Control for hydraulically operated construction machine having multiple tandem articulated members

A method of controlling a hydraulically operated construction machine, having a plurality of tandem articulated members, in a manner which moves said members in a predetermined pattern, wherein movement of a first one of said members is controlled in response to movement of a second one of said members, including:

• determining anticipated future movement of said second member;
• and
• controlling said first member as a function at least of said anticipated future movement of said second member;
• wherein said anticipated future movement of said second member is a function at least of present position and velocity of said second member and system delay in movement of said second member.

A method of controlling a hydraulically operated construction machine, having a plurality of tandem articulated members, in a manner which moves said members in a predetermined pattern, wherein movement of a first one of said members is controlled in response to movement of a second one of said members, including:

• determining anticipated future movement of said second member, wherein said second member is controlled by an operator control lever and wherein said determining anticipated future movement of said second member includes monitoring actuation of said control lever;
• and
• controlling said first member as a function at least of said anticipated future movement of said second member;
• wherein said controlling includes initiating movement of said second member after a predetermined delay in response to actuation of said control lever.

A method of controlling a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an operator lever for operating the hydraulic cylinder of one of said boom and arm, the hydraulic cylinder of the other of said boom and arm being automatically controlled in response to movement of said one of said boom and arm, including:

• determining anticipated future movement of said one of said boom and arm;
• and
• controlling said hydraulic cylinder of said other of said boom and arm at least in part with an electronic control as a function at least of said anticipated future movement, wherein the operator lever is coupled with a manual hydraulic control valve that manually operates the hydraulic cylinder of said one of said boom and arm and wherein said determining anticipated future movement of said one of said boom and arm includes monitoring actuation of said control lever in order to provide an input to said electronic control.

A method of controlling a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an operator lever for operating the hydraulic cylinder of one of said boom and arm, the hydraulic cylinder of the other of said boom and arm being automatically controlled in response to movement of said one of said boom and arm, including:

• determining anticipated future movement of said one of said boom and arm;
• and
• controlling said hydraulic cylinder of said other of said boom and arm as a function at least of said anticipated future movement;
• wherein said anticipated future movement of said one of said boom and arm is a function at least of the present position and velocity of said one of said boom and arm and system delay in movement of said one of said boom and arm.

A method of controlling a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an operator lever for operating the hydraulic cylinder of one of said boom and arm, the hydraulic cylinder of the other of said boom and arm being automatically controlled in response to movement of said one of said boom and arm, including:

• determining anticipated future movement of said one of said boom and arm;
• controlling said hydraulic cylinder of said other of said boom and arm as a function at least of said anticipated future movement of said one of said boom and arm;
• and
• determining anticipated future movement of said bucket and wherein said controlling is further a function of said anticipated future movement of said bucket, wherein said anticipated future movement of said bucket is a function at least of the present position and velocity of said bucket and system delay in movement of said bucket.

A method of controlling a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an operator lever for operating the hydraulic cylinder of one of said boom and arm, the hydraulic cylinder of the other of said boom and arm being automatically controlled in response to movement of said one of said boom and arm, including:

• determining anticipated future movement of said one of said boom and arm;
• and
• controlling said hydraulic cylinder of said other of said boom and arm as a function at least of said anticipated future movement;
• wherein said controlling includes limiting movement of said cutting edge below a given velocity.

A method of controlling a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an operator lever for operating the hydraulic cylinder of said arm, the hydraulic cylinder of said boom being automatically controlled in response to movement of said arm, including:

• receiving a user input selection of a desired cutting depth;
• monitoring movement of said bucket, said arm, and said boom;
• determining an anticipated boom target position for said boom as a function of the selected desired cutting depth and the position, velocity, and system delay of each of said bucket and said arm;
• and
• controlling said boom to move in the direction of said anticipated boom target position.

A hydraulic excavator control for a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an arm operator lever for operating the hydraulic cylinder of said arm and a bucket operating lever for operating the hydraulic cylinder of the bucket, the hydraulic cylinder of said boom being automatically controlled in response to movement of said arm and bucket, comprising:

• position encoders for monitoring the positions of said boom, arm, and bucket;
• a manual hydraulic valve directly coupled with said lever in order to manually operate the hydraulic cylinder of the arm;
• a control lever monitor for actuation of said arm control lever;
• and
• a control computer programmed to be responsive to said encoders and said monitor in order to develop commands to operate said boom as a function of the position of said arm and bucket and actuation of said arm control lever.

A hydraulic excavator control for a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an arm operator lever for operating the hydraulic cylinder of said arm and a bucket operating lever for operating the hydraulic cylinder of the bucket, the hydraulic cylinder of said boom being automatically controlled in response to movement of said arm and bucket, comprising:

• position encoders for monitoring the positions of said boom, arm, and bucket;
• a control lever monitor for actuation of said arm control lever;
• and
• a control computer programmed to be responsive to said encoders and said monitor in order to develop commands to operate said boom as a function of the position of said arm and bucket and actuation of said arm control lever;
• wherein said hydraulic control system includes a primary operating system including pilot-operated valves for supplying high pressure fluid to said cylinders and a pilot system including said arm operating lever for supplying low pressure fluid to said pilot-operated valves, and wherein said monitor is a hydraulic pressure sensor connectable with said pilot system at said control lever.