Wheel speed calibration and slip override disable.

摘要

An automatic draft control for controlling the position of a vehicle-mounted hitch (14) includes a slip override circuit (116) responsive to a wheel signal (80,82) for modifying a hitch position command so that hitch draft is reduced by raising the hitch when the degree of vehicle wheel slip exceeds a threshold value. The slip is determined by measuring theoretical (no-slip) ground speed with a sensor (80,82) which senses the rate of rotation of the vehicle rear axle, and measuring true ground speed with a radar unit (84) mounted on one side of the vehicle. Because the radar unit (84) does not indicate the speed of the center line of the vehicle as it turns, the slip signal is prevented from modifying the hitch position command if the hitch (14) is raised since the hitch is usually raised when turning and there is no need to modify the position command with the slip signal when the hitch is raised. The true ground speed is automatically and repeatedly divided by the rate of rotation of the vehicle rear axle when conditions are such that wheel slippage is unlikely. The multiple divisions produce plural indications of a correction factor. These indications are filtered to obtain a correction factor which accounts for variations in the effective rolling radius of the wheels. Once the correction factor has been determined it is applied to the wheel speed sensor output to calculate the theoretical ground speed of the vehicle. <IMAGE> <IMAGE>