Control system for an articulated arm of an agricultural or work vehicle
AssigneeCNH Industrial Italia S.p.A.
InventorsSantolo Antonio Casillo, Fabio Dalla Rovere, Alessio Aresta, Antonio Venezia
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Abstract
A method of controlling an articulated arm of an agricultural or work vehicle is disclosed. The arm includes a first segment hinged to a vehicle frame and a second segment hinged to the first segment. The method includes detecting a current position of at least one of the segments and progressively reducing an actuation speed of the same segment as it approaches a respective end-of-travel position.
Claims7
A method for controlling an articulated arm of an agricultural or work vehicle, wherein the arm comprises at least a first segment hinged to a vehicle frame and a second segment hinged to the first segment, the method comprising:
- detecting a current position of at least one of the segments;
- and
- progressively reducing an actuation speed of the same segment as it approaches a respective settable limit position, close to or coinciding with an end-of-travel position.
6-10. (canceled)
A work vehicle, comprising:
- an articulated arm comprising:
- a first segment hinged to a vehicle frame;
- and
- a second segment hinged to the first segment;
- and
- a control unit in communication with the articulated arm and configured to:
- detect a current position of at least one of the segments, wherein the at least one segment is actuated by a hydraulic actuator powered by a respective electro-hydraulic directional valve;
- and
- progressively reduce an actuation speed of the at least one segment as it approaches a respective end-of-travel position by controlling a supply current of the directional valve using the formula Ilim ham [mA]:
- I
- lim
- =
- I
- 0
- +
- (
- I
- max
- -
- I
- 0
- )
-
- (
- θ
- -
- θ
- Target
- Δθ
- )
- ,
- wherein
-
- Δ
-
- θ
- =
- v
- max
- 2
- -
- v
- min
- 2
- 2
-
- a
-
- or
-
- Δθ
- =
- θ
- .
- max
- 2
- -
- θ
- .
- min
- 2
- 2
-
- θ
- ¨
- ,
- and
- wherein
- Imax [mA] representing a maximum current value that corresponds to a maximum stroke of the valve shutter;
- I0 [mA] representing a minimum current value that allows said corresponding segment to move;
- v
- max
-
- or
-
- θ
- ˙
- max
- [
- deg
- s
- ]
- representative of the maximum speed value assumed by the actuator stem or of the corresponding angular speed of the segment around the respective constraint hinge;
- v
- min
-
- or
-
- θ
- ˙
- min
- [
- deg
- s
- ]
- representative of the minimum speed value assumed by the actuator stem or of the corresponding angular speed of the segment around the respective constraint hinge in proximity to the settable limit position, close to or coinciding with the end-of-travel position;
- a
-
- or
-
- θ
- ¨
- [
- deg
- s
- 2
- ]
- representative of a linear or angular deceleration constant to be imposed on the segment in proximity to the settable limit position,
- θ [deg] representative of a current angular position of the segment with respect to a reference or home position, and
- θTarget [deg] representative of said limit position reached when the linear or angular velocity is equal to said minimum value vmin or {dot over (θ)}min and the valve supply current is equal to the said minimum value I0 [mA].
Dependencies are inferred from the claim text.