CN102829008B - 施行基于速率的正馈控制的提升系统 - Google Patents

施行基于速率的正馈控制的提升系统 Download PDF

Info

Publication number
CN102829008B
CN102829008B CN201210206584.9A CN201210206584A CN102829008B CN 102829008 B CN102829008 B CN 102829008B CN 201210206584 A CN201210206584 A CN 201210206584A CN 102829008 B CN102829008 B CN 102829008B
Authority
CN
China
Prior art keywords
work tool
controller
expectation
tilt
valve
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201210206584.9A
Other languages
English (en)
Chinese (zh)
Other versions
CN102829008A (zh
Inventor
A·R·沙特斯
S·C·巴德
J·T·雷迪
R·E·斯通
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Caterpillar Inc
Original Assignee
Caterpillar Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Caterpillar Inc filed Critical Caterpillar Inc
Publication of CN102829008A publication Critical patent/CN102829008A/zh
Application granted granted Critical
Publication of CN102829008B publication Critical patent/CN102829008B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/436—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like for keeping the dipper in the horizontal position, e.g. self-levelling
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/30575—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve in a Wheatstone Bridge arrangement (also half bridges)
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)
CN201210206584.9A 2011-06-16 2012-06-18 施行基于速率的正馈控制的提升系统 Active CN102829008B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US13/162,280 2011-06-16
US13/162,280 US8340875B1 (en) 2011-06-16 2011-06-16 Lift system implementing velocity-based feedforward control

Publications (2)

Publication Number Publication Date
CN102829008A CN102829008A (zh) 2012-12-19
CN102829008B true CN102829008B (zh) 2016-12-21

Family

ID=46298192

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201210206584.9A Active CN102829008B (zh) 2011-06-16 2012-06-18 施行基于速率的正馈控制的提升系统

Country Status (4)

Country Link
US (1) US8340875B1 (enExample)
EP (1) EP2535464A3 (enExample)
JP (1) JP5814190B2 (enExample)
CN (1) CN102829008B (enExample)

Families Citing this family (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102341549A (zh) * 2009-03-06 2012-02-01 株式会社小松制作所 建筑机械、建筑机械的控制方法及使计算机执行该方法的程序
JP5037561B2 (ja) * 2009-05-13 2012-09-26 株式会社小松製作所 作業車両
US8726647B2 (en) * 2011-02-28 2014-05-20 Caterpillar Inc. Hydraulic control system having cylinder stall strategy
US8886415B2 (en) * 2011-06-16 2014-11-11 Caterpillar Inc. System implementing parallel lift for range of angles
JP6088508B2 (ja) * 2012-06-08 2017-03-01 住友重機械工業株式会社 ショベルの制御方法及び制御装置
AT14197U1 (de) * 2013-08-02 2015-05-15 Palfinger Ag Arbeitskorb
US20150112553A1 (en) * 2013-10-22 2015-04-23 Ronald E. Wagner Method and apparatus for determining actual and potential failure of hydraulic lifts
US9435101B2 (en) * 2014-04-24 2016-09-06 Topcon Positioning Systems, Inc. Semi-automatic control of a joystick for dozer blade control
JP6309817B2 (ja) * 2014-05-14 2018-04-11 株式会社Kcm 作業車両
US10017912B2 (en) 2014-10-21 2018-07-10 Cnh Industrial America Llc Work vehicle with improved loader/implement position control and return-to-position functionality
US9765499B2 (en) * 2014-10-22 2017-09-19 Caterpillar Inc. Boom assist management feature
DE102014119033B4 (de) * 2014-12-18 2025-01-30 Linde Material Handling Gmbh Flurförderzeug mit einer Arbeitshydraulik
US9863120B2 (en) 2015-04-29 2018-01-09 Caterpillar Inc. System and method for controlling a machine implement
EP3289142B1 (en) * 2015-04-29 2023-04-05 Clark Equipment Company System and method for positioning a lift arm on a power machine
US10597846B2 (en) * 2015-04-29 2020-03-24 Clark Equipment Compmany System and method for positioning a lift arm on a power machine
US9598837B2 (en) * 2015-07-02 2017-03-21 Caterpillar Inc. Excavation system providing automated stall correction
US9796571B2 (en) 2015-08-06 2017-10-24 Cnh Industrial America Llc Work vehicle with improved implement position control and self-leveling functionality
CA3097540C (en) * 2018-04-20 2023-10-24 Clark Equipment Company System and method for positioning a lift arm on a power machine
JP7266371B2 (ja) * 2018-06-29 2023-04-28 株式会社小松製作所 作業機械、および作業機械を含むシステム
JP7107771B2 (ja) 2018-06-29 2022-07-27 株式会社小松製作所 作業機械、および作業機械を含むシステム
JP7266372B2 (ja) 2018-06-29 2023-04-28 株式会社小松製作所 作業機械、および作業機械を含むシステム
FI129250B (en) * 2018-07-12 2021-10-15 Novatron Oy Control system for controlling the machine tool
US10662590B1 (en) * 2019-01-08 2020-05-26 Caterpillar Paving Products Inc. Control system and method for controlling operation of an edge forming tool of a compactor
US20200217047A1 (en) * 2019-01-08 2020-07-09 Deere & Company System and method to determine mechanical wear in a machine having actuators
US20210025140A1 (en) * 2019-07-22 2021-01-28 Danfoss Power Solutions Inc. Automatic tool tilt command system
WO2021061938A1 (en) * 2019-09-24 2021-04-01 Clark Equipment Company System and methods for cycle time management
US11248362B2 (en) 2019-10-31 2022-02-15 Deere & Company Closed loop feedback circle drive systems for motor graders
DE102020110187A1 (de) * 2020-04-14 2021-10-14 Danfoss Power Solutions Inc. Verbesserte Hydraulikvorrichtung
JP2022111710A (ja) * 2021-01-20 2022-08-01 日立建機株式会社 作業用車両
US11821169B2 (en) 2021-01-29 2023-11-21 Cnh Industrial America Llc System and method for controlling implement orientation of a work vehicle based on a modified error value
US11549236B1 (en) 2021-06-16 2023-01-10 Cnh Industrial America Llc Work vehicle with improved bi-directional self-leveling functionality and related systems and methods
JP7346647B1 (ja) * 2022-03-31 2023-09-19 日立建機株式会社 作業機械
IT202200018717A1 (it) * 2022-09-13 2024-03-13 Cnh Ind Italia Spa Sollevatore telescopico migliorato e relativo metodo di controllo
US20250109574A1 (en) * 2023-09-29 2025-04-03 Caterpillar Inc. Auto-level and down-force control in a work machine having articulating arms

Family Cites Families (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5552437A (en) * 1978-10-06 1980-04-16 Komatsu Ltd Working instrument controller
JPS5681741A (en) * 1979-12-07 1981-07-04 Hitachi Constr Mach Co Ltd Locus controlling device of working tool such as oil pressure shovel
JPS56119039A (en) * 1980-02-20 1981-09-18 Mitsubishi Heavy Ind Ltd Bucket control method for power shovel
JPH0649630Y2 (ja) * 1987-03-05 1994-12-14 株式会社小松製作所 旋回掘削機のバケツト制御装置
JPS63236827A (ja) * 1987-03-23 1988-10-03 Kobe Steel Ltd 掘削機の制御装置
JPH0745743B2 (ja) * 1987-07-06 1995-05-17 株式会社神戸製鋼所 油圧ショベルの直線掘削制御装置
JP2918720B2 (ja) * 1991-09-09 1999-07-12 株式会社タダノ 移動式クレ−ンにおけるジブ起伏角一定制御装置
KR950001445A (ko) * 1993-06-30 1995-01-03 경주현 굴삭기의 스윙, 붐의 속도비 유지방법
JP2566745B2 (ja) * 1994-04-29 1996-12-25 三星重工業株式会社 電子制御油圧掘削機の自動平坦作業方法
JPH08151657A (ja) * 1994-11-29 1996-06-11 Shin Caterpillar Mitsubishi Ltd 油圧ショベルのバケット角制御方法
KR100231757B1 (ko) * 1996-02-21 1999-11-15 사쿠마 하지메 건설기계의 작업기 제어방법 및 그 장치
CN1077187C (zh) * 1996-12-12 2002-01-02 新卡特彼勒三菱株式会社 用于建工机械的控制装置
JPH10245866A (ja) * 1997-03-06 1998-09-14 Kubota Corp ショベル装置
JPH10317417A (ja) * 1997-05-19 1998-12-02 Hitachi Constr Mach Co Ltd 多関節作業機械の姿勢制御装置
US6115660A (en) * 1997-11-26 2000-09-05 Case Corporation Electronic coordinated control for a two-axis work implement
US6233511B1 (en) * 1997-11-26 2001-05-15 Case Corporation Electronic control for a two-axis work implement
US6185493B1 (en) * 1999-03-12 2001-02-06 Caterpillar Inc. Method and apparatus for controlling an implement of a work machine
JP2000303492A (ja) * 1999-04-23 2000-10-31 Hitachi Constr Mach Co Ltd 建設機械のフロント制御装置
JP4215944B2 (ja) * 2000-12-04 2009-01-28 日立建機株式会社 油圧ショベルのフロント制御装置
US6609315B1 (en) * 2002-10-31 2003-08-26 Deere & Company Automatic backhoe tool orientation control
US6763619B2 (en) * 2002-10-31 2004-07-20 Deere & Company Automatic loader bucket orientation control
US7093383B2 (en) * 2004-03-26 2006-08-22 Husco International Inc. Automatic hydraulic load leveling system for a work vehicle
US7555855B2 (en) * 2005-03-31 2009-07-07 Caterpillar Inc. Automatic digging and loading system for a work machine
US7562554B2 (en) * 2006-08-31 2009-07-21 Caterpillar Inc. Method for calibrating independent metering valves
US7748147B2 (en) * 2007-04-30 2010-07-06 Deere & Company Automated control of boom or attachment for work vehicle to a present position
US7797860B2 (en) * 2007-04-30 2010-09-21 Deere & Company Automated control of boom or attachment for work vehicle to a preset position
US20080295681A1 (en) * 2007-05-31 2008-12-04 Caterpillar Inc. Hydraulic system having an external pressure compensator
US20100254793A1 (en) * 2007-06-15 2010-10-07 Boris Trifunovic Electronic Anti-Spill
US7530185B2 (en) 2007-06-22 2009-05-12 Deere & Company Electronic parallel lift and return to carry on a backhoe loader
JP5048068B2 (ja) * 2007-08-09 2012-10-17 株式会社小松製作所 作業車両及び作業車両の作動油量制御方法
US7949449B2 (en) * 2007-12-19 2011-05-24 Caterpillar Inc. Constant work tool angle control
JP5037561B2 (ja) * 2009-05-13 2012-09-26 株式会社小松製作所 作業車両

Also Published As

Publication number Publication date
CN102829008A (zh) 2012-12-19
EP2535464A3 (en) 2014-10-22
JP5814190B2 (ja) 2015-11-17
EP2535464A2 (en) 2012-12-19
US8340875B1 (en) 2012-12-25
US20120323451A1 (en) 2012-12-20
JP2013002634A (ja) 2013-01-07

Similar Documents

Publication Publication Date Title
CN102829008B (zh) 施行基于速率的正馈控制的提升系统
CN102829007B (zh) 针对角度范围施行平行提升的系统
CN101253334B (zh) 独立计量阀控制系统和方法
JP5026055B2 (ja) 複数アクチュエータの圧力に基づく流れ制御システム
JP6001569B2 (ja) ポンプトルク制限を実施する油圧制御システム
EP2910795B1 (en) Work machine
US8387378B2 (en) Hydraulic system having automated ride control activation
US8899143B2 (en) Hydraulic control system having variable pressure relief
JP5283503B2 (ja) Ｉｍｖ走行制御装置を有する油圧システム
WO2008133835A1 (en) Anti-stall system utilizing implement pilot relief
US10914328B2 (en) Work machine
WO2009099529A2 (en) Tool control system
CN108138460A (zh) 工程机械
WO2012166223A2 (en) Hydraulic control system having cylinder flow correction
US20130299266A1 (en) Hydraulic Ride Control System with Manual Mode Safeguard
US20140166362A1 (en) Implement Pose Control System and Method
JP2013534485A (ja) 油圧システムに動力を供給するためのシステムおよび方法
US9249555B2 (en) Hydraulic system having fixable multi-actuator relationship
US20140032057A1 (en) Feedforward control system
US7729833B2 (en) Implement control system based on input position and velocity
US8997479B2 (en) Hydraulic control system having energy recovery

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant