US3857577A - Proportional frame twist slope control - Google Patents

Proportional frame twist slope control Download PDF

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Publication number
US3857577A
US3857577A US00401927A US40192773A US3857577A US 3857577 A US3857577 A US 3857577A US 00401927 A US00401927 A US 00401927A US 40192773 A US40192773 A US 40192773A US 3857577 A US3857577 A US 3857577A
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US
United States
Prior art keywords
slope
frame
proportional
providing
control
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 - Lifetime
Application number
US00401927A
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English (en)
Inventor
L Kuntz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Danfoss Power Solutions Inc
Original Assignee
Honeywell Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Honeywell Inc filed Critical Honeywell Inc
Priority to US00401927A priority Critical patent/US3857577A/en
Priority to CA204,859A priority patent/CA1019421A/en
Priority to DE2443477A priority patent/DE2443477C2/de
Priority to AU73349/74A priority patent/AU7334974A/en
Priority to IT27446/74A priority patent/IT1022093B/it
Priority to FR7432065A priority patent/FR2246001A1/fr
Priority to SE7412045A priority patent/SE7412045L/
Priority to GB4185074A priority patent/GB1440855A/en
Priority to JP49111356A priority patent/JPS607097B2/ja
Application granted granted Critical
Publication of US3857577A publication Critical patent/US3857577A/en
Assigned to SUNDSTRAND CORPORATION, A CORP. OF DE reassignment SUNDSTRAND CORPORATION, A CORP. OF DE ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: HONEYWELL INC., A CORP. OF DE
Assigned to SUNDSTRAND-SAUER COMPANY, A GENERAL PARTNERSHIP OF DE reassignment SUNDSTRAND-SAUER COMPANY, A GENERAL PARTNERSHIP OF DE ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: SUNDSTRAND CORPORATION, A DE CORP.
Assigned to SAUER INC., reassignment SAUER INC., ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: SUNDSTRAND-SAUER COMPANY, A DE GENERAL PARTNERSHIP
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
    • 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
    • G05D3/1472—Control of position or direction using feedback using an analogue comparing device with potentiometer

Definitions

  • control System particularly comprises a 12 1 11 0 5 slope sensing means for controlling theslope across the rear end of the frame of the vehicle and a torsion 5 References Cited sensing means for controlling the slope across the UNITED STATES PATENTS front end of the frame of the vehicle.
  • the prior art provided a slope sensor at the rear end of the machine for controlling the slope across the rear end of the machine and provided a torsion bar for sensing the frame distortion.
  • the frame distortion was used to control the slope angle across the front end of the machine
  • this frame distortion sensor was operated in an on-off manner which, therefore, had all of the detriments of such systems.
  • the longer part of an L shaped bar was extended across the machine; thus, as the machine frame was distorted, the shorter part rotated.
  • a pair of limit switches were positioned to sense movement of the shorter part, one switch was actuated as the part rotated up and the other switch was actuated as the part rotated down. The switches controlled the slope across the front end of the frame.
  • Onoff systems were, however, incapable of providing both high positioning speeds and a narrow dead band (dead band here is definedas the distance between the two limit switches). If the On-Off system were operated at high speeds and narrow dead bands, the system would overshoot causing cyclical operation of the control system and result in a wavy roadway. Thus, it was necessary to operate on-off systems either at low speeds and narrow dead bands which, because of the slow speeds, resulted in inadequate compensation for error signals or at high positioning speeds and wide dead band which allowed for too much error.
  • the disclosed invention overcomes these detriments by providing proportional control of both the slope of the rear end of the machine and the slope of the front end of the machine.
  • the proportional system eliminates these detriments and difficulties by providing means is utilized in conjunction with the rotation of this torsion bar to provide a proportional signal to control the slope across the front end of the machine frame.
  • FIG. 1 shows a simplistic top view of a machine frame with a typical control system mounted thereon.
  • FIG. 2 shows a side view of such a machine without the control system.
  • FIG. 3 shows a schematic diagram of the control systerm used in this invention.
  • FIG. 1 shows a machine designated generally by reference numeral 10 having a machine frame 11 supported on support means, shown here as wheels 12, by arms 13-16. Hydraulic cylinders 1720 connect the support means 12 to their respective arms 13-16.
  • each corner of the machine frame 11 can be independently raised and lowered. and the slope can be controlled by properly operating the hydraulic rams 17-20.
  • the slope sensor 21 which may be in the form of a gravity operated pendulum, is mounted on the rear of the machine frame 11 and senses the slope angle across the rear end of the frame.
  • the output from the slope sensor is fed to a servo valve 22 which controls the hydraulic ram 18.
  • FIG. 3 shows an example of a control system which may be used for the control systems shown in FIG. I.
  • the slope sensor 21 may take the form of thetype 134,847A sensor manufactured by the assignee of this application and it providesan output to an amplifier which may be type R7232A also manufactured by the assignee.
  • a second input to the amplifier is derived from a potentiometer 23 which is utilized as a setpoint.
  • the amplifier 26 provides an output which is proportional to the deviation between the actual slope sensed by the sensor and the reference as established by the potentiometer 23.
  • This proportional output is-used to control a servo valve 25 which may take the form of a type V7,'059A valve also manufactured by the assignee.
  • the output from the servo valve is proportional to the input of the valve and is used to control the hydraulic ram.
  • the hydraulic ram adjusts its corner of the machine by an amount which is proportional to its input.
  • a torsion bar 27 is also provided to measure the distortion of the frame which may occur whenever the slope across the front of the frame deviates from the slope across the rear of the frame.
  • the torsion bar or torque tube 27 is fixed to the right side of the frame and supported at the left side by a bar 28 and bearing 29.
  • a sensor 30, which may take the form a type SBl04A manufactured by the assignee of this application, is used to sensethe mogement or rotation flexing of the torsion bar.27.
  • the control circuit which includes the'sensor 30 and the valve 31 may again take the form of FIG. 3.
  • the torsion bar 27 can also be mounted from front to back. in which case the sensor 30 must be supported at the end where the torsion bar' is supported by the bearing.
  • Means are also provided to control the elevation of the machine.
  • a string line or wire 33 is ex 3 tended alongside the machine and two grade sensors 34 and 35 mounted on the machine frame by bars 36 and 37 respectively sense the deviation of the machine frame from the reference established by the wire 33.
  • EAch of the grade sensors provides an output, proportional to this deviation, to respective servo valves 38 and 39 which in turn provide respective proportional outputs to the hydraulic rams 20 and 19.
  • These control systems may again take the form of the system shown in-FIG. 3. If the machine frame deviates from the reference established by wire 33, the deviation is sensed by the grade sensors 34 and 35 which provide outputs to the hydraulic rams 20 and 19 to adjust the elevation of the machine frame 11 to bring it in proper alignment with the wire 33.
  • the slope sensor 21 and torsion bar 27 then sense any deviation of theslope of the frame to provide the proper corrective action.
  • the disclosed system may be modified in certain respects.
  • the servo valves may be replaced by servo motors while at the same time the hydraulic rams may be replaced by jack screws.
  • the slope sensor 21 may 7 be placed on the front of the machine to control ram 17 and the servo valve 31 may be connected to control ram 18.
  • a control system for an earth working machine having earth-support means and a frame having'a front end and a rear end and power means for adjusting the.
  • said system comprising:
  • slope sensing means for providing an output dependent upon the deviation of the actual slope across one of said ends from a predetermined setpoint; first connecting means adapted to connect said output to saidrpower means for controlling the slope of said one end; frame twist sensing means for providing a twist output proportional to the deviation of the actual slope across the other of said ends of said frame from the actual slope across said one end;
  • control means for receiving said twist output and for providing a control output proportional to the deviation of said twist output from a predetermined setpoint;
  • second connecting means adapted to connect said control output to said power means for controlling the slope across said other end of said frame.
  • said frame twist sensing means comprises a torsion bar.
  • control means comprises a sensor for providing a signal proportional to the movement distortion of said torsion bar.
  • control means comprises a sensor for providing a signal proportional to the movement distortion of said torsion bar.
  • said frame twist sensing means comprises a torsion bar extending across said machine
  • said control means comprises a sensor for providing a signal proportional to the movement of said torsion bar resulting from the deviation of said actual slope of said other end from the actual slope across said one end, amplifier means connected to said sensor for receiving said proportional signal and for providing an amplified proportional signal and servo valve means for receiving said amplified proportional signal and adapted to proportionally control said power means.
  • said slope sensing means comprises a slope sensor for providing a signal proportional to the slope across the rear end of said frame, an amplifier connected to said sensor for receiving said proportional signal and for providing an amplified proportional signal and a servo valve means adapted to receive said amplified proportional signal and for proportionally controlling the slope of the rear end of said frame with respect to the support means.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Vehicle Body Suspensions (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Road Paving Machines (AREA)
  • Transplanting Machines (AREA)
  • Guiding Agricultural Machines (AREA)
US00401927A 1973-09-28 1973-09-28 Proportional frame twist slope control Expired - Lifetime US3857577A (en)

Priority Applications (9)

Application Number Priority Date Filing Date Title
US00401927A US3857577A (en) 1973-09-28 1973-09-28 Proportional frame twist slope control
CA204,859A CA1019421A (en) 1973-09-28 1974-07-16 Proportional frame twist slope control
DE2443477A DE2443477C2 (de) 1973-09-28 1974-09-11 Regeleinrichtung zur Neigungseinstellung für eine Erdbewegungsmaschine
AU73349/74A AU7334974A (en) 1973-09-28 1974-09-16 Slope control
IT27446/74A IT1022093B (it) 1973-09-28 1974-09-18 Dispositivo di controllo per una macchina per movimento di terra
FR7432065A FR2246001A1 (enrdf_load_stackoverflow) 1973-09-28 1974-09-23
SE7412045A SE7412045L (enrdf_load_stackoverflow) 1973-09-28 1974-09-25
GB4185074A GB1440855A (en) 1973-09-28 1974-09-26 Earth working machine
JP49111356A JPS607097B2 (ja) 1973-09-28 1974-09-27 フレ−ムの歪み傾斜に関する比例制御装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US00401927A US3857577A (en) 1973-09-28 1973-09-28 Proportional frame twist slope control

Publications (1)

Publication Number Publication Date
US3857577A true US3857577A (en) 1974-12-31

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ID=23589827

Family Applications (1)

Application Number Title Priority Date Filing Date
US00401927A Expired - Lifetime US3857577A (en) 1973-09-28 1973-09-28 Proportional frame twist slope control

Country Status (9)

Country Link
US (1) US3857577A (enrdf_load_stackoverflow)
JP (1) JPS607097B2 (enrdf_load_stackoverflow)
AU (1) AU7334974A (enrdf_load_stackoverflow)
CA (1) CA1019421A (enrdf_load_stackoverflow)
DE (1) DE2443477C2 (enrdf_load_stackoverflow)
FR (1) FR2246001A1 (enrdf_load_stackoverflow)
GB (1) GB1440855A (enrdf_load_stackoverflow)
IT (1) IT1022093B (enrdf_load_stackoverflow)
SE (1) SE7412045L (enrdf_load_stackoverflow)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3999623A (en) * 1975-08-20 1976-12-28 Honeywell Inc. Frame distortion relief steering control system
DE3534211A1 (de) * 1985-09-25 1987-03-26 Pfister Gmbh Kraftfahrzeug und verfahren zu dessen betrieb
EP0988426A4 (en) * 1997-06-02 2001-02-14 Guntert And Zimmermann Const D TRANSVERSE SLOPE CONTROL FOR MOBILE MACHINE
US6688612B1 (en) * 1999-11-19 2004-02-10 Land Rover Group Limited Vehicle suspensions

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2155868B (en) * 1984-03-20 1987-11-18 Vernon Brian William Harvey Ground-engaging travelling structure
FR2579147B1 (fr) * 1985-03-25 1987-05-15 Camiva Dispositif de fixation d'une citerne sur un vehicule a chassis deformable
GB2201926A (en) * 1987-03-04 1988-09-14 Monticolombi C G R Improvements in or relating to a stair-climbing device

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3028175A (en) * 1959-06-15 1962-04-03 Thompson Ramo Wooldridge Inc Automatically leveling vehicle suspension system
US3214185A (en) * 1962-03-05 1965-10-26 Int Harvester Co Control means for a motor vehicle suspension system of the pneumatic type
US3237958A (en) * 1963-03-23 1966-03-01 Daimler Benz Ag Automatic control mechanism for a hydraulic pressure system in motor vehicles

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3637026A (en) * 1969-10-06 1972-01-25 Cmi Corp Cross slope control of mobile machinery

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3028175A (en) * 1959-06-15 1962-04-03 Thompson Ramo Wooldridge Inc Automatically leveling vehicle suspension system
US3214185A (en) * 1962-03-05 1965-10-26 Int Harvester Co Control means for a motor vehicle suspension system of the pneumatic type
US3237958A (en) * 1963-03-23 1966-03-01 Daimler Benz Ag Automatic control mechanism for a hydraulic pressure system in motor vehicles

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3999623A (en) * 1975-08-20 1976-12-28 Honeywell Inc. Frame distortion relief steering control system
DE3534211A1 (de) * 1985-09-25 1987-03-26 Pfister Gmbh Kraftfahrzeug und verfahren zu dessen betrieb
EP0988426A4 (en) * 1997-06-02 2001-02-14 Guntert And Zimmermann Const D TRANSVERSE SLOPE CONTROL FOR MOBILE MACHINE
US6688612B1 (en) * 1999-11-19 2004-02-10 Land Rover Group Limited Vehicle suspensions
US20040150173A1 (en) * 1999-11-19 2004-08-05 William Burdock Vehicle suspensions
US7040632B2 (en) 1999-11-19 2006-05-09 Land Rover Group Limited Vehicle suspensions

Also Published As

Publication number Publication date
DE2443477A1 (de) 1975-04-10
AU7334974A (en) 1976-03-18
GB1440855A (en) 1976-06-30
JPS607097B2 (ja) 1985-02-22
SE7412045L (enrdf_load_stackoverflow) 1975-04-01
CA1019421A (en) 1977-10-18
JPS5059916A (enrdf_load_stackoverflow) 1975-05-23
DE2443477C2 (de) 1984-07-19
IT1022093B (it) 1978-03-20
FR2246001A1 (enrdf_load_stackoverflow) 1975-04-25

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Date Code Title Description
AS Assignment

Owner name: SUNDSTRAND CORPORATION, 4751 HARRISON AVE., ROCKFO

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNOR:HONEYWELL INC., A CORP. OF DE;REEL/FRAME:003936/0748

Effective date: 19811214

AS Assignment

Owner name: SUNDSTRAND-SAUER COMPANY, A GENERAL PARTNERSHIP OF

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNOR:SUNDSTRAND CORPORATION, A DE CORP.;REEL/FRAME:005261/0112

Effective date: 19890807

AS Assignment

Owner name: SAUER INC.,

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNOR:SUNDSTRAND-SAUER COMPANY, A DE GENERAL PARTNERSHIP;REEL/FRAME:005919/0145

Effective date: 19900129