GB1380029A - Attitude control system apparatus - Google Patents
Attitude control system apparatusInfo
- Publication number
- GB1380029A GB1380029A GB1387373A GB1387373A GB1380029A GB 1380029 A GB1380029 A GB 1380029A GB 1387373 A GB1387373 A GB 1387373A GB 1387373 A GB1387373 A GB 1387373A GB 1380029 A GB1380029 A GB 1380029A
- Authority
- GB
- United Kingdom
- Prior art keywords
- blade
- tilt
- output
- accelerometer
- circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/7636—Graders with the scraper blade mounted under the tractor chassis
- E02F3/765—Graders with the scraper blade mounted under the tractor chassis with the scraper blade being pivotable about a horizontal axis disposed perpendicular to the blade
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
- E02F3/845—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using mechanical sensors to determine the blade position, e.g. inclinometers, gyroscopes, pendulums
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/14—Control of position or direction using feedback using an analogue comparing device
Abstract
1380029 Graders SYSTRON-DONNER CORP 22 March 1973 [30 March 1972] 13873/ 73 Heading E1F [Also in Division G3] In a system for maintaining the angle of tilt of part of a machine relative to the horizontal despite movements of the machine as a whole, undesired motion of the said part is detected by a linear accelerometer and by a device responsive to angular movement, the signals from which are combined to control correcting means. As shown, the system controls the blade on an earth scraper but it may also be used for stabilising a passenger compartment suspended in a rail vehicle (Fig. 10, not shown). In the earth scraper application the system controls a hydraulic actuator 47 at one end of the blade, while a similar actuator 46 at the opposite end is controlled by the difference between a reference potentiometer 63 and a potentiometer 67 actuated 'by a feeler in contact with a guide wire; thus the height of one end of the blade relative to the wire is kept constant, and the invention keeps its tilt constant. The desired tilt is entered on potentiometer 87 for comparison with the output of combining circuit 97 to control cylinder 47. As shown, circuit 97 double integrates the output of an angular accelerometer 94 mounted on the blade. The output of a linear accelerometer 93 also mounted on the blade, with its effective direction perpendicular to the tilt axis is compared with the output of 97 at 139 and the difference is fed to 97 via a "bias error corrector circuit" 95. This cancels any drift caused by the double integration of any zero error in accelerometer 94. An RC filter 101, 102 allows short time constant signals during actual movement. A phase lead network 96 ensures stability. The signal from 93 will contain an unwanted component due to accelerations of the machine in the direction of its travel; this is cancelled by the arrangement 82 in which an engine driven tachometer signal 125 is differentiated at 126, or a second linear accelerometer 145 is provided, and the result is multiplied by the sine of the angle the blade makes with the direction of travel. The cosine of this angle is also supplied as a feedback to the circuit 97, to adjust the integrated output of 94 for this angle. (The blade must be tilted by a different amount to achieve a desired resultant tilt if the blade is not perpendicular to the travel direction). The circuit 97 also has a low pass filtering action, to remove effects of machine oscillation due to flexibility of its tyres, &c 88 is an indicator. In a simpler system (Fig. 12, not shown) the angular accelerometer is replaced by an angular rate sensor and only single integration is required.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US23966072A | 1972-03-30 | 1972-03-30 |
Publications (1)
Publication Number | Publication Date |
---|---|
GB1380029A true GB1380029A (en) | 1975-01-08 |
Family
ID=22903161
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
GB1387373A Expired GB1380029A (en) | 1972-03-30 | 1973-03-22 | Attitude control system apparatus |
Country Status (1)
Country | Link |
---|---|
GB (1) | GB1380029A (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102605816A (en) * | 2012-04-16 | 2012-07-25 | 山推工程机械股份有限公司 | Land leveler and working device inclination mechanism for land leveler |
EP3007553B1 (en) | 2013-09-18 | 2017-03-01 | HORSCH LEEB Application Systems GmbH | Device for discharging fluid and/or solid active materials and method for controlling such a device |
US10244747B2 (en) | 2013-11-10 | 2019-04-02 | Horsch Leeb Application Systems Gmbh | Apparatus and method for discharging liquid and/or solid active substances |
US10561061B2 (en) | 2015-03-02 | 2020-02-18 | Horsch Leeb Application Systems Gmbh | Device for spreading liquid and/or solid active agents and method for controlling such a device |
US10598511B2 (en) | 2012-08-29 | 2020-03-24 | Ponsse Oyj | Detector arrangement in connection with a mobile work machine |
-
1973
- 1973-03-22 GB GB1387373A patent/GB1380029A/en not_active Expired
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102605816A (en) * | 2012-04-16 | 2012-07-25 | 山推工程机械股份有限公司 | Land leveler and working device inclination mechanism for land leveler |
US10598511B2 (en) | 2012-08-29 | 2020-03-24 | Ponsse Oyj | Detector arrangement in connection with a mobile work machine |
EP3007553B1 (en) | 2013-09-18 | 2017-03-01 | HORSCH LEEB Application Systems GmbH | Device for discharging fluid and/or solid active materials and method for controlling such a device |
EP3183963B1 (en) | 2013-09-18 | 2018-05-16 | HORSCH LEEB Application Systems GmbH | Device for dispensing fluid and/or solid agents and method for controlling the device |
US10470361B2 (en) | 2013-09-18 | 2019-11-12 | Horsch Leeb Application Systems Gmbh | Device for discharging fluid and/or solid active materials and method for controlling such a device |
US10244747B2 (en) | 2013-11-10 | 2019-04-02 | Horsch Leeb Application Systems Gmbh | Apparatus and method for discharging liquid and/or solid active substances |
US10561061B2 (en) | 2015-03-02 | 2020-02-18 | Horsch Leeb Application Systems Gmbh | Device for spreading liquid and/or solid active agents and method for controlling such a device |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
PS | Patent sealed | ||
PCNP | Patent ceased through non-payment of renewal fee |