# US 2013/0158814 A1 · Hydraulic system having speed-based command boosting > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2013/0158814 A1 - Document ID: US20130158814A1 - Status: Published application - Kind: A1 - Application number: 13/328,753 - Filed: 2011-12-16 - Published: 2013-06-20 - Earliest claimed: 2011-12-16 - Inventors: R. Ryan EVENSON - Web page: https://patentgrep.com/patent/US20130158814A1 ## CPC - E02F 9/2296: {Systems with a variable displacement pump} - E02F 3/844: {for positioning the blade, e.g. hydraulically} - E02F 9/2235: {including an electronic controller} - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) ## Abstract A hydraulic system for a mobile machine is disclosed. The hydraulic system may have a work tool, a hydraulic actuator configured to move the work tool, and at least one control valve configured to regulate fluid flow to the hydraulic actuator. The hydraulic system may also have a controller in communication with the at least one control valve. The controller may be configured to determine a travel speed of the mobile machine, and determine an error between a desired position of the work tool and an actual position of the work tool. The controller may also be configured to determine a command for the at least one control valve based on the error, and selectively modify the command based on the travel speed of the mobile machine. ## Claims ### Claim 1 A hydraulic system for a mobile machine, comprising: a work tool; a hydraulic actuator configured to move the work tool; at least one control valve configured to regulate fluid flow to the hydraulic actuator; and a controller in communication with the at least one control valve, the controller being configured to: determine a travel speed of the mobile machine; determine an error between a desired position of the work tool and an actual position of the work tool; determine a command for the at least one control valve based on the error; and selectively modify the command based on the travel speed of the mobile machine, wherein selectively modifying the command results in the work tool moving to the desired position faster at higher travel speeds. ### Claim 2 (depends on 1) The hydraulic system of claim 1, further including a travel speed sensor configured to generate a signal indicative of the travel speed of the mobile machine and direct the signal to the controller, wherein the controller is configured to determine the travel speed of the mobile machine based on the signal. ### Claim 3 (depends on 1) The hydraulic system of claim 1, further including a positioning system configured to detect the actual position of the work tool and generate a signal indicative of the actual position directed to the controller. ### Claim 4 (depends on 3) The hydraulic system of claim 3, wherein the positioning system is one of a global positioning system and a local laser positioning system. ### Claim 5 (depends on 4) The hydraulic system of claim 4, wherein: the controller is configured to increase the command by a first amount when the actual position of the work tool is detected by the global positioning system; and the controller is configured to increase the command by a second amount greater than the first amount when the actual position of the work tool is detected by the local laser positioning system. ### Claim 6 (depends on 5) The hydraulic system of claim 5, wherein: the command is increased during only a first portion of movement of the at least one control valve when the actual position of the work tool is detected by the global positioning system; and the command is increased during a second larger portion of movement of the at least one control valve when the actual position of the work tool is detected by the local laser positioning system. ### Claim 7 (depends on 1) The hydraulic system of claim 1, wherein: the controller is configured to increase the command by a first amount when the command will result in lowering of the work tool toward a work surface; and the controller is configured to increase the command by a second amount greater than the first amount when the command will result in raising of the work tool away from the work surface. ### Claim 8 (depends on 1) The hydraulic system of claim 1, wherein: the controller is configured to increase the command for only a first portion of movement of the at least one control valve when the command will result in lowering of the work tool toward a work surface; and the controller is configured to increase the command for a second portion greater than the first portion of movement of the at least one control valve when the command will result in raising of the work tool away from the work surface. ### Claim 9 (depends on 1) The hydraulic system of claim 1, wherein the controller includes stored in memory a map relating the travel speed of the mobile machine to the modification in the command. ### Claim 10 (depends on 9) The hydraulic system of claim 9, wherein the modification in the command is substantially proportional and linear relative to the travel speed of the mobile machine. ### Claim 11 (depends on 10) The hydraulic system of claim 10, wherein the modification is about zero until the travel speed of the mobile machine increases beyond a low-speed threshold. ### Claim 12 (depends on 11) The hydraulic system of claim 11, wherein the modification is maintained at a maximum value after the travel speed of the mobile machine increases beyond a high-speed threshold. ### Claim 13 A method of controlling a work tool on a mobile machine, comprising: determining a travel speed of the mobile machine; determining an error between a desired position of the work tool and an actual position of the work tool; determining a command for at least one control valve associated with a hydraulic actuator of the work tool based on the error; and selectively modifying the command based on the travel speed of the mobile machine, wherein selectively modifying the command results in the work tool moving to the desired position faster at higher travel speeds. ### Claim 14 (depends on 13) The method of claim 13, further including detecting the actual position of the work tool with one of a global positioning system and a local laser positioning system. ### Claim 15 (depends on 14) The method of claim 14, wherein modifying the command includes: increasing the command by a first amount when the actual position of the work tool is detected by the global positioning system; and increasing the command by a second amount greater than the first amount when the actual position of the work tool is detected by the local laser positioning system. ### Claim 16 (depends on 15) The method of claim 15, wherein modifying the command includes: increasing the command during only a first portion of movement of the at least one control valve when the actual position of the work tool is detected by the global positioning system; and increasing the command during a second larger portion of movement of the at least one control valve when the actual position of the work tool is detected by the local laser positioning system. ### Claim 17 (depends on 13) The method of claim 13, wherein modifying the command includes: increasing the command by a first amount when the command will result in lowering of the work tool toward a work surface; and increasing the command by a second amount greater than the first amount when the command will result in raising of the work tool away from the work surface. ### Claim 18 (depends on 13) The method of claim 13, wherein modifying the command includes: increasing the command for only a first portion of movement of the at least one control valve when the command will result in lowering of the work tool toward a work surface; and increasing the command for a second portion greater than the first portion of movement of the at least one control valve when the command will result in raising of the work tool away from the work surface. ### Claim 19 (depends on 13) The method of claim 13, wherein: modifying the command includes referencing an electronic map relating the travel speed of the mobile machine to the modification in the command; and the modification in the command is substantially proportional and linear relative to the travel speed of the mobile machine. ### Claim 20 A mobile machine, comprising: a body; an engine supported by the body; at least one traction device configured to support the body and driven by the engine to propel the mobile machine; a speed sensor configured to generate a signal indicative of a travel speed of the mobile machine; a work tool operatively connected to the body; a hydraulic cylinder connected to move the work tool; at least one control valve configured to regulate flows of fluid into and out of the hydraulic cylinder; a positioning system configured to detect an actual position of the work tool; and a controller in communication with the speed sensor, the at least one control valve, and the positioning system, the controller being configured to: determine the travel speed of the mobile machine based on the signal generated by the speed sensor; determine an error between a desired position of the work tool and the actual position of the work tool; determine a command for the at least one control valve based on the error; and selectively increase the command based on the travel speed of the mobile machine and a map stored in memory relating the travel speed of the mobile machine to the increase in the command, wherein: selectively increasing the command results in the work tool moving to the desired position faster at higher travel speeds; the command is increased by a first amount and during only a first portion of movement of the at least one control valve when the positioning system is a global positioning system; and the command is increased by a second amount greater than the first amount and during a second larger portion of movement of the at least one control valve when the positioning system is a local laser positioning system. ### Claim 21 A hydraulic system for a mobile machine, comprising: a work tool; a hydraulic actuator configured to move the work tool; at least one control valve configured to regulate fluid flow to the hydraulic actuator; and a controller in communication with the at least one control valve, the controller being configured to: determine a travel speed of the mobile machine; determine an error between a desired position of the work tool and an actual position of the work tool; and determine a command for the at least one control valve based on the error and on the travel speed of the mobile machine, wherein the command moves the work tool to the desired position faster at higher travel speeds.