacement hydraulic motor, which, in turn, drives rotation of the pinon to turn the blade-circle assembly about its rotation axis in the commanded manner.
Closed loop feedback circle drive systems for usage onboard motor graders are disclosed. In embodiments, the closed loop feedback circle drive system includes an operator input device, a blade rotatable about a blade rotation axis, and a multi-speed hydraulic motor having a motor output shaft. The motor output shaft is mechanically linked to blade such that rotation of the motor output shaft drives rotation of the blade about the blade rotation axis. A controller is operably coupled to the operator input device and to the multi-speed hydraulic motor. The controller is configured to: (i) receive blade rotation commands via the operator input device to rotate the blade about the rotation axis in a commanded manner; and (ii) control the multi-speed hydraulic motor to implement the blade rotation commands, while repeatedly adjusting the rotational speed of the motor output shaft to reduce variations in a rotational velocity of the blade due to changes in blade loading conditions occurring during motor grader operation.
In further embodiments, the closed loop feedback circle drive system includes an operator input device, a blade rotatable about a rotation axis, a multi-speed hydraulic motor having a motor output shaft mechanically linked to the blade, and a first sensor configured to monitor a parameter indicative of a rotational velocity of the blade. A controller is operably coupled to the operator input device, to the multi-speed hydraulic motor, and to the first sensor. The controller is configured to: (i) establish a target blade rotational velocity (vblade_target) as a function of operator command signals received via the operator input device; (ii) determine a discrepancy (vblade_Δ) between the target blade rotational velocity (vblade_target) and a current blade rotational velocity (vblade_current); and (iii) modify a rotational speed of the motor output shaft to reduce the discrepancy (vblade_Δ) between the target blade rotational velocity (vblade_target) and the current blade rotational velocity (vblade_current) if the discrepancy (vblade_Δ) exceeds a predetermined threshold value.
In yet further embodiments, the closed loop feedback circle drive system includes a two speed hydraulic motor having a motor output shaft. The two speed hydraulic motor is operable in a low torque, high speed (LT/HS) mode and a high torque, low speed (HT/LS) mode. The two speed hydraulic motor is mechanically linked to a blade of the motor grader and is configured to selectively rotate the blade about a rotation axis. The closed loop feedback circle drive system further includes a controller operably coupled to the two speed hydraulic motor. The controller is configured to: (i) selectively shift the two speed hydraulic motor between the LT/HS mode and the HT/LS mode during operation of the motor grader; and (ii) further control a rotational speed of the motor output shaft to minimize variances in a rotational speed of the blade when shifting the two speed hydraulic motor between the LT/HS mode and the HT/LS mode.
The details of one or more embodiments are set-forth in the accompanying drawings and the description below. Other features and advantages will become apparent from the description, the drawings, and the claims.
At least one example of the present disclosure will hereinafter be described in conjunction with the following figures:
Like reference symbols in the various drawings indicate like elements. For simplicity and clarity of illustration, descriptions and details of well-known features and techniques may be omitted to avoid unnecessarily obscuring the example and non-limiting embodiments of the invention described in the subsequent Detailed Description. It should further be understood that features or elements appearing in the accompanying figures are not necessarily drawn to scale unless otherwise stated.
Embodiments of the present disclosure are shown in the accompanying figures of the drawings described briefly above. Various modifications to the example embodiments may be contemplated by one of skill in the art without departing from the scope of the present invention, as set-forth the appended claims.
As discussed briefly above, legacy circle drive systems commonly rely upon fixed displacement hydraulic motors to drive the rotation of blade-circle assemblies and, therefore, motor grader blades about a blade rotation axis in accordance with operator commands. While reliable, such legacy circle drive systems are associated with various shortcomings. One such shortcoming is encountered during motor grader turnaround; that is, when a motor grader is piloted to reverse its direction of travel, while the blade position is reset to ready the blade for a new earth-moving pass. During turnaround, multiple blade position adjustments are typically performed in rapid sequence. Such blade position adjustments include initially raising the motor grader blade to an above-ground position, rotating the blade to a new angular position (typically the mirror opposite of the previous blade position), and then again lowering the blade into a ground-penetrating position (referred to herein as an “in-ground position”). These and other hydraulically-driven functions of the motor grader can be slowed due to the considerable hydraulic demands of the fixed displacement motor, which is traditionally oversized by design to satisfy peak torque requirements occurring during in-ground blade rotation. Motor grader performance and operator experience may be degraded as a result.
In view of these and other limitations, enhanced circle drive systems incorporating multi-speed hydraulic motors have been developed and implemented. The term “multi-speed hydraulic motor,” as appearing throughout this document, is defined to encompass all hydraulic motor types excluding fixed displacement hydraulic motors. The term “multi-speed hydraulic motor” thus includes, but is not limited to, two speed hydraulic motors and variable displacement hydraulic motors as described in detail below. Examples of motor grader circle drive systems incorporating multi-speed hydraulic motors are set-forth in the following document, the contents of which are incorporated by reference: U.S. Pat. No. 7,874,377 B1 entitled “CIRCLE DRIVE ARRANGEMENT FOR MOTOR GRADER,” issued by the United States Patent and Trademark Office (USPTO) on Jan. 25, 2011, and assigned to the assignee of the present document (Deere & Company). Through the usage of multi-speed hydraulic motors and other associated components, such enhanced circle drive systems are capable of better accommodating both high speed, low torque rotation of the blade when in an above-ground position (or otherwise lightly loaded) and low speed, high torque rotation of the blade when in an in-ground position (or otherwise heavily loaded). The incorporation of multi-speed hydraulic motors into circle drive systems can consequently satisfy both operational extremes, while avoiding motor oversizing and minimizing the hydraulic demands of the motor. This, in turn, allows the rapid operation of the various hydraulic-driven functions of the motor grader to be maintained during turnaround.
For the reasons above, the development and implementation of circle drive systems incorporating multi-speed hydraulic motors represents a significant advancement in motor grader design. This notwithstanding, current circle drive systems incorporating multi-speed hydraulic motors remain limited in certain respects. As a primary limitation of such circle drive systems, the usage of a multi-speed hydraulic motor to drive blade rotation can result in undesired fluctuations in blade rotational speed in conjunction with variations in blade loading. Such fluctuations in blade rotational speed can be significant and may be perceptible to motor grader operators. This may detract from operator satisfaction and efficiency, particularly when non-trivial disparities develop between control input (e.g., joystick) displacements and the blade rotational speed across different iterations of motor grader operation. An ongoing industry demand consequently exists for circle drive systems increasing the consistency in which operator blade rotation commands result in an expected blade rotation speed output, while the correlation between blade rotation speed and blade loading is largely, if not wholly severed. Concurrently, it is desirable for such a circle drive system to retain the above-described benefits associated with the usage of a multi-speed hydraulic motor to drive blade rotation and preserve the rapid execution of hydraulic-driven functions during motor grader turnaround.
In satisfaction of this ongoing industrial demand, the following sets-forth circle drive systems utilized onboard motor graders and incorporating multi-speed hydraulic motors, which are operated in accordance with unique, closed loop feedback control schemes. The closed loop feedback control schemes are implemented by a controller, which is operably coupled to the multi-speed hydraulic motor and to at least one operator input device (e.g., a joystick) utilized to control the angular position of motor grader blade. As appearing throughout this document, the term “controller” is utilized in a non-limiting sense to refer generally to the processing architecture of a closed loop feedback circle drive system. The controller can encompass or may be associated with any number of processors, control computers, computer-readable memories, power supplies, storage devices, interface cards, and other standardized components. The controller may also include or cooperate with any number of firmware and software programs or computer-readable instructions designed to carry-out the various process tasks, calculations, and control functions described herein. Such computer-readable instructions may be stored in a non-volatile sector of the memory accessible to the controller, as further described below.
The controller may implement various different control schemes to regulate the rotational speed and direction of the multi-speed hydraulic motor's output shaft during operation of the closed loop feedback circle drive system. In embodiments, the controller may initially establish a commanded or “target” blade rotational velocity (vblade_target) as a function of blade rotation commands received via the operator input device. The controller may then control the multi-speed hydraulic motor to implement the blade rotation commands, while selectively adjusting the rotational speed of the motor output shaft to reduce discrepancies between the target blade rotational velocity (vblade_target) and a current blade rotational velocity (vblade_current) due to variations in load forces resisting blade rotation. For example, in certain embodiments, the controller may initially calculate any discrepancy (vblade_Δ) between the target blade rotational velocity (vblade_target) and the current blade rotational velocity (vblade_current). The controller may then modify the rotational speed of the motor output shaft to reduce any such discrepancy (vblade_Δ) if exceeding a predetermined threshold value. The predetermined threshold may have a zero value in certain embodiments; but, more usefully, has a non-zero (fixed or variable) value to avoid small, redundant blade angle adjustments or “flutter” of the motor grader blade. The controller repeats this process, preferably on a relatively rapid (e.g., real-time) iterative basis, to provide closed loop feedback control scheme maintaining the rotational speed of the motor grader blade at target levels independently of (or with a reduced dependence on) variations in blade loading conditions.
The controller may monitor the current blade rotational velocity (vblade_current) utilizing data received from one or more sensors further included in the closed loop feedback circle drive system. For example, in certain embodiments, the controller may receive data from a sensor (e.g., a rotary variable differential transformer) monitoring the angular position of the motor grader blade or, perhaps, another component that co-rotates with the blade in a fixed relationship. The controller may then utilize this sensor input to track changes in blade angle over time and, therefore, the current blade rotational velocity (vblade_current). In other implementations, the controller may receive data input from a rotational speed sensor, such as a Microelectromechanical Systems (MEMS) accelerometer and/or gyroscope, which is configured to monitor the rotational speed of an output shaft of the multi-speed hydraulic motor, the rotational speed of the motor grader blade or blade-circle assembly itself, or the rotational speed of another component in the rotation transmission path extending from the hydraulic motor to the blade-circle assembly. The controller then utilizes this sensor input to determine the current blade rotational velocity (vblade_current) for comparison to the target blade rotational velocity (vblade_target), as previously described.
The particular manner in which the controller controls (that is, influences the operation of) the multi-speed hydraulic motor will vary between embodiments. When the multi-speed hydraulic motor assumes the form of a variable displacement hydraulic motor having a variable displacement control mechanism, the controller may utilize the variable displacement control mechanism to repeatedly alter a displacement setting of the hydraulic motor in adjusting the rotational speed of the motor output shaft. Further, in addition to selectively modifying displacement setting of the hydraulic motor, the controller may also repeatedly adjust the position of a value element (e.g., a spool) contained in a directional control valve to vary the rate and direction of hydraulic fluid flow through the variable displacement hydraulic motor, thereby further controlling the rotational speed and direction of the motor output shaft. In still other instances, the controller may modify the speed and/or rotational direction of the motor output shaft in another manner, such as by controlling the flow output of a pump upstream of the multi-speed hydraulic motor. Comparatively, in embodiments in which the multi-speed hydraulic motor assumes the form of a two speed hydraulic motor, the controller may likewise control motor output speed (and rotational direction) by adjusting the rate and direction of hydraulic fluid flow through the hydraulic motor; e.g., by adjusting the translational position of a spool within a directional control valve upstream of the two speed hydraulic motor. However, in this latter case, an additional layer of control complexity is introduced by the ability of the two speed hydraulic motor to operator in at least two modes, which are referred to herein in a relative sense as “a low torque, high speed (LT/HS) mode” and “a high torque, low speed (HT/LS) mode.” Accordingly, in such instances, the controller may determine when to shift the two speed hydraulic motor between these operational modes, while further controlling the hydraulic motor to minimize the variation in motor speed when shifting between the operation modes. This may render shifting of the two speed hydraulic motor less perceptible to a motor grader operator to improve operator experience.
In implementations in which the circle drive system incorporates a two speed hydraulic motor having first and second power elements, the controller may transition or shift between motor operational modes by varying whether the power elements are fluidly coupled in parallel or in series. For example, in one possible implementation, the controller may be coupled to a selector valve containing a bi-stable valve element, such as a spool. The spool may be movable between two stable positions to determine whether the power elements are fluidly coupled in parallel (placing the two speed hydraulic motor in the HT/LS mode) or in series (placing the hydraulic motor in the LT/HS mode). During operation of the closed loop feedback circle drive system, the controller may determine when to transition the two speed hydraulic motor between its operational modes based, at least in part, on receipt of at least one sensor input indicative of a blade load. Such a sensor input may be received from a sensor configured to measure blade load in a direct manner; e.g., as in the case of a force sensor mechanically coupled between the motor output and the blade. In other instances, the sensor input may be provided by a sensor configured to monitor a parameter indirectly indicative of blade load; e.g., by monitoring hydraulic pressures within the flow circuit of the circle drive system utilizing one or more pressure sensors, as further described below. Additionally or alternatively, in such embodiments, the controller of the circle drive system may also be configured to selectively shift the two speed hydraulic motor between operational modes in response to a predicted or anticipated change in blade loading conditions. For example, in certain implementations, the controller may shift the two speed hydraulic motor to the HT/LS mode when determining that the motor grader blade has been lowered from an above-ground into an in-ground position (or has been lowered to a certain penetration depth); and then return the hydraulic motor to the LT/HS mode when the blade is again raised to the above-ground position.
Progressing now to the accompanying drawing figures, an example embodiment of a closed loop feedback circle drive system including a two speed hydraulic motor is discussed below in connection with
Referring now to
In the example embodiment of
Referring specifically to the front frame 18 of the motor grader 10, the front frame 18 includes an upper, longitudinally-elongated section 32 (hereafter, the “elevated section 32”) and a leading, vertically-elongated nose section 34 (hereafter the “leading end section 34”). Jointly, the sections 32, 34 impart the front frame 18 with a generally L-shaped geometry, as viewed from a side of the motor grader 10. Due to the L-shaped geometry of the front frame 18, a spatial volume or envelope 36 is created beneath the front frame 18 for accommodating a motor grader implement 38. As depicted in
A drawbar 44 having angled legs 46, 48 extends from the leading end section 34 of the front frame 18 to the circle 40 of the blade-circle assembly 42. Due to the angled orientation of the legs 46, 48, the drawbar 42 has a substantially V-shaped formfactor when viewed from a top-down perspective (
With continued reference to
The controller 14 of the closed loop feedback circle drive system 12 is coupled to the hydraulic circle rotate motor 60 in a manner enabling the controller 14 to modify certain operational aspects of the motor 60, including the rotational speed and direction of the motor output shaft. The operational relationship between the controller 14 and the hydraulic circle rotate motor 60 is generically indicated in
A steering wheel 74 and other operator input devices 76 are located within the cabin 28 of the example motor grader 10. While seated or standing within the cabin 28, an operator manipulates the steering wheel 74 and the other operator input devices 76 to control various operational aspects of the motor grader 10, including rotation of the blade-circle assembly 42 about the blade rotation axis 58. The operator input devices 76 will often include at least one joystick or lever, which is manipulated by an operator to control the rotation of the blade-circle assembly 42 and, therefore, the motor grader blade 38. This notwithstanding, the operator input devices 76 can assume any form suitable for receiving operator input commands (including blade rotation commands) specifying operator-desired adjustments to the positioning of the blade-circle assembly 42. Accordingly, the operator input devices 76 can include or may assume the form of various other physical input devices (e.g., buttons, dials, switches, and the like) and devices (e.g., a trackball or touchscreen interface) for interacting with Graphical User Interface (GUI) elements generated on a display screen located within the operator cabin 28. The controller 14 receives such operator input command from the operator input devices 76 over a wired or wireless data connection 78, and then converts such operator input commands to positional adjustments or movement of the blade-circle assembly 42 accordingly.
The angle of the motor grader blade 38, as taken about the blade rotational axis 58, may be described in terms of the rotational displacement of the blade 38 relative to a virtual reference plane 82 (
As previously stated, the hydraulically-driven functions of the motor grader 10 can be greatly slowed during turnaround when relying upon a circle drive system containing a fixed displacement hydraulic motor to rotate the blade-circle assembly 42 and the blade 38. For at least this reason, the hydraulic circle rotate motor 60 assumes the form of a multi-speed hydraulic motor in the illustrated example and is consequently referred to hereafter as the “multi-speed hydraulic motor 60.” Due to its ability to vary the relationship between the volume of hydraulic fluid passed through the hydraulic motor 60 per turn of the motor output shaft, the multi-speed hydraulic motor 60 can be controlled by the controller 14 (
While providing the above-noted advantages, the usage of a multi-speed hydraulic motor for blade rotation purposes can result in undesired fluctuations in blade rotational speed in conjunction with variations in blade loading conditions, absent the provision of adequate countermeasures. Therefore, the motor grader 10 is further equipped with the closed loop feedback circle drive system 12, which functions to minimize or eliminate variations in blade rotational speed in response to variations in blade loading occurring during motor grader operation. The particular manner in which the closed loop feedback circle drive system 12 is implemented will inevitably vary among embodiments based, at least in part, on the form assumed by the multi-speed hydraulic motor 60; e.g., whether the multi-speed hydraulic motor 60 assumes the form of, for example, a two speed hydraulic motor or instead a variable displacement hydraulic motor. To further emphasize point, a first example implementation of the closed loop feedback circle drive system 12 incorporating a two speed hydraulic motor will now be described in conjunction with
A flow network 90, which is comprised of a number of flowlines 90-1 through 90-8, interconnects the hydraulic components of the closed loop feedback circle drive system 12-1. These hydraulic components include: (i) a sump 92, (ii) a pump 94, (iii) a directional control valve 96, (iv) a mode selector valve 98, and (v) a two speed hydraulic motor 100 (corresponding to the hydraulic circle rotate motor 60 shown in
In the example implementation shown in
During operation of the closed loop feedback circle drive system 12-1, the controller 14 commands the valve actuator(s) 114 to selectively adjust the translation position of the spool within the sleeve of the directional control valve 96. Controlling the spool position in this manner influences the rate and direction of fluid flow through the control valve 96 and, therefore, through the two speed hydraulic motor 100. Consider, for example, a scenario in which the controller 14 commands the valve actuator 114 to move the spool in the direction indicated by the arrow 112 from the neutral position (downwardly in the illustrated schematic). In this case, the directional control valve 96 directs fluid flow through the primary flow circuit (that is, the flow circuit downstream of the directional control valve 96 consisting of the flowlines 90-2 through 90-7) in a first flow direction, as indicated by the upper pair of arrows within the corresponding valve symbol. This generally results in a clockwise flow in illustrated schematic to drive rotation of the motor output shaft 108 in a first rotational direction. As the spool slides further toward the positional extreme corresponding to the arrow 112, the flow rate through the directional control valve 96 increases (providing the other flow conditions remain constant) along with the rotational speed of the motor output shaft 108. Conversely, from the neutral position (
By adjusting the translational position of the spool within the directional control valve 96 in the manner just described, the controller 14 can selectively modify the rotational speed and direction of the motor output shaft 108 and, therefore, the rotational speed and direction of the motor grader blade 38 about the blade rotation axis 58 (
As does the directional control valve 96, the mode selector valve 98 assumes the form of a four-way, three-position spool-type valve in the illustrated implementation. Movement of the spool contained within the mode selector valve 98 is controlled utilizing a valve actuator 118, such as a solenoid. As commanded by the controller 14, the valve actuator 118 urges spool movement in a particular translational direction (downward in the illustrated orientation) when the output force of the actuator is sufficient to overcome a bias force further exerted on the spool by at least one spring element 120, such as a coil spring, within the sleeve of the mode selector valve 98. In contrast to the directional control valve 96, the mode selector valve 98 is imparted with a bi-stable design in the illustrated example. Accordingly, the spool of the mode selector valve 98 is movable between a first stable position (shown in
As just stated, movement of the mode selector valve 98 into the first stable position (
When the controller 14 instead causes movement the spool of the mode selector valve 98 into the second stable position (
In embodiments, the controller 14 determines when to transition the two speed hydraulic motor 100 based, at least in part, on one or more sensor inputs indicative the load forces resisting blade rotation about the blade rotation axis 58 (herein, also referred to as the “anti-rotation load forces”). Such sensor input may directly measure blade load utilizing, for example, a force sensor included in the additional sensors 70-4 and mechanically coupled between the motor output shaft 108 and the motor grader blade 38. In such embodiments, the controller 14 may be configured to transition the two speed hydraulic motor 100 from the LT/HS mode to the HT/LS mode when the anti-rotation load forces exerted on the motor grader blade 38 surpass a predetermined threshold value and further return the hydraulic motor 100 to the LT/HS mode when the anti-rotation load forces exerted on the blade 38 again fall below the predetermined threshold. In other instances, the controller 14 may receive sensor input indirectly corresponding to the anti-rotation load forces encountered during rotation of the blade 38. For example, embodiments of the closed loop feedback circle drive system 12-1 may include at least one pressure sensor configured to monitor pressure in a flowline fluidly coupled between an outlet of the pump 94 and a port of the two speed hydraulic motor 100. In this latter instance, the controller 14 may monitor this hydraulic pressure utilizing the pressure sensor(s), such as pressure sensor 70-1 or 70-2 (discussed below) and then issue the appropriate commands to transition the two speed hydraulic motor 100 from the LT/HS mode to the HT/LS mode when the monitored pressure within a flowline surpasses a predetermined value.
In keeping with the foregoing discussion, the closed loop feedback circle drive system 12-1 is depicted as containing two pressure sensors 70-1, 70-2. The controller 14 may receive data indicative of the hydraulic pressure within the flowline 90-3 from the pressure sensor 70-1 and, therefore, upstream of the two speed hydraulic motor 100 when the fluid flow through the circuit occurs in a first direction (generally clockwise in the illustrated schematic). The controller 14 may then utilize this pressure data to determine when to switch the two speed hydraulic motor 100 between its operational modes or states. For example, when the pressure within the flowline 90-3 surpasses a predetermined threshold, the controller 14 may command the mode selector valve 98 to place the two speed hydraulic motor 100 in the HT/LS mode of operation (
In addition to or in lieu of considering senor input indicative of the actual load resisting rotation of the motor grader blade 38, the controller 14 may also consider sensor inputs predictive of a current blade load or an anticipated blade load when determining when to place the two speed hydraulic motor 100 in a particular operational mode. For example, in one embodiment, the controller 14 may monitor whether the motor grade blade 38 currently resides in either of an above-ground or in-ground position; e.g., via a blade height or depth sensor included in one or more additional sensors 70-4 included in the circle drive system 12-1. The controller 14 may then modulate the operational state of the two speed hydraulic motor 100 accordingly. Specifically, in such embodiments, the controller 14 may command mode selector valve 98 to place the two speed hydraulic motor 100 in the LT/HS mode of operation (
In at least some implementations, the controller 14 of the closed loop feedback circle drive system 12-1 also beneficially adjusts a rotational speed of the motor output shaft 108 to minimize variances in the rotational speed of the motor grader blade 38 when shifting the two speed hydraulic motor 100 between the LT/HS mode and the HT/LS mode. To a certain extent, this may inherently occur due to the execution of a closed loop feedback control scheme by the controller 14, examples of which are set-forth below. Additionally or alternatively, the controller 14 may adjust the positioning of the spool of the directional control valve 96 by a predetermined amount or a set linear displacement when shifting the two speed hydraulic motor 100 between the HT/LS mode and the LT/HS mode. For example, in this case, the controller 14 may command the valve actuator 114 to move or “jump” the spool of the directional control valve 96 by a predetermined translational displacement, which represents a best guess movement of the spool to generally maintain the motor output speed through the transition in the operational modality of the hydraulic motor 100. Following this, the controller 14 may then adjust spool position within the directional control valve 96 in accordance with a closed loop control scheme, as described more fully below.
In addition to determining when to shift the two speed hydraulic motor 100 between modes of operation, the controller 14 further regulates the rate and direction of hydraulic fluid flow through the hydraulic motor 100 to generally maintain the rotational speed of the motor output shaft 134 at commanded levels despite variances in blade loading conditions. The controller 14 may execute various different closed loop feedback control scheme in accordance with computer-readable instructions or code stored in the memory 16 to carry-out this function. In one example approach, the controller 14 initially establishes a current rotational velocity of the motor grader blade 38 (vblade_current). The controller 14 can establish the current blade rotational velocity (vblade_current) utilizing various sensor inputs provided by the sensors 70 contained in the circle drive system 12-1. For example, the controller 14 may monitor the angular or rotational position of the motor grader blade 38 utilizing a circle rotate angle sensor included in the additional sensor 70-4. In other instances, the controller 14 may monitor the angular position of another component in the rotation transmission chain that co-rotates with the blade 38 in a fixed (1:1 or other proportional) relationship. The controller 14 may then convert changes in blade angle over time to a corresponding current blade rotational velocity (vblade_current). In still other embodiments, the controller 14 may monitor the current blade rotational velocity (vblade_current) in a more direct manner; e.g., utilizing a sensor configured to monitor the rotational speed of the motor output shaft 108 or another component that co-rotates therewith. For example, as indicated in
After, before, or concurrently with establishing the current blade rotational velocity (vblade_current), the controller 14 further determines a target rotational velocity of the motor grader blade 38 (vblade_target). Generally, the controller 14 determines vblade_target as a function of operator command signals received via the operator input device 76. In embodiments, the target blade rotational velocity (vblade_target) may be mapped to the displacement of the operator input device 76 in a substantially proportional relationship. In embodiments in which the operator input device 76 assumes the form of a joystick or lever, the controller 14 may determine the magnitude and direction of from a neutral or home position and then convert this value to a corresponding target blade rotational velocity (vblade_target). For example, the controller 14 may determine that an operator has moved the joystick by a particular percentage (e.g., 25%) of the joystick's maximum range of motion (ROM) away from the neutral position in a first direction, and then convert this joystick displacement to a corresponding percentage (e.g., 25%) of the maximum rotational velocity of the blade 38 in a first rotational direction. Similarly, a 25% displacement of the joystick from the neutral joystick position (that is, 25% of the maximum range of motion of the joystick) in a second, opposing direction may be likewise converted to a value of 25% of a maximum rotational velocity of the blade 38 in a second, opposing rotational direction. In other embodiments, movements of the operator input device 76 may be mapped or converted to the target blade rotational velocity (vblade_target) utilizing a different approach, such as a position-based approach in which movement of a joystick from a first position to a second position in a given time period is converted to a corresponding blade rotational velocity.
Next, the controller 14 calculates the difference or disparity (herein, “vblade_Δ”) between the target blade rotational velocity (vblade_target) and the current blade rotational velocity (vblade_current). In certain instances, the disparity vΔ between vblade_target and vblade_current may be zero, including in instances in which the motor grader blade is desirably stationary (in which case vblade_target and vblade_current will likewise have values of zero). In other instances, such as when an operator input via the operator input device 76 is received commanding blade rotation and the rotation of the motor grader blade is resisted by a load, a non-zero disparity may develop between vblade_target and vblade_current. If the value of vΔ exceeds a predetermined threshold, the controller 14 adjusts the rotational speed of the multi-speed hydraulic motor 100 in the above-described manner to reduce the discrepancy (vblade_Δ) between the current blade rotational velocity (vblade_current) and the target blade rotational velocity (vblade_target). The predetermined threshold can have a value of zero in embodiments, but will more commonly have a non-zero value to prevent repeated minor adjustments of the rotational velocity of the blade 38. The value of the predetermined threshold may be stored as a fixed parameter in the memory 16 or, instead, may be adjustable to operator or customer preference as a “sensitivity” setting of the circle drive system 12-1.
The controller 14 then repeats the above-described process steps on a relatively rapid (e.g., near real-time) iterative basis to provide closed loop feedback control governing the rotational speed of the motor grader blade 38. In this manner, the controller 14 effectively ensures the motor grader blade 38 will achieve a desired rotational velocity independent of the load resisting blade rotation. A more consistent relationship between control input (e.g., joystick) displacements and the rotational speed of the motor grader blade 38 across different iterations of motor grader operation can thus be maintained to improve operator satisfaction and productivity levels. Concurrently, the closed loop feedback circle drive system 12-1 retains the usage of a multi-speed hydraulic motor (i.e., two speed hydraulic motor 100) to allow a reduction in the size and hydraulic demands of the motor relative to fixed displacement motors, thereby preserving rapid execution of hydraulic-driven functions during motor grader turnaround.
Turning lastly to
The example closed loop feedback circle drive system 12-2 shown in
In addition to the spring-biased piston 130, the hydraulic actuator 128 further contains a (e.g., coil compression) spring 140 and a hydraulic control chamber 142. Pressurization of the control chamber 142 is regulated by the controller 14 utilizing the solenoid-operated selector valve 126, which includes a spring 144 and a solenoid 146 operably coupled to the controller 14. When energized by the controller 14, the solenoid 146 exerts a force on the spool of the selector valve 126 sufficient to overcome the spring bias force of the spring 144 and thereby move the spool of the into the position indicated in the lower half of the symbol representing the valve 126. This, in effect, fluidly couples the flowline 122-3 to the flowline 122-4, which directs pressurized hydraulic fluid flow into the control chamber 142 of the hydraulic actuator 128. When the cumulative force acting on the face of the piston 130 is sufficient to overcome the bias force of the spring 140, the piston 130 extends to adjust the displacement adjustment mechanism 138 as commanded. Conversely, when it is desired to retract the piston 130, the controller 14 commands the solenoid 146 to move spool of the selector valve 126 toward the opposing position (indicated by the upper half of the symbol of the valve 126); e.g., stated more precisely, the controller 14 may deenergized the solenoid to movement of the spool of the selector valve 126 as the spring 144 decompresses. This fluidly couples the flowline 122-4 to the flow-line 122-5, thereby allowing hydraulic fluid outflow from the control chamber 142, through the selector valve 126, and to the sump 92 as the piston 130 retracts to adjust the displacement adjustment mechanism 138 as desired. In further embodiments, the hydraulic actuator 128 may be replaced by a different type of actuator, such as an electric linear actuator, which is utilized by the controller 14 to vary the displacement setting of the variable displacement hydraulic motor 132 in a like manner.
During operation of the closed loop feedback circle drive system 12-2, the controller 14 may control the operation of the variable displacement hydraulic motor 132 utilizing a closed loop feedback control scheme similar, if not substantially identical to that previously described in connection with
The following examples of the closed loop feedback circle drive system are further provided and numbered for ease of reference.
1. In a first example embodiment, the closed loop feedback circle drive system includes an operator input device, a blade rotatable about a blade rotation axis, and a multi-speed hydraulic motor having a motor output shaft. The motor output shaft is mechanically linked to blade such that rotation of the motor output shaft drives rotation of the blade about the blade rotation axis. A controller is operably coupled to the operator input device and to the multi-speed hydraulic motor. The controller is configured to: (i) receive blade rotation commands via the operator input device to rotate the blade about the rotation axis in a commanded manner; and (ii) control the multi-speed hydraulic motor to implement the blade rotation commands, while repeatedly adjusting the rotational speed of the motor output shaft to reduce variations in a rotational velocity of the blade due to changes in blade loading conditions occurring during motor grader operation.
2. The closed loop feedback circle drive system of example 1, further including a first sensor configured to monitor a parameter indicative of the rotational velocity of the blade. The controller is operably coupled to the first sensor and is configured to monitor a current blade rotational velocity (vblade_current) utilizing data provided by the first sensor.
3. The closed loop feedback circle drive system of example 2, wherein the controller is further configured to: (i) establish a target rotational velocity (vtarget) of the blade as a function of operator command signals received via the operator input device; (ii) determine a discrepancy (vblade_Δ) between the blade rotational velocity (vblade_target) and the current blade rotational velocity (vblade_current); and (iii) if the discrepancy (vblade_Δ) exceeds a predetermined threshold value, adjust the rotational speed of the motor output shaft to reduce the discrepancy (vblade_Δ) between the blade rotational velocity (vblade_target) and the current blade rotational velocity (vblade_current).
4. The closed loop feedback circle drive system of example 3, wherein the controller is configured to: (i) determine a displacement direction and magnitude of the operator input device relative to a neutral position thereof; and (ii) convert the displacement direction and magnitude of the operator input device to the blade rotational velocity (vblade_target).
5. The closed loop feedback circle drive system of example 2, wherein the first sensor assumes the form of a rotation angle sensor configured to monitor a rotational angle of the blade.
6. The closed loop feedback circle drive system of example 2, wherein the first sensor assumes the form of a speed sensor configured to monitor the rotational speed of the motor output shaft.
7. The closed loop feedback circle drive system of example 1, further including a pump and a directional control valve, which is fluidly coupled between the pump and the multi-speed hydraulic motor. The controller is configured to adjust the rotational speed of the motor output shaft, at least in part, by controlling the directional control valve to vary a rate of hydraulic fluid flow through the multi-speed hydraulic motor.
8. The closed loop feedback circle drive system of example 1, wherein the multi-speed hydraulic motor includes a variable displacement hydraulic motor including a displacement adjustment mechanism. The controller is configured to adjust the rotational speed of the motor output shaft, at least in part, by adjusting a displacement setting of the variable displacement hydraulic motor utilizing the displacement adjustment mechanism.
9. The closed loop feedback circle drive system of example 1, wherein the multi-speed hydraulic motor includes a two speed hydraulic motor having first and second power elements. The closed loop feedback circle drive system further includes a selector valve fluidly coupled to the first and second power elements.
10. The closed loop feedback circle drive system of example 9, wherein the controller is operably coupled to the selector valve and is configured to adjust the rotational speed of the motor output shaft, at least in part, by selectively transitioning the selector valve between: (i) a first position in which the first and second power elements are fluidly coupled in series; and (ii) a second position in which the first and second power elements are fluidly coupled in parallel.
11. The closed loop feedback circle drive system of example 1, wherein the multi-speed hydraulic motor includes a two speed hydraulic motor operable in a low torque, high speed (LT/HS) mode and a high torque, low speed (HT/LS) mode. The controller is further configured to: (i) selectively shift the two speed hydraulic motor between the LT/HS range mode and the HT/LS mode during operation of the motor grader; and (ii) further control the two speed hydraulic motor to minimize variances in the rotational speed of the blade when shifting the two speed hydraulic motor between the LT/HS mode and the HT/LS mode.
12. The closed loop feedback circle drive system of example 11, further including a sensor configured to monitor a parameter indicative of blade loading conditions. The controller is operably coupled to the second sensor and further configured to determine when to shift the two speed hydraulic motor between the LT/HS mode and the HT/LS mode based, at least in part, on data received via the sensor.
13. The closed loop feedback circle drive system of example 12, further including a flowline and a directional control valve, which is fluidly coupled to the multi-speed hydraulic motor through the flowline. The sensor assumes the form of a pressure sensor configured to monitor a hydraulic pressure within the flowline. The controller is configured to determine when to shift the two speed hydraulic motor from the LT/HS mode to the HT/LS mode based, at least in part, on whether the hydraulic pressure exceeds a predetermined threshold value.
14. The closed loop feedback circle drive system of example 11, wherein the controller is configured to determine when to shift the two speed hydraulic motor from the LT/HS mode to the HT/LS mode based, at least in part, on whether the blade currently resides in an above-ground position or in an in-ground position.
15. In further embodiments, the closed loop feedback circle drive system includes an operator input device, a blade rotatable about a rotation axis, a multi-speed hydraulic motor having a motor output shaft mechanically linked to the blade, and a first sensor configured to monitor a parameter indicative of a rotational velocity of the blade. A controller is operably coupled to the operator input device, to the multi-speed hydraulic motor, and to the first sensor. The controller is configured to: (i) establish a blade rotational velocity (vblade_target) as a function of operator command signals received via the operator input device; (ii) determine a discrepancy (vblade_Δ) between the blade rotational velocity (vblade_target) and a current blade rotational velocity (vblade_current); and (iii) modify a rotational speed of the motor output shaft to reduce the discrepancy (vblade_Δ) between the blade rotational velocity (vblade_target) and the current blade rotational velocity (vblade_current) if the discrepancy (vblade_Δ) exceeds a predetermined threshold value.
There has thus been provided embodiments of a closed loop feedback circle drive system for controlling a multi-speed circle rotate motor (e.g., a variable displacement or two speed hydraulic motor) utilized to adjust the rotational position of a motor grader blade. The above-described closed loop feedback circle drive systems increase the consistency in which operator command inputs result in an expected blade speed rotation output by reducing or eliminating variances in blade rotation speed with changing loading conditions. Concurrently, the circle drive systems utilize a multi-speed hydraulic motor to drive blade rotation, which enables rapid execution of hydraulic-driven functions to be better preserved during motor grader turnaround. Further, in embodiments in which the circle drive system contains a two speed hydraulic motor, the controller may selectively shift the two speed hydraulic motor between different a first (e.g., low torque, high speed) mode of operation and a second (e.g., high torque, low speed) mode of operation, while controlling the two speed hydraulic motor to minimize variations in motor speed when shifting between the operation modes. In the above-described manner, the manner in which operator control commands are translated to blade speed adjustments can be rendered more uniform and predictable across motor grader usage to improve operator experience and efficiency.
As used herein, the singular forms “a”, “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
The description of the present disclosure has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the disclosure in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the disclosure. Explicitly referenced embodiments herein were chosen and described in order to best explain the principles of the disclosure and their practical application, and to enable others of ordinary skill in the art to understand the disclosure and recognize many alternatives, modifications, and variations on the described example(s). Accordingly, various embodiments and implementations other than those explicitly described are within the scope of the following claims.
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| 20210131060 A1 | May 2021 | US |
