USOO57.

55291A
United States Patent (19) 11 Patent Number: 5,755,291
Orbach et al. 45) Date of Patent: May 26, 1998
54 OPERATOR INTERFACE FOR WEHICLE 5,421416 6/1995 Orbach et al..
CONTROL SYSTEM WITH SLP 5,443,307 8/1995 Maier.
REGULATON 5,560,431 10/1996 Stratton .......................... 364,424.07 X
5,621,643 4/1997 Nakagami et al. ..................... 172/7 X
75 Inventors: Abraham Orbach, Naperville; William FOREIGN PATENT DOCUMENTS
L. Schubert, Downers Grove, both of
1. 1503592 3/1978 United Kingdom.
Assignee: Case Corporation, Del. Primary Examiner-Terry Lee Melius
73 Assistant Examiner-Christopher J. Novosad
Attorney, Agent, or Firm-Foley & Lardner
21 Appl. No.: 664,201
(57) ABSTRACT
22 Filed: Jun. 10, 1996
A system for regulating wheel slippage of a vehicle carrying
51 int. Cl. A01B 63/112 or trailing an implement. The system includes sensors for
(52) 172/2; 172/7:364/424.07 sensing the vehicle's apparent speed and ground speed and
58 Field of Search ................................. 172/2, 3, 4, 7; an input device. The system also includes a control circuit
364/424.07; 56/10.2 H., 10.2 R, DIG. 15 configured to generate a slip signal based at least upon the
apparent speed and the ground speed, and to generate a
56 References Cited control signal applied to an actuator for moving the imple
U.S. PATENT DOCUMENTS ment. The input device can be manipulated to enable and
disable slip regulation and to set a slip reference value. The
3,913,680 10/1975 Cadson . input device can be manipulated to derive the slip reference
4,173,258 11/1979 Boulais et al. . value from the slip signal, and to increment and decrement
4,221.266 9/1980 Fardal.
4,263,973 4/1981 Boulais et al. . the slip reference value. The control circuit regulates wheel
4282,933 8/1981 Suganami et al. . slippage by modifying the control signal when the slip signal
4,344,499 8/1982 van der Lely et al. . exceeds the slip reference value with slip regulation enabled.
4,454,919 6/1984 Arnold et al. . Also, in a vehicle coupled to an implement, an input device
4,465,142 8/1984 van der Lely et al.. can be manipulated to derive a parameter reference value
4,503,916 3/1985 Wiegardt. from an operating parameter, and to increment and decre
4,508,176 4/1985 Wiegardt et al.. ment the parameter reference value based upon further
4,518,044 5/1985 Wiegardt et al. . manipulation of the input device, and a control circuit
4,809,785 3/1989 Arnold et al. . generates a control signal for moving the implement based
4,886,123 12/1989 Arnold et al. . upon the difference between the operating parameter and the
5,082,081 1/1992 Tsuyama et al., parameter reference value.
5,138,819 8/1992 .............. 56/10.2 R
5,190,111 3/1993 Young et al..
5,406,486 4/1995 Kamio et al. . 28 Claims, 11 Drawing Sheets

00
U.S. Patent May 26, 1998 Sheet 1 of 11 5,755,291
U.S. Patent May 26, 1998 Sheet 2 of 11 5,755,291

WOW! Š? SNES
U.S. Patent May 26, 1998 Sheet 3 of 11 5,755,291

i. 302
306 CENGINESTARD 304
CONTINUOUS
LOOP
START
Onsec)
308
SENSEAL INPUTS HA YES
8, CHECK FORERRORS coyo

32 34
ERROR N YES CATEGORIE
DED ERRORSEVERTY
36
DSPLAY,
RECORDERROR
GE 38
DETERMINEMODE
SEEFIG.4ANDS
CG) 39 (SEE
FIG.7)

reality." O 320
WAY FOR Onse
CLOCKPULSE

FIG. 3
U.S. Patent May 26, 1998 Sheet 4 of 11 5,755,291

FIG. 4
U.S. Patent May 26, 1998 Sheet 5 of 11 5,755,291

ENABLE OVERRIDE LOGIC

500

S
MODE =
DEGRADED28.
DAF
SATE
CHANGETOENABLESIAE

MODEs
DEGRADE) ,
ORAFSAEFAE)
RAVE
CONTROL

S
MODEs
LMP, NOT
MMENTARY
ACTUATION
SAE
CHANGEOENABLESATE

SWITCH TO SAE

F.G. 5
U.S. Patent May 26, 1998 Sheet 6 of 11 5,755,291

600
STATEs.
POSIONORYNNO
DRAFTOR 602
SLP SP 604 606
YES ENTRYSLIPYNYES INCREMENTSUP SPON FALSE
ENRY DELAY ENRY SPCOUNTER

SPENRY LOGC
F.G. 6
U.S. Patent May 26, 1998 Sheet 7 of 11 5,755,291

SPSATE LOGIC

704 706

SELEED NOT SPON FALSE SPCONTER

SIP FLAG3) OR SLP 78
FAILURE

70
CHANGESAEO
PREVIOUS STATE
CHANGESAE
TOHTOHUP

NO 7
CONTROLSP
AGORTHM (SEFIG.8)
78
CONTROLSP
LAMP

SELAMPTO OFFF
NOFAILURE

UPDATEWARIABLES

CD
WAT FOR Onse
COCKPULSE
FIG 7
U.S. Patent May 26, 1998 Sheet 8 of 11 5,755,291

CONTROSLP
ALGORTHM

NO FILERED
SPSP
80 LM
SUPERROR = 3

WAS
PREVIOUS
POSION SATEDRAFOR
POSION 86
CONTROL FIND DRAFTERROR
FIND POSITIONERROR

WOULD
THE PREVIOUS
SAE PARAMEER
(POSITION) ERROR
RESULT IN LOWERING
ERROR POSO (ELOWER FLAG ERRORESPERROR
ERROR
WOULD
EPREVIOUS
STATE PARAMETER N YES
(DRAFTERROR
RESULT IN LOWERING
(ELOWER FLAG
TRUE)

ERROR OR N01SLIPERRORSNES ERRORSP

ERROR n RAFTERROR - ERROR

FIG. 8A
U.S. Patent May 26, 1998 Sheet 9 of 11 5,755,291

832
RASELMs ERROR
834
LOWERFLAGs FALSE
36
N01 POSIONNYES
NUPPER LIMIT
POSION > YES
UPPERLMT
DEA

F.G. 88
U.S. Patent May 26, 1998 Sheet 10 of 11 5,755,291

SPLM TRANSON STATE DAGRAAA

SPSWITCH
N"OFF"POSION WITHOUT
EVER BEING INSE POSION

902 SLPSWITCHINON 900

POSITION; SLPLIMITSET
TO DEFAULTOF30%
SPSSEED SLPSNOTSEECED

SLPSWITCH INSET SPTIMER

POSITION ONCE; INDICAESSP
SPMSSETO SYTHIN
CURRENT FILERED OFFPOSION
SIP 5% FOR2 SEC.
904 908
SPSWITCHN
SPSSEED OFFPOSION SLPSNOTSEECTED&
SPWASSET IGy SP
SLPSWITCH IN SPSWITCHNON
SPSWITCHN POSION AFTER
SET POSION "OFF"POSION BENGNOFF
AGAIN; SLIPMI POSION FOR
SINCREMENTED BY SE
SLPSWITCH INSET %WTMAXIMUM SFLIMIT is
AE SLIP MIT OF30% OEREMENTED BY
BY 1%WT EMENED WHMNMUN
MAXIMUM ATOF5%
MT 906 90
OF30%
PSSEEEDSP SPSSEED,
MTNCREMENTED BY DERENENINGSP
SLPS AT

SLPSWITCH INSET POSITION AGAIN;

SPLMETSINCREMENTED BY
WHMAXIMUM LIMIT
OF30

FG, 9
U.S. Patent May 26, 1998 Sheet 11 of 11 5,755,291

FROMG) (SEE FIG.3)

912
SAE = DRAF
ANDSLIPOVERRIDE
NOTACVE

SLPSWITCH
MANIPULATED TO
SET, INCREMENT OR
DECREMENTSLP
LM
YES
SET, INCREMENT, DECREMENT
ORLIMITSLPLIME

LOAD
COMMAND > 0AD
SETX
972
AUGMENTSPLMT
924
SUP
LMT 30%
YES 926
SIPMT = 30%

FIG. O
 5,755,291
1 2
OPERATOR INTERFACE FOR WEHICLE revolutions of an engine-driven wheel and a non-driven
CONTROL SYSTEM WITH SLP wheel to a preset value to detect excessive wheel slippage of
REGULATON a tractor. In another example, a control system sets a slip
reference value equal to a slip value plus 5% in response to
FIELD OF THE INVENTON a change in a load command knob. In another example, a
The present invention relates generally to the field of control system uses a push-button switch mounted in a
regulating wheel slippage of a vehicle carrying or trailing an control leverto set aparameter reference value (such as draft
implement. More particularly, the invention relates to a force) used by the control system for raising and lowering an
system for regulating wheel slippage wherein an input implement. However, known systems do not provide an
device can be manipulated to enable and disable slip regu O operator interface giving the operator the ability to enable
lation and to set a slip reference value, and the system and disable slip regulation and to set a slip reference value
modifies the position of an implement to reduce excessive by manipulating an input device.
wheel slippage. The system responds to manipulations of the Accordingly, the present invention provides an improved
input device to derive the slip reference value from a slip system for regulating wheel slippage of a vehicle carrying or
signal, and to increment and decrement the slip reference 15 trailing an implement. The invention provides an improved
value. operator interface for a vehicle control system with slip
regulation which allows an operator to enable and disable
BACKGROUND OF THE INVENTION slip regulation and to set a slip reference value. The inven
A number of known control arrangements regulate the tion also provides a system for controlling the elevation of
position or elevation of implements, such as plows, attached an implement based upon an operating parameter of a
to or drawn by agricultural vehicles, such as tractors. Such vehicle wherein an input device is manipulated to derive a
control systems generally sense the position of a three-point parameter reference value from an operating parameter, and
hitch and compare this position to a command or reference is further manipulated to increment and decrement the
value set by an operator. Based upon this comparison. Such parameter reference value.
25
control systems generate a control signal for an actuator to SUMMARY OF THE INVENTION
vertically move the hitch, along with the implement In accordance with one aspect, the invention relates to a
mounted on it, to the desired elevation. system for regulating wheel slippage of a vehicle carrying or
Known control systems can also operate based upon the trailing an implement, the implement coupled to an imple
draft force generated by the interaction of an implement with 30 ment positioning system including an actuator for vertically
the ground. Such draft force can be generated by the moving the implement in response to a control signal. The
implement penetrating the ground, or by the implement system includes a first sensor for sensing apparent speed of
being engaged with the ground. The control system typically the vehicle, a second sensor for sensing ground speed of the
compares the sensed draft force to a command or reference vehicle and an operator-manipulatable input device. The
value set by an operator and generates a control signal for an 35 system also includes a control circuit coupled to the first
actuator to vertically move the hitch to maintain the desired sensor, the second sensor, the input device and the actuator.
draft force. The control circuit is configured to generate a slip signal
Many systems for controlling implement elevation using based at least upon the apparent speed and the ground speed
implement position or draft force as an operating parameter of the vehicle and to generate the control signal for moving
are not adapted for controlling excessive wheel slippage the implement. The control circuit is responsive to operator
(i.e., slip). Typically, a tractor experiences differing magni manipulation of the input device to enable and disable slip
tudes of slip as the tractor encounters different soil condi regulation and to set a slip reference value. The control
tions during travel over the length of a field. Although a circuit is further configured to modify the control signal
certain level of slip may be desired for efficient operation, when the slip signal exceeds the slip reference value with
excessive slippage results in inefficient operation and, if 45 slip regulation enabled.
severe enough, may result in the tractor's wheels burrowing In accordance with another aspect, the invention relates to
into the field and becoming stuck. To maintain an efficient a system for regulating wheel slippage of a vehicle carrying
level of slip, yet avoid excessive wheel slippage, an operator or trailing an implement, the implement coupled to an
is often required to change the position or draft command implement positioning system including an actuator for
setting of the control system to accommodate variations in SO vertically moving the implement in response to a control
slip due to varying soil conditions. However, even an signal. The system includes a first sensor for sensing appar
experienced operator may not respond quickly enough to ent speed of the vehicle, a second sensor for sensing ground
soil conditions which cause excessive wheel slippage. speed of the vehicle and an input device including a three
Control systems have been proposed to automatically position switch with an off position associated with slip
respond to excessive wheel slippage by controlling the 55 regulation being disabled, an on position associated with slip
elevation of the implement. Generally, such control systems regulation being enabled, and a set position associated with
determine wheel slippage as the difference between the setting a slip reference value. The system also includes a
apparent speed and the true ground speed of the tractor. control circuit coupled to the first sensor, the second sensor,
Upon detecting excessive slippage (i.e., when slippage the input device and the actuator. The control circuit is
exceeds a threshold), the control system reduces wheel configured to generate a slip signal based at least upon the
slippage by raising the implement, thereby reducing the apparent speed and the ground speed of the vehicle and to
draft force on the tractor and increasing the transfer of generate the control signal for moving the implement. The
implement weight onto the tractor to improve traction. control circuit is further configured to disable slip regulation
Known systems for regulating excessive wheel slippage based upon the input device being in the off position, to
use various operator interfaces for enabling slip detection 65 enable slip regulation based upon the input device being in
and setting a slip reference value. In one example, a control the on position, and to derive the slip reference value from
system compares the difference between the number of the slip signal when the input device is initially moved to the
 5,755,291
3 4
set position and to increment and decrement the slip refer made about the applicability and the scope of the invention.
ence value based upon further manipulation of the input First, while reference is made throughout the following
device. The control circuit is further configured to modify discussion to a tractor having a hitch assembly on which an
the control signal when the slip signal exceeds the slip implement is mounted, it should be understood that the
reference value with slip regulation enabled. present system is more generally applicable to regulating
The invention also relates to a system for controlling the wheel slippage of a vehicle in general. Thus, a system
elevation of an implement carried or trailed by a vehicle, the employing the elements recited in the appended claims and
implement coupled to an implement positioning system used on other types of vehicle are equally within the
including an actuator for vertically moving the implement in intended scope of the invention.
response to a control signal. The system includes at least one 10 Turning now to the FIGURES and referring first to FIG.
sensor for sensing an operating parameter of a machine 1. a vehicle 10, such as an agricultural tractor. is illustrated
system comprising the vehicle, the implement positioning diagrammatically as including a body 12 carried by front
system and the implement, and an operator-manipulatable wheels 14 and rear wheels 16. Front wheels 14 are mounted
input device. The system also includes a control circuit in a conventional manner on an axle 18 and rear wheels 16
coupled to the at least one sensor, the input device and the 15 are mounted on a rear axle 20 coupled to a differential 22.
actuator. The control circuit is responsive to operator Tractor 10 also includes a power plant or engine 24 coupled
manipulation of the input device to derive a parameter through a transmission 26 to differential 22 such that engine
reference value from the operating parameter, and to incre 24 may selectively drive rear wheels 16 in a number of
ment and decrement the parameter reference value based forward and reverse gears. Tractor 10 typically includes
upon further manipulation of the input device. The control auxiliary systems coupled to engine 24, such as a power take
circuit is configured to generate a parameter error signal off shaft 28 for driving implements and other detachable
based upon the difference between the operating parameter equipment. A tractor generally of this type is further
and the parameter reference value and to generate control described in U.S. Pat No. 5,421.416 incorporated herein by
signals for causing movement of the implement based at reference.
least in part upon the parameter error signal. 25 A hydraulic system 30 is coupled to engine 24 to provide
BRIEF DESCRIPTION OF THE DRAWINGS a source of pressurized fluid for powering various actuators.
The invention will become more fully understood from As illustrated in FIG. 1. hydraulic system 30 includes a
the following detailed description, taken in conjunction with hydraulic pump 32 piped to a fluid reservoir (not shown) and
the accompanying drawings, wherein like reference numer to valving 34 for regulating and directing pressurized fluid
als refer to like parts, in which: 30 to various hydraulic components. One such component is
illustrated in FIG. 1 in the form of a linear actuator or
FIG. 1 is a diagrammatical representation of a tractor double-acting cylinder 36 coupled to a hitch assembly 38.
equipped with a control system for positioning an implement Hitch assembly 38 may be a conventional three-point hitch
in response to a plurality of operating parameters including having lower and upper hitch links 40 and 42 for supporting
implement position and load. 35 a working implement 44, such as a plow. Moreover, valving
FIG. 2 is a block diagram illustrating certain of the 34 preferably includes solenoid operated proportional valves
principle circuits included in the controller for the system for directing a flow of pressurized fluid to actuator 36 for
shown in FIG. 1. raising and lowering hitch assembly 38 and implement 44 as
FIG. 3 is an overview flow chart generally representing commanded by an operator or control system as described
typical control logic implementing an implement control below, such as to vary the penetration of implement 44 into
approach including a slip state of operation. ground being worked. Valving 34 can also be used to raise
FIG. 4 is a flow chart generally representing typical hitch assembly 38, along with implement 44, to a lifted
control logic used after point "F" of FIG. 3 to determine position wherein the implement is not engaged in a working
whether the conditions required to execute the slip entry position with the ground. A lifted position may be com
logic of FIG. 6 are present. 45 manded by the operator or control system during travel of
FIG. 5 is a flow chart generally representing typical tractor 10 across a road or between fields. Typically, the
control logic used after point "FF" of FIG. 4 to determine lifted position corresponds to implement 44 being in a raised
whether to change to an enable state. position at a distance above the ground to allow implement
FIG. 6 is a flow chart generally representing typical 44 a range of movement without engaging the ground. The
control logic used to determine whether the conditions to 50 distance is generally sufficient to allow implement 44 to
execute in a slip state are present. move or bounce slightly in response to influences such as
FIG. 7 is a flow chart generally representing typical bumps or depressions in the road or field without coming
control logic used in a slip state to determine when to into contact with the ground. Moreover, a lifted position as
execute a control slip algorithm. referred to herein may situate implement 44 in a location
FIGS. 8A and 8B are a flow chart generally representing 55 in below the fully raised position. In general, implement 44 is
typical control logic used in a control slip algorithm. a lifted position when not engaged in a working position
FIG. 9 is a transition state diagram generally representing with the ground, and certain implements may include a
how the control system turns a slip function on and off, and remainsorinsupport
wheel (not shown) coupled to the implement that
contact with the ground while the implement is
how the control system calculates a slip limit.
FIG. 10 is a flow chart illustrating typical control logic for in As a raised position.
illustrated in FIG. 1, tractor 10 is equipped with a
resetting a slip limit value upon an operator induced increase control system, designated generally by the reference
in a draft or load command setting. numeral 46 for controlling the position of hitch assembly 38
DETALED DESCRIPTION OF THE and implement 44. While control system 46 may include
PREFERRED EMBODIMENT 65 more or fewer of the elements shown in FIG. 1, it may
Before proceeding to the Detailed Description of the typically include brake sensors 48 and 50 coupled to the rear
Preferred Embodiments, several general comments can be service brakes of tractor 10, speed sensors 52 and 54 coupled
 5,755,291
5 6
to the front and rear axles 18 and 20 respectively, a true minimum number of satellites, or if the GPS signal fails a
ground speed sensor 56 (e.g., a radar-based speed sensor or validation test (e.g., the signal is out of range).
non-powered wheel speed sensor in a 2-wheel drive tractor), The GPS ground speed signal may be used by control
a hitch position sensor 58 and draft load force sensors 60 and system 46 to control a vehicle function or to adjust an
62. Control system 46 also includes a control circuit 64 and 5 operating parameter. For example, the GPS ground speed
command devices 66, 68, 70 and 72 (described below) signal may be used as an input for the slip control function
which may be provided on a single or multiple control described below, or for controlling the position of implement
consoles 74 in the tractor cab (not shown). 44, the feed rate of seeds or fertilizers or other vehicle
In operation, brake sensors 48 and 50 detect the applica functions. The GPS ground speed signal may also be dis
tion of the tractor service brakes and generate braking O played to the operator via a display, or may be combined
signals upon application of the brakes. These braking signals with other parameters and then displayed. For example, the
are applied to control circuit 64 via conductors 76 and 78 GPS ground speed signal could be combined with a fuel flow
respectively. Of course, for control systems employing con signal to display fuel efficiency data. The display could also
trol routines that do not make use of braking signals, sensors indicate the number of satellites from which GPS data is
48 and 50 may be omitted. 5 being received.
Speed sensors 52 and 54, which may include a variable In addition, GPS signals may be used by control system
inductance magnetic pickup sensor, detect the rotational 46 to sense the acceleration of tractor 10. The acceleration
velocity of front wheels 14 and rear wheels 16, respectively, is equal to the change between sequential speed signals
and generate speed signals representative thereof. These divided by elapsed time (i.e. velocity equals the time
speed signals are transmitted to control circuit 64 via con derivative of speed). Acceleration signals may also be used
ductors 80 and 82. A tractor 10 equipped for slip control to control a vehicle function or to adjust an operating
typically includes a ground speed sensor 56 to measure the parameter,
true speed of tractor 10 with respect to the ground. Sensor
56 typically includes a radar device mounted to body 12 of In a control system equipped for slip control, sensor 54
tractor 10. When configured with a radar, sensor 56 emits 25 measures the apparent speed of tractor 10 by sensing the rate
radar signals toward the ground and receives a portion of the of rotation of a driven wheel 16. The difference between the
signals rebounding from the ground to determine the ground apparent speed of tractor 10 measured by sensor 54 and the
speed of tractor 10. Sensor 56 then generates a speed signal ground speed of tractor 10 measured by sensor 56 is repre
representative of the tractor speed and transmits this signal sentative of the amount of wheel slippage. Sensor 54 may be
to control circuit 64 via conductor 84. In a preferred coupled to driven wheel 16, or to the tractor axle which
embodiment, sensor 56 is a Dickey John production radar drives wheel 16.
with an output frequency resolution Rd of 44.21 Hzmph, The signals produced by sensors 48 through 56 are used
and the ground speed in mph is equal to the radar frequency as inputs by control circuit 64 to regulate various functions
in Hz divided by Rd. Alternatively, speed sensor 52 could be of tractor 10 in accordance with preset, cyclical control
used to measure ground speed since it senses the rate of 35 routines. For instance, braking signals from sensors 48 and
rotation of a non-driven front wheel 14 of tractor 10. As 50 may be used to control engagement and disengagement
another alternative, ground speed sensor 56 could sense the of a locking circuit for differential 22. Speed signals from
rate of rotation of an optional non-driven fifth wheel (not sensors 52, 54 and 56 may be used to calculate a driven
shown) of tractor 10 used for sensing ground speed. Ground wheel slip value for use in controlling implement position.
speed sensor 56 could also sense laser beam signals or Moreover, it should be understood that other, additional
externally-generated signals (e.g., signals relayed to tractor sensors may be provided on tractor 10 for additional control
10 from an external radar station) to measure the speed of routines. For example, such sensors might provide signals
tractor 10 with respect to the ground. indicative of engine speed for use in regulating engine
Control system 46 may also receive sequential signals throttling or implement position as desired. Moreover, it
from a satellite positioning system such as the Global 45 should be understood that the various control functions
Positioning System (GPS) or from other transmitting required for operation of tractor 10, including the implement
devices. A receiving circuit may generate position signals control functions discussed below, may be executed by a
representative of the position of tractor 10 based upon single control circuit 64 or by separate, dedicated control
received signals. Control circuit 64 may determine the circuits taking as inputs only the parameter signals necessary
ground speed of tractor 10 based upon sequential position 50 for their precise function. Alternatively, control system data
signals. The ground speed is equal to the change between may be transmitted across a communication interface
sequential positions divided by elapsed time (i.e., velocity between multiple control circuits located in different regions
equals the time derivative of position). An appropriate signal of tractor 10. The data may be representative of sensed
processing algorithm such as a filter may be used. A differ parameter values, command or reference values, actuator
ential GPS (DGPS) receiver may also be included for 55 command values and other data. For example, sensor data
receiving DGPS correction signals transmitted by the Coast received by one control circuit may betransmitted across the
Guard and service providers such as Chance Corp. Control communications interface for use by other control circuits.
circuit 64 may use DGPS signals to correct for the selective The controllers may operate in a master-slave or PEER-to
availability error currently added to GPS signals. DGPS may PEER configuration, and the communications interface may
not be needed if selective availability is no longer used. include a CAN databus.
The GPS receiver may be used as ground speed sensor 56, Control of the position of implement 44 is generally based
or may be used in addition to ground speed sensor 56. If upon information relating to the sensed implement position
control system 46 includes a GPS receiver and a separate and draft load force. This information is provided via
ground speed sensor 56, then control circuit 64 may include position sensor 58 and draft load sensors 60 and 62. Thus,
logic to select a ground speed signal from either source. For 65 position sensor 58, which is typically a rotary or linear
example, the ground speed signal from sensor 56 could be potentiometer or linear variable differential transformer
selected if the GPS signal is received from less than a (LVDT) coupled to a linkage 42 of the tractor hitch assembly
 5,755,291
7 8
38, detects the position or elevation of implement 44 and includes signal conditioning circuits 202, 204 and 206, a
generates a position signal representative thereof. This posi memory circuit 208, a signal processing circuit 200, a
tion signal is conveyed to control circuit 64 via a conductor response signal generating circuit 210 and an output signal
86. Draft load sensors 60 and 62, which typically include interface circuit 212. While these various circuits are illus
resistance strain gauges applied to links 40 of hitch assembly trated in FIG. 2 as separate, interconnected elements, it
38, generate draft load signals representative of the force should be understood that all or some of these circuits may
exerted on links 40. These draft load signals are transmitted be included in a single integrated circuit and may comprise
to control circuit 64 via conductors 88 and 90, respectively. internal circuitry of an appropriately configured (e.g.,
Thus, control circuit 64 receives signals representative of programmed) microprocessor.
both the position of implement 44 and either the draft force O Input signals transmitted from sensors to control circuit
generated by interaction of implement 44 with the ground or, 64 via conductors 76 through 90 are applied to signal
when implement 44 is in a lifted position, the load exerted processing circuit 200 through signal conditioning circuit
by implement 44 on links 40. When tractor 10 is stopped and 202, which will typically include an analog-to-digital con
implement 44 is in a lifted position, the load sensed by verter and appropriate isolation, depending upon the type of
sensors 60 and 62 is representative of the weight of the 15 sensors utilized and the nature of the signals produced.
implement. During travel of tractor 10 with implement 44 in Similarly, signals transmitted from command devices to
a lifted position, the load sensed by sensors 60 and 62 is control circuit 64 via conductors 92, 94 and 96 are applied
representative of the weight of implement 44 as modified by to signal processing circuit 200 via signal conditioning
dynamic forces exerted by implement 44 on the hitch
assembly 38, such as forces due to accelerations and oscil circuit 204, which may be substantially identical to circuit
lations of implement 44. 20 202 and generally includes an analog-to-digital converter.
In addition to sensed values of the operating parameters Moreover, circuits 202 and 204 may be a single circuit.
discussed above, control circuit 64 receives command or Circuits 202 and 204 receive the input signals from the
reference values from command devices 66, 68, 70 and 72, sensors and command devices, produce digital signals or
which typically include potentiometers and switches posi values representative of the various input signals and apply
tionable via suitable knobs or handles (not shown). For the 25 these values to signal processing circuit 200. Circuit 206
purposes of implement position control, command device 66 receives command input signals from other command
provides an implement position command signal represen devices, such as from device 72 via conductor 98 and from
tative of the desired position of implement 44. Command device 102 via conductor 104, which generally produces
device 68 provides a draft command value representative of discrete (e.g., on/off) signals for controlling operation of
the desired level of draft force on implement 44. Command 30 signal processing circuit 200. Circuit 206 typically includes
device 70 is an operator adjustable upper limit selector for a multiplexer and appropriate isolation, permitting signal
setting the upper limit of implement position. Finally, com processing circuit 200 to select and access signals applied to
mand device 72 is an implement position override switch circuit 206.
that includes a working position and a lifting position. Other Memory circuit 208 preferably includes both volatile and
command devices could provide other command inputs for 35 non-volatile memory, such as random access memory
control of various functions of tractor 10. Signals from (RAM), electronically programmable read only memory
devices 66, 68.70 and 72 are applied to control circuit 64 via (EPROM), electronically erasable programmable read only
conductors 92,94, 96 and 98, respectively. Based upon the memory (EEPROM) and/or FLASH memory. The volatile
reference values supplied by command devices 66 through memory of circuit 208 is generally used to store various
72 and upon the sensed values from sensors 48 through 62, parameter and intermediate values used during the control
control circuit 64 generates control signals for raising and functions of signal processing circuit 200. Non-volatile
lowering implement 44 and applies these control signals to memory, such as EPROM, serves to store the cyclic control
valving 34 via conductor 100 to move actuator 36. routine implemented by signal processing circuit 200, while
In a control system equipped for slip control. control other non-volatile memory, such as EEPROM, serves to
circuit 64 also receives a command from command device 45 store the calibration values and failure signals indicative of
102. As described below in relation to FIG. 9, command failure or non-responsiveness of system components.
device 102 is used for turning a slip control function on and Response signal generating circuit 210, which will typically
off and for setting a slip limit, and is also referred to herein be included in the circuitry of signal processing circuit 200,
as the slip rocker switch. Command device 102 is preferably but is illustrated as a separate circuit here for explanatory
a three-position rocker switch selectively movable between purposes, receives values representative of sensed imple
OFF ON and SET positions. The SET position of command ment position and sensed implement draft or load and
device 102 is accessible from the ON position and is a generates a response signal to control the movement of
momentary position maintained as long as the operator holds implement 44 as described more fully below. This response
command device 102 in the SET position. A signal indica signal is applied to signal processing circuit 200 to adjust
tive of the position of command device 102 is applied to 55 control signals generated by circuit 200. These adjusted
control circuit 64 via conductor 104. control signals, in the form of pulse-width-modulated
The slip control system also includes a slip indicator lamp (PWM) output signals, are applied to output signal interface
106. As explained below, lamp 106 is activated by a signal circuit 212, which includes appropriate valve drivers for
supplied by control circuit 64 via conductor 108 when the energizing the solenoids of valving 34 and thereby to move
slip control override function described below raises hitch actuator 36 in the desired direction and at a desired rate. It
assembly 38. should be noted that the adjusted control signals produced
Control system 46 also includes a display 110 controlled by circuit 200 could have forms other than PWM signals
by control circuit 64 via conductor 112. Display 110 may be and, where actuators other than hydraulic cylinders and the
adapted to display various parameters including the ground like are used for moving the implement, these control signals
speed of tractor 10. 65 are, of course, adapted for the particular actuator type used.
Certain of the sub-circuits included in control circuit 64 Circuit 200 also produces a control signal which is applied
are illustrated diagrammatically in FIG. 2. Control circuit 64 to lamp 106 via conductor 108. This control signal activates
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lamp 106 to provide on/off control, and control circuit 64 equation can also be expressed as:
may include an appropriate interface (not shown) for driving
lamp 106. Control circuit 64 also includes an appropriate % slip = 100
interface 214 for driving display 110. (radar frequency * slip factory(wheelspeed in * tire size)
The control system operates under the influence of a
control algorithm executed by control circuit 64. The control where "% slip" is the slip percentage, "radar frequency" is
algorithm 300 designated generally as 300 is schematically the radar frequency in Hz from ground speed sensor 56,
represented in the flow chart shown in FIG. 3. The control "slip factor" is a constant with a value dependent on the
system is preferably enabled concurrently with starting the tractor family, “wheelspeed in" is the frequency in Hz from
engine 24 of tractor 10 at step 302. At step 304, variables and 10 apparent speed sensor 54, and "tire size" is the static loaded
hardware are initialized, and thereafter control circuit 64 radius of rear wheel 16 (e.g., in inches). The slip factor
enters a continuous timed closed loop or cycle at step 306. constant is calculated using the formula:
During step 308, all of the inputs to the control circuit 64 are
sensed and checked for errors. Certain failures may prevent 15 slip factor-100/(Rd 'slip factor 1)
operation of control circuit 64 and cause the control system
to halt, as shown generally at step 310. The severity of other where "Rd" is the radar output frequency resolution in Hz
detected errors are categorized and appropriate error mes and "slip factor-1" is calculated using the formula:
sages are displayed and recorded as shown generally at steps
314 and 316. slip factor 1 = (1/K4) 3600 2 * r * (1/12) (115280)
After evaluating whether the control system has errors where K4 is the number of pulses generated per axle rotation
and categorizing the severity of errors detected, control by sensor 54, 3600 is the number of seconds in 1 hour, 12
circuit 64 determines the mode of operation at step 318. In is the number of inches in 1 foot, and 5280 is the number of
a preferred embodiment, hitch assembly 38 is operable in feet in 1 mile. In a preferred embodiment, K4=2220 pulses/
any one of a plurality of states including ENABLE, rotation and Rd=44.21 Hzmph yielding a slip factor 1=
POSITION, DRAFT, HTCHUPMOMENTARY ACTUA 0.00016081 and a slip factor of 14066. Filtering is used to
TION and SLIP. The logic involved at step 318 for deter provide a filtered slip percentage.
mining the state of operation of hitch assembly 38 are At step 414, control circuit 64 determines if tractor 10 is
described in detail in U.S. Pat No. 5,421.416 and, when the equipped for slip control, no slip failures are detected and
control system is configured for slip control, include the 30 slip is selected. Generally, tractor 10 is recognized as being
steps described below in relation to FIG. 4 and FIG. 5. equipped for slip control if the control system includes
Operation in the ENABLE, POSITION, DRAFT, HITCH apparent speed sensor 54, ground speed sensor 56 and slip
UP and MOMENTARY ACTUATION states is also
described in detail in U.S. Pat. No. 5,421.416. Operation in rocker switch 102. Afailure in any of these components may
the SLP state of operation is described below in relation to inhibit the system's ability of controlling slip unless sensors
FIG. 7. The control circuit 64 waits for the next 10 msec 35 providing equivalent information are provided. To permit
clock pulse at step 320 after completing a cycle of control the slip override function, a vehicle operator selects slip
algorithm 300. control by setting slip rocker switch 102 in the ON position
Referring to the flow chart shown in FIG.4, control circuit as described further below. If the conditions at step 414 are
64 determines whether the control system is equipped with met, control circuit 64 determines at step 416 if tractor 10 is
moving. If not, the slip entry timer is cleared at step 418 and
draft force sensors 60 and 62 at step 400. If so, control circuit the slip control function is not available. If tractor 10 is
64 reads the draft force values from sensors 60 and 62 at step moving, control circuit 64 executes the slip entry logic 420
402. Control circuit 64 also determines signals representa described below in relation to FIG. 6 to determine if the slip
tive of implement weight when tractor 10 is stopped and state of operation should be entered. After executing the slip
hitch assembly 38 is in a raised position as illustrated at step 45 entry logic at step 420, or after detecting that slip control is
464. These conditions are generally verified by reference to not available at steps 414 or 416, the program continues with
a speed signal from one of speed sensors 52, 54 or 56 and the enable override logic shown in the flow chart of FIG.S.
to a position signal from position sensor 58. When these Referring to FIG. 5, the enable override logic 500 is
conditions are met, the draft force values read at step 402 are generally used to change the operation of the control system
used to find implement weight at step 406. While the draft SO into the ENABLE state. This logic is described in detail in
force signals do not normalize or directly measure imple U.S. Pat No. 5.421,416 and is shown herein only to com
ment weight, the weight signals are representative of (e.g., plete the sequence of steps from FIG. 4 back to point"G" in
proportional to) the weight of the implement. FG, 3.
At step 408, control circuit 64 determines whether the The slip entry logic 420 is shown in the flow chart of FIG.
control system is equipped with a ground speed sensor 56. 55 6. If the control system is not operating in the POSITION,
If so, and if ground speed sensor 56 is not failed as DRAFT or SLIP state, step 600 of the slip entry logic 420
determined at step 410, a slip signal is determined at step prevents entry into SLIP state and exits. Thus, in this
412. Generally, the slip signal is calculated as the difference preferred embodiment, slip limit control is available only if
between the apparent speed of tractor 10 measured by sensor tractor 10 is controlling based on the position or draft
54 and the ground speed of tractor 10 measured by sensor operating parameters when excessive slip occurs. If the
56. In the presently preferred embodiment, the slip signal is current state is POSITION, DRAFT or SLIP, the slip entry
calculated as a slip percentage using the following formula: logic delays entry into SLIP state for a predetermined period
of time (SLIP ENTRY DELAY) after tractor 10 begins to
move as shown at step 602. SLIP ENTRY DELAY prefer
65 ably is set to prevent slip control in response to relatively
where "NW" is the tractor's apparent speed (e.g., in mph) high wheel slip which typically occurs during initial accel
and "NR" is the tractor's ground speed (e.g., in mph). This eration of tractor 10 from a standstill condition, and in the
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presently preferred embodiment is set to ten 10 millisecond changed to the previous state of operation as shown at steps
counts, or 100 milliseconds. The SLIP ENTRY timer is 704 through 710, and the control waits for the next 10 msec
incremented with each pass of the logic at step 604 until the clock pulse. Moreover, state is changed to HTTCH UP if
requisite delay has occurred. During the delay, step 606 UP/DOWN switch 72 is in the UP position as shown at steps
clears a flag to indicate that excessive slip has not been 712 and 714, and the control waits for the next 10 msec
detected (SLIPON=FALSE) and resets a SLIP COUNTER clock pulse. Otherwise, the control system executes the
used as described below. control slip algorithm 716 as described below in relation to
If excessive slip has not already been detected (i.e., SLIP FIG. 8, and controls illumination of slip lamp 106. Slip lamp
ON=FALSE), the filtered slip is compared to a slip limit as 106 is activated only when the control slip algorithm raises
shown at steps 608 and 610. If filtered slip does not exceed hitch assembly 38. At step 720, the system indicator lamp
the slip limit, the SLIPCOUNTER is cleared at step 612 and (not shown) is turned OFF if there have been no failures of
control circuit 64 exits the slip entry logic. If filtered slip the system.
exceeds the slip limit, the SLIP COUNTER increments at A presently preferred slip control algorithm 716 is shown
step 614 and is used to determine whether the high slip in FIG. 8. In accordance with the logic shown in FIG. 8,
condition has persisted for a predetermined period of time 15 control circuit 64 detects whether excessive slip is occurring
(START SLIP) at step 616. STARTSLIP is preferably set to by comparing filtered slip to the slip limit at step 800. If
prevent erroneous transition into SLIP state due to noise or filtered slip exceeds the slip limit, a value called slip error is
a short duration wheel slippage, and in the presently pre set equal to the difference between filtered slip and slip limit
ferred embodiment is set to ten 10 millisecond counts, or at step 802. It should be noted that a slip reference value
100 milliseconds. Control circuit 64 exits the slip entry logic different from the slip limits used to enter and exit the slip
if the high slip condition has not persisted for the requisite state could also be used for this purpose. In addition, slip
time period, thereby preventing entry into SLIP state. Once error could be set to any other value that would result in
the START SLEP delay time expires, SLIP COUNTER is raising implement 44 (e.g., a constant). If filtered slip does
limited to START SLIP at step 618, a flag is set at step 620 not exceed the slip limit, slip error is set to 0 at step 804.
to indicate that excessive slip has been detected (i.e., SLIP 25 At step 806, control circuit 64 determines the previous
ON=TRUE), and the operational state of control circuit 64 operating parameter used to control the position of hitch
is set to SLIP at step 622 to cause entry into the SLIP state. assembly 38. At step 808, if the previous state was
If excessive slip has already been detected (i.e., SLIP POSITION, a position error value is determined as the
ON=TRUE) at step 608, the filtered slip is compared to a slip difference between the sensed implement position from
limit at step 624. If filtered slip remains above the slip limit, sensor 58 and a position reference value set by the operator
SLIPCOUNTER is cleared at step 626 and control circuit 64 using command device 66. At steps 810 through 814, the
exits the slip entry logic. Thus, SLIP override state remains error signal is set equal to slip error value if the previous
active as long as high wheel slippage is occurring. However, state parameter error (i.e. position error) would result in
if filtered slip no longer exceeds the slip limit, the SLIP lowering the implement, and is set equal to position error
COUNTER increments at step 628 and is then used to 35 value if the previous state parameter error would result in
determine whether the high slip condition has ceased and raising. Thus, slip error value is used to generate the control
has remained absent for a predetermined period of time signal to the actuator (subject to the upper limit logic of steps
(STOP SLIP) at step 630. STOPSLIP is preferably set to 836-850, described below) only if the normal operating
prevent erroneous transition out of SLIP state due to noise parameter (position) would result in lowering.
or a short interruption of a high slip condition, and in the If the previous state was found to be DRAFT at step 806,
presently preferred embodiment is set to ten 10 millisecond control circuit 64 determines a draft error value at step 816
counts, or 100 milliseconds. Control circuit 64 exits the slip based upon the difference between sensed draft force from
entry logic if the high slip condition has not remained absent sensors 60 and 62 and a draft reference value set by the
for the requisite time period, thereby preventing exit from operator using draft force command device 68. As shown at
SLIP state. Once the STOP SLIP delay time passes, SLIP 45 steps 818 through 824, the draft error value is set to 0 if the
COUNTER is cleared at step 632, the slip entry timer is previous state parameter error value (i.e., draft error) would
cleared at step 634, and a flag is cleared to indicate that result in lowering the implement, and the draft error value
excessive slip is no longer detected at step 636. At steps 638 limited if the previous state parameter error value would
through 642, control circuit 64 sets state to POSITION if the result in raising the implement. The error signal is set equal
previous state was POSITION or tractor 10 is stopped, and 50 to the greater of the slip error value and the draft error value
otherwise sets state to DRAFT, Thus, control circuit 64 at steps 826 through 830. Thus, slip error value is used to
returns to the same parameter control basis prevailing prior generate the control signal (subject to the upper limit logic)
to entry into the wheel slippage override control routine. only if the normal operating parameter (draft) would result
In a preferred embodiment, the slip limit used at step 624 in lowering the implement and only if use of the slip error
to exit slip control equals the slip limit used at step 610 to 55 value would result in raising the implement faster than
enter slip control. Alternatively, the slip limit used to exit would use of the draft error value.
slip control could be less than the slip limit used for entry, The raise limit is set to the error signal at step 832 and the
so as to provide hysteresis between slip override routine lower flag is set to FALSE at step 834 before execution of
entry and exit. the upper limit logic of steps 836 through 850. The upper
Referring to FIG.7, control circuit 64 executes SLIP state limit logic determines whether implement position is greater
logic 700 when SLIP state is selected by the slip entry logic than the upper limit set by the operator using upper limit
420 of FIG. 6 and is not overridden by the enable override command device 70. If so, steps 838 through 842 set the
logic 500 of FIG.S. As shown at step 702, the control slip error signal equal to the difference between implement
algorithm is not executed if the tractor is stopped, slip is not position and the upper limit, set the lowerflag to TRUE, and
selected by slip rocker switch 102, or a slip failure occurred. 65 set the lower limit signal equal to the error signal. Thus, the
Instead, in such situations, SLIPON is set to FALSE, SLP control signal does not depend on the slip signal when
COUNTER and the slip entry timer are cleared, and state is implement position is above' the upper limit. As shown at
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step 844, if implement position does not exceed the upper is allowed if the filtered slip signal +5% exceeds the previ
limit, the error signal is not changed if implement position ous slip limit. From state 910, the control system transitions
is not within a dead-band of the upper limit. The dead-band back to state 908 if slip rocker switch 102 is pushed back
width is represented by the value DELTA, and in the into the OFF position. States 908 and 910 allow the operator
presently preferred embodiment is set to a number of digital to decrease the slip limitin steps down to the minimum limit
counts equal to approximately 1 degree of movement. If by sequentially pushing the slip rocker switch 102 to the ON
implement position is within the dead-band region, the error position and then to the OFF position for less than 1 second.
signal is setto 0, the lowerflag is set to TRUE, and the lower From state 910, the control system can also transition to state
limit signal is set equal to 0 at steps 846 through 850. Thus, 906, and increment the slip limit by 1% steps subject to the
the control signal also does not depend on the slip signal O maximum limit, by pushing the slip rocker switch 102 into
when implement position is within a predetermined prox the SET position again.
imity to the upper limit. The described structure allows an operator to turn the slip
function on and off, and to set the slip limit, using a single
The operation of command device 102 (i.e., the slip rocker switch. However, other structures could be used. For
rocker switch) for turning the slip function on and off, and example, a push-button switch could be used to turn the slip
for setting the slip limit or reference value, is described in 15 function on and off and a separate rocker switch could be
relation to the slip limit transition state diagram shown in used to increment and decrement the slip limit. Also,
FIG. 9. Initially, the control system is in the SLIPIS NOT although the current logic sets the slip limit to current
SELECTED state 900 with the slip rocker switch 102 in the filtered slip plus a constant when slip rocker switch 102 is
OFF position. No slip limit function is available in state 900. initially moved into the SET position, the system could also
The control system transitions to the SLIPIS SELECTED set the slip limit initially to a constant and then allow the
state 902 when the operator initially moves slip rocker operator to increment or decrement the slip limit.
switch 102 into the ON position after determining that slip It should be noted that the slip limit control system
limit control is desired. In response to movement of switch described above functions from both position and draft
102, the slip limit is set to a default value, such as 30%. control modes. The control system limits wheel slippage in
The control system transitions back to state 900 if the 25 adverse traction conditions, and is typically used in con
operator thereafter moves slip rocker switch 102 back to the junction with proper ballasting and/or matching of drawbar
OFF position without having moved it to the SET position. load to prevailing traction conditions. Before operating in
However, if the operator moves slip rocker switch 102 to the slip limit control mode, tractor 10 is typically ballasted for
momentary SET position while in state 902, the control prevailing traction conditions and the draft load command or
system transitions to the SLIPIS SELECTED AND SLIP 30 position command is set such that the implement is operat
WAS SET state 904. The first movement of slip rocker ing at a desired depth and wheel slippage is in an acceptable
switch 102 to the SET position sets the slip limit to a slip range. The slip rocker switch 102 is then moved to the ON
value plus a constant, preferably to the current filtered slip position and the slip limit is set as described above. When
value plus 5%. The operator will typically initially move slip the slip limit is exceeded, the control system activates slip
rocker switch 102 to the ON position and then directly to the 35 limit control and activates lamp 106to provide an indication
SET position when tractor 10 is operating properly and slip to the operator that the hitch is being raised to prevent the
limit control is desired. However, the slip limit cannot be set tractor from becoming stuck and to prevent excessive wheel
if the tractor is stopped or implement position is at or near slippage.
the upper limit. In a preferred embodiment, the slip limit In the presently preferred embodiment, control circuit 64
cannot be set if implement position is within 10% of total is configured to reset the value of the slip limit upon
allowable travel from the upper limit position. detecting an increase in the set or reference value of the draft
From state 904, the operator may increment the slip limit or load command. In operation the operator will typically set
subject to a maximum limit by pushing slip rocker switch the desired slip limit value, as described above with refer
102 to the SET position again, causing the control system to ence to FIG. 9, when the vehicle is operating in a desired
transition to the SLP IS SELECTED & SLIP LMT 45 manner, e.g. at a desired draft level as set on draft command
INCREMENTED BY SLIP SET state 906. In a preferred device 68 and when the level of wheel slippage feels proper.
embodiment, the slip limit is incremented in 1% steps and However, if the vehicle is thereafter operating in DRAFT
the maximum limit is 30%. Each subsequent push of slip mode and the operator adjusts the level of the draft com
rocker switch 102 to the SET position increments the slip mand to a higher level, wheel slippage may occur as control
limit by 1% subject to the maximum limit as the control SO circuit 64 attempts to maintain the higher draft or load level
system remains in state 906. by further penetrating the implement into the soil. The
From either state 904 or state 906, movement of slip increase in wheel slippage may tend to cause control circuit
rocker switch 102 to the OFF position causes the control 64 unwantedly to enter into the slip override logic described
system to transition to the SLIP IS NOT SELECTED & above, unless the desired level of wheel slippage is read
NCREMENTING SLP TMER state 908. State 908 55 justed to account for the increased level of load on the
includes a timer for timing the period during which slip implement.
rocker switch 102 remains in the OFF state. After a prede FIG. 10 illustrates typical control logic implemented by
termined time, preferably 1 second, the control system control circuit 64 to account for this need to readjust the
transitions back to state 900 and the slip limit function is desired wheel slippage level. As shown at step 912, control
turned off. However, if the slip rocker switch is in the OFF circuit 64 first checks whether the present state of operation
position for less than 1 second before being toggled to the is DRAFT and whether the slip overridefunction is currently
ON position, the control system transitions to the SLIPIS active. If the state of operation is not DRAFT or if the
SELECTED & DECREMENTING SLPLMT state 910, override function is active, the subsequent steps are
and the slip limit is decremented by a predetermined bypassed, and control circuit 64 proceeds to step 928 to
amount, subject to a minimum limit. In a preferred 65 continue other control functions. If, however, control is
embodiment, the slip limit is decremented by 1% steps presently in the DRAFT state and the override function is
subject to a minimum limit of 5%. In addition, no decrement not active, the logic proceeds to step 914.
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At step 914, control circuit 64 determines whether the slip Different implementations of hardware and software that fall
switch is presently being manipulated (i.e. depressed) for within the scope of the appended claims would be apparent
setting, incrementing or decrementing the slip limit as to a person of skill in the art. In addition, the disclosed
discussed with reference to FG 9 above to set a desired system could be used to regulate wheel slippage on other
level of wheel slippage for the override function. If the types of vehicle.
switch is being manipulated for setting the desired level of What is claimed is:
wheel slippage, the logic proceeds to step 916; if not, control 1. A system for regulating wheel slippage of a vehicle
circuit 64 advances again to step 920 as described below. At carrying or trailing an implement, the implement coupled to
an implement positioning system including an actuator for
step 916, control circuit 64 sets, increments, decrements and vertically moving the implement in response to a control
limits the desired level of wheel slippage as discussed above signal, the system comprising:
with reference to states 904,906 and 910. At step 918 the a first sensor for sensing apparent speed of the vehicle;
present value of the load (i.e. draft) command is saved in a second sensor for sensing ground speed of the vehicle;
memory circuit 208 as the value LOAD SET, effectively
recording the level of that parameter at the time the slip limit an operator-manipulatable input device; and
value is set. 15 a control circuit coupled to the first sensor, the second
At step 920 control circuit 64 reads the current value of sensor, the input device and the actuator, the control
the load command from command device 68 and compares circuit being configured to generate a slip signal based
this value to the value of LOAD SET (from step 918) plus at least upon the apparent speed and the ground speed
a constant value X, such as 25 counts on a digital scale. If of the vehicle and to generate the control signal for
the value of the load command signal is greater than the 20 moving the implement, the control circuit being
LOAD SET value plus the constant adder value, control responsive to operator manipulation of the input device
circuit 64 proceeds to step 922, otherwise the reset sequence to enable and disable slip regulation and to set a slip
is exited by proceeding to step 928 as before. Thus, at step reference value, the control circuit being further con
920 control circuit 64 determines whether the operator has figured to modify the control signal when the slip signal
induced an increase in the load command value of more than exceeds the slip reference value with slip regulation
the constant value X. Because this increase in the load enabled.
command value could cause unwanted override of the draft 2. The system of claim 1 further comprising an indicator
control function based upon an increased degree of wheel coupled to the control circuit, wherein the control circuit is
slippage, control circuit 64 augments or increases the slip further configured to activate the indicator when the control
limit value at step 922. Although any suitable algorithm may 30 signal is modified due to wheel slippage exceeding the slip
be employed for thus augmenting the slip limit value, in the reference value.
presently preferred embodiment the slip limit value is 3. The system of claim 1 wherein the first sensor senses
increased at step 922 by the equation: rate of rotation of a driven wheel of the vehicle.
4. The system of claim 1 wherein the first sensor includes
slip linia slip limir-K"(LOAD COMMAND-LOADSET)
a variable
35 inductance magnetic pickup.
5. The system of claim 1 wherein the second sensor
where K is a constant multiplier relating the increase in the includes a radar-based speed sensor.
slip limit to the increase in the load command, such as 10 6. The system of claim 1 wherein the input device is a
counts on a digital scale. three-position switch selectively movable between off, on
From step 922, control circuit 64 determines whether the and set positions.
reset value of the slip limit exceeds the maximum allowable 7. The system of claim 1 wherein the input device is a
value of 30%. If it does, the slip limit value is rate limited switch including a momentary set position.
to the maximum allowable value of 30% at step 926. If the 8. The system of claim 1 wherein the control circuit
slip limit value does not exceed the maximum allowable disables slip regulation when the input device is in an of
value, or following rate limiting at step 926, control circuit 45 position and enables slip regulation when the input device is
64 advances to step 928 to continue control as described in an on position.
above, using the newly reset value for the slip limit for the 9. The system of claim 1 wherein the control circuit
slip override function. It should be noted from the foregoing derives the slip reference value from the slip signal in
reset sequence that the desired level of wheel slippage may response to operator manipulation of the input device.
be modified in response to adjustment of a parameter other 50 10. The system of claim 1 wherein the control circuit
than vehicle load, particularly of parameters capable of increments and decrements the slip reference value in
influencing the level of slippage. Moreover, while the reset response to operator manipulation of the input device.
sequence described above preferably resets the slip limit 11. The system of claim 1 wherein the control circuit sets
based only upon increases in the load or draft command the slip reference value to a default value when the input
value, additional or other parameters, such as engine speed 55 device is initially moved to an on position.
or implement position, could be used for resetting the level 12. The system of claim 1 wherein the control circuit
of wheel slip, and the wheel slip limit could be adjusted in derives the slip reference value from the slip signal when the
a similar manner based upon decreases in such command input device is initially moved to a set position.
levels as well as, or instead of, increases alone. 13. The system of claim 12 wherein, after the input device
While the embodiments illustrated in the FIGURES and is initially moved to the set position, the control circuit
described above are presently preferred, it should be under increments the slip reference value based upon each subse
stood that these embodiments are offered by way of example quent movement of the input device to the set position.
only. The invention is not intended to be limited to any 14. The system of claim 1 wherein the control circuit
particular embodiment, but is intended to extend to various disables slip regulation when the input device is moved to an
modifications that nevertheless fall within the scope of the 65 off position for at least a predetermined time period.
appended claims. For example, the various flow charts only 15. The system of claim 1 wherein the control circuit
generally represent the steps used by the control system. decrements the slip reference value each time the input
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17 18
device is moved to an off position for less than a predeter 23. The system of claim 22 further comprising an indi
mined time period, cator coupled to the control circuit, wherein the control
16. The system of claim 1 wherein the control circuit circuit is further configured to activate the indicator when
limits the slip reference value between a predetermined the control signal is modified due to excessive wheel slip
maximum value and a predetermined minimum value. page.
17. The system of claim 1 further comprising a position 24. The system of claim 22 wherein, after the input device
sensor for sensing position of the implement and an is initially moved to the set position, the control circuit
operator-adjustable upper limit setter coupled to the control
circuit, wherein the control circuit inhibits setting the slip increments the slip reference value based upon each subse
reference value when the implement position is in a prede 10
quent movement of the input device to the set position and
termined relationship with the upper limit setting. decrements the slip reference value each time the input
18. The system of claim 1 wherein the control circuit device is moved to the of position for less than a predeter
inhibits setting the slip reference value when the ground mined time period.
speed of the vehicle is below a predetermined level. 25. A system for controlling the elevation of an implement
19. The system of claim 1 wherein, when the slip signal 15 carried or trailed by a vehicle, the implement coupled to an
exceeds the slip reference value with slip regulation enabled, implement positioning system including an actuator for
the control circuit modifies the control signal to raise the vertically moving the implement in response to a control
implement. signal, the system comprising:
20. The system of claim 1, wherein the slip reference
value is modified in response to modification of a another at least one sensor for sensing an operating parameter of
reference value. 20 a machine system comprising the vehicle. the imple
21. The system of claim 20, wherein the second reference ment positioning system and the implement;
value is a draft command value set by a vehicle operator. an operator-manipulatable input device; and
22. A system for regulating wheel slippage of a vehicle
carrying or trailing an implement, the implement coupled to a control circuit coupled to the at least one sensor, the
an implement positioning system including an actuator for 25 input device and the actuator, the control circuit being
vertically moving the implement in response to a control responsive to operator manipulation of the input device
signal, the system comprising: to derive a parameter reference value from the operat
a first sensor for sensing apparent speed of the vehicle; ing parameter, and to increment and decrement the
a second sensor for sensing ground speed of the vehicle; parameter reference value based upon further manipu
an input device including a three-position switch with an 30 lation of the input device, the control circuit configured
off position associated with slip regulation being to generate a parameter error signal based upon the
disabled, an on position associated with slip regulation difference between the operating parameter and the
being enabled, and a set position associated with setting parameter reference value and to generate control sig
a slip reference value; and nals for causing movement of the implement based at
a control circuit coupled to the first sensor, the second 35 least in part upon the parameter error signal.
sensor, the input device and the actuator, the control 26. The system of claim 25 wherein the operating param
circuit being configured to generate a slip signal based eter is wheel slippage.
at least upon the apparent speed and the ground speed 27. The system of claim 25 wherein the input device is a
of the vehicle and to generate the control signal for switch including a set position, and wherein the control
moving the implement, the control circuit being further circuit derives the parameter reference value from the oper
configured to disable slip regulation based upon the ating parameter when the input device is initially moved to
input device being in the off position, to enable slip the set position.
regulation based upon the input device being in the on 28. The system of claim 27 wherein, after the input device
position, and to derive the slip reference value from the is initially moved to the set position, the control circuit
slip signal when the input device is initially moved to 45 increments the parameter reference value based upon each
the set position and to increment and decrement the slip subsequent movement of the input device to the set position
reference value based upon further manipulation of the and decrements the parameter reference value each time the
input device, the control circuit being further config input device is moved to an off position for less than a
ured to modify the control signal when the slip signal predetermined time period.
exceeds the slip reference value with slip regulation ck at it k sk
enabled.