Method, apparatus and computer program for adjusting hydraulically operated boom

An apparatus for adjusting the operation of a hydraulically operated boom, the boom comprising at least two mutually movably coupled boom parts, which are coupled movably to rotate about an axis with respect to one another or to move in linear movement by means of a hydraulic actuator, control means for controlling the hydraulic actuators, a detector for detecting the movement and position between the boom parts, each movement being controlled by a joint controller included in the control means and for adjusting the operation of the boom operable to configure a movement-specific adjustment parameter of the joint controller in the control means for each particular movement,

• wherein the apparatus is configurable to control the mutual movement of boom parts in relation to a predetermined position between the boom parts, on both sides thereof, with a symmetrical control signal, that the control means include means for comparing the actual position and motional speed values obtained from the detector in response to the control signal with the theoretical position and motional speed values determined on the basis of the control signal, and means for adjusting an adjustment parameter of a joint controller provided in the control means on the basis of the differences between the values, until the difference between the actual position and motional speed values obtained from the detector and the theoretical position and motional speed values determined on the basis of the control signal is of desired magnitude.

A non-transitory computer-readable medium comprising:

• a computer program for controlling a processing unit residing on an apparatus performing adjustment of the operation of a hydraulically operated boom, the boom comprising at least two mutually movably coupled boom parts, which are coupled movably to rotate about an axis with respect to one another or to move in linear movement by means of a hydraulic actuator, the apparatus comprising control means for controlling the hydraulic actuators, a detector for detecting the movement and position between the boom parts, each movement being controlled by a joint controller included in the control means and for adjusting the operation of the boom operable to configure a movement-specific adjustment parameter of the joint controller in the control means for each particular movement,
• wherein the computer program comprises instructions for execution by the processing unit, wherein the instructions comprise steps for:
• adjusting the operation of the boom,
• controlling the mutual movement of boom parts in relation to a predetermined position between boom parts, on both sides thereof, with a symmetrical control signal,
• comparing the actual position and motional speed values obtained from the detector in response to the control signal with the theoretical position and motional speed values determined on the basis of the control signal, and
• adjusting an adjustment parameter of a joint controller on the basis of the differences between the values, until the difference between the actual position and motional speed values obtained from the detector and the theoretical position and motional speed values determined on the basis of the control signal is of desired magnitude.