# US 8,751,117 B2 · Method for controlling a movement of a vehicle component > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,751,117 B2 - Document ID: US8751117B2 - Status: Granted - Kind: B2 - Application number: 13/932,279 - Filed: 2013-07-01 - Published: 2013-11-07 - Granted: 2014-06-10 - Earliest claimed: 2013-07-01 - Assignees: Volvo Construction Equipment AB - Applicants: Volvo Construction Equipment AB - Inventors: Andreas Ekvall; Bo Vigholm - Web page: https://patentgrep.com/patent/US8751117B2 ## CPC - E02F 9/2029: {Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed (control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence)} - F15B 21/087: {Control strategy, e.g. with block diagram} - F15B 2211/6336: representing a state of the output member, e.g. position, speed or acceleration - F15B 2211/6656: Closed loop control, i.e. control using feedback - F15B 2211/755: Control of acceleration or deceleration of the output member - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) - F15B: SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR ## Abstract A method is provided for controlling movement of a first vehicle component relative to a second vehicle component, including the steps of determining a deceleration rate of the first vehicle component in order to achieve a predetermined final speed at a final position, determining a starting position for initiating the deceleration on the basis of the predetermined final speed, the final position and the determined deceleration rate and controlling deceleration of the component from the starting position to the final position according to the determined acceleration rate. ## Claims ### Claim 1 A method for controlling a movement of a first vehicle component relative to a connected second vehicle component, comprising determining, using a control unit, an acceleration rate of the first vehicle component relative to the second vehicle component required in order to achieve, relative to a starting speed at a starting position of the first vehicle component relative to the second vehicle component, an increased, predetermined final speed at a final position of the first vehicle component relative to the second vehicle component, and controlling acceleration of the first vehicle component relative to the second vehicle component from the starting position to the final position according to the determined acceleration rate. ### Claim 2 (depends on 1) A method according to claim 1, comprising determining a starting position for initiating the acceleration. ### Claim 3 (depends on 1) A method according to claim 1, detecting a vehicle operation parameter before initiating the acceleration and determining the acceleration rate based on the detected vehicle operation parameter. ### Claim 4 (depends on 1) A method according to claim 1, detecting a speed of the first vehicle component relative to the second vehicle component before initiating the acceleration and determining the acceleration rate also based on the detected first vehicle component speed. ### Claim 5 (depends on 1) A method according to claim 1, comprising detecting a load and calculating the acceleration rate as a function of the detected load. ### Claim 6 (depends on 5) A method according to claim 5, comprising detecting a pressure in a vehicle hydraulic system, wherein the hydraulic system is adapted to move the first vehicle component relative to the second vehicle component and the detected hydraulic pressure represents the load. ### Claim 7 (depends on 5) A method according to claim 5 wherein the acceleration rate has an inverse relationship to the detected load. ### Claim 8 (depends on 1) A method according to claim 1, wherein the final speed at the final position is substantially larger than an initial speed at the starting position. ### Claim 9 (depends on 1) A method according to claim 1, wherein the initial speed at the starting position is zero or close to zero. ### Claim 10 (depends on 1) A method according to claim 1, comprising determining an accepted force level on the second vehicle component and determining a magnitude of the acceleration based on the determined accepted force. ### Claim 11 (depends on 10) A method according to claim 10, comprising detecting an operation parameter and determining the accepted force on the second vehicle component based on the detected operation parameter. ### Claim 12 (depends on 11) A method according to claim 11, wherein the operation parameter represents a position of the work implement. ### Claim 13 (depends on 11) A method according to claim 11, wherein the operation parameter represents a load. ### Claim 14 (depends on 1) A method according to claim 1, wherein the magnitude of the acceleration is determined such that a force on the second vehicle component from said acceleration movement is substantially the same regardless of the magnitude of any load exerted on the first vehicle component and the magnitude of the relative speed of the first vehicle component before initiation of the acceleration. ### Claim 15 A method for controlling movement of a first vehicle component relative to a connected second vehicle component, comprising determining, using a control unit, an accepted force level on the second vehicle component, the accepted force being a force resulting from an acceleration movement of the first vehicle component relative to the second vehicle component, determining a magnitude of an acceleration rate of the first vehicle component relative to the second vehicle component such that the accepted force level on the first vehicle component is not exceeded, and controlling acceleration of the first vehicle component relative to the second vehicle component according to the determined acceleration. ### Claim 16 (depends on 15) A method according to claim 15, wherein the determined accepted force level on the second vehicle component from said acceleration movement is substantially the same regardless of a magnitude of any load exerted on the first vehicle component and a magnitude of any speed of the first vehicle component relative to the second vehicle component before initiation of the acceleration. ### Claim 17 (depends on 15) A method according to claim 15, wherein the first vehicle component is adapted to perform movement along an angular path with regard to the second vehicle component. ### Claim 18 (depends on 15) A method according to claim 15, wherein the first vehicle component constitutes a work implement. ### Claim 19 (depends on 18) A method according to claim 18, wherein the work implement is tiltably arranged on the boom and the controlled movement constitutes a tilting motion of the work implement. ### Claim 20 (depends on 15) A method according to claim 15, wherein the vehicle comprises a boom, which is movably arranged relative to the second vehicle component, and the controlled movement constitutes a lifting or lowering motion of the boom. ### Claim 21 (depends on 15) A method according to claim 15, wherein the first vehicle component comprises a forward vehicle frame and the second vehicle component comprises a rear vehicle frame, wherein frame-steering of the vehicle is controlled. ### Claim 22 (depends on 15) A method according to claim 15, wherein the movement of the first vehicle component relative to the second vehicle component is hydraulically controlled. ### Claim 23 (depends on 15) A method according to claim 15, wherein the second vehicle component is constituted by a vehicle frame.