Systems and method of determining PTO transmission gear ratio

1. A method, comprising:

receiving a first shaft speed;

measuring a parameter indicative of a power take-off (PTO) shaft speed;

determining a PTO shaft acceleration by monitoring the parameter indicative of the PTO shaft speed over time;

determining, via a plurality of estimators, a plurality of normalized PTO clutch gear ratios, wherein each of the plurality of estimators determines one of the plurality of normalized PTO clutch gear ratios based, at least in part, on the first shaft speed, the PTO shaft speed, and one of a plurality of known PTO transmission gear ratio options; and

selecting one of the plurality of estimators, when the PTO shaft acceleration drops below a threshold value, wherein the selected estimator is the normalized PTO clutch gear ratio that is closest to 1,

controlling a PTO clutch based, at least in part, on the known PTO transmission gear ratio associated with the selected estimator of the plurality of estimators.

2. The method of claim 1 , comprising storing the known PTO transmission gear ratio associated with the selected estimator of the plurality of estimators in memory.

3. The method of claim 1 , wherein the first shaft speed comprises a drive shaft speed.

4. The method of claim 1 , comprising receiving the first shaft speed from an engine control unit (ECU).

5. The method of claim 4 , comprising receiving a commanded vehicle transmission gear ratio from the ECU.

6. The method of claim 5 , comprising determining a drive shaft speed based, at least in part, on the first shaft speed and the commanded vehicle transmission gear ratio.

7. The method of claim 1 , wherein the known PTO transmission gear ratio options comprise a low gear ratio and a high gear ratio.

8. The method of claim 7 , comprising assuming a PTO transmission is in the low gear ratio.

9. A system, comprising:

a sensor configured to sense a parameter indicative of a power take-off (PTO) shaft speed;

a controller comprising:

communication circuitry configured to receive a first shaft speed;

a processor configured to determine a PTO shaft acceleration by monitoring the parameter indicative of the PTO shaft speed over time; and

a plurality of estimators, wherein each of the plurality of estimators is assigned one of a plurality of known PTO transmission gear ratio options, and wherein each estimator is configured to determine a normalized PTO clutch gear ratio based, at least in part, on the first shaft speed, the PTO shaft speed, and the PTO transmission gear ratio assigned to the estimator;

wherein the controller is configured to select the estimator of the plurality of estimators outputting the normalized PTO clutch gear ratio closest to 1 when the PTO shaft acceleration drops below a threshold value,

wherein the controller is configured to control a PTO clutch based, at least in part, on the known PTO transmission gear ratio assigned to the selected estimator of the plurality of estimators.

10. The system of claim 9 , wherein the controller is configured save the known PTO transmission gear ratio assigned to the selected estimator of the plurality of estimators to memory.

11. The system of claim 9 , wherein the first shaft speed comprises a drive shaft speed.

12. The system of claim 9 , wherein the first shaft speed comprises an engine speed received from an engine control unit (ECU).

13. The system of claim 12 , wherein the communication circuitry is configured to receive a commanded vehicle transmission gear ratio from the ECU.

14. The system of claim 12 , wherein the processor is configured to determine a drive shaft speed based, at least in part, on the received engine speed and the received commanded vehicle transmission gear ratio.

15. The system of claim 9 , comprising a memory component configured to store the PTO transmission gear ratio assigned to the selected estimator of the plurality of estimators.

16. A non-transitory computer readable medium comprising executable instructions that when executed cause a processor to:

determine a PTO shaft acceleration by monitoring a received parameter indicative of a power take-off (PTO) shaft speed over time;

determine a plurality of normalized PTO clutch gear ratios, wherein each of the plurality of normalized PTO clutch gear ratios is determined based, at least in part, on a drive shaft speed, the PTO shaft speed, and one of a plurality of known PTO transmission gear ratio options;

select one of the plurality of normalized PTO clutch gear ratios, when the PTO shaft acceleration drops below a threshold value, wherein the normalized PTO clutch gear ratio that is closest to 1 is selected; and

control a PTO clutch based, at least in part, on the known PTO transmission gear ratio associated with the selected normalized PTO clutch gear ratio.

17. The non-transitory computer readable medium comprising executable instructions of claim 16 , that when executed cause a processor to determine the drive shaft speed based, at least in part on an engine speed and a commanded vehicle transmission gear ratio received from an engine control unit (ECU).

18. The non-transitory computer readable medium comprising executable instructions of claim 16 , wherein control of the PTO clutch is performed according to an incremental proportional-integral-derivative (PID) control loop.