Claims:1. A control system for hinged implement in the utility vehicle to maintain stability of the utility vehicle, comprises of,

a. a linkage unit (101), said linkage unit (101) comprises of
i. a linkage, wherein the implement is hinged to the utility vehicle through the linkage; and
ii. a fluid actuator, wherein the fluid pressure and the fluid flow in the fluid actuator controls the movement of the linkage to lower/raise the hinged implement;
b. a first sensor (102), said first sensor (102) measures the draft force applied on the linkage unit (101) and generates a first signal corresponding to the measured draft force;
c. a first micro controller (103), said first micro controller (103) receives the first signal from the first sensor (102), wherein the first micro controller (103) from the received first signal, estimates the fluid pressure and the required fluid pressure in the said fluid actuator and generates a second signal;
d. a filtering unit, wherein the second signal is fed to the filtering unit, said filtering unit eliminates signals above a predefined bandwidth;
e. a second sensor (104), said second sensor (104) measures the height of the hinged implement and generates a third signal corresponding to the measured height of the hinged implement;
f. a second micro controller (105), said second micro controller (105) receives the third signal, wherein the second micro controller (105) compares value corresponding to the third signal with a pre-stored value to generates a fourth signal;
g. an electronic control unit (106), said electronic control unit (106) receives signals from the first micro controller (103) and the second micro controller (105), wherein the electronic control unit (106) processes the received signals to generate a fifth signal; and
h. a control valve (107), said control valve (107) receives the fifth signal from the electronic control unit (106), wherein the control valve (107) appropriately supplies/drain fluid from/to a pump reservoir (108) to/from the fluid actuator in the linkage unit (101) to control the hinged implement of the utility vehicle and maintain stability of the utility vehicle.

2. A control system for hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 1, said linkage is a three-point linkage.

3. A control system for hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 1, said fluid actuator is a hydraulic actuator.

4. A control system for hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 1, said first sensor (102) is a draft sensor.

5. A control system for hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 1, said second sensor (104) is an angle sensor.

6. A control system for hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 1, said control valve (107) is a flow proportional control valve.

7. A control system for hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 1, said fluid is a hydraulic fluid.

8. A control system for hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 1, said first signal, second signal, third signal, fourth signal and fifth signal is a voltage signal.

9. A control system for hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 1, said filtering unit is a band pass filter.

10. A control system for hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 1, said predefined bandwidth ranges from 1 Hz – 8 Hz.

11. A method of controlling the hinged implement in the utility vehicle to maintain stability of the utility vehicle, comprising of,

a. measuring the draft force applied on the linkage unit (101), by means of a first sensor (102);
b. generating a first signal corresponding to the measured draft force by the first sensor (102);
c. transmitting the first signal from the first sensor (102) to a first micro controller (103);
d. estimating the fluid pressure in the fluid actuator and the required fluid pressure in the fluid actuator, corresponding to the received first signal by the first micro controller (103);
e. generating a second signal by the first micro controller (103), said second signal is corresponding to the estimated fluid pressure in the fluid actuator and the estimated required fluid pressure in the fluid actuator, said second signal is fed to a filtering unit;;
f. filtering the second signal by means of said filtering unit, wherein the filtering unit eliminates signals above a predefined bandwidth;
g. conveying the filtered second signal to an electronic control unit (106);
h. measuring the height of the hinged implement, by means of a second sensor (104);
i. generating a third signal, said third signal is corresponding to the measured height of the hinged implement, by the second sensor (104);
j. transmitting the third signal from the second sensor (104) to a second micro controller (105);
k. comparing the value corresponding to the third signal and the pre-stored value, to generate a fourth signal, by the second micro controller (105);
l. conveying the fourth signal from the second micro controller (105) to the electronic control unit (106);
m. estimating the position of the piston in the fluid actuator, wherein the position of the piston in the fluid actuator is estimated by the electronic control unit (106) from the conveyed fourth signal;
n. generating a fifth signal by the electronic control unit (106),;
o. transmitting the fifth signal from the electronic control unit (106) to a control valve (107); and
p. controlling the hinged implement by raising/lowering, to maintain stability of the utility vehicle, the control valve supplies/drains the fluid to/from the fluid actuator in the linkage unit (101), corresponding to the fifth signal.

12. A method of controlling the hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 11, said linkage is a three-point linkage.

13. A method of controlling the hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 11, said fluid actuator is a hydraulic actuator.

14. A method of controlling the hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 11, said first sensor (102) is a draft sensor.

15. A method of controlling the hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 11, said second sensor (104) is an angle sensor.

16. A method of controlling the hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 11, said control valve (107) is a flow proportional control valve.

17. A method of controlling the hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 11, said first signal, second signal, third signal, fourth signal and fifth signal is a voltage signal.

18. A method of controlling the hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 11 and claim 17, said voltage signal is of frequency ranging from 1 Hz - 8 Hz.

19. A method of controlling the hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 11, said filtering unit is a band pass filter..

20. A method of controlling the hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 11, said predefined bandwidth ranges from 1 Hz – 8 Hz.

21. A method of controlling the hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 11 and claim 17, said third signal is a function of angle between the linkage and the tractor to indicate the height of the hinged implement.

22. A method of controlling the hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 11, said fifth signal is generated by means of,

a. the filtered second signal, to approximate the fluid pressure and fluid flow required in said fluid actuator of the linkage unit (101); and
b. the fourth signal, to approximate the position of the piston in said fluid actuator of the linkage unit (101).

23. A method of controlling the hinged implement in the utility vehicle to maintain stability of the utility vehicle as claimed in claim 11, said fluid is a hydraulic fluid.
, Description:CONTROL SYSTEM FOR HINGED IMPLEMENT IN UTILITY VEHICLE AND METHOD THEREOF
FIELD OF THE INVENTION
The present invention relates to the control system. In particular, the present invention is related to the control system to control the hydraulic hitch system. The implement is hinged to the utility vehicle through the hydraulic hitch system.
BACKGROUND OF THE INVENTION
Generally, the utility vehicle is hinged with the various implements for various earth working operations. Weight of the various implements vary accordingly. Due to change in weight of the implement, mass moment of inertia of the utility vehicle change. The change in mass moment of inertia causes vibration and pitching of the utility vehicle. Pitching of the vehicle disrupts the stability of the utility vehicle.
Furthermore, During transportation mode at high speeds and/or across uneven terrain the tractor is, due to the mass moment of inertia caused by the attachment produces considerable pitching vibrations.
To prevent the pitching of utility vehicle a hydraulic hitch system is introduced. The hydraulic hitch system, regulates according to the weight of the implement. But, during transportation of the utility vehicle along with the hinged implement, on uneven surface or at high velocity, thee utility vehicle tends to bounce and pitch. Due to bouncing and pitching of the utility vehicle, dynamic stresses increases, front axle reaction force decreases which in turn reduces the steerability, efficiency of the utility vehicle reduces, comfort of the driver decreases, etc.
Patent No. US6196327 discloses about a method for reducing the pitching of a tractor having a hitch and an overhanging implement attached to that hitch is provided including the steps of monitoring a force indicative of a load applied to the hitch, monitoring the position of the hitch with respect to the tractor, and deriving a pitch-reducing control valve signal from the position of the hitch and the force.
Generally for same implement weight, force exerted on the implement is changed due to centre of gravity of implement and the amount of hitch rear overhang. This strategy creates a problem in estimating the implement weight, which provides inaccurate control signals. Thus leading to the bouncing and pitching of the utility vehicle hinged with implement.
Therefore , for above reason there is need in art to provide a control system to control the hinged implement of the utility vehicle, which eliminates bouncing and pitching.
OBJECTIVE OF THE INVENTION
The present invention as embodied by control system for hinged implement in utility vehicle and method thereof, succinctly fulfils the above-mentioned need(s) in the art. The present invention has objective(s) arising as a result of the above-mentioned need(s), said objective(s) being enumerated below. In as much as the objective(s) of the present invention are enumerated, it will be obvious to a person skilled in the art that, the enumerated objective(s) are not exhaustive of the present invention in its entirety, and are enclosed solely for the purpose of illustration. Further, the present invention encloses within its scope and purview, any structural alternative(s) and/or any functional equivalent(s) even though, such structural alternative(s) and/or any functional equivalent(s) are not mentioned explicitly herein or elsewhere, in the present disclosure. The present invention therefore encompasses also, any improvisation(s)/modification(s) applied to the structural alternative(s)/functional alternative(s) within its scope and purview. The present invention may be embodied in other specific form(s) without departing from the spirit or essential attributes thereof.
An objective of the present invention is to provide a control system to control the hinged implement of the utility vehicle.
Another objective of the present invention is to control the bouncing and pitching of the utility vehicle with the hinged implement.
Further objective of the present invention is to improve the drivability, steerability and stability of the utility vehicle by controlling the bounce and pitch of the utility vehicle.
Yet another objective of the present invention is to implement in the existing utility vehicle without any additional changes and also to be economical.
SUMMARY OF THE INVENTION
A control system for hinged implement in the utility vehicle to maintain stability of the utility vehicle, comprises of, a linkage unit (101); a first sensor (102), said first sensor (102) measures the draft force applied on the linkage unit (101) and generates a first signal corresponding to the measured draft force; a first micro controller (103), said first micro controller (103) receives the first signal from the first sensor (102); a second sensor (104), said second sensor (104) measures the height of the hinged implement and generates a third signal corresponding to the measured height of the hinged implement; a second micro controller (105), said second micro controller (105) receives the third signal, wherein the second micro controller (105) compares value corresponding to the third signal with pre-stored value to generate a fourth signal; an electronic control unit (106), said electronic control unit (106) receives signals from the first micro controller (103) and the second micro controller (105), wherein the electronic control unit (106) processes the received signals; and a control valve (107), said control valve (107) receives the fifth signal from the electronic control unit (106), wherein the control valve (107) appropriately supplies fluid from a pump reservoir (108) to the fluid actuator in the linkage unit (101) to control the hinged implement of the utility vehicle.
BRIEF DESCRIPTION OF THE DIAGRAM
Figure 1 depicts the layout of the control system to control the hinged implement the in the utility vehicle to maintain stability of the utility vehicle.
Figure 2 describes the algorithm of the control system to control the hinged implement the in the utility vehicle to maintain stability of the utility vehicle.
Figure 3 show the functional layout of the electronic control unit.
Figure 4 depicts the tractor vibration behaviour with pitching angle in the implement and in the tractor.
While the invention is amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood, however, that the intention is not to limit the invention to the particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
DETAILED INVENTION OF THE DIAGRAM
The present invention as embodied by control system for hinged implement in utility vehicle and method thereof, succinctly fulfils the above-mentioned need(s) in the art. The present invention has objective(s) arising as a result of the above-mentioned need(s), said objective(s) being enumerated below. In as much as the objective(s) of the present invention are enumerated, it will be obvious to a person skilled in the art that, the enumerated objective(s) are not exhaustive of the present invention in its entirety, and are enclosed solely for the purpose of illustration. Further, the present invention encloses within its scope and purview, any structural alternative(s) and/or any functional equivalent(s) even though, such structural alternative(s) and/or any functional equivalent(s) are not mentioned explicitly herein or elsewhere, in the present disclosure. The present invention therefore encompasses also, any improvisation(s)/modification(s) applied to the structural alternative(s)/functional alternative(s) within its scope and purview. The present invention may be embodied in other specific form(s) without departing from the spirit or essential attributes thereof.
Throughout this specification, the use of the word "comprise" and variations such as "comprises" and "comprising" may imply the inclusion of an element or elements not specifically recited.
A control system for hinged implement in the utility vehicle to maintain stability of the utility vehicle, comprises of, a linkage unit (101), said linkage unit (101) comprises of a linkage, wherein the implement is hinged to the utility vehicle through the linkage, said linkage is a three-point linkage and a fluid actuator, wherein the fluid pressure and the fluid flow in the fluid actuator controls the movement of the linkage to lower/raise the hinged implement; a first sensor (102), said first sensor (102) measures the draft force applied on the linkage unit (101) and generates a first signal corresponding to the measured draft force; a first micro controller (103), said first micro controller (103) receives the first signal from the first sensor (102), wherein the first micro controller (103) from the received first signal, estimates the fluid pressure and required fluid pressure in the said fluid actuator and generates a second signal; a filtering unit, wherein the second signal is fed to the filtering unit, said filtering unit eliminates signals above a predefined bandwidth; a second sensor (104), said second sensor (104) measures the height of the hinged implement and generates a third signal corresponding to the measured height of the hinged implement; a second micro controller (105), said second micro controller (105) receives the third signal, wherein the second micro controller (105) compares value corresponding to the third signal with a pre-stored value to generates a fourth signal; an electronic control unit (106), said electronic control unit (106) receives signals from the first micro controller (103) and the second micro controller (105), wherein the electronic control unit (106) processes the received signals to generate a fifth signal; and a control valve (107), said control valve (107) receives the fifth signal from the electronic control unit (106), wherein the control valve (107) appropriately supplies/drain fluid from/to a pump reservoir (108) to/from the actuator in the linkage unit (101) to control the hinged implement of the utility vehicle and maintain stability of the utility vehicle.
Wherein said predefined bandwidth ranges from 1 Hz – 8 Hz.
A method of controlling the hinged implement in the utility vehicle to maintain stability of the utility vehicle, comprising of,
• measuring the draft force applied on the linkage unit (101), by means of a first sensor (102);
• generating a first signal corresponding to the measured draft force by the first sensor (102);
• transmitting the first signal from the first sensor (102) to a first micro controller (103);
• estimating the fluid pressure in the fluid actuator and the required fluid pressure in the fluid actuator, corresponding to received first signal by the first micro controller (103);
• generating a second signal, said second signal is corresponding to the estimated fluid pressure in the fluid actuator and the estimated required fluid pressure in the fluid actuator, said second signal is fed to a filtering unit;
• filtering the second signal by means of said filtering unit, wherein the filtering unit eliminates signals above a predefined bandwidth;
• conveying the filtered second signal to an electronic control unit (106);
• measuring the height of the hinged implement, by means of a second sensor (104);
• generating a third signal, said third signal is corresponding to the measured height of the hinged implement, by the second sensor (104);
• transmitting the third signal from the second sensor (104) to a second micro controller (105);
• comparing the value corresponding to the third signal and the pre-stored value, to generate a fourth signal, by the second micro controller (105);
• conveying the fourth signal from the second micro controller (105) to the electronic control unit (106);
• estimating the position of the piston in the fluid actuator, wherein the position of the piston in the fluid actuator is estimated by the electronic control unit (106) from the conveyed fourth signal;
• generating a fifth signal by the electronic control unit (106), wherein the fifth signal is appropriated from the fluid pressure required in the fluid actuator by means of the filtered second signal and the position of the piston in the fluid actuator by means of the fourth signal;
• transmitting the fifth signal from the electronic control unit (106) to a control valve (107); and
• controlling the hinged implement by raising/lowering, to maintain stability of the utility vehicle, the control valve supplies/drains the fluid to/from the fluid actuator in the linkage unit (101), corresponding to the fifth signal.
Said fluid actuator is a hydraulic actuator. Said linkage is a three point linkage. Said first sensor (102) is a draft sensor. Said second sensor (104) is an angle sensor. Said first signal, second signal, third signal, fourth signal and fifth signal is a voltage signal. Said second signal is a pulse modulated signal of frequency ranging from 1 Hz - 8 Hz. Said filtering unit is a band pass filter. wherein the third signal is a function of angle between the linkage and the tractor to indicate the height of the hinged implement. Said control valve (107) is flow proportional valve.
In an exemplary embodiment, the utility vehicle is hinged with the implement through the linkage unit (101). During transportation of the utility vehicle with hinged implement, the hinged implement tends to oscillate. Due to oscillation of the hinged implement, the utility vehicle tends to bounce and pitch. The first sensor (102) measures the draft force applied on the linkage unit (101) by the hinged implement. The first sensor (102) generates the first signal. The first signal is transmitted to the first micro controller (103). The first micro controller (103) by means of the first signal estimates the fluid pressure in the fluid actuator and the required fluid pressure in the fluid actuator. The second signal is generated by means of said estimated fluid pressure and required fluid pressure in the fluid actuator, by the first micro controller (103). The second signal is filtered by means of the filtering unit, said filtering unit eliminates signals above the predefined bandwidth, wherein the predefined bandwidth is 1.5 Hz . The second sensor (104) measures the height of the hinged implement and converts the measured value into the third signal. The third signal is transmitted to the second micro controller (105). The second micro controller compares the value proportional to the third signal and the pre stored value. An appropriate fourth signal is generated by the second micro controller (105). Wherein the fourth signal is a function of the difference between the value proportional to the third signal and the pre stored value. The fourth signal from the second micro controller (105) and the filtered second signal from the first micro controller (103) are transmitted to the electronic control unit (106). The electronic control unit (106) generates the fifth signal. The fifth signal is transmitted from the electronic control unit (106) to the control valve (107) to vary the fluid pressure accordingly by supplying/draining of fluid to/from the fluid actuator. Upon varying the fluid pressure, the hinged implement either lifted or lowered accordingly to stabilise the utility vehicle and reduce/eliminate the bouncing and pitching of the utility vehicle.
It will be apparent to a person skilled in the art that the above description is for illustrative purposes only and should not be considered as limiting. Various modifications, additions, alterations, and improvements without deviating from the spirit and the scope of the invention may be made by a person skilled in the art.