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    Aggressive and stable speed control
    1.
    发明授权
    Aggressive and stable speed control 有权
    积极稳定的速度控制

    公开(公告)号：US09181682B2

    公开(公告)日：2015-11-10

    申请号：US13868790

    申请日：2013-04-23

    Applicant: Caterpillar Inc.

    Inventor： Jonathan W. Anders ,  Brian D. Kuras ,  Adam M. Nackers ,  Christopher P. Braet

    IPC: E02F9/20 ,  G05B13/02 ,  G05B11/42 ,  E02F9/12 ,  E02F9/22

    CPC classification number: E02F9/2058 ,  E02F9/123 ,  E02F9/2095 ,  E02F9/2253 ,  G05B11/42 ,  G05B13/02

    Abstract: A system and method are provided for controlling a movable element in accordance with a speed command. The movable element, which may be an excavator swing platform, is moved via an actuator that is driven in accordance with a torque command. The speed of the movable element is sensed, and a torque command is generated via PID control based on the speed command and the sensed speed. The PID control uses a set of gains including a P-gain, an I-gain, and a D-gain. At least one of these gains is set based on a counter, and the counter is set, cleared, incremented, or decremented based on one or more of the speed command, the torque command and the sensed speed. In this way, the movable element responds aggressively to operator input, but stability is maintained.

    Abstract translation: 提供了一种用于根据速度指令控制可移动元件的系统和方法。 可移动元件（其可以是挖掘机摆动平台）通过根据扭矩指令驱动的致动器移动。 感测到可动元件的速度，并通过基于速度指令和检测速度的PID控制产生转矩指令。 PID控制使用一组增益，包括P增益，I增益和D增益。 这些增益中的至少一个基于计数器设置，并且基于速度命令，转矩命令和感测速度中的一个或多个来设置，清除，递增或递减计数器。 以这种方式，可移动元件对操作者输入进行积极的响应，但是保持稳定性。

    DRIVE ASSEMBLY FOR MACHINE
    5.
    发明申请
    DRIVE ASSEMBLY FOR MACHINE 有权
    机组驱动装置

    公开(公告)号：US20150252875A1

    公开(公告)日：2015-09-10

    申请号：US14715624

    申请日：2015-05-19

    Applicant: Caterpillar Inc.

    Inventor： Keith A. Kabrick ,  Christopher P. Braet ,  Trent Thum ,  Brandon Mann ,  Vanyo N. Kirov ,  Timothy S. Stoakes ,  Brian C. Boguski ,  Daniel J. Reed ,  Timothy F. Nusz

    IPC: F16H1/28 ,  F16H57/12

    CPC classification number: F16H1/28 ,  F16H37/041 ,  F16H57/12 ,  F16H2001/326 ,  F16H2003/442 ,  F16H2057/085 ,  F16H2057/126 ,  F16H2057/127

    Abstract: A final drive assembly for a machine includes an input shaft drivably coupled to a prime mover. The input shaft is coupled to and drives a first stage gear assembly. The first stage gear assembly further drives a second stage gear assembly. The first and second stage gear assemblies drive a ring gear which is coupled to a wheel of the machine. The first and second stage gear assemblies are disposed between a first bearing assembly and a second bearing assembly. A spring member preloads the first bearing assembly to limit an axial movement of the first and second stage gear assemblies.

    Abstract translation: 用于机器的最终驱动组件包括可驱动地联接到原动机的输入轴。 输入轴联接并驱动第一级齿轮组件。 第一级齿轮组件进一步驱动第二级齿轮组件。 第一级和第二级齿轮组件驱动联接到机器的车轮的齿圈。 第一和第二级齿轮组件设置在第一轴承组件和第二轴承组件之间。 弹簧构件预加载第一轴承组件以限制第一和第二级齿轮组件的轴向运动。

    Aggressive and Stable Speed Control
    6.
    发明申请
    Aggressive and Stable Speed Control 有权
    积极稳定的速度控制

    公开(公告)号：US20140316664A1

    公开(公告)日：2014-10-23

    申请号：US13868790

    申请日：2013-04-23

    Applicant: CATERPILLAR INC.

    Inventor： Jonathan W. Anders ,  Brian D. Kuras ,  Adam M. Nackers ,  Christopher P. Braet

    IPC: E02F9/20 ,  G05B13/02

    CPC classification number: E02F9/2058 ,  E02F9/123 ,  E02F9/2095 ,  E02F9/2253 ,  G05B11/42 ,  G05B13/02

    Abstract: A system and method are provided for controlling a movable element in accordance with a speed command. The movable element, which may be an excavator swing platform, is moved via an actuator that is driven in accordance with a torque command. The speed of the movable element is sensed, and a torque command is generated via PID control based on the speed command and the sensed speed. The PID control uses a set of gains including a P-gain, an I-gain, and a D-gain. At least one of these gains is set based on a counter, and the counter is set, cleared, incremented, or decremented based on one or more of the speed command, the torque command and the sensed speed. In this way, the movable element responds aggressively to operator input, but stability is maintained.

    Abstract translation: 提供了一种用于根据速度指令控制可移动元件的系统和方法。 可移动元件（其可以是挖掘机摆动平台）通过根据扭矩指令驱动的致动器移动。 感测到可动元件的速度，并通过基于速度指令和检测速度的PID控制产生转矩指令。 PID控制使用一组增益，包括P增益，I增益和D增益。 这些增益中的至少一个基于计数器设置，并且基于速度命令，转矩命令和感测速度中的一个或多个来设置，清除，递增或递减计数器。 以这种方式，可移动元件对操作者输入进行积极的响应，但是保持稳定性。

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