Agricultural vehicle with roll resistant suspension system
An agricultural vehicle includes a frame, a body assembly coupled with the frame, a suspension system and a control system. The suspension system includes a pair of dampers positioned at opposite lateral ends of an axle. The suspension system includes a hydraulic system having a hydraulic line fluidly coupling the pair of dampers with each other through a valve. The valve is actuatable between an open position wherein the pair of dampers are fluidly coupled with each other, and a closed position in which the pair of dampers are hydraulically isolated from each other. The control system circuitry configured to obtain sensor feedback indicating a steering operation of the agricultural vehicle, and responsive to the steering operation of the agricultural vehicle, operate the valve into the closed position to hydraulically isolate the pair of dampers from each other to reduce a roll of the body assembly of the agricultural vehicle.
1. An agricultural vehicle comprising:
a frame;
a body assembly coupled with the frame;
a suspension system comprising:
a pair of integrated spring dampers positioned at opposite lateral ends of an axle, the pair of integrated spring dampers coupled between the body assembly and the axle;
a hydraulic system comprising a hydraulic line fluidly coupling the pair of integrated spring dampers with each other through a valve, the valve actuatable between an open position in which the pair of integrated spring dampers are fluidly coupled with each other, and a closed position in which the pair of integrated spring dampers are hydraulically isolated from each other; and
a control system comprising processing circuitry configured to:
obtain sensor feedback indicating a steering operation of the agricultural vehicle; and
responsive to the steering operation of the agricultural vehicle, operating the valve into the closed position to hydraulically isolate the pair of integrated spring dampers from each other to reduce a roll of the body assembly of the agricultural vehicle.
2. The agricultural vehicle of claim 1 , wherein the valve is a pneumatically or electrically operable valve that is transitionable between the open position and the closed position.
3. The agricultural vehicle of claim 1 , wherein:
when the valve is in the open position, the pair of integrated spring dampers are fluidly coupled with each other such that fluid can flow out of a chamber of a first of the pair of integrated spring dampers when compressed, travel through the hydraulic line, and enter an accumulator or a chamber of a second of the pair of integrated spring dampers; and
when the valve is in the closed position, the pair of integrated spring dampers are fluidly de-coupled from each other and hydraulically isolated such that fluid is limited from flowing out of the chamber of the first of the pair of integrated spring dampers to the chamber or the accumulator of the second of the pair of integrated spring dampers.
4. The agricultural vehicle of claim 1 , wherein the pair of integrated spring dampers each include a single hydraulic chamber and are hydraulically single-acting suspension components.
5. The agricultural vehicle of claim 1 , wherein the processing circuitry is configured to:
obtain sensor feedback indicating a degree of rotation or a rate of rotation of a steering wheel and a speed of the agricultural vehicle;
predict, based on the degree of rotation or the rate of rotation of the steering wheel, the speed of the agricultural vehicle, and one or more characteristics of the agricultural vehicle, a predicted amount of roll of the body assembly; and
responsive to the predicted amount of roll of the body assembly exceeding a threshold roll amount, operating the valve to transition into the closed position to limit roll of the body assembly when performing the steering operation.
6. The agricultural vehicle of claim 5 , wherein the one or more characteristics of the agricultural vehicle comprise a weight of the agricultural vehicle, a height of a center of gravity of the agricultural vehicle relative to a ground surface, and a type of implement installed on the agricultural vehicle.
7. The agricultural vehicle of claim 5 , wherein the processing circuitry is further configured to:
obtain ride height data from one or more ride height sensors while the agricultural vehicle performs a turn, the ride height data indicating a corner height of one of the pair of integrated spring dampers while performing the turn;
control the valve to transition between the open position and the closed position according to a pulse width modulated signal, a duty cycle of the pulse width modulated signal determined based on the corner height of at least one of the pair of integrated spring dampers.
8. The agricultural vehicle of claim 1 , wherein the processing circuitry is configured to, responsive to the steering operation, and a speed of the agricultural vehicle exceeding a threshold, operate the valve into the closed position.
9. A control system for an agricultural vehicle, the control system comprising processing circuitry configured to:
obtain sensor feedback indicating a steering operation of the agricultural vehicle; and
responsive to the steering operation of the agricultural vehicle, operating a valve of a suspension system into a closed position to hydraulically isolate a pair of integrated spring dampers from each other to reduce a roll of a body assembly of the agricultural vehicle;
wherein the pair of integrated spring dampers are positioned at opposite lateral ends of an axle, the pair of integrated spring dampers coupled between the body assembly and the axle;
wherein the valve is positioned along a hydraulic line of a hydraulic system of the suspension system, the hydraulic line fluidly coupling the pair of integrated spring dampers with each other through the valve, the valve actuatable between an open position in which the pair of integrated spring dampers are fluidly coupled with each other, and the closed position in which the pair of integrated spring dampers are hydraulically isolated from each other.
10. The control system of claim 9 , wherein the valve is a pneumatically or electrically operable valve that is transitionable between the open position and the closed position.
11. The control system of claim 9 , wherein:
when the valve is in the open position, the pair of integrated spring dampers are fluidly coupled with each other such that fluid can flow out of a chamber of a first of the pair of integrated spring dampers when compressed, travel through the hydraulic line, and enter an accumulator or a chamber of a second of the pair of integrated spring dampers; and
when the valve is in the closed position, the pair of integrated spring dampers are fluidly de-coupled from each other and hydraulically isolated such that fluid is limited from flowing out of the chamber of the first of the pair of integrated spring dampers to the chamber or the accumulator of the second of the pair of integrated spring dampers.
12. The control system of claim 9 , wherein the pair of integrated spring dampers each include a single hydraulic chamber and are hydraulically single-acting suspension components.
13. The control system of claim 9 , wherein the processing circuitry is configured to:
obtain sensor feedback indicating a degree of rotation or a rate of rotation of a steering wheel and a speed of the agricultural vehicle;
predict, based on the degree of rotation or the rate of rotation of the steering wheel, the speed of the agricultural vehicle, and one or more characteristics of the agricultural vehicle, a predicted amount of roll of the body assembly; and
responsive to the predicted amount of roll of the body assembly exceeding a threshold roll amount, operating the valve to transition into the closed position to limit roll of the body assembly when performing the steering operation.
14. The control system of claim 13 , wherein the one or more characteristics of the agricultural vehicle comprise a weight of the agricultural vehicle, a height of a center of gravity of the agricultural vehicle relative to a ground surface, and a type of implement installed on the agricultural vehicle.
15. The control system of claim 13 , wherein the processing circuitry is further configured to:
obtain ride height data from one or more ride height sensors while the agricultural vehicle performs a turn, the ride height data indicating a corner height of one of the pair of integrated spring dampers while performing the turn;
control the valve to transition between the open position and the closed position according to a pulse width modulated signal, a duty cycle of the pulse width modulated signal determined based on the corner height of at least one of the pair of integrated spring dampers.
16. The control system of claim 9 , wherein the processing circuitry is configured to, responsive to the steering operation, and a speed of the agricultural vehicle exceeding a threshold, operate the valve into the closed position.
17. A method for operating a suspension system of an agricultural vehicle, the method comprising:
obtaining sensor feedback indicating a steering operation of the agricultural vehicle; and
responsive to the steering operation of the agricultural vehicle, operating a valve of the suspension system into a closed position to hydraulically isolate a pair of integrated spring dampers from each other to reduce a roll of a body assembly of the agricultural vehicle;
wherein the pair of integrated spring dampers are positioned at opposite lateral ends of an axle, the pair of integrated spring dampers coupled between the body assembly and the axle; and
wherein the valve is positioned along a hydraulic line of a hydraulic system of the suspension system, the hydraulic line fluidly coupling the pair of integrated spring dampers with each other through the valve, the valve actuatable between an open position in which the pair of integrated spring dampers are fluidly coupled with each other, and the closed position in which the pair of integrated spring dampers are hydraulically isolated from each other.
18. The method of claim 17 , wherein:
when the valve is in the open position, the pair of integrated spring dampers are fluidly coupled with each other such that fluid can flow out of a chamber of a first of the pair of integrated spring dampers when compressed, travel through the hydraulic line, and enter an accumulator or a chamber of a second of the pair of integrated spring dampers; and
when the valve is in the closed position, the pair of integrated spring dampers are fluidly de-coupled from each other and hydraulically isolated such that fluid is limited from flowing out of the chamber of the first of the pair of integrated spring dampers to the chamber or the accumulator of the second of the pair of integrated spring dampers.
19. The method of claim 17 , comprising:
obtaining sensor feedback indicating a degree of rotation or a rate of rotation of a steering wheel and a speed of the agricultural vehicle;
predicting, based on the degree of rotation or the rate of rotation of the steering wheel, the speed of the agricultural vehicle, and one or more characteristics of the agricultural vehicle, a predicted amount of roll of the body assembly; and
responsive to the predicted amount of roll of the body assembly exceeding a threshold roll amount, operating the valve to transition into the closed position to limit roll of the body assembly when performing the steering operation;
wherein the one or more characteristics of the agricultural vehicle comprise a weight of the agricultural vehicle, a height of a center of gravity of the agricultural vehicle relative to a ground surface, and a type of implement installed on the agricultural vehicle.
20. The method of claim 17 , further comprising:
obtaining ride height data from one or more ride height sensors while the agricultural vehicle performs a turn, the ride height data indicating a corner height of one of the pair of integrated spring dampers while performing the turn;
controlling the valve to transition between the open position and the closed position according to a pulse width modulated signal, a duty cycle of the pulse width modulated signal determined based on the corner height of at least one of the pair of integrated spring dampers.