U.S. patent number 3,674,094 [Application Number 05/068,290] was granted by the patent office on 1972-07-04 for automatic slope controller.
This patent grant is currently assigned to Honeywell Inc.. Invention is credited to Leland E. Kuntz.
United States Patent |
3,674,094 |
Kuntz |
July 4, 1972 |
AUTOMATIC SLOPE CONTROLLER
Abstract
A controller for a road finishing machine which is adapted to
match the slope of the surface presently being prepared to the
slope of an adjacent surface previously prepared embodying a first
means for sensing the slope of the previously prepared surface, a
second means for sensing the slope of the surface currently being
prepared and control means for comparing the outputs of the two
sensors and for providing an error signal indicative of the
difference of the two slopes.
Inventors: |
Kuntz; Leland E. (Arlington
Heights, IL) |
Assignee: |
Honeywell Inc. (Minneapolis,
MN)
|
Family
ID: |
22081633 |
Appl.
No.: |
05/068,290 |
Filed: |
August 31, 1970 |
Current U.S.
Class: |
172/4.5; 318/489;
318/599; 404/84.8; 299/1.5; 318/587; 318/648; 318/674 |
Current CPC
Class: |
E01C
19/004 (20130101) |
Current International
Class: |
E01C
19/00 (20060101); E02f 003/76 () |
Field of
Search: |
;172/2,3,4,4.5,5,6
;94/45,46,46AC ;299/1 ;318/5,489,615,638,648,674,676 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Pulfrey; Robert E.
Assistant Examiner: Eickholt; Eugene H.
Claims
The embodiments of the invention in which an exclusive property or
right is claimed are defined as follows:
1. A device for automatically controlling a road finishing machine,
wherein the machine makes several consecutive parallel passes in
its road finishing operations and wherein it is desired to match
the slope of the current pass of the machine to the slope of the
surface prepared by the previous pass, comprising:
first sensing means for producing an output indicative of the slope
angle of the surface prepared by the road finishing machine in
making its previous pass,
second sensing means for producing an output indicative of the
slope angle of the current pass of the road finishing machine,
and
comparison means connected to said first and second sensing means
for comparing the outputs of the first and second sensing means and
producing an error signal, said error signal representing the
difference in the slope angles of the current pass and of the
surface prepared by the previous pass.
2. A device as set forth in claim 1 wherein said first sensing
means comprises a pendulum gravity sensor.
3. A device as set forth in claim 1 wherein said second sensing
means comprises a pendulum gravity sensor.
4. A device as set forth in claim 3 wherein said pendulum gravity
sensor comprises:
a weighted structure which seeks a gravity reference,
a primary coil adapted to receive an alternating current
signal,
at least two secondary coils connected to said comparison means,
and
a core connected to and movable by said weighted structure whereby
movement of said core produces a change in the output signals
across said secondary coils.
5. A device as set forth in claim 4 wherein said comparison means
comprises:
a full wave rectifying bridge for each of said secondary coils,
each secondary coil being connected across its respective bridge,
said bridges being interconnected so as to be series additive so
that the bridge has two end junctions and a midpoint, and means
connecting said first sensing means across the two end points of
the bridge.
6. A device as set forth in claim 5 further comprising, a manually
adjustable reference means, and switching means for selectively
connecting either the first sensing means or the manually
adjustable reference means across the end junctions of the
bridges.
7. A device as set forth in claim 1 wherein said device further
comprises a manually adjustable reference means, and switching
means for selectively connecting either the first sensing means or
the manually adjustable reference means to the comparison
means.
8. A device as set forth in claim 1 wherein each of said first and
second sensing means comprises a pendulum gravity sensor.
9. A device as set forth in claim 1 wherein offset means are
connected to the first sensing means for adjusting the output of
said first sensing means.
10. A device as set forth in claim 1 wherein said first sensing
means comprises a traveling ski adapted to be mechanically
connected to said machine, said ski extending over a substantial
transverse portion of said previously prepared surface, and a
pendulum gravity sensor mounted upon said ski to sense the slope
thereof, said sensor being connected to said comparison means.
Description
In the finishing of adjacent passes of a road surface or road bed,
it is sometimes difficult to match the slope of adjacent passes.
This difficulty is especially manifest in the finishing of curves
where, in the preparation of the curve in the road, it is sometimes
desirable to provide for a banking angle which may continuously
change around the curve.
Heretofore, the manner in which the slope angle was controlled or
continuously made to change was by manually adjusting the road
finishing machine. Whereas it was relatively simple to match the
slopes of adjacent passes in a straightaway, it was many times more
difficult to match the slope angle of the current pass to the
continuously changing slope angle of a previous pass forming part
of the curve. Due to the human element injected into the manual
control of the slope, the error between the slope angles of the two
passes could sometimes be large.
This invention is designed to eliminate that error by providing for
the automatic control of the slope of the surface prepared by the
machine. This automatic control is accomplished by providing a
traveling ski dragged behind or along the side of the road
finishing machine. Mounted on the ski is a gravity sensing device
which gives an output indicative of the slope angle of the
previously prepared surface. A second gravity sensing device is
mounted on the road finishing machine to indicate the slope angle
of the machine as it makes its current pass. The outputs of these
two sensors are then compared to indicate the difference between
the actual slope angle of the machine and the desired slope angle.
This difference in slope angles of the two adjacent passes results
in an error signal which is used to adjust the machine in a manner
tending to eliminate the error signal.
It is, therefore, an object of this invention to eliminate the
necessity of manually controlling the slope of a road being
prepared by a road finishing machine.
It is a further object to eliminate this manual control by
providing a completely automatic slope controller.
It is yet a further object to provide for automatic control by
sensing the slope angles of a previously prepared pass and the
slope angle of a road finishing machine and using the error signal
that results to control that machine.
These and other objects will become apparent as the description of
the invention progresses.
IN THE DRAWING
FIG. 1 is a diagrammatic representation of a machine as it makes
its current pass.
FIG. 2 is a simplified circuit diagram of the automatic
control.
FIG. 3 is a detailed schematic drawing of the automatic controller
for the road finishing machine.
In FIG. 1, a machine M is shown performing its road finishing
operations. The machine, traveling into the drawing for example,
either drags behind or alongside a traveling ski upon which the
reference pendulum is mounted. The traveling ski rides over the
surface previously prepared and the reference pendulum is used to
measure the slope angle of that surface. Mounted upon the machine
is a second pendulum utilized to indicate the slope angle of the
machine as it makes its current pass. Because pendulums are used,
they have for their reference the gravity of the earth. The outputs
of these two pendulums will then be compared and the error signal
that results will indicate the difference by which the slope angle
of the surface prepared by the machine in making its current pass
has deviated from the slope angle of the surface prepared in the
previous pass. This error signal is then used to adjust the slope
of the machine in its current pass. As the machine makes its future
passes, the traveling ski will always ride over the previously
prepared surface of the machine to provide a uniform slope angle
over all of the prepared surfaces.
This automatic control of the machine makes the finishing of curves
much easier than was previously known in the art. Until now, the
slope angle of all of the passes of the machine had to be
non-automatically, continuously varied. Such non-automatic control
made it extremely difficult, if not impossible, to adequately match
the slope angle of the current pass to the slope angle of the
previous pass. With this invention, the slope angle of the first
pass is manually controlled; thereafter, the slope angles of
succeeding passes may be completely, automatically controlled.
FIG. 2 is a brief schematic diagram of the automatic controller.
The automatic controller comprises essentially three elements: a
machine mounted pendulum to indicate the current slope angle of the
machine; a reference pendulum to indicate the desired slope angle
of the machine; and, a comparator to produce an error signal
representative of the deviation of the slope angles of the machine
between the actual and desired values. The machine mounted pendulum
comprises a structure D upon which a weight W1 is mounted. The
weight causes the structure D to seek a gravity reference. The
structure D is mounted on one end of the shaft at the other end of
which is mounted a core C which will rotate in accordance with the
rotation of structure D. The core cooperates with a transformer
having a primary P and two secondaries, S1 and S2, which are
connected to a comparator.
The reference pendulum comprises an arm which is weighted by W2
causing the arm to seek a gravity reference and, in so doing,
sweeps across the potentiometer P2. A manual set point comprising a
potentiometer P1 is provided for controlling the machine whenever
manual operation is desired. The ends of the potentiometer of the
reference pendulum and the set point potentiometer are connected
together and to a comparator, and the arms of the two
potentiometers are connected to a switch S. The switch S has a
movable contact, a manual contact M connected to the arm of P1, and
an automatic contact A connected to the arm of P2. The movable
contact of the switch S will thus connect either P1 or P2 to the
comparator to provide either manual or automatic control.
Offset potentiometers P3 and P4 are included to facilitate an
initial adjustment of the reference potentiometer to insure that
the traveling ski will have a predetermined angle with respect to
the machine. With potentiometers P3 and P4 ganged together, an
increase in resistance of one will result in a decrease in
resistance of the other. Thus, as the potentiometers P3 and P4 are
adjusted, the resistances on either side of the arm of P2 will
change. The machine will see this change as though there had been a
change in slope angle of the travelling ski. The machine,
therefore, will adjust its slope angle. As examples of some uses of
this adjustment, a crown in the road can be programed into the
automatic controller or an initial alignment of the machine and
traveling ski can be made.
The comparator compares the outputs of the two secondaries with
either the reference pendulum or the set point potentiometer,
depending upon the state of switch S, and produces an error signal
representative of the deviation of the machine pendulum from the
reference pendulum or the set point potentiometer, whichever is
used. This error signal is then amplified by the amplifier used to
control the machine.
FIG. 3 is a more detailed description of the circuit controller and
shows, by way of example only, the contents of the comparator.
Secondary S1 is connected across the input of a full wave bridge
rectifier comprising diodes D1, D2, D3, and D4, and secondary S2 is
connected across the inputs of a full wave bridge rectifier
comprising diodes D5, D6, D7, and D8. These two full wave bridge
rectifiers are connected in series additive fashion. The output of
these two rectifiers is taken across three terminals, 14, 15 and
16. Terminal 14 is connected to the movable contact of switch SW1
and terminal 16 is connected to the movable contact of switch SW2.
Contact A1 of switch SW1 is connected to one side of the reference
pendulum potentiometer P2 while contact A2 of switch SW2 is
connected to the other side of potentiometer P2. The movable arm of
P2 is connected to the automatic contact, A3, of switch SW3. The
manual contact, M1, of switch SW1 is connected to one side of the
set point potentiometer P1 whereas the contact M2 of switch SW2 is
connected to the other side of this potentiometer. The movable arm
of potentiometer P1 is connected to the manual contact M3 of switch
SW3. The movable contact of switches SW1, SW2 and SW3 are ganged
together for simultaneous operation, and operate to connect either
P1 or P2 to the comparator to provide either manual or automatic
control of the machine.
The machine pendulum is designed such that when the core is in a
neutral position with respect to both of the secondaries, the
outputs across the two bridge rectifier circuits will be equal and
if the reference pendulum, used when automatic operation is
desired, senses a level slope of the previous pass, the movable arm
of potentiometer P2 will be at its mid point position such that the
voltage impressed on either side of the arm will be equal. Thus,
the voltages on the arm of the reference pendulum potentiometer
will equal the voltage at terminal 15, and the output taken across
12 and 13 will be zero indicating that no correction is needed.
However, when the reference potentiometer arm is moved due to a
change in the slope angle in the previous pass, such movement of
the potentiometer arm will cause an unbalance of the voltage across
that potentiometer and, therefore, an output will result across
terminals 12 and 13. This output is used to adjust the slope angle
of the machine such that core C will be moved in a manner to alter
the voltages across the two rectifier bridges to equal their
respective voltages across potentiometer P2 thus reducing the
voltage across terminals 12 and 13 to zero.
Output terminals 12 and 13 are connected across a differential
amplifier consisting of transistors Q1, Q2, Q3 and Q4 and biasing
resistors R2, R3, R4 and R5. Resistor R1, diodes D9, D10 and D11
and transistor Q5 are included to provide a temperature-compensated
bias for the differential amplifier transistors. Output terminal 12
is connected to the base of transistor Q4, and transistor Q3 is
connected to transistor Q4 in emitter follower fashion. Output
terminal 13 is connected to transistor Q1, and transistor Q2 is
connected to transistor Q1 in emitter follower fashion. The output
of the differential amplifier is taken across the collectors of
transistors Q2 and Q3, and these outputs are amplified by suitable
transistor power amplifiers to provide outputs at terminals 10 and
11.
A triangular wave form generator is connected to the junction of
terminal 13 and the base of Q1 to provide time base proportioning
operation of the differential amplifier and the transistors of the
power amplifier stages. The reason for using such time base
proportioning is to operate the transistors in a fully on or fully
off condition. In a DC proportioning system, i.e., where no
additional voltage is added to the base of Q1, the transistors are
operated in a partly on state thus increasing the wattage on the
transistors which raises their temperature. By operating the
transistors either fully on or fully off, the wattage is decreased
and, therefore, the temperature is decreased. By decreasing the
temperature, smaller and less expensive transistors may be
used.
The transistors of the differential amplifier are biased such that
they fully saturate just after an input is received from the
triangular wave form generator; thus, although the input is a
triangular wave form, the output of the differential amplifier is a
square wave. Under quiescent conditions with the output across
terminals 12 and 13 zero, the outputs of the terminals 10 and 11
are equal but 180.degree. out of phase such that the total effect
on the output as seen by terminals 10 and 11 is essentially zero.
As an output is received across terminals 12 and 13, this output,
in the form of a DC voltage, offsets the biasing of the
differential amplifier causing the square wave output to shift.
This shifting of the output will result in an average output across
terminals 10 and 11 indicating the necessity of adjusting the slope
angle of the machine. An example of a device which can be used to
adjust this slope angle is a servo valve.
As changes can be made in the above-described construction and many
apparently different embodiments of this invention can be made
without parting from the scope thereof, it is intended that all
matter contained in the above description is shown on the
accompanying drawings be interpreted as illustrative only and not
in a limiting sense.
* * * * *