Caterpillar Inc.

Caterpillar Paving Products Inc.

Sangameshwar Sonth

Jackson Wai

Jesse R Gerdes

Robert J McGee

Ahmed Khalil

Brian Dean Kuras

James Michael Thorne

Seok-hee Han

Timothy Michael O'Donnell

Kyle David Hendricks

John Lee Marsolek

Craig L Koehrsen

Joshua Struble

Ankit Sharma

Justin Peters

Clarence Matthew Glover

Paul D Lenzen

Sean Cameron Landers

Nathaniel S Doy

Robert Wayne Lindsey

Jason Lee Miller

Michael John Barngrover

Bradley P Krone

Thomas M Sopko

David E Gerding

Carlos Eduardo Nino Baron

Kristen Ann Gerstner

Benjamin Paul Gottemoller

Ernesto Inoa

Daniel D Podany

Richard Geist Auch

Amir Saad

A method of identifying blade penetration that is ineffectual by a blade-based machine at a work site, including: attempting to cut an area of ground by the blade-based machine at the work site; determining that the cut is ineffectual based on a determination of a threshold cut volume achieved by the blade-based machine, the threshold cut volume being based on input from one or more position sensors on the blade-based machine; and initiating one or more remedial actions based on the determination of ineffectual cutting by the blade-based machine.

Systems and methods for determining poor implement penetration

A method includes receiving information indicative of a perimeter of a first portion of a work surface, generating, based on the information, a first geofence substantially overlaying the perimeter, and causing a display to display the first geofence. The method also includes receiving a first input indicating an accuracy of the first geofence. The method further includes determining that at least part of the first geofence is less than a threshold distance from a second geofence associated with the work surface. The method also includes generating, based on determining that the at least part of the first geofence is less than the threshold distance from the second geofence, a third geofence associated with the work surface.

System and method for defining an area of a worksite

A controller may configure the machine to operate in a plurality of modes including a manned control mode, a remote control mode, and an autonomous control mode. The controller may receive a request to cause the machine to perform an action; and determine a requested mode of operation of the machine associated with the request. The requested mode of operation may be one of the plurality of modes. The controller may selectively deny the request or enable the machine to perform the action based on a priority assigned to a current mode of operation of the machine and a priority assigned to the requested mode of operation.

Transitioning between manned control mode and unmanned control mode based on assigned priority

An automatic mode resume system for a mobile machine and a method for resuming a job performed on a job site by a mobile machine is disclosed. The method may include: storing an interrupted status of the job being performed by the mobile machine upon interruption of the job for the job site; displaying multiple job sites on a display of the machine, each job site including a stored interrupted location and resume location; receiving a selection of the job site from a user input; displaying the interruption location and resume location for the selected job site on the display; and conditioning a resuming of the job in an auto mode of the machine based on whether the machine is positioned adjacent the interruption location or resume location at the selected job site.

Automatic mode resume system for a mobile machine

A machine is disclosed. The machine may include at least one of a propulsion system or a steering system configured to operate under automatic control in an autonomous mode of the machine; and a controller configured to obtain one or more parameters associated with a task that is to be performed in the autonomous mode, determine an estimated completion time for the task based on the one or more parameters associated with the task, and perform one or more actions based on the estimated completion time for the task.

Task completion time estimation for an autonomous machine

An automatic control mode system for heavy machinery and a method for controlling heavy machinery for an automatic control mode is disclosed. The method may include: monitoring one or more conditions of one or more systems of the heavy machinery for the automatic control mode; determining whether at least one of the one or more conditions is met; and disabling the automatic control mode if at least one of the one or more conditions are met.

Automatic control mode system for heavy machinery

A control system for controlling operation of a drive motor includes an input device for providing a command signal that is indicative of a desired speed and direction of rotation of the drive motor. A sensor is associated with the drive motor and adapted to provide a sensor signal indicative of current rotational speed of the drive motor. A controller receives the command signal, and determine whether the command signal is indicative of a desired zero speed to be associated with the drive motor. The controller also receives the sensor signal, and determine whether the current rotational speed of the drive motor is within a pre-defined range of difference from the desired zero speed. The controller then generates a de-rated torque command signal having a reduced gain factor, and reduce the current rotational speed of the drive motor based on the de-rated torque command signal.

Control system for controlling operation of a drive motor

A method for testing power of an electric drive system includes setting the electric motor of the electric drive system to a desired speed and applying a brake load to the system. The method also includes increasing the brake load until an engine of the electric drive system is fully loaded. After the engine is fully loaded, the method includes maintaining the brake load until the acceleration remains between the upper predetermined threshold and the lower predetermined threshold for the predetermined period of time, which indicates that the engine has stabilized at full power. Once the engine is at full power, the commanded power of the electric drive system required for stabilizing the engine at full power is averaged, and the average power is compared to a predetermined pass/fail threshold to determine if the electric drive system has sufficient power.

Mobile machines, electric drive systems, and methods for testing electric drive systems

A control system for a rotary electric machine includes a controller configured to generate dynamic input current data based upon a dynamic analysis of self flux data, mutual flux data, and saturation scaling factor data. Upon generating a torque request, the controller is configured to determine a desired electrical input based upon the dynamic input current data to generate the desired output torque. The desired electrical input includes a magnitude and duration of an electrical pulse and a desired angular position of the rotor of the rotary electric machine relative to the stator of the machine. The controller determines an angular position of the rotor and generates an operating command to generate the desired electrical input at the desired angular position of the rotor to propel the rotary electric machine and generate the desired output torque. A rotary electric machine and method of operating same are provided.

System to control a rotary electric machine

A propulsion control system provides different levels of jerk as a function of operator inputs and actual measured operational parameters in a machine. The system includes a power source, a continuously variable transmission (CVT) coupled to an output of the power source, a plurality of input/output devices, a plurality of sensors configured to generate signals indicative of operational parameters of the machine, and a controller communicatively coupled with the power source, the CVT, the input/output devices, and the sensors. The controller includes a database stored in a memory with a plurality of jerk values mapped to different operations of the machine selected from at least one of activation of a brake by an operator for an aggressive stop, a directional shift request from an operator to select one of forward, reverse, or neutral, and a set of operating conditions of the machine indicative of a blade load shedding mode. A jerk selection module is programmed to select at least one of a jerk value, an acceleration limit value, and a deceleration limit value based on a current operation of the machine. A speed command generating device is programmed to integrate a selected jerk value twice to generate a desired speed command. A proportional-integral-derivative (PID) control device is configured to continuously calculate a control error between the desired speed command and an actual speed of the machine. An output command control module is configured to output a control command for implementing a change in an output torque to at least one of the power source and the CVT to reduce the control error.

Propulsion control system with varying aggressiveness of response

A control system for a machine having at least one control element is disclosed. The control system includes multiple input sensors in communication with the control element. The input sensor generates an input signal based on an input to the control element. The control system includes multiple actuating members to control operations of the machine. The control system includes a controller in communication with the input sensors and the actuating members. The controller receives the input signal from the input sensor and determines an imposed hysteresis level corresponding to the input signal based on a hysteresis input function. The controller is further configured to generate a hysteresis conditioned input signal based on the imposed hysteresis level.

Control system for controlling operation of a machine by imposing shaped hysterisis

A control system is provided for an electric machine having a rotor and a stator. The control system has a converter circuit in electrical communication with the stator and a controller in electrical communication with the converter circuit. The controller is configured to receive a first signal indicating a torque applied to or output by the rotor and receive a second signal indicating a rotational speed of the rotor. The controller is also configured to determine at least one characteristic of a pulse signal based on at least one of the first or second signal. The controller is also configured to inject the pulse signal into one or more phases of the stator via the converter circuit according to the determined at least one characteristic. The controller is also configured to determine a position of the rotor based on the injected pulse signal.

Adjustable pulse injection in electric machine control

A system and method for estimating a position and a speed of a rotor of a Switched Reluctance (SR) machine is provided. The SR machine comprises the rotor, a stator and at least one winding. The method includes generating a diagnostic pulse having a trapezoidal shape. The method further includes injecting a diagnostic pulse into the at least one winding of the SR machine. The method further includes measuring an actual stator current flowing through the at least one winding of the SR machine. The method further includes computing an estimated stator current flowing through the at least one winding using observer-based estimation technique. The estimated stator current is compared with the actual stator current to compute an error signal. At least one of the position and the speed of the rotor is estimated based on the error signal.

Pulse injection current pattern for rotor position estimation

A control system for a switched reluctance (SR) machine having a rotor and a stator is provided. The control system may include a converter circuit in electrical communication between the stator and a common bus, and a controller configured to monitor a bus voltage of the converter circuit and a phase current of the SR machine. The controller may be configured to determine a phase voltage based on one or more of main pulses and any diagnostic pulses, determine an estimated flux based on the phase voltage and an associated mutual voltage, determine a rotor position based at least partially on the estimated flux, and control the SR machine based on the rotor position and a desired torque.

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Dunlap, IL, United States of America

Sangameshwar Sonth