Hystat swing motion actuation, monitoring, and control system

An earth-moving machine including a swing motion control system, the swing motion control system comprising:

• a closed loop hydraulic circuit including a hydrostatic swing pump fluidly coupled to at least one hydraulic swing motor configured to control a swing mechanism of the earth-moving machine;
• a pressure control device configured to control the pressure of fluid supplied to the hydrostatic swing pump for control of the pressure output by the pump;
• and
• a controller configured to:
• monitor and process signals received from sensors and operator input, wherein the signals received from the sensors are indicative of machine position and pose, and inertia mass of swing components and a payload being moved by the swing mechanism of the machine;
• control at least one of an offset amount for desired pump displacement by the hydrostatic swing pump or an offset amount for pump output pressure from the hydrostatic swing pump based on at least one of an amount of slope on which the machine is operating or the inertia mass of the swing components and payload;
• and
• progressively disengage a braking system of the machine while simultaneously controlling at least one of the offset amount for desired pump displacement by the hydrostatic swing pump or the offset amount for pump output pressure from the hydrostatic swing pump.

An earth-moving machine, comprising:

• a plurality of sensors configured to generate signals indicative of machine position and pose, and inertia mass of swing components and payload configured to be moved by a swing mechanism of the machine;
• and
• a swing motion control system, the swing motion control system comprising:
• a closed loop hydraulic circuit including a hydrostatic swing pump fluidly coupled to at least one hydraulic swing motor configured to control a swing mechanism of the earth-moving machine;
• a pressure control device configured to control the pressure of fluid supplied to the hydrostatic swing pump for control of the pressure output by the pump;
• and
• a controller configured to:
• monitor and process signals received from sensors and operator input, wherein the signals received from the sensors are indicative of machine position and pose, and inertia mass of swing components and a payload being moved by the swing mechanism of the machine;
• control at least one of an offset amount for desired pump displacement by the hydrostatic swing pump or an offset amount for pump output pressure from the hydrostatic swing pump based on at least one of an amount of slope on which the machine is operating or the inertia mass of the swing components and payload;
• and
• progressively disengage a braking system of the machine while simultaneously controlling at least one of the offset amount for desired pump displacement by the hydrostatic swing pump or the offset amount for pump output pressure from the hydrostatic swing pump.