Patent Application
20100065345
This invention relates to vehicle control systems in general and more specifically to methods and apparatus for operating and steering tracked vehicles.
Tracked vehicles commonly involve the use of two or more endless belts or tracks that are supported by corresponding bogie assemblies. A plurality of road wheels mounted to the bogie assemblies roll along the tracks and support the vehicle, while a drive wheel or sprocket provides the driving force for the track, thereby causing the vehicle to move. The tracks provide a much larger surface area than is generally the case with a wheeled vehicle and thereby exert a much lower force per unit area on the ground being traversed compared to a conventional wheeled vehicle of the same weight. Accordingly, tracked vehicles are well-suited for use on soft and uneven ground, such as mud, ice, and snow. They are also ideal for use on large, heavy vehicles, again for primarily the same reason of lower force per unit area on the material being traversed.
A tracked vehicle is directed or steered by varying the speed of the tracks on opposite sides of the vehicle. However, the mechanisms for varying the track speeds often act abruptly, e.g., by suddenly applying braking forces or driving forces to the tracks. The sudden application to the tracks of the braking and driving forces increases the stresses imposed on various driveline components (e.g., clutches and transmissions) as well as on the track links themselves.
One embodiment of a method for controlling a track on a tracked vehicle may comprise: Receiving a vehicle control command from a vehicle control system; processing the vehicle control command in accordance with a control schedule to produce control signals; and applying the control signals to a track control system. The control signals cause the track control system to at least: operate the track in a driven state; transition the track from the driven state to an initial brake application state at a first rate; and transition the track from the initial brake application state to a full brake application state at a second rate, the second rate being less than the first rate.
Another method for controlling a track on a tracked vehicle may comprise: Receiving a vehicle control command from a vehicle control system; processing the vehicle control command in accordance with a control schedule to produce control signals; applying to a track control system a first control signal that varies at a first rate to cause the track control system to transition the track from a driven state to an initial brake application state; and applying to the track control system a second control signal that varies at a second rate to cause the track control system to transition the track from the initial brake application state to a full brake application state, the second rate of said second control signal being less than the first rate of the first control signal.
Apparatus for controlling a track on a tracked vehicle may comprise a drive system, a clutch, a brake, and a track control system to operate the clutch and the brake. A control signal generator operatively associated with the track control system produces control signals that vary at a first rate to cause the track control system to transition the clutch from an engaged state to a disengaged state and produces control signals that vary at a second rate to cause the track control system to transition the brake from an initial application state to a full application state, the second rate being less than the first rate.
Illustrative and presently preferred exemplary embodiments of the invention are shown in the drawings in which:
One embodiment of apparatus 10 for controlling one or more tracks 12, 14 on a tracked vehicle 16 is illustrated in
The signals 32 produced by the control signal generator 30 may be varied or altered in a way that is recognizable to the track control system 28 so that track control system 28 can operate the clutch and brake systems 20, 22 and 24, 26, and/or drive system 18 to achieve a desired operational state of the tracks 12, 14. That is, the control signals 32 cause the track control system 28 to operate the tracks 12, 14 to cause the tracked vehicle to move in the forward or reverse directions and to turn left and right. By way of example, in the embodiments shown and described herein, the control signals 32 may be modulated (i.e., varied) between a 0% modulation level or state and 100% modulation level or state, although other methodologies are possible. The degree of modulation is recognized (e.g., decoded) by the track control system 28 which then operates the clutch and brake systems 20, 22 and 24, 26 in accordance with the degree of modulation of control signals 32.
For example, and with reference primarily to
When the modulation level of control signals 32 is between C1 and C2, the track control system 28 operates the clutch 20 to move it from the fully engaged state to the fully disengaged state while maintaining the brake 24 in the off or released position. That is, when the degree of modulation of the control signals 32 is between C1 and C2, the clutch 20 is in transition, either moving from the engaged state to the disengaged state or vice-versa, depending on whether the degree of modulation is moving from C1 to C2 or from C2 to C1.
In the exemplary embodiment depicted in
To summarize then, in the embodiment shown and described herein, the control signals 32 cause the track control system 28 to operate the clutch system 20 so that it is in the fully engaged state when the modulation level of the control signals 32 is between 0% and C1. The track control system 28 will transition the clutch 20 to the disengaged state when the modulation level of the control signals 32 is between C1 and C2, ultimately reaching the fully disengaged state when the modulation level reaches C2. The track 12 will be in the freewheel state when the modulation level is between C2 and C3. That is, neither driving forces nor braking forces are applied to the track during the freewheel state. The brake transition region exists when the modulation of the control signals 32 is between C3 and C4, with the brake 24 entering the initial application state at modulation level C3, and reaching the full application state at modulation level C4.
Consequently, the tracked vehicle 16 may be made to move in any feasible direction by causing the control signal generator 30 to provide the appropriately modulated control signals 32 to the track control system 28. For example, the tracked vehicle 16 may be caused to move in the forward direction by generating control signals 32 that cause both clutches 20, 22 to be fully engaged. Likewise, the tracked vehicle 16 may be stopped by disengaging the clutches 20, 22 and by applying the brakes 24, 26. The tracked vehicle 16 may be turned by stopping (i.e., braking) one track (e.g., track 12), while driving the other track (e.g., track 14).
The present invention involves operating the control signal generator 30 to produce the control signals 32 in accordance with certain control profiles or schedules to cause the track control system 28 to operate the clutch and brake systems in a manner that will maximize vehicle control and responsiveness while also minimizing the stress that will be placed on the tracks and vehicle drive system components, including the clutch and brake systems.
Referring now to
Changing or varying the modulation levels of the control signals 32 at two different rates causes the track control system 28 to transition the track 12 from the driven state to the initial brake application state at the first rate 40. The track control system 28 will then transition the track 12 from the initial brake application state to the full brake application state at the second rate 42, the second rate 42 being less than the first rate 40. As will be described in further detail below, the dual rate control schedule 34 may also be used to transition the track 12 from the fully braked state to the driven state, again at two different transition rates 50 and 52, as also illustrated in
Significant advantages flow from the control schedule that results in the dual rate transition of the track between various states. For example, transitioning the clutch 20 from the engaged state to the disengaged state at a rapid rate (e.g., first rate 40) reduces stress and wear on the clutch 20. Still other advantages flow from the rapid transition of the track 12 through the freewheel state. For example, the rapid transition of the track 12 through the freewheel state minimizes uncommanded (e.g., undesired) vehicle response likely to result from the uncontrolled track movement during the freewheel state. Vehicle control and responsiveness is improved.
An example of an uncommanded and undesired vehicle response that can arise while one of the tracks is in the freewheel state is when the vehicle is ascending or descending an incline. If the vehicle is ascending an incline, the freewheeling track will slow and possibly reverse direction, which will result in a vehicle turn in the desired direction, but at a greater rate, and possibly to a greater degree, than was commanded. Conversely, if the vehicle is descending an incline, the freewheeling track may gain speed, which will slow the rate of turn in the desired direction. If the incline is steep, or if the freewheel period is too long, the freewheeling track may well result in a vehicle turn in the direction opposite from that commanded.
In contrast to the generally desired rapid transition of the track 12 through the clutch disengagement and freewheel states, the present invention provides additional advantages by slowing the rate at which the brake is applied. For example, the comparatively slow transition of the brake 24 from the initial application state to the full application state significantly reduces stress imposed on the tracks 12, 14, as well as on the brakes 24, 26. Consequently, the dual rate transition of the track between various drive states increases vehicle responsiveness (in the that the clutch disengagement and freewheel states are transitioned rapidly), while minimizing stresses imposed by braking.
The dual rate transition of the present invention also provides considerable advantages in applications wherein it is desired to cycle the stopped track between the fully braked state and the driven state a number of times during a commanded turn. As mentioned, tracked vehicles are turned by slowing and stopping one track while continuing to move the other track. However, in many situations, it is not possible to maintain one track in the stopped position during the entire turn because of the tendency of the stopped track to dig-in and possibly become bogged down in the material being traversed. The likelihood that the stopped track will become bogged down can be considerably reduced by cycling the stopped track between the fully braked state and the driven state a number of times during the turn. While it is possible to transition the track between the driven state and the fully braked state at a high rate (i.e., in a short track cycle time) to reduce the likelihood of track dig-in, such short track cycle times impose considerable stresses on the braking system and tracks, often to the point where the frequency of track breakage becomes unacceptably high.
Increasing the track cycle time is no panacea, either. For example, while the track cycle time could be increased (i.e., to increase the time during which the track is transitioned between the driven state and the braked state) in order to reduce the stresses imposed by rapid braking, slowing the transition period by an amount sufficient to avoid excessive braking stresses would result in an unacceptably long track cycle time, thereby increasing the possibility of track dig-in. A long track cycle time also increases the likelihood that the vehicle will experience uncommanded movement (e.g., due to an excessively long period wherein the track is allowed to freewheel), thereby making the vehicle difficult to control and possibly resulting in excessive deviation from the desired vehicle course. In addition, and as mentioned above, a slow transition through the clutch disengagement state will typically result in excessive clutch wear.
Still yet another advantage of the present invention is that it is well-suited for use with remote or autonomous control systems that do not require a human operator to be present on the vehicle. For example, remote or autonomous control systems lack the presence of a human operator on the vehicle to sense and avoid improper or sub-optimal control movements, particularly the abrupt application of braking forces. Advantageously, the present invention eliminates the problems associated with the abrupt application of braking forces without sacrificing vehicle control and responsiveness, which are important factors in the remote or autonomous operation of such vehicles.
Having briefly described the vehicle control system of the present invention, as well as some of its more significant features and advantages, various exemplary embodiments and variations of the methods and apparatus of the present invention will now be described in detail. However, before proceeding with the description it should be noted that while the methods and apparatus are shown and described herein as they could be utilized in a particular type of tracked vehicle having a particular type of vehicle control system and vehicle dynamics (i.e., response characteristics), persons having ordinary skill in the art, after having become familiar with the teachings provided herein, will be able to readily adapt the methods and apparatus of the present invention for use with other types of vehicles having other types of control systems and response characteristics. Consequently, the present invention should not be regarded as limited to use with the particular vehicles and in the particular environments shown and described herein.
Referring back now primarily to
Continuing now with the description, the tracked vehicle 16 shown and described herein comprises two tracks 12, 14 that are mounted on opposite sides of a vehicle body or chassis 36. Track 12 is connected to a drive system 18 via a clutch system 20 and a brake system 24, whereas track 14 is connected to drive system 18 via clutch system 22 and brake system 26. See
For example, tracked vehicle 16 may be caused to move in the forward direction by engaging both clutches 20, 22 to connect the tracks 12, 14 to the drive system 18. A reversing system (not shown) operatively associated with drive system 18 allows the vehicle to be moved in the reverse direction by suitable engagement of the reversing system (not shown). The vehicle 16 may be steered by disengaging one of the clutches 20, 22, while allowing the other clutch 20, 22 to remain engaged, in the manner described hereinbelow.
The track control system 28 is itself operated by control signals 32 that are generated or produced by control signal generator 30. More specifically, control signals 32 produced by control signal generator 30 cause the track control system 28 to operate the clutches 20, 22 and brakes 24, 26 in a manner consistent with the information contained in or encoded by the control signals 32. In the particular embodiment shown and described herein, the control signals 32 comprise pulse width modulated (PWM) signals in which the widths of the pulses are varied or modulated to encode the signals 32 with information sufficient to instruct the track control system 28 to control the various systems connected thereto, including the clutches 20, 22, and brakes 24, 26. Alternatively, other types of modulation or signal encoding techniques are possible. Consequently, the present invention should not be regarded as limited to use with systems having PWM control signals 32.
The control signal generator 30 may receive vehicle control commands (e.g., steering commands) from a vehicle control system (not shown) that controls the operation of the vehicle 16. The vehicle control system may comprise any of a wide variety of systems and devices suitable for controlling the vehicle. Examples of vehicle control systems include, but are not limited to, an autonomous vehicle control system, a semi-automatic control system (e.g., a remote-control system or an auto pilot), or even a human operator. Vehicle control commands from the vehicle control system are received by the control signal generator 30, which processes the vehicle control inputs to produce the vehicle control signals 32 in the manner described herein. However, because the present invention may be utilized with any of a wide range of vehicle control systems, and because a detailed description of such vehicle control systems is not required in order to understand and implement the present invention, the particular vehicle control system that may be utilized to provide vehicle control commands to the control signal generator 30 will not be described in further detail herein.
Referring now primarily to
When the degree of modulation of the PWM control signals 32 is between 0% modulated and a modulation level C1, the track control system 28 operates the clutch 20 so that it is in the fully engaged state. In this modulation range (i.e., between 0% and modulation level C1), the track control system 28 operates the brake 24 so that it is in the fully released position. That is, the brake 24 will not apply any significant braking force to the track 12. In this regard it should be noted that the track control system 28 will not begin to apply the brake 24 until the modulation level of signals 32 reaches the level C3. Stated another way, the control system 28 maintains the brake 24 in the fully released state or position so long as the modulation level of control signals 32 is lower than C3.
If the level of modulation of the control signals 32 is between C1 and C2, then the track control system 28 operates the clutch 20 to transition it from the fully engaged state to the fully disengaged state. Stated another way, the clutch 20 is in a transition region when the modulation level of control signals 32 is between C1 and C2. Further, if the modulation level of the control signals 32 increases with time from C1 to C2, then the track control system 28 transitions the clutch 20 from the engaged state to the disengaged state. Conversely, the track control system 28 will transition the clutch 20 from the disengaged state to the engaged state when the modulation level of control signals 32 decreases with time from modulation level C2 to modulation level C1.
After the clutch 20 is disengaged and before the brake system 24 is applied, the track 12 operates in a freewheel state. That is, the track 12 is fully disconnected from the drive system 18 and is not slowed by braking forces applied by brake system 24. The track 12 remains in the freewheel state so long as the modulation level of control signals 32 remains between C2 and C3. However, when the modulation level of control signals 32 increases to C3, the track control system 28 begins to activate the brake 24. That is, the track control system 28 places the brake 24 in an initial application state. When the brake 24 is in the initial application state, light braking forces are applied to track 12, thereby resisting its rotation. The track control system 28 continues to operate the brake system 24 to gradually increase the braking forces applied to the track 12 (with the increasing modulation of control signals 32) until the modulation level of control signals 32 reaches C4, at which point maximum braking effort is applied to track 12. That is, brake 24 is in the full application state. Brake 24 will remain in the full application state so long as the modulation level of control signals 32 remains between C4 and 100%.
Accordingly, tracked vehicle 16 may be made to move in any desired direction by providing the appropriately modulated control signals 32 to the track control system 28. By way of example, the tracked vehicle 16 may be moved in the forward direction by generating control signals 32 that cause the track control system 28 to engage both clutches 20, 22. Likewise, the tracked vehicle 16 may be stopped by disengaging the clutches 20, 22 and by applying the brakes 24, 26. The tracked vehicle 16 may be turned by stopping (i.e., braking) one track (e.g., track 12), while driving the other track (e.g., track 14) in the forward direction.
As briefly described above, the control signal generator 30 produces control signals 32 that vary in accordance with certain control profiles or schedules (some of which are described herein and others of which will become apparent to persons having ordinary skill in the art after becoming familiar with the teachings provided herein) to cause the track control system 28 to operate the clutches 20, 22 and brakes 24, 26 in a manner that will maximize vehicle control and responsiveness while at the same time reducing the stresses applied to the tracks and vehicle drive system components.
However, before considering particular exemplary control schedules that may be utilized to govern the variance (i.e., modulation levels) of the control signals 32, it is instructive to consider the response of the particular tracked vehicle to operation of the tracks. Once the response of the particular vehicle has been determined, a control schedule may be developed that may be used to modify the vehicle response characteristics to produce any of a wide range of desired results (i.e., vehicle response characteristics). For example, and as will be described in greater detail below, a non-linear vehicle response to the application of braking forces may be made linear, if desired, by developing the appropriate control schedule.
Consider, for example, the vehicle response characteristic 56 illustrated in
As illustrated in
As briefly described above, it should be noted that the yaw rate ω of vehicle 16 during the freewheel period may depart significantly from that depicted in
When the modulation level of the control signals 32 reaches level C3, the track control system 28 begins to apply the brake 24. That is, brake 24 is placed in the initial application state. At this point, the vehicle yaw rate ω begins to increase. However, the increase is not linear during the time the modulation state of control signals 32 is linearly increasing from C3 to C4. Instead, the vehicle response characteristic 56 (e.g., yaw rate ω) is exponential until the brake 24 is fully applied (which corresponds to a modulation level of C4), at which point the vehicle yaw rate X reaches its maximum (ωmax)
Referring now to
The rates of change of the modulation level of signals 32, e.g., the first rate 40 and the second rate 42, may comprise any of a wide range of rates depending on the particular implementation, vehicle control system, vehicle response, and other factors, as would become apparent to persons having ordinary skill in the art after having become familiar with the teachings of the present invention. Consequently, the present invention should not be regarded as limited to any particular rates (e.g., first rate 40 and second rate 42). However, by way of example, in one embodiment, first rate 40 may be in a range of about 100% modulation per second (%/s) to as high as substantially instantaneous, although a transition rate 40 of about 300%/s is preferred. Accordingly, the time within which the control signals 32 are varied from 0% modulation to modulation level C3 may be in a range of about 0.025 seconds (s) to about 0.25 s (about 0.083 s preferred). The second rate 42 may be selected to be in a range of about 10% modulation per second (%/s) to about 100%/s (about 20%/s preferred). Accordingly, the time within which the control signals 32 are varied from modulation level C3 to modulation level C4 may be in a range of about 0.25 seconds (s) to about 1.3 s (about 0.65 s preferred).
As already briefly described, the dual rate transition of the present invention may be used to advantage wherein it is desired to cycle the stopped track between the fully braked state and the driven state some number of times during a commanded turn. In such a scenario, the control schedule 34 may comprise an alternating schedule wherein after some period of braking, i.e., where the track is stopped for a certain period of time, the track will be re-connected to the drive system 18, before again being disconnected from the drive system.
More specifically, and still referring to
As mentioned above, it is generally not desired to allow the track 12 to remain stopped for the duration of large turns (e.g., turns involving a substantial heading change), lest the stopped track become dug-in or bogged down in the material being traversed. Thus, a given turn may comprise a number of cycles 38, 38′ during which the track is alternately stopped (i.e., during the “off” period 46, 46′) and driven (i.e., during the “on” period 48, 48′).
In addition, and in the embodiments shown and described herein, the control schedule 34 may be provided with a minimum track “on” period 54 of some selected minimum time duration to ensure that the track 12 remains in the “on” period for at least some portion of the cycle time 38. That is, control schedule 34 may be configured to require the track 12 be in the on or driven state for at least the minimum track “on” period 54 in order to minimize the likelihood of track dig-in. Stated another way, while the track “off” period 46 and the track “on” period 48 each may be varied during the cycle time 38 to achieve the desired rate of turn, the control signal generator 30 will ensure that the track “on” period 48 does not fall below the minimum track “on” period 54. Subsequent cycles (e.g., 38′) may also be provided with such a minimum track “on” period (e.g., 54′).
As mentioned, the control signal generator 30 may be configured to vary the lengths or durations of the track “off” period 46 and the track “on” period 48 during the cycle time 38 in order to achieve a desired rate of turn or other desired vehicle response. For example, higher turn rates may result from shorter track “off” periods 46, whereas longer track “off” periods 46 may result in lower turn rates. However, other factors may also be considered and result in a change of the relative durations of the track “off” and “on” periods 46 and 48. Such other factors may include, but are not limited to, whether the vehicle 16 is traversing a slope or incline, the nature of the material being traversed, and the area available for maneuvering. Consequently, the present invention should not be regarded as limited to any particular cycle time 38 or relative durations of the track “off” period 46 and the track “on” period 48. However, by way of example, in one embodiment, the track cycle time 38 may be in a range of about 0.5 seconds to about 2.5 seconds. The track “off” period 46 may be varied between about 0.4 seconds and about 2 seconds, whereas the track “on” period 48 may be varied between about 0.1 seconds and about 2.5 seconds. The minimum track “on” period 54 may be in a range of about 0.1 seconds to about 0.5 seconds.
The transition from the track “off” period 46 to the track “on” period 48 may also be accomplished at two different transition rates 50, 52, as also illustrated in
The rates of change of the modulation level of signals 32, e.g., the first rate 50 and the second rate 52, may comprise any of a wide range of rates depending on the particular implementation, vehicle control system, vehicle response, and other factors, as would become apparent to persons having ordinary skill in the art after having become familiar with the teachings of the present invention. Consequently, the present invention should not be regarded as limited to any particular rates (e.g., first rate 40 and second rate 42). However, by way of example, in one embodiment, first rate 50 may be high (e.g., substantially instantaneous), causing the modulation level of signals 32 to change substantially instantaneously from 100% modulation to modulation level C3. The second rate 52 may be selected to be in a range of about 300% modulation per second (%/s) to nearly instantaneously (about 300%/s preferred). Accordingly, the time within which the control signals 32 are varied from modulation level C3 to 0% modulation may be in a range of about 0.2 seconds (s) to nearly instantaneously (about 0.2 s preferred).
As mentioned above, it is possible to develop control schedules that will result in a change in the vehicle response dynamics over what could be achieved with control schedules having purely linear transitions, such as those illustrated in
More specifically, in the embodiment illustrated in
Referring back now primarily to
and
Pn=p
n−1
+Δp
where:
As was the case for the first control schedule 34, the transition from the track “off” period 146 and the track “on” period 148 in the second control schedule 134 may be accomplished at rates 150, 152 that are also different from one another. More specifically, in the second control schedule 134, the control signals 32 (which are varied or modulated in accordance with the various control schedules 34, 134) may be varied at rate 150 so as to result in the substantially instantaneous release of the brake 24. This substantially instantaneous rate 150 corresponds to the vertical line segment between 100% modulation and the modulation level C3. Thereafter, the control signal generator 30 may be operated to vary the modulation of the control signals 32 from the level C3 to 0% modulation at a rate 152 that is less than the rate 150 of variation from 100% modulation to the modulation level C3. This rate 152 corresponds to the sloped line segment between modulation level C3 and 0% modulation.
The second control schedule 134 may also comprise a track “off” period 146 and a track “on” period 148 in order to reduce the likelihood of track dig-in during a commanded turn. Control schedule 134 may also be provided with a minimum “off” period 154 to ensure that the track 12 remains in the “off” period for at least some portion of the cycle time 138. Put another way, control schedule 134 will require that the track be in the on or driven state for at least the minimum track “on” period 154 in order to minimize the likelihood of track dig-in.
As was the case for the first control schedule 34, vehicle turns involving the second control schedule 134 may comprise a plurality of cycles 138, 138′ during which the track is alternately stopped (i.e., during the “off” periods 146, 146′) and driven (i.e., during the “on” periods 148, 148′). Each such cycle 138, 138′ may also comprise a minimum “on” period 154, 154′. Subsequent cycles may be initiated until the vehicle has turned by the desired amount.
Having herein set forth preferred embodiments of the present invention, it is anticipated that suitable modifications can be made thereto which will nonetheless remain within the scope of the invention. The invention shall therefore only be construed in accordance with the following claims:
