Determining an optimum operating point of an earth moving machine

摘要

Optimum performance in an earth moving machine, such as a track-type tractor, is a function of many complex factors such as power delivered to the tracks, load, soil type, soil conditions, speed, terrain, etc. To determine an operating point associated with optimum performance, operational data may be collected, processed, and applied to known performance curves for well characterized conditions to develop recommended operating conditions. A coefficient of traction and a shear modulus adjustment, reflecting surface conditions, are calculated at the tractor during operation and used to offset a table of ideal condition operating points for use in soil characterizations. Using this and other inputs, a cycle power equation gives a curve that peaks at a theoretical optimum performance. However, the number of variables make an analytic solution impossible. An iterative approach determines a range of operating conditions associated with optimum performance.

主权项

1. A method of determining an optimum performance in a track-type tractor, the method comprising:
receiving, at a processor of the track-type tractor, inputs from the track-type tractor related to current operating conditions and a current operating state; calculating in real time a current performance based on the current operating conditions and the current operating state; generating an estimated operating environment using the current operating conditions and the current operating state; iteratively solving, via a processor of the track-type tractor, a performance equation that incorporates the estimated operating environment over a range of values of a single input variable to determine a peak value of the performance equation and a state of the single input required to achieve the peak value, wherein the peak value corresponds to the optimum performance of the track-type tractor; normalizing the current performance to the optimum performance to produce a normalized performance; and providing the normalized performance, the optimum performance, and the state of the single input required to achieve the optimum performance to a device that adjusts the current operating state to improve or maintain a performance of the track-type tractor; and calculating a ground speed using a nominal pull-slip curve as adjusted by a shear modulus factor.