System and method for automatically adjusting a target ground speed of a machine

Abstract

A method for automatically adjusting a target ground speed of a machine includes receiving data from a sensor, at a work monitor unit of an electronic control module of the machine, analyzing the data received from the sensor on the work monitor unit, receiving the data from the work monitor unit at a target model unit of the electronic control module, calculating, at the target model unit based on the data, ground engagement data for the machine, receiving the ground engagement data for the machine at a work monitor library unit of the electronic control module, calculating, at the work monitor library unit, the target ground speed, and adjusting a speed of the machine to the target ground speed.

1 - 14 . (canceled) 
     
     
         15 . A system for automatically adjusting a target ground speed of a machine, the system comprising:
 an electronic control module having a processor and a memory configured to store a plurality of machine units;   a deceleration control configured to provide a deceleration command to one of the machine units; and   wherein the machine units are configured to determine, with the processor and based on the deceleration command, a target track pull, a target track speed, and a blade position.   
     
     
         16 . The system of  claim 15 , wherein said machine units comprise:
 a work monitor unit configured to determine a raw target track pull and a raw target track speed based on data received from one or more sensors, wherein the data includes properties of a material on which the machine is operating;   a target model unit configured to determine the target track pull and the target track speed based on the raw target track pull and the raw target track speed; and   a work monitor library unit configured to determine the target ground speed based on the target track pull and the target track speed.   
     
     
         17 . The system of  claim 16 , wherein the work monitor unit comprises:
 a material properties algorithm unit configured to analyze the properties of the material on which the machine is operating based on the data received from the one or more sensors; and   a performance optimization algorithm unit configured to determine the raw target track pull and the raw target track speed based on the properties of the material on which the machine is operating.   
     
     
         18 . The system of  claim 17 , wherein the target model unit comprises:
 a first driveline model unit for calculating a converter torque;   a first torque converter model unit for generating a constant track pull curve and a maximum torque converter absorption curve based on the converter torque;   an engine model unit for determining an engine torque and an engine speed based on the constant track pull curve and the maximum torque converter absorption curve;   a second torque converter model unit for determining the converter torque and a converter speed based on the engine torque and the engine speed;   a second driveline model unit for determining an adjusted track pull and an adjusted track speed; and   a target operating model unit for determining a target track pull and a target track speed.   
     
     
         19 . The system of  claim 17 , wherein the work monitor library unit comprises a track slip model unit for determining the target ground speed based on the target track pull and the target track speed received from the target operating model unit. 
     
     
         20 . The system of  claim 19 , wherein the track slip model unit determines the target ground speed also based on the properties of the material on which the machine is operating. 
     
     
         21 . A method for automatically adjusting a target ground speed of a machine, the method comprising:
 receiving, by one or more processors of an electronic control module of the machine, data from a plurality of sensors;   analyzing, by the one or more processors, the data received from the plurality of sensors;   calculating, by the one or more processors and based on the data, ground engagement data for the machine,   wherein calculating the ground engagement data includes calculating a target track pull and a target track speed,   calculating, by the one or more processors, the target ground speed based on the ground engagement data; and   receiving a deceleration command, wherein the deceleration command includes deceleration speed offsets based on a speed of an engine being limited by a deceleration control, and wherein the deceleration control introduces a positive feedback loop to continuously measure a derated torque of the engine.   
     
     
         22 . The method of  claim 21 , further including adjusting, by the one or more processors, a speed of the machine to the target ground speed, wherein adjusting the speed of the machine to the target ground speed includes adjusting an implement on the machine to adjust an amount of load being applied to the machine. 
     
     
         23 . The method of  claim 21 , further comprising:
 determining, with a work monitor unit, a raw target track pull and a raw target track speed based on data received from one or more sensors of the plurality of sensors, wherein the data includes properties of a material on which the machine is operating;   determining, with a target model unit, the target track pull and the target track speed based on the raw target track pull and the raw target track speed; and   determining, with a work monitor library unit, the target ground speed based on the target track pull and the target track speed.   
     
     
         24 . The method of  claim 23 , further comprising:
 analyzing, with the work monitor unit implementing a material properties algorithm, the properties of the material on which the machine is operating based on the data received from the one or more sensors of the plurality of sensors; and   determining, with the work monitor unit implementing a performance optimization algorithm, the raw target track pull and the raw target track speed based on the properties of the material on which the machine is operating.   
     
     
         25 . The method of  claim 24 , further comprising:
 calculating, with the target model unit implementing a first driveline model, a converter torque;   generating, with the target model unit implementing a first torque converter model, a constant track pull curve and a maximum torque converter absorption curve based on the converter torque;   determining, with the target model unit implementing an engine model, an engine torque and an engine speed based on the constant track pull curve and the maximum torque converter absorption curve;   determining, with the target model unit implementing a second torque converter model, the converter torque and a converter speed based on the engine torque and the engine speed;   determining, with the target model unit implementing a second driveline model, an adjusted track pull and an adjusted track speed; and   determining, with the target model unit implementing a target operating model, the target track pull and the target track speed.   
     
     
         26 . The method of  claim 24 , further comprising:
 determining, with the work monitor library unit implementing a track slip model, the target ground speed based on the target track pull and the target track speed received from the target operating model unit.   
     
     
         27 . The method of  claim 26 , wherein the track slip model determines the target ground speed at least partially based on information identifying properties of the material on which the machine is operating. 
     
     
         28 . The method of  claim 21 , wherein calculating the ground engagement data includes calculating, with a target operating model unit, the target track pull and the target track speed based on an adjusted track pull and an adjusted track speed received from a driveline model unit, and wherein the track slip model unit also receives material properties from the one or more processors. 
     
     
         29 . The method of  claim 21 , wherein calculating the ground engagement data includes calculating an adjusted track pull and an adjusted track speed with a driveline model unit and transmitting the adjusted track pull and the adjusted track speed from the driveline model unit to a target operating model unit;
 wherein calculating the ground engagement data includes calculating, with the driveline model unit, the adjusted track pull and the adjusted track speed based on a converter torque and a converter speed received from a torque converter model unit; and   further including adjusting, by the one or more processors, a speed of the machine to the target ground speed, wherein adjusting the speed of the machine to the target ground speed includes adjusting an implement on the machine to adjust an amount of load being applied to the machine.   
     
     
         30 . A system for automatically adjusting a target ground speed of a machine, the system comprising:
 an electronic control module having a processor and a memory configured to store a plurality of monitor and model units for the machine;   a deceleration control configured to provide a deceleration command to one of the monitor and model units,   wherein the monitor and model units are configured to determine, with the processor and based on the deceleration command, a target track pull and a target track speed.   
     
     
         31 . The system of  claim 30 , wherein the deceleration control is configured to receive the deceleration command from a pedal. 
     
     
         32 . The system of  claim 30 , wherein the deceleration command includes deceleration speed offsets based on a speed of an engine being limited by the deceleration control, and wherein the deceleration control introduces a positive feedback loop to continuously measure a derated torque of the engine. 
     
     
         33 . The system of  claim 32 , wherein the monitor and model units include:
 a work monitor unit configured to determine a raw target track pull and a raw target track speed based on data received from one or more sensors, wherein the data includes properties of a material on which the machine is operating, and wherein the work monitor unit comprises:
 a material properties algorithm unit configured to analyze the properties of the material on which the machine is operating based on the data received from the one or more sensors; and 
 a performance optimization algorithm unit configured to determine the raw target track pull and the raw target track speed based on the properties of the material on which the machine is operating; 
   a target model unit configured to determine the target track pull and the target track speed based on the raw target track pull and the raw target track speed; and   a work monitor library unit configured to determine the target ground speed based on the target track pull and the target track speed, wherein the work monitor library unit, wherein the work monitor library unit comprises a track slip model unit for determining the target ground speed based on the target track pull, the target track speed received from the target operating model unit, and the properties of the material on which the machine is operating.   
     
     
         34 . The system of  claim 33 , wherein the target model unit comprises:
 a first driveline model unit for calculating a converter torque;   a first torque converter model unit for generating a constant track pull curve and a maximum torque converter absorption curve based on the converter torque;   an engine model unit for determining an engine torque and an engine speed based on the constant track pull curve and the maximum torque converter absorption curve;   a second torque converter model unit for determining the converter torque and a converter speed based on the engine torque and the engine speed;   a second driveline model unit for determining an adjusted track pull and an adjusted track speed; and   a target operating model unit for determining a target track pull and a target track speed.