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US 10,870,968 B2Granted
Work vehicle control system providing coordinated control of actuators
AssigneeDeere & Company
InventorMichael G. Kean
Life of this patent
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Abstract
A control system and a method of synchronously operating a plurality of actuators of a work vehicle in a coordinated operation to move an implement. The method includes determining an acceleration parameter for the actuators based at least partly on a control effort associated with the control commands sent to the actuators.
Claims20
A method of synchronously operating a plurality of actuators of a work vehicle to move an implement, the method comprising:
- receiving, by a processor of a control system of the work vehicle, an operation selection, the operation selection corresponding to a movement of the implement from a start position to an end position, and the operation selection having an associated set of velocity ratios dictating relative velocities of the plurality of actuators;
- actuating, by the processor, the plurality of actuators according to a first plurality of control signals for a first time step, the first plurality of control signals based at least in part on the set of velocity ratios;
- determining, by the processor, a limiting one of the plurality of actuators for the first time step, the limiting one determined according to a control effort proportion;
- determining, by the processor, an acceleration parameter for the limiting one of the plurality of actuators;
- and
- actuating, by the processor, the plurality of actuators according to a second plurality of control signals for a second time step, the second plurality of control signals based at least in part on the acceleration parameter.
3 more elements
A work vehicle comprising:
- a plurality of actuators;
- an implement;
- and
- a control system configured to selectively actuate the plurality of actuators in synch to move the implement, the control system configured to:
- receive an operation selection, the operation selection corresponding to a movement of the implement from a start position to an end position, and the operation selection having an associated set of velocity ratios dictating relative velocities of the plurality of actuators;
- actuate the plurality of actuators according to a first plurality of control signals for a first time step, the first plurality of control signals based at least in part on the set of velocity ratios;
- determine a limiting one of the plurality of actuators for the first time step, the limiting one determined according to a control effort proportion;
- determine an acceleration parameter for the limiting one of the plurality of actuators;
- and
- actuate the plurality of actuators according to a second plurality of control signals for a second time step, the second plurality of control signals based at least in part on the acceleration parameter.
7 more elements
A method of performing an operation with a work vehicle having an implement comprising:
- generating, by a processor of a control system, a first control signal for a first actuator and a second control signal for a second actuator for a first time step of the operation;
- actuating the first actuator according to the first control signal and the second actuator according to the second control signal for the first time step;
- determining, by the processor, a first control effort associated with the first control signal for the first time step;
- determining, by the processor, a second control effort associated with the second control signal for the first time step;
- determining, by the processor, a first control proportion of the first time step for the first actuator and a second control proportion of the first time step for the second actuator, the first control proportion being the determined first control effort divided by a predetermined first limit of the first actuator, the second control proportion being the determined second control effort divided by a predetermined second limit of the second actuator;
- determining, by the processor, an acceleration parameter according to a greater one of the first control proportion and the second control proportion;
- generating, by the processor, a first augmented control signal for the first actuator and a second augmented control signal for the second actuator based at least partly on the determined acceleration parameter;
- and
- actuating the first actuator according to the first augmented control signal for the second time step;
- and
- actuating the second actuator according to the second augmented control signal for the second time step.
8 more elements
Dependencies are inferred from the claim text.