Vehicle auto turning control system
The present disclosure provides methods for adjusting steering angle and articulation angle in an auto steering operation of a work vehicle. The percentage of travel of an articulation joystick of the work vehicle at least partially determines an articulation desired angle change, which can be used to calculate an articulation desired angle and a steering desired angle change. The difference between the articulation desired angle and an articulation angle detected by an articulation angle sensor is used to adjust the articulation angle. The steering desired angle change can be used to calculate a steering desired angle. The difference between the steering desired angle and a steering angle detected by a steering angle sensor is used to adjust the steering angle.
1. A method for adjusting steering angle in an auto steering operation of a work vehicle, comprising:
calculating, by a controller, a steering desired angle change via an articulation desired angle change divided by the auto steering articulation ratio stored in a memory, wherein the articulation desired angle change is calculated by the controller at least based on a percentage of a travel of an articulation joystick;
adding, by the controller, the steering desired angle change to a steering last desired angle which was a previous steering desired angle;
calculating, by the controller, a difference between a steering angle detected by a steering angle sensor and the steering desired angle to obtain an auto-steering steering error; and
adjusting the steering angle by a steering actuator based on the auto-steering steering error;
wherein the articulation desired angle change is at least partially based on a task rate, a total articulation angle, and an auto steering cycle time.
2. The method for adjusting steering angle in the auto steering operation of the work vehicle of claim 1 , wherein the articulation desired angle change is at least partially based on an angular velocity which is a portion of a pre-set full angular velocity, and the angular velocity is at least partially determined by the percentage of the travel of the articulation joystick.
3. The method for adjusting steering angle in the auto steering operation of the work vehicle of claim 1 , wherein the articulation desired angle change is calculated by multiplying the percentage of travel of the articulation joystick, the task rate, and the total articulation angle and dividing the auto steering cycle time.
4. The method for adjusting steering angle in the auto steering operation of the work vehicle of claim 1 , wherein the auto steering operation includes a first mode and a second mode, and the auto steering cycle time includes an auto steering first mode cycle time corresponding to the first mode and an auto steering second mode cycle time corresponding to the second mode.
5. The method for adjusting steering angle in the auto steering operation of the work vehicle of claim 1 , wherein the auto steering operation includes a first mode and a second mode, and the auto steering articulation ratio includes an auto steering first mode articulation ratio corresponding to the first mode and an auto steering second mode articulation ratio corresponding to the second mode.
6. The method for adjusting steering angle in the auto steering operation of the work vehicle of claim 1 , comprising:
determining, by the controller, allowing the steering angle to change when an absolute value of an articulation desired angle which is a sum of the articulation desired angle change and a previous articulation desired angle is smaller than a maximum articulation angle of the work vehicle.
7. The method for adjusting steering angle in the auto steering operation of the work vehicle of claim 1 , comprising:
determining, by the controller, allowing the steering angle to change when the absolute value of the articulation desired angle which is a sum of the articulation desired angle change and a previous articulation desired angle is more than an articulation angle deadband.
8. The method for adjusting steering angle in the auto steering operation of the work vehicle of claim 7 , wherein the articulation angle deadband is less than predefined degrees.
9. The method for adjusting steering angle in the auto steering operation of the work vehicle of claim 1 , comprising:
determining, by the controller, allowing the steering angle to change when the percentage of travel of the joystick is more than a pre-set threshold.
10. A method for adjusting steering angle in an auto steering operation of a work vehicle, comprising:
calculating, by a controller, a steering desired angle change via an articulation desired angle change divided by the auto steering articulation ratio stored in a memory, wherein the articulation desired angle change is calculated by the controller at least based on a percentage of a travel of an articulation joystick;
adding, by the controller, the steering desired angle change to a steering last desired angle which was a previous steering desired angle;
calculating, by the controller, a difference between a steering angle detected by a steering angle sensor and the steering desired angle to obtain an auto-steering steering error; and
adjusting the steering angle by a steering actuator based on the auto-steering steering error;
wherein the auto steering operation includes a first mode and a second mode, and the auto steering articulation ratio includes an auto steering first mode articulation ratio corresponding to the first mode and an auto steering second mode articulation ratio corresponding to the second mode.