Track drive system and method

1. A method of driving a mobile machine that comprises a left-side track assembly and a right-side track assembly for propelling the machine and an implement for performing work, the method comprising:

determining whether the machine is traveling approximately straight forward or backward;

determining whether a load exerted on the implement is less than a threshold load value; and

outputting, with a controller, a signal to adjust a speed of the left-side track assembly or a speed of the right-side track assembly when the machine is traveling approximately straight forward or backward and the load exerted on the implement is less than the threshold load value, to thereby bring the left-side track assembly out of phase with the right-side track assembly.

2. The method of claim 1 , wherein determining whether the machine is traveling approximately straight forward or backward comprises determining whether a difference between the speed of the left-side track assembly and the speed the right-side track assembly is less than a threshold speed value.

3. The method of claim 2 , wherein outputting comprises outputting the signal to adjust the speed of the left-side track assembly and the speed of the right-side track assembly.

4. The method of claim 2 , wherein outputting comprises outputting the signal to adjust the speed of only one of the left-side track assembly or the right-side track assembly.

5. The method of claim 2 , wherein outputting comprises outputting the signal to increase the speed of one of the left-side track assembly and the right-side track assembly, and to decrease the speed of the other one of the left-side track assembly and the right-side track assembly.

6. The method of claim 2 , wherein the left-side track assembly comprises grousers configured to contact a ground surface under the machine,

wherein the right-side track assembly comprises grousers configured to contact the ground surface, and

wherein outputting comprises outputting the signal to adjust the speed of one of the left-side track assembly and the right-side track assembly, so that one of the grousers of the left-side track assembly contacts the ground surface approximately midway through a time interval between two of the grousers of the right-side track assembly contacting the ground surface.

7. The method of claim 2 , wherein the left-side track assembly comprises shoes including grousers configured to contact a ground surface under the machine,

wherein the right-side track assembly comprises shoes including grousers configured to contact the ground surface, and

wherein outputting comprises outputting the signal to adjust the speed of the left-side track assembly and to adjust the speed of the right-side track assembly, so that one of the grousers of the left-side track assembly contacts the ground surface approximately midway through a time interval between two of the grousers from two different shoes of the right-side track assembly contacting the ground surface.

8. The method according to claim 1 , wherein determining whether the machine is traveling approximately straight forward or backward comprises

sensing the speed of the left-side track assembly with a speed sensor,

sensing the speed of the right-side track assembly with a speed sensor, and

determining whether a difference between the sensed speeds is less than a threshold speed value.

9. The method of claim 8 , wherein sensing the speed of the left-side track assembly comprises sensing a speed of rotation of a drive motor, a transmission, a differential, or a clutch, which is associated with movement of the left-side track assembly, and

sensing the speed of the right-side track assembly comprises sensing a speed of rotation of a drive motor, a transmission, a differential, or a clutch, which is associated with movement of the right-side track assembly.

10. The method of claim 9 , wherein sensing the speed of the left-side track assembly comprises sensing a rotation of a gear of the drive motor, the transmission, the differential, or the clutch, which is associated with movement of the left-side track assembly, and

wherein sensing the speed of the right-side track assembly comprises sensing the rotation of a gear of the drive motor, the transmission, the differential, or the clutch, which is associated with movement of the right-side track assembly.

11. The method of claim 2 , wherein determining whether the load exerted on the implement is less than the threshold value comprises either sensing the load exerted on a hydraulic component used in moving or supporting the implement or determining an engine load factor.

12. The method of claim 11 , wherein the implement comprises a blade, a bucket, a ripper, or a fork.

13. The method of claim 2 , wherein determining whether the load exerted on the implement is less than the threshold value comprises sensing a magnitude of the load exerted on the implement.

14. A method of driving a mobile machine that comprises a left-side track assembly and a right-side track assembly for propelling the machine and an implement for performing work, the method comprising:

sensing a speed of the left-side track assembly;

sensing a speed the right-side track assembly;

determining whether a difference between the sensed speeds is less than a threshold speed value;

determining whether a load exerted on the implement is less than a threshold load value; and

outputting, with a controller, a signal to adjust a speed of the left-side track assembly or a speed of the right-side track assembly when the difference between the sensed speeds is less than the threshold speed value and the load exerted on the implement is less than the threshold load value, to thereby bring the left-side track assembly out of phase with the right-side track assembly.

15. The method of claim 14 , wherein outputting comprises outputting the signal to adjust the speed of the left-side track assembly and the speed of the right-side track assembly.

16. The method of claim 14 , wherein outputting comprises outputting the signal to increase the speed of one of the left-side track assembly and the right-side track assembly, and decrease the speed of the other one of the left-side track assembly and the right-side track assembly.

17. The method of claim 14 , wherein determining whether the load exerted on the implement is less than the threshold value comprises sensing the load exerted on a hydraulic component used in moving or supporting the implement.

18. A controller storing a computer program that, when executed by the controller, performs a method of driving a mobile machine that comprises a left-side track assembly and a right-side track assembly for propelling the machine and an implement for performing work, the method comprising:

determining whether the machine is traveling approximately straight forward or backward;

determining whether a load exerted on the implement is less than a threshold load value; and

outputting, with a controller, a signal to adjust a speed of the left-side track assembly or a speed of the right-side track assembly when the machine is traveling approximately straight forward or backward and the load exerted on the implement is less than the threshold load value, to thereby bring the left-side track assembly out of phase with the right-side track assembly.

19. The controller of claim 18 , wherein in the method determining whether the machine is traveling approximately straight forward or backward comprises determining whether a difference between the speed of the left-side track assembly and the speed the right-side track assembly is less than a threshold speed value.

20. The controller of claim 19 , wherein in the method outputting comprises outputting the signal to adjust the speed of one of the left-side track assembly and the right-side track assembly, so that a grouser of a shoe of the left-side track assembly contacts the ground surface approximately midway through a time interval between which two grousers of two different shoes of the right-side track assembly contact the ground surface.