Drive system having ongoing pull-slip learning
A drive system for a mobile machine is disclosed. The drive system may have a travel speed sensor, at least one traction device speed sensor, and a controller in communication with the travel speed sensor and the at least one traction device speed sensor. The controller may be configured to determine a slip value associated with a traction device of the mobile machine based on signals generated by the travel speed sensor and the at least one traction device speed sensor, and determine a torque output value of the mobile machine. The control may also be configured to make a comparison of the slip value and the torque output value with a pull-slip curve stored in memory, and selectively update the pull-slip curve based on the comparison.
1. A drive system for a mobile machine, comprising:
a travel speed sensor;
at least one traction device speed sensor; and
a controller in communication with the travel speed sensor and the at least one traction device speed sensor, the controller being configured to:
determine a slip value associated with a traction device of the mobile machine based on signals generated by the travel speed sensor and the at least one traction device speed sensor;
determine a torque output value of the mobile machine;
make a comparison of the slip value and the torque output value with a pull-slip curve stored in memory; and
selectively update the pull-slip curve based on the comparison.
2. The drive system of claim 1 , wherein the travel speed sensor is one of a Doppler sensor and a GPS sensor.
3. The drive system of claim 2 , wherein the at least one traction device speed sensor is configured to generate a signal indicative of an average speed of multiple driven traction devices of the mobile machine.
4. The drive system of claim 3 , wherein the slip value is determined as a functional difference between a travel speed of the mobile machine and the average speed of the multiple driven traction devices.
5. The drive system of claim 1 , wherein the torque output value is determined as a function of a torque converter speed ratio and at least one of an input speed and an output speed of a torque converter.
6. The drive system of claim 1 , wherein the torque output value is determined as a function of engine fueling.
7. The drive system of claim 1 , wherein the controller is configured to update the pull-slip curve only when the determined slip value deviates from a corresponding slip value in the pull-slip curve by at least a threshold amount.
8. The drive system of claim 7 , wherein the threshold amount is about 5-15%.
9. The drive system of claim 1 , wherein the controller is configured to update the pull-slip curve only when a rate of change of the slip value exceeds a threshold rate.
10. The drive system of claim 9 , wherein the controller is configured to update the pull-slip curve with current values for the torque output and slip regardless of magnitudes of the torque output and slip values.
11. The drive system of claim 1 , wherein the controller is configured to update the pull-slip curve only when the torque output value deviates from a torque output value in the pull-slip curve by at least a threshold amount.
12. The drive system of claim 11 , wherein the threshold amount is about 5-15%.
13. The drive system of claim 1 , wherein the controller is further configured to modify the entire pull-slip curve when a threshold number of points in the pull-slip curve have been updated such that the modified pull-slip curve is monotonically continuous and passes through the points.
14. The drive system of claim 13 , wherein the threshold number of points is three.
15. The drive system of claim 1 , wherein the controller is configured to adjust the torque output value based on a pitch of the mobile machine.
16. The drive system of claim 1 , wherein the controller is configured to update the pull-slip curve after the mobile machine has been traveling in a straight forward direction for a least a threshold amount of time.
17. The drive system of claim 1 , further including a monitor located within the mobile machine, wherein the controller is configured to display on the monitor a representation of current mobile machine performance relative to the pull-slip curve and a target range of performance.
18. The drive system of claim 1 , wherein the controller is further configured to autonomously control an operation of the mobile machine based on current machine performance relative to the pull-slip curve.
19. A method for determining a pull-slip curve, comprising:
determining a slip value associated with a traction device of a mobile machine based on signals generated by a travel speed sensor and at least one traction device speed sensor;
determining a torque output value of the mobile machine;
making a comparison, by one or more processors, of the slip value and the torque output value with a pull-slip curve; and
selectively updating the pull-slip curve based on the comparison.
20. The method of claim 19 , wherein determining the slip value includes determining the slip value as a function of an average speed of multiple driven traction devices of the mobile machine and a travel speed of the mobile machine.
21. The method of claim 19 , wherein determining the torque output value includes determining the torque output value as a function of a torque converter speed ratio and at least one of a torque converter input speed and output speed.
22. The method of claim 19 , wherein determining the torque output value includes determining the torque output value as a function of engine fueling.
23. The method of claim 19 , wherein selectively updating the pull-slip curve includes selectively updating the pull-slip curve only when the determined slip value deviates from a corresponding slip value in the pull-slip curve by at least a threshold amount.
24. The method of claim 19 , wherein selectively updating the pull-slip curve includes selectively updating the pull-slip curve only when a rate of change of the slip value exceeds a threshold rate.
25. The method of claim 24 , wherein selectively updating the pull-slip curve includes selectively updating the pull-slip curve with current values for the torque output and slip regardless of magnitudes of the torque output and slip values.
26. The method of claim 19 , wherein selectively updating the pull-slip curve includes selectively updating the pull-slip curve only when the torque output value deviates from a torque output value in the pull-slip curve by at least a threshold amount.
27. The method of claim 19 , further including modifying the entire pull-slip curve when a threshold number of points in the pull-slip curve have been updated such that the modified pull-slip curve is monotonically continuous and passes through the points.
28. The method of claim 19 , further including adjusting the torque output value based on a pitch of the mobile machine.
29. The method of claim 19 , wherein selectively updating the pull-slip curve includes updating the pull-slip curve only after the mobile machine has been traveling in a straight forward direction for a least a threshold amount of time.
30. The method of claim 19 , further including displaying on a monitor within the mobile machine a representation of current mobile machine performance relative to the pull-slip curve and a target range of performance.
31. The method of claim 19 , further including autonomously controlling an operation of the mobile machine based on current machine performance relative to the pull-slip curve.
32. A mobile machine, comprising:
a frame;
an operator station mounted to the frame and including a monitor;
an engine mounted to the frame;
a plurality of traction devices driven by the engine to propel the mobile machine;
a tool operatively connected to the frame and configured to engage a ground surface;
a travel sensor configured to detect a travel speed of the mobile machine;
a traction device speed sensor configured to detect an average speed of the plurality of traction devices; and
a controller in communication with the monitor, the travel sensor, and the traction device speed sensor, the controller being configured to:
determine a slip value as a function of the travel speed and the average speed;
determine a torque output value of the mobile machine;
make a comparison of the slip value and the torque output value with a pull-slip curve stored in memory;
selectively update points in the pull-slip curve based on the comparison when at least one of the slip value, a change rate of the slip value, or the torque output value exceeds a corresponding threshold;
modify the entire pull-slip curve when a threshold number of points in the pull-slip curve have been updated such that the modified pull-slip curve is monotonically continuous and passes through the points; and display on the monitor an indication of current slip and torque output values relative to the pull-slip curve and relative to a target range in the pull-slip curve.
33. A drive system for a mobile machine, comprising:
a travel speed sensor;
at least one traction device speed sensor; and
a controller in communication with the travel speed sensor and the at least one traction device speed sensor, the controller being configured to:
determine a slip value associated with a traction device of the mobile machine based on signals generated by the travel speed sensor and the at least one traction device speed sensor;
determine a torque output value of the mobile machine;
adjust the torque output value based on a pitch of the mobile machine;
make a comparison of the slip value and the adjusted torque output value with a pull-slip curve stored in memory; and
selectively update the pull-slip curve based on the comparison.