Intelligent boom control with rapid system cycling

A method of controlling fluid flow in a work machine, the method comprising:

• moving a hoist valve into a first position in which the hoist valve is configured to permit flow of hydraulic fluid between a reservoir and a hoist actuator;
• moving the hoist valve into a second position in which the hoist valve is configured to inhibit flow of hydraulic fluid between the reservoir and the hoist actuator;
• moving a stick valve into a first position in which the stick valve is configured to permit flow of hydraulic fluid between the reservoir and a stick actuator;
• moving the stick valve into a second position in which the stick valve is configured to inhibit flow of hydraulic fluid between the reservoir and the stick actuator;
• moving a connecting valve into a first position in which the connecting valve is configured to permit flow of hydraulic fluid between the hoist actuator and the stick actuator;
• moving the connecting valve into a second position in which the connecting valve is configured to inhibit flow of hydraulic fluid between the hoist actuator and the stick actuator;
• sensing a position of the hoist boom with a hoist boom position sensor;
• sensing a position of the stick boom with a stick boom position sensor;
• receiving velocity input commands for a desired movement of a tool;
• communicating the sensed positions to a controller;
• receiving, with the controller, input from a user interface;
• determining, based upon the velocity input commands and the sensed positions, a first target velocity of the hoist actuator and a second target velocity of the stick actuator;
• communicating signals to the hoist actuator and the stick actuator, with the controller, based upon the sensed position of the hoist boom, the sensed position of the stick boom, and the input from the user interface.

A hydraulic circuit and control system for a work machine that includes a machine frame and a boom assembly coupled to the machine frame, the boom assembly including a hoist boom pivotally connected to the machine frame and moveable relative to the machine frame by a hoist actuator, and a stick boom pivotally connected to the hoist boom and moveable relative to the hoist boom by a stick actuator, the hydraulic circuit and control system comprising:

• a pump operable to move hydraulic fluid within the hydraulic circuit;
• a hoist valve fluidly positioned between the pump and the hoist actuator to permit fluid flow from the pump into the hoist actuator when the hoist valve is in a first position and to inhibit fluid flow from the pump into the hoist actuator when the hoist valve is in a second position;
• a stick valve fluidly positioned between the pump and the stick actuator to permit fluid flow from the pump into the stick actuator when the stick valve is in a first position and to inhibit fluid flow from the pump into the stick actuator when the stick valve is in a second position;
• a connecting valve fluidly positioned between the hoist actuator and the stick actuator to permit fluid flow between the hoist actuator and the stick actuator when the connecting valve is in a first position and to inhibit fluid flow between the hoist actuator and the stick actuator when the connecting valve is in a second position;
• a user interface configured to receive velocity input commands from an operator for movements of hoist boom and the stick boom;
• a hoist boom position sensor connected to the hoist boom;
• a stick boom position sensor connected to the stick boom;
• and
• a controller configured to:
• receive information from the hoist boom position sensor and the stick boom position sensor,
• receive input from the user interface corresponding to at least one of the velocity input commands for a desired movement of at least one of the hoist boom and the stick boom,
• determine, based upon the at least one velocity input command and a current orientation of the boom assembly, at least one target actuator velocity for actuating one or more of the hoist boom and the stick boom, and
• command the hoist actuator and the stick actuator based upon the information from the hoist boom position sensor and the stick boom position sensor, and the input from the user interface to move with the determined at least one target actuator velocity, such that the boom moves with an aggregate velocity corresponding to the desired movement.