Patent ID: 8818632

Claim:
A differential steering control system for a machine where differential motion is created to steer the machine, the system comprising: a transmission for moving the machine in a forwards or a backwards direction; a steering motor for steering the machine in a leftwards or a rightwards direction; a steering device for providing turn direction signals indicating a desired direction of motion to cause the machine to move on a commanded path of motion; and a control unit operatively connected to the transmission, the steering motor, and the steering device, the control unit being programmed to receive the turn direction signals from the steering device and to output steering motor speed command signals to cause the steering motor to operate at a commanded steering motor speed to move the machine along the commanded path of motion, the control unit being programmed to determine an actual steering motor speed of the steering motor, the control unit being programmed to compare the actual steering motor speed to the commanded steering motor speed, the control unit being programmed to determine a weighted steering motor speed in response to determining that the actual steering motor speed is not equal to the commanded steering motor speed, wherein the weighted steering motor speed is based on the actual steering motor speed, the control unit being programmed to add the weighted steering motor speed to a cumulative integration value, the cumulative integration value being increased so long as the actual steering motor speed is not equal to the commanded steering motor speed, the control unit being programmed to compare the cumulative integration value to an integration limit for uncommanded motion of the machine, and the control unit being programmed to execute an uncommanded motion response strategy in response to determining that the cumulative integration value is greater than the integration limit.