Patent ID: 9126480
Filing Date: 2015-09-08
Classification: B60K,B60W,B60Y,F16D

Abstract:
1. A method of operating an articulating machine having a frame and a plurality of traction devices operatively coupled to the frame via respective axle assemblies, comprising: sensing a rotational speed of at least one of the plurality of traction devices with a speed sensor; determining a ground speed of the machine relative to the operating surface as a function of the sensed rotational speed; determining a ground speed signal associated with a first traction device as a function of the ground speed of the machine, the ground speed signal indicative of a ground speed of the first traction device relative to the operating surface; determining a first rotational target speed value for the first traction device as a function of the ground speed associated with the first traction device; comparing the sensed rotational speed of the first traction device with a respective rotational target speed value associated with the first traction device; sensing a rate of change of an orientation of the machine relative to an operating surface with an inertial yaw-rate sensor, wherein the inertial yaw-rate sensor is associated with the frame; determining an articulation angle of the machine based at least in part on the sensed rate of change of the orientation of the machine; determining an engagement force based on the first rotational target speed value, the sensed rotational speed signal for the first traction device, and the determined articulation angle, wherein the magnitude of the engagement force decreases as the magnitude of the articulation angle of the machine increases; and selectively reducing the rotational speed of the first traction device if the sensed rotational speed of the first traction device is greater than the first rotational target speed value for the first traction device by selectively engaging a clutch assembly according to the determined engagement force, wherein the clutch assembly is associated with a differential gear set disposed within the axle assembly for the first traction device.