Mining machine and method for controlling movement of a movable element of a mining machine

A mining machine comprising:

• a movable element;
• a hydraulic valve arranged to affect a movement of said movable element;
• a feedback mechanism configured to provide a feedback relative to movement of the movable element;
• and
• a controller configured to control operation of the hydraulic valve, said controller being configured to:
• receive an input representative of a desired movement of said movable element;
• obtain a control value for the hydraulic valve based on a stored relation between control values for the hydraulic valve and a parameter representative of the movement of the movable element, using a parameter value corresponding to the desired movement;
• operate the hydraulic valve with a control signal using the obtained control value;
• obtain, from the feedback mechanism, a feedback relative to the movement of the movable element resulting from operating said hydraulic valve with said control signal;
• determining a correction value based on said desired movement and said feedback;
• and
• update at least a part of said relation based on said correction value.

A storage medium comprising instructions for a controller to control operation of a hydraulic valve of a mining machine, wherein said instructions comprise:

• receiving an input representative of a desired movement of a movable element of said mining machine;
• obtaining a control value for the hydraulic valve based on a stored relation between control values for the hydraulic valve and a parameter representative of the movement of the movable element, using a parameter value corresponding to the desired movement;
• operating the hydraulic valve with a control signal using the obtained control value;
• obtaining, from a feedback mechanism, a feedback relative to the movement of the movable element resulting from operating said hydraulic valve with said control signal;
• determining a correction value based on said desired movement and said feedback;
• and
• updating said relation based on said correction value.