Earth working – Automatic power control
Patent
1997-04-08
1999-01-19
Will, Thomas B.
Earth working
Automatic power control
36442407, G05D 102, A01D 4102
Patent
active
058604804
ABSTRACT:
The present invention is directed toward estimating certain operating parameters of an earth moving machine. Advantageously, the present invention utilizes a Kalman filter to estimate the pitch, pitch rate and ground speed of the earth moving machine as a function of the sensed pitch and ground speed signals. By estimating the pitch and ground speed, the present invention overcomes the prior problems of sensing signal noise and bias. The present invention overcomes these problems by combining pitch, pitch rate and ground speed, and determining an estimate of pitch and ground speed by using a sensor measurement model, machine process model and Kalman filter update equations.
REFERENCES:
patent: 4786908 (1988-11-01), Runnalls
patent: 4934985 (1990-06-01), Strubbe
patent: 5528843 (1996-06-01), Rouke
patent: 5546799 (1996-08-01), Parker
patent: 5560431 (1996-10-01), Stratton
Chizeck Howard J.
Jayaraman Gangadhar
Kleimenhagen Karl W.
Lee Eric F.
Stratton Kenneth L.
Caterpillar Inc.
Kercher Kevin M.
Masterson David M.
Pezzuto Robert
Will Thomas B.
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