U.S. patent application number 14/636867 was filed with the patent office on 2016-09-08 for automatic rotor speed control.
This patent application is currently assigned to Caterpillar Inc.. The applicant listed for this patent is Caterpillar Inc.. Invention is credited to Eric S. Engelmann, Andrew J. Krolnik, Nathan L. Mashek.
Application Number | 20160258119 14/636867 |
Document ID | / |
Family ID | 56850389 |
Filed Date | 2016-09-08 |
United States Patent
Application |
20160258119 |
Kind Code |
A1 |
Krolnik; Andrew J. ; et
al. |
September 8, 2016 |
Automatic Rotor Speed Control
Abstract
A movable machine includes an engine, a rotatably-mounted rotor,
a rotor driver mounted on a frame supported on a plurality of
ground engaging members; a rotor speed sensor and machine ground
speed sensor provide a rotor speed signal and machine ground speed
signal, respectively, to a controller. The controller is configured
to use a current machine conditions parameter to determine an
optimal rotor speed and command the rotor drive to adjust the
rotational speed of the rotor to the optimal speed. The current
machine conditions parameter includes the rotor speed signal, the
machine ground speed signal, and cutting depth.
Inventors: |
Krolnik; Andrew J.;
(Brooklyn Park, MN) ; Engelmann; Eric S.; (Delano,
MN) ; Mashek; Nathan L.; (St. Michael, MN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Caterpillar Inc. |
Peoria |
IL |
US |
|
|
Assignee: |
Caterpillar Inc.
Peoria
IL
|
Family ID: |
56850389 |
Appl. No.: |
14/636867 |
Filed: |
March 3, 2015 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
E01C 23/088
20130101 |
International
Class: |
E01C 23/088 20060101
E01C023/088; E01C 23/12 20060101 E01C023/12 |
Claims
1. A movable machine having a frame supported on a plurality of
ground engaging members, the machine comprising: an engine; a rotor
rotatably mounted relative to the frame, a rotor driver mounted on
the frame and operatively connected to the rotor and the engine to
provide rotational movement, a rotor speed sensor disposed and
adapted to provide a rotor speed signal indicative of a rotational
speed of the rotor, a machine ground speed sensor disposed and
adapted to provide a machine ground speed signal indicative of a
machine ground speed of the movable machine, a controller
configured to use a current machine conditions parameter to
determine an optimal rotor speed, the current machine conditions
parameter including the rotor speed signal, the machine ground
speed signal, and a cutting depth of the rotor, wherein the
controller commands the rotor driver to adjust the rotational speed
of the rotor to the optimal rotor speed.
2. The movable machine of claim 1 wherein the current machine
conditions parameter includes at least one of a type of material to
be cut and a cut pattern.
3. The movable machine of claim 1 wherein the rotor includes at
least one cutting tool and the current machine conditions parameter
further includes information indicative of the cutting tool.
4. The movable machine of claim 1 further including an operator
control adapted to provide an operator control signal indicative of
an operator rotor command to the controller, and the current
machine conditions parameter further includes the operator control
signal.
5. The movable machine of claim 3 further including at least one
wear sensor disposed to sense cutting tool wear and adapted to
provide a cutting tool wear signal to the controller, and the
current machine conditions parameter further includes the cutting
tool wear signal.
6. The movable machine of claim 1 further including at least one
particle size sensor to sense cut particle size and to provide a
cut particle size signal to the controller, and the current machine
conditions parameter further includes the cut particle size
signal.
7. A method of controlling a rotational speed of a
rotatably-mounted rotor in a movable machine, the method being
implemented by a controller and comprising: determining current
machine conditions including machine ground speed and type of
material to be cut, determining an optimal rotor speed based upon
said current machine conditions, comparing the optimal rotor speed
to an actual rotor rotational speed to identify any difference
between the actual rotor rotational speed and the optimal rotor
speed, and adjusting the actual rotor rotational speed toward the
optimal rotor speed if an adjustment of the actual rotor rotational
speed is indicated.
8. The method of claim 7 wherein the step of comparing includes
comparing the difference to a preset threshold difference, and the
step of adjusting includes adjusting the rotor speed when the
difference is greater than the preset threshold difference.
9. The method of claim 7 wherein the step of determining current
machine conditions includes sensing at least one of the following:
machine ground speed, material type, cut particle size, machine
height, cutting tool type, rotor wear.
10. The method of claim 7 further including providing at least one
of a material type signal indicative of the type of material to be
cut and a cut pattern signal indicative of a cut pattern to the
controller.
11. The method of claim 7 wherein determining the current machine
conditions includes determining cutting tool type, the method
further including providing a cutting tool type signal indicative
of the cutting tool type to the controller.
12. The method of claim 7 further including providing an operator
control signal indicative of an operator rotor command to the
controller.
13. The method of claim 7 wherein the step of determining current
machine conditions includes at least one of determining at least
one physical characteristic of the rotor, and determining a cutting
depth of the rotor.
14. The method of claim 13 wherein determining at least one
physical characteristic of the rotor includes programming at least
one of an outer diameter of the rotor, a rotor type, a cutting tool
configuration, a material from which the at least one cutting tool
is formed, and cutting tool wear into the controller during set
up.
15. The method of claim 7 wherein adjusting the rotor speed
includes at least one of adjusting a speed of an engine operatively
connected to the rotor, adjusting an operating gear of a gear train
operatively connected to the rotor, and adjusting a hydraulic rotor
drive motor operatively connected to the rotor.
16. A machine comprising: a plurality of ground engaging members, a
frame movably supported on the plurality of ground engaging
members, a rotor rotatably coupled to the frame, a rotor driver
operatively connected to the rotor to provide rotational movement
to the rotor, a controller configured to: receive a current machine
conditions parameter, the current machine conditions parameter
comprising a ground speed of the machine, a rotational speed of the
rotor, and a cutting depth of the rotor; determine a target rotor
speed based on the current machine conditions parameter; and adjust
the rotational speed of the rotor to the target rotor speed.
17. The machine of claim 16 further including: a rotor speed sensor
disposed and adapted to provide a rotor speed signal indicative of
the rotational speed of the rotor, a ground speed sensor disposed
and adapted to provide a ground speed signal indicative of the
ground speed of the machine.
18. The machine of claim 17 wherein the rotor includes at least one
cutting tool and the current machine conditions parameter further
includes information indicative of a cutting tool type, the machine
further including at least one of a cutting tool type sensor
disposed to sense the cutting tool type and provide a cutting tool
type signal, and an operator control adapted for entry of the
cutting tool type and provision of an entered cutting tool type
signal.
19. The machine of claim 18 further including an operator control
adapted to provide an operator control signal indicative of an
operator rotor command to the controller, and the current machine
conditions parameter further includes the operator control
signal.
20. The machine of claim 18 further including at least one wear
sensor disposed to sense cutting tool wear and adapted to provide a
cutting tool wear signal to the controller, and the current machine
conditions parameter further includes the cutting tool wear signal.
Description
TECHNICAL FIELD
[0001] This disclosure relates generally to a system and method for
controlling the engine and rotor speeds for optimizing performance
and fuel efficiency.
BACKGROUND
[0002] Road milling machines include machines such as cold planers
and rotary mixers, that is, reclaimers and stabilizers. Such
machines generally include a machine frame supported on a plurality
of tracks or wheels which adjustably support and transport the
machine along the surface of the road to be planed or reclaimed. A
rotor or milling head, typically rotatably mounted on the machine
frame, facilitates removing road surface from a roadbed. Vertical
disposition of the rotor and, accordingly, adjustment of a machine
frame with respect to the road surface may be provided by
hydraulically adjustable rods that support the machine frame above
its tracks or wheels, as in a cold planer, or hydraulic cylinders,
as in a reclaimer/stabilizer. In the case of a cold planer, the
removed road surface is transported by one or more conveyors to a
discharge location such as a truck bed of a dump truck for disposal
or recycling. In contrast, in a reclaimer, the road surface is
pulverized in place, along with a portion of the existing base
materials below the road surface in order to form a new homogeneous
base; additives or conditioners may also be incorporated with the
pulverized road surface and existing base materials to form the
homogeneous base.
[0003] The rotor is typically a large rotating barrel having a
plurality of teeth or ground engaging cutting tools for removing
and grinding the road surface. The rotor is usually enclosed in a
housing that shields the surroundings from flying debris and
contains the milled material. Many cold planers and
reclaimers/stabilizers use an up-cut configuration, in which the
rotor rotates in the reverse direction to the drive wheel or
tracks. In the case of a cold planer, the reverse rotation of the
rotor helps drive the milled material up and onto a conveyor. The
rotatable rotor may be mechanically or hydraulically driven.
[0004] Cold planers and reclaimers may work under a variety of
conditions wherein different rotor speeds could be beneficial or
provide operating efficiencies when operating to grind different
materials having different hardness. In machines where the rotor is
connected directly to the engine via a clutch and belt system, the
speed of the rotor cannot be changed independently of the engine
speed. In machines where the rotor is coupled to the engine by one
or more gearing systems and clutches, the speed of the rotor may be
adjusted based upon modifications to the gear selected.
[0005] U.S. Pat. No. 8,465,105 to Parker et al., discloses a
machine having manual and automatic modes for operation of a cutter
drum. When operating in the automatic mode, the speed of the cutter
drum is determined based upon the machine ground speed and a
pre-set ratio of ground speed to cutter drum speed; alternately,
the machine ground speed is determined based upon the chosen speed
of the cutter drum, again, based upon a preset ratio of ground
speed to cutter drum speed.
SUMMARY
[0006] The disclosure describes, in one aspect, a movable machine
having a frame supported on a plurality of ground engaging members,
an engine, a rotor rotatably mounted relative to the frame, and a
rotor driver mounted on the frame and operatively connected to the
rotor and the engine to provide rotational movement. The machine
further includes a rotor speed sensor, a machine ground speed
sensor, and a controller. The rotor speed sensor is disposed and
adapted to provide a rotor speed signal indicative of a rotational
speed of the rotor, while the machine ground speed sensor is
disposed and adapted to provide a machine ground speed signal
indicative of a machine ground speed of the movable machine. The
controller is configured to use a current machine conditions
parameter to determine an optimal rotor speed. The current machine
conditions parameter includes the rotor speed signal, the machine
ground speed signal, and cutting depth. The controller commands the
rotor driver to adjust the rotational speed of the rotor to the
optimal rotor speed.
[0007] The disclosure describes, in another aspect, a machine
including a plurality of ground engaging members, a frame movably
supported on the plurality of ground engaging members, a rotor
rotatably coupled to the frame, a rotor driver operatively
connected to the rotor to provide rotational movement to the rotor,
and a controller. The controller is configured to receive a current
machine conditions parameter, the current machine conditions
parameter comprising a ground speed of the machine, a rotational
speed of the rotor, and a cutting depth of the rotor, determine a
target rotor speed based on the current machine conditions
parameter, and adjust the speed of the rotor to the target rotor
speed.
[0008] The disclosure describes, in yet another aspect, a method of
controlling a rotational speed of a rotatably-mounted rotor in a
movable machine. The method is implemented by a controller, and
includes determining current machine conditions parameter including
machine ground speed and type of material to be cut, determining an
optimal rotor speed based upon said current machine conditions
parameter, comparing the optimal rotor speed to an actual rotor
rotational speed to identify any difference between the actual
rotor rotational speed and the optimal rotor speed, and adjusting
the actual rotor rotational speed toward the optimal rotor speed if
an adjustment of the actual rotor rotational speed is
indicated.
BRIEF DESCRIPTION OF THE DRAWING(S)
[0009] FIG. 1 is a side elevational view of a machine in accordance
with the disclosure.
[0010] FIG. 2 is an enlarged fragmentary view of FIG. 1, partially
broken away.
[0011] FIG. 3 is a side elevational view of a machine in accordance
with another embodiment of the disclosure
[0012] FIG. 4 is a schematic view of an embodiment of a rotor speed
control arrangement in accordance with the disclosure.
[0013] FIG. 5 is a flowchart for an exemplary method of controlling
the speed of a rotor of a cold planer or reclaimer in accordance
with the disclosure.
DETAILED DESCRIPTION
[0014] This disclosure relates to a mobile machine 6 having a
rotatably-mounted roller 8 operated by an engine 10 wherein it is
desirable to rotate the rotatably-mounted roller 8 at different
speeds. While the arrangement is illustrated in connection with a
cold planer 12 having a milling head or rotor 14 and a reclaimer 46
having a milling head or rotor 58, the arrangement disclosed herein
has universal applicability in various other types of machines as
well. The term "reclaimer" in this detailed description and the
appended claims will refer collectively to machines utilized as
reclaimers and stabilizers. The term "machine" may refer to any
machine that performs some type of operation associated with an
industry such as mining, construction, farming, transportation, or
any other industry known in the art, wherein the mobile machine 6
includes a rotatably-mounted roller 8 operated by an engine 10.
Moreover, two or more rotatably-mounted rollers 8 may be connected
to the machine 6, although not illustrated. Such rotatably-mounted
rollers 8 may be utilized for a variety of tasks and include, for
example, milling heads, cutting barrels, rotors, and others. For
the purposes of this disclosure, the term "rotor" will refer to and
encompass milling heads, cutting barrels, rotors, and
rotatably-mounted rollers utilized in conjunction with a cold
planer 12 and with reclaimers 46.
[0015] Referring now to the drawings, in which like reference
numerals represent like parts throughout the several views, FIG. 1
shows a cold planer 12 in accordance with an embodiment, while FIG.
2 shows a fragmented, detailed view of certain operating portions
of the cold planer 12 with a portion broken away. The cold planer
12 is generally of typical construction and includes a frame 18
supported by four (two visible) ground engaging members 20. The
orientation and height of the ground engaging members 20 are
selectively adjustable relative to the frame 18. While the ground
engaging members 20 may be of any appropriate design, in this
embodiment, each of the ground engaging members 20 includes a track
22 that is powered in two directions by a hydraulic motor 24. The
frame 18 further supports the engine 10 enclosed within an engine
enclosure 32 and connected to various mechanical, hydraulic and/or
electric systems operating the various portions of the cold planer
12.
[0016] Operation of the cold planer 12 can be carried out remotely
by an operator, or locally from an operator portion 26. From the
operator portion 26, an operator may manipulate various machine
control devices such as one or more steering devices 28, as well as
operator controls 30 that include various control switches, and the
like.
[0017] For milling a road surface or working surface 40, the cold
planer 12 includes the rotor 14 that is rotatably supported on the
frame 18 and configured for powered rotation relative thereto about
a rotation axis 34 during operation. The rotor 14 has a generally
cylindrical shape and includes at least one cutting tool, here a
plurality of cutting tools 36, which are disposed along a
peripherally outer portion 38 thereof and contact the ground. The
outer diameter of the rotor 14 is defined by the outermost surfaces
of the cutting tools 36. In this way, the cutting tools 36 perform
cuts as the rotor 14 rotates and the cold planer 12 advances along
a working surface 40 to be milled. In the illustrated embodiment,
for example, as shown in FIG. 2, the rotor 14 rotates in the
direction of the arrow in a counter-clockwise direction as the
machine 6 moves in a forward direction towards the right side of
the figure. A cutting depth of the rotor 14 can be determined by a
height-adjustment mechanism (not visible) disposed between the
rotor 14 and the frame 18. In the illustrated embodiment, the
cutting depth is controlled by controlling the height of the frame
18 with respect to the working surface 40 by appropriately
extending and retracting vertical actuators 42 (FIG. 2) disposed
between the ground engaging members 20 and the frame 18.
[0018] The rotating rotor 14 may be enclosed within a shield or
housing 44 from which an intermediate conveyor 50 extends. During
operation, debris milled from the working surface 40 by the
rotating rotor 14 is flung or otherwise directed towards the
intermediate stage conveyor 50 such that material removed from the
working surface 40 can be transported to a final stage conveyor 60
for delivery to a location off the cold planer 12, for example,
into a leading truck (not shown), in the customary fashion.
[0019] Turning to FIG. 3, there is illustrated a reclaimer 46
according to an embodiment. For the purposes of this disclosure,
the reclaimer 46 includes a construction similar to the above
disclosed cold planer 12 with the exception of the conveyors 50,
60. That is, the reclaimer 46 does not provide for the transport of
the milled working surface 40 to an alternate location.
[0020] The reclaimer 46 includes a frame 48 supported by a
plurality of ground engaging members 52 that, in come embodiments,
may be selectively adjustable relative to the frame 48. In this
embodiment, the ground engaging members 52 of the illustrated
embodiment include four wheels, two of which are visible. The frame
48 further supports the engine 54. Operation of the reclaimer 46
can be carried out remotely by an operator, or locally from an
operator portion 56 from which an operator may manipulate various
machine control devices.
[0021] The reclaimer 46 further includes the roller or rotor 58
configured for powered rotation about a rotation axis 62 during
operation. The rotor 58 has a generally cylindrical shape and
includes at least one cutting tool, here a plurality of cutting
tools 64, which are disposed along a peripherally outer portion
thereof and contact the ground. The outer diameter of the rotor 58
is defined by the outermost surfaces of the cutting tools 64. As
with the cold planer 12, the rotor 58 in at least one embodiment
may rotate in a direction counter to the direction of movement of
the reclaimer 46.
[0022] The rotating rotor 58 may be supported on the frame 48 by
one or more pivoting arms 66. A cutting depth of the rotor 58 can
be determined by a height-adjustment mechanism such as one or more
hydraulic cylinders 68 disposed between the frame 48 and the arms
66 to adjust the angle at which the arms 66 are disposed relative
to the frame 48. In some embodiments, the cutting depth may be
further determined by controlling the height of the frame 48 with
respect to the working surface 40. As with the cold planer 12 of
FIGS. 1 and 2, the rotor 58 may be enclosed within a shield or
housing 70 to limit the movement of debris.
[0023] Turning now to FIG. 4, in each of the cold planer 12 and the
reclaimer 46, the rotor 14, 58 is rotatably driven by a rotor
driver 16, which is mounted on the frame 18, 48. The rotor driver
16 may be of any appropriate design, and may include, for example,
a drive train that may include one or more gear trains and clutches
(not shown individually), a hydraulic motor, or another appropriate
driver. The rotor driver 16 may be operatively connected to the
engine 10, 54 by way appropriate arrangement.
[0024] In order to control the speed at which the rotor 14, 58
rotates about the rotation axis 34, 62, a controller 90 is
provided. The controller 90 receives inputs from and/or provides
signals to a variety of devices. For example, the controller 90 may
receive inputs from and provide commands to the engine 10, 54, as
well as the rotor driver 16. In this way, the controller 90 may
control the rotational speed of the rotor 14, 58 by way of the
operation of the engine 10, 54 and/or the rotor driver 16.
[0025] The controller 90 may additionally receive input from one or
more sensors or settings, as well as receive signals from other
sources, such as physical characteristics or operating
characteristics of the machine 6 or its individual components or
systems. Parameters may be calculated from within the controller 90
itself, or received from other sources.
[0026] For example, information concerning the physical
characteristics of the rotor 14, 58 may be provided to the
controller 90, including, for example, type of rotor 14, 58 (e.g.,
standard rotor, fine milling rotor, soil rotor, asphalt rotor,
etc.), diameter of the rotor 14, 58, number of cutting tools 36, 64
mounted about the peripherally outer portion 38 of the rotor 14,
58, cutting tool 36, 64 type (e.g., diamond, carbide) and
configuration, level of wear of the cutting tool(s) 36, 64, and the
rotational speed of the rotor 14, 58. The information indicative of
the physical characteristics of the rotor 14, 58 is shown generally
at box 94 in FIG. 4, the information being provided to the
controller 90 along rotor physical characteristic signal 95.
[0027] The physical characteristics of the rotor 14, 58 may be
identified by any appropriate mechanism. In at least one
embodiment, information indicative of one or more of such physical
characteristics of the rotor 14, 58 may be entered by an operator,
for example, by way of the operator controls 30. In at least one
embodiment, information indicative of one or more of such physical
characteristics of the rotor 14, 58 may be preprogrammed into the
controller 90 at the time of manufacture or distribution of the
machine 6, or when the rotor 14, 58 is first mounted on the machine
6.
[0028] In at least one embodiment, one or more appropriate sensors
96 may be provided that sense one or more of the diameter of the
rotor 14, 58, the number of cutting tools 36, 64 mounted about the
peripherally outer portion 38 of the rotor 14, 58, the cutting tool
36, 64 type, and/or the level of wear of the cutting tool(s) 36,
64, and provide a signal indicative of the rotor characteristics to
the controller 90. For example, at least one wear sensor 96 may be
provided. The wear sensor 96 may be disposed to sense cutting tool
wear, and adapted to provide a cutting tool wear signal 97 to the
controller 90. In one embodiment, the wear sensor 96 may be a
sensor detecting a machine operating parameter such as an
incremental increase in the power required to rotate the rotor 14,
58 over time as an indication of cutting tool wear. In another
embodiment, the wear sensor 96 may include an estimator function
that estimates a wear factor of the cutting tools based on
operating time since a cutting tool replacement. It will be
appreciated that each of these options may likewise exist in a
single embodiment, that is, the information indicative of the level
of wear of the cutting tool(s) 36, 64 may be preprogrammed during
manufacture, but may be overridden by the customer, the operator,
or an alternate signal from an appropriate sensor.
[0029] Information indicative of the operating characteristics of
the rotor 14, 58 may likewise be provided to the controller 90. In
at least one embodiment, a rotor speed sensor 98 may be disposed
and adapted to provide a rotor speed signal 99 that is indicative
of a rotational speed of the rotor 14, 58.
[0030] Information may likewise be provided regarding the operating
characteristics of the machine 6. The controller 90 may calculate
or receive information indicative of the cutting depth 100 of the
rotor 14, 58 at cutting depth signal 101. As explained above, the
cutting depth 100 may be determined based upon the operation of a
height-adjustment mechanism (such as hydraulic cylinders 68 in FIG.
3; not visible in FIGS. 1 and 2) disposed between the rotor 14, 58
and the frame 18, 48, or operation of the retracting vertical
actuators 42 (FIG. 2) disposed between the ground engaging members
20, 52 and the frame 18, 48. Alternatively or additionally, an
appropriate sensor may be provided to sense cutting depth 100.
[0031] One or more machine ground speed sensors 102 may be disposed
to sense the ground speed of the machine 6. The ground speed sensor
102 may provide a machine ground speed signal 103 indicative of
ground speed of the machine 6 to the controller 90. In at least one
embodiment, the controller 90 may determine the ground speed based
upon rotational speed of the ground engaging members 20, 52 and
appropriate dimensions of the ground engaging members 20, 52.
[0032] Similarly, a material type signal 105 indicative of the type
of material to be cut 104 to be cut may be provided to the
controller 90. That is, a material type signal 105 representative
of the type of material 104 of the working surface 40 may be
provided to the controller 90. In at least one embodiment, as with
information concerning the physical characteristics of rotor 14, 58
(see box 94), the material type signal 105 may be set as a default
during manufacture or distribution, entered by the customer, or
entered by the operator.
[0033] In at least one embodiment, one or more particle size
sensors 106 may be disposed to sense cut particle size. The
particle size sensors 106 may operate using a light or other
electromagnetic radiation to measure or otherwise determine an
average size of particles that are passing in front of a sensor
emitter/receiver pad or camera with digital processing. It will be
appreciated that any other appropriate particle size sensor 106
known in the art may be used. The particle size sensor 106 provides
a cut particle size signal 107 indicative of, for example, the
average size of cut particles resulting from the operation of the
rotor 14, 58 to the controller 90.
[0034] In at least one embodiment of a cold planer 12, a cut
pattern sensor 108 may be provided to sense the cut pattern
resulting from operation of the rotor 14, 58. The cut pattern
sensor 108 may be of any appropriate design known in the art. The
cut pattern sensor 108 may provide a cut pattern signal 109 to the
controller 90.
[0035] According to an aspect of this disclosure, the controller 90
may be configured to use current machine conditions including
current machine operating conditions and/or physical
characteristics as identified in a current machine conditions
parameter 110 to determine an optimal rotor speed. In at least one
embodiment, the current machine conditions parameter 110 includes
each of a ground speed of the machine 6, a rotational speed of the
rotor 14, 58, and a depth of the rotor 14, 58. In at least one
embodiment, the current machine conditions parameter 110 includes
the rotor speed signal 99, the machine ground speed signal 103, and
the cutting depth signal 101. In this way, for example, as the
ground speed of the machine 6 increases, the rotational speed of
the rotor 14, 58 may be automatically increased. Similarly, as the
cutting depth or the rotor 14, 58 increases, the speed of the rotor
14, 58 may be decreased. The controller 90 may then provide a
signal to the rotor driver 16 and/or the engine 10, 54 to adjust
the speed of the rotor 14, 58 toward the optimal rotor speed.
[0036] Other current operating conditions or physical
characteristics may be included in the current machine conditions
parameter 110, as shown, for example, in FIG. 4. In at least one
embodiment, the current machine conditions parameter 110 may
include information concerning the operating parameters or physical
characteristics of the rotor 14, 58, including, for example,
diameter of the rotor 14, 58, number of cutting tools 36, 64
mounted about the peripherally outer portion 38 of the rotor 14,
58, cutting tool 36, 64 configuration, cutting tool 36, 64 type, a
material from which at least one cutting tool 36, 64 is formed, and
level of cutting tool wear 36, 64 by way of, for example, a cutting
tool wear signal 97. In at least one embodiment, the current
machine conditions parameter 110 may include the type of material
104 to be cut that may be provided, for example, by a material type
signal 105 that is representative of the type of material 104 of
the working surface 40. In at least one embodiment, the current
machine conditions parameter 110 may include information reflecting
the size of particles cut from the working surface 40, which may be
provided, for example, as a cut particle size signal 107. In at
least one embodiment of a cold planer 12, the current machine
conditions parameter 110 may include information regarding the cut
pattern resulting from operation of the rotor 14, which may be
provided, for example, as a cut pattern signal 109. In this way,
the current machine conditions parameter 110 may be utilized in
automatically determining an optimal rotor speed.
[0037] According to at least one embodiment, the arrangement may
also include an operator rotor command 112 that may be entered by
the operator by way of an operator control in the operator portion
26, and provided to the controller 90 as an operator control signal
113. The operator rotor command 112 may be selected by the operator
in real time during operation based on a multitude of factors that
the operator perceives and determines warrant a change in speed of
the rotor 14, 58 including, without limitation, the quality and
smoothness of the milled surface, the creation of chips, heating of
the rotor cutting tools, noise, dust, roughness of the milling
operation, and other factors. Upon determination of an optimal
rotor speed based upon the current machine conditions parameter
110, the operator may adjust the optimal rotor speed slightly
faster or slower based upon the operator's own experience. The
adjustment may be made by any appropriate arrangement. For example,
the operator may utilize operator controls 30 including adjustment
of a speed dial, slide or arrows on a touch pad. The adjustment of
the optimal rotor speed may be calculated by any appropriate
mechanism, such as an adjustment defined as a percentage increase
or decrease of the determined optimal rotor speed. The controller
90 may provide appropriate signals to the engine 10, 54 or rotor
driver 16 to adjust the determined rotor speed control adjustment
as indicated by the operator control signal 113.
[0038] The controller 90 of this disclosure may be of any
conventional design having hardware and software configured to
perform the calculations and send and receive appropriate signals
to perform the disclosed logic. The controller 90 may include one
or more controller units, and may be configured solely to perform
the disclosed strategy, or to perform the disclosed strategy and
other processes of the mobile machine 6. The controller 90 may be
of any suitable construction, and may include a processor (not
shown) and a memory component (not shown). The processor may be
microprocessors or other processors as known in the art. In some
embodiments, the processor may be made up of multiple processors.
In one example, the controller 90 comprises a digital processor
system including a microprocessor circuit having data inputs and
control outputs, operating in accordance with computer-readable
instructions stored on a computer-readable medium. Typically, the
processor will have associated long-term (non-volatile) memory for
storing the program instructions, as well as short-term (volatile)
memory for storing operands and results during (or resulting from)
processing.
[0039] The controller 90 may be programmable. The processor may
execute computer-executable instructions for controlling one or
more of the engine 10, 54 or the rotor driver 16, such as the
methods described herein. Such instructions may be read into or
incorporated into a computer-readable medium, such as the memory
component or provided external to processor. In alternative
embodiments, hard-wired circuitry may be used in place of or in
combination with software instructions to rotor methods for control
of the engine 10, 54, or the rotor driver 16. Thus, embodiments are
not limited to any specific combination of hardware circuitry and
software.
[0040] The term "non-transitory computer-readable medium" as used
herein refers to any medium or combination of media that
participates in providing instructions to processor for execution.
Such a medium may take many forms, including but not limited to,
non-volatile media, volatile media, and transmission media.
Non-volatile media includes, for example, optical or magnetic
disks. Volatile media includes dynamic memory. Transmission media
includes coaxial cables, copper wire and fiber optics.
[0041] Common forms of non-transitory computer-readable media
include, for example, a floppy disk, a flexible disk, hard disk,
magnetic tape, or any other magnetic medium, a CD-ROM, any other
optical medium, punch cards, paper tape, any other physical medium
with patterns of holes, a RAM, a PROM, and EPROM, a FLASH-EPROM,
any other memory chip or cartridge, or any other medium from which
a computer or processor can read.
[0042] The memory component may include any form of
computer-readable media as described above. The memory component
may include multiple memory components.
[0043] The controller 90 may be enclosed in a single housing. In
alternative embodiments, the controller 90 may include a plurality
of components operably connected and enclosed in a plurality of
housings. The controller 90 may be an integral part of a control
panel (not shown). In another embodiment, the controller 90 may be
fixedly attached to the frame 18, 48 on in another location. In
still other embodiments the controller 90 may be located in a
plurality of operably connected locations including being fixedly
attached to the frame 18, 48, the engine 10, 54, and/or
remotely.
[0044] The controller 90 may be communicatively coupled to the
engine 10, 54, the rotor driver 16, and/or the drive train through
the at least one signal output port. The controller 90 may be
communicatively coupled to the sensors, controls, controls, and
other inputs to receive respective signals indicative of the
respective parameter.
INDUSTRIAL APPLICABILITY
[0045] This disclosure relates to a mobile machine 6 having a
rotatably-mounted roller 8 operated by an engine 10, 54 wherein it
is desirable to rotate the rotatably-mounted roller 8 at different
speeds. The disclosure may provide a system and method that may
provide efficiencies in operation of a rotor 14, 58 that may
enhance mileage, prolong rotor life, reduce down time, and/or
reduce operating costs.
[0046] Turning now to FIG. 5, there is illustrated an exemplary
method 118 according to this disclosure. Referring to box 120, the
controller 90 considers current machine conditions parameter 110
including current operating conditions and physical
characteristics. The current machine conditions parameter 110 may
include, for example, machine ground speed (box 122), a rotational
speed of the rotor 14, 58 (box 123), and a cutting depth of the
rotor (box 124). In further embodiments, the controller 90 may
consider the current machine conditions parameter 110 that may
include, for example, cut pattern (box 125) in the case of a cold
planer 12, cutting tool type (box 126), cutting tool wear (box
127), material to be cut (box 128), cut particle size (box 129),
and type of rotor (box 130). As explained above, the current
machine conditions may be determined by any number of mechanisms
including, for example, one or more sensors, entries, or
calculations based upon various running conditions, sensors and
entries.
[0047] The controller 90 then determines the optimal rotor speed
(box 136) based upon the current machine conditions parameter 110
exemplified by boxes 122-129. In at least one embodiment, in
determining the optimal rotor speed, the controller 90 may
additionally consider an operator rotor command entered by the
operator (box 142).
[0048] The optimal rotor speed determined at box 136 is then
compared with the actual rotor rotational speed (box 123)
determined, for example, by the rotor speed sensor 100 or a
calculated rotor speed (see box 138). A determination is then made
whether it is desirable to modify the speed of the rotor 14, 58
toward the optimal rotor speed.
[0049] In at least one embodiment, the determination of whether it
is desirable to modify the speed of the rotor 14, 58 toward the
optimal rotor speed (box 138) may include a comparison to a
predetermined or preset threshold difference in actual and optimal
rotor speed. For example, if the difference between the actual and
the optimal rotor speed is greater than a preset threshold
numerical value or a given percentage, such as, for example 10% of
the optimal rotor speed, an adjustment is made to the rotor speed.
It will be appreciated that this threshold difference may be other
than a preset numerical value or a percentage and may be dependent
upon the machine 6 utilized. If the rotor speed is equal to the
optimal rotor speed, or below a threshold difference, then the
cycle begins again at box 120, determining operating conditions. On
the other hand, if the rotor speed is not equal to the optimal
rotor speed, or below the threshold difference, then the controller
90 sends an appropriate command to adjust the rotor speed (box
140).
[0050] While the foregoing description provides examples of the
disclosed system and technique, it is contemplated that other
implementations of the disclosure may differ in detail from the
foregoing examples. All references to the disclosure or examples
thereof are intended to reference the particular example being
discussed at that point and are not intended to imply any
limitation as to the scope of the disclosure more generally. All
language of distinction and disparagement with respect to certain
features is intended to indicate a lack of preference for those
features, but not to exclude such from the scope of the disclosure
entirely unless otherwise indicated.
* * * * *