Adaptive advance drive control for milling machine
An adaptive advance control system for a construction machine senses the reaction forces applied by the ground surface to a milling drum, and in response to the sensed changes in those reaction forces controls the rate of lowering the milling drum into the ground surface. Early and rapid detection of such changes in reaction forces allow the control system to aid in preventing lurch forward events of the construction machine.
1. A method of controlling a construction machine having a frame, a milling drum supported from the frame for milling a ground surface, and a plurality of ground engaging supports engaging the ground surface and supporting the frame, the method comprising:
(a) rotating the milling drum;
(b) lowering the rotating milling drum into the ground surface;
(c) sensing a parameter corresponding to a reaction force acting on the milling drum;
(d) detecting a change in the sensed parameter corresponding to an increase in the reaction force; and
(e) in response to detecting the change in step (d), and while continuing to rotate the milling drum, slowing a rate of lowering in step (b) and thereby preventing a lurch forward or lurch backward event.
2. The method of claim 1 , the construction machine including a milling drum housing supporting the milling drum from the frame wherein:
in step (c) the sensed parameter comprises an output from at least one strain gage located on either the frame or the milling drum housing.
3. The method of claim 2 , wherein:
in step (c) the at least one strain gage is oriented so that the sensed parameter corresponds to a component of the reaction force oriented substantially perpendicular to the ground surface.
4. The method of claim 3 , wherein:
in step (c) the at least one strain gage is oriented substantially perpendicular to the ground surface.
5. The method of claim 2 , wherein:
in step (c) the sensed parameter comprises outputs from at least two strain gages located on opposite sides of the frame or the milling drum housing.
6. The method of claim 1 , wherein:
in step (c) the sensed parameter comprises an output from a load cell operatively associated with the frame and the milling drum.
7. The method of claim 1 , wherein:
in step (c) the sensed parameter comprises an output from at least one strain gage located on the frame and sensing a bending of the frame.
8. The method of claim 1 , the construction machine including a milling drum housing supporting the milling drum from the frame, wherein:
in step (c) the sensed parameter comprises a load in at least one bearing rotatably supporting the milling drum from the frame.
9. A construction machine, comprising:
a frame;
a milling drum supported from the frame for milling a ground surface;
a plurality of ground engaging supports supporting the frame from the ground surface;
at least one sensor arranged to detect a parameter corresponding to a reaction force from the ground surface acting on the milling drum;
an actuator operably associated with the milling drum to control a rate at which the milling drum is lowered into the ground surface; and
a controller connected to the sensor to receive an input signal from the sensor, and connected to the actuator to send a control signal to the actuator, the controller including an operating routine which detects a change in the sensed parameter corresponding to an increase in reaction force and in response to the change reduces the rate at which the milling drum is lowered into the ground surface to aid in preventing a lurch forward or lurch backward event of the construction machine.
10. The construction machine of claim 9 , wherein:
the sensor comprises at least one strain gage.
11. The construction machine of claim 10 , wherein:
the at least one strain gage has a gage axis oriented such that at least a majority portion of force measured by the strain gage is oriented perpendicular to the ground surface.
12. The construction machine of claim 10 , wherein:
the at least one strain gage is located on the frame.
13. The construction machine of claim 12 , wherein:
the at least one strain gage further comprises at least two strain gages on opposite sides of the frame.
14. The construction machine of claim 9 , further comprising:
a milling drum housing supporting the milling drum from the frame; and
wherein the at least one strain gage is located on the milling drum housing.
15. The construction machine of claim 14 , wherein:
the at least one strain gage further comprises at least two strain gages on opposite sides of the milling drum housing.
16. The construction machine of claim 9 , wherein the sensor comprises at least one load cell.
17. The construction machine of claim 9 , wherein:
the sensor comprises at least one strain gage attached to the frame and oriented to detect a bending of the frame.
18. The construction machine of claim 9 , wherein:
the sensor comprises at least one bearing load sensor.