Controlling boom of work machine
AssigneePonsse Oyj
InventorTatu Kailavaara
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Abstract
In the disclosed solution, a boom assembly of a work machine is controlled by tip control. In tip control, a control command is given to a tip of a boom assembly, converted into control commands for individual actuators of the boom assembly. In the disclosed solution, a variable related to a load and its position at the tip of the boom assembly is defined, and the variable in question related to the load and its position at the tip of the boom assembly is taken into account in the control command for the actuator.
Claims16
A method for controlling a boom of a work machine by tip control, the method comprising:
- issuing a boom control command to a tip of the boom,
- converting the boom control command of the tip of the boom into actuator control commands for individual actuators of the boom, and
- determining a variable related to a load and its position at the tip of the boom,
- wherein the converting of the boom control command into the actuator control commands comprises forming a speed request for each of the actuators, the actuator control commands for the individual actuators being magnitudes for speed control signals of each respective actuator, wherein the magnitude of the speed control signal for each respective actuator depends on the speed request of the respective actuator and the variable in order to maintain a desired speed for the respective actuator.
A control system configured to control a boom of a work machine by tip control, the control system including:
- a controller configured to enable control of a tip of the boom,
- sensors configured to determine a variable related to a load and its position at the tip of the boom, and
- a processor configured to convert a boom control command, given by the controller, into actuator control commands for individual actuators of the boom,
- wherein the converting of the boom control command into the actuator control commands comprises forming a speed request for each of the individual actuators, the actuator control commands for the individual actuators being magnitudes for speed control signals for each respective actuator, wherein the magnitude of the speed control signal for each respective actuator is dependent on the speed request of the respective actuator and the variable in order to maintain a desired speed for the respective actuator.
Dependencies are inferred from the claim text.