公开(公告)号：US10464565B2

公开(公告)日：2019-11-05

申请号：US15837535

申请日：2017-12-11

Applicant: CATERPILLAR INC.

Inventor： Brian Dean Kuras ,  Sean Cameron Landers ,  Sangameshwar Sonth ,  Ankit Sharma

IPC: B60W30/18 ,  B60W30/188 ,  B60W10/06 ,  E02F9/22 ,  F16H47/04 ,  F16H61/06 ,  F16H61/662 ,  F16H37/08

Abstract: A propulsion control system provides different levels of jerk as a function of operator inputs and actual measured operational parameters in a machine. The system includes a power source, a continuously variable transmission (CVT) coupled to an output of the power source, a plurality of input/output devices, a plurality of sensors configured to generate signals indicative of operational parameters of the machine, and a controller communicatively coupled with the power source, the CVT, the input/output devices, and the sensors. The controller includes a database stored in a memory with a plurality of jerk values mapped to different operations of the machine selected from at least one of activation of a brake by an operator for an aggressive stop, a directional shift request from an operator to select one of forward, reverse, or neutral, and a set of operating conditions of the machine indicative of a blade load shedding mode. A jerk selection module is programmed to select at least one of a jerk value, an acceleration limit value, and a deceleration limit value based on a current operation of the machine. A speed command generating device is programmed to integrate a selected jerk value twice to generate a desired speed command. A proportional-integral-derivative (PID) control device is configured to continuously calculate a control error between the desired speed command and an actual speed of the machine. An output command control module is configured to output a control command for implementing a change in an output torque to at least one of the power source and the CVT to reduce the control error.

公开(公告)号：US09694849B2

公开(公告)日：2017-07-04

申请号：US14955510

申请日：2015-12-01

Applicant: Caterpillar Inc.

Inventor： Brian Dean Kuras ,  Sangameshwar Sonth

IPC: B62D1/12 ,  B62D6/00 ,  B62D11/04 ,  B62D11/00 ,  B62D6/10 ,  B62D55/08

CPC classification number: B62D11/003 ,  B62D6/10 ,  B62D11/04 ,  B62D55/06 ,  B62D55/08

Abstract: A steering control system is disclosed for use with a machine. The steering control system may have left and right motors, at least one input device configured to generate first and second signals indicative of desired speed and desired steering, a left speed sensor configured to generate a third signal, and a right speed sensor configured to generate a fourth signal. The steering control system may further have a controller configured to determine a difference between desired and actual steering based on the second, third, and fourth signals, to determine a steering command change that should be implemented based on the difference, and to determine a gain based on the second signal. The controller may also be configured to adjust the steering command change as a function of the gain, and to selectively apply the adjusted steering command change to one of the left and right motors.