EP3719219A1 - Steuerverfahren zum betätigen einer kombinierten bewegung mindestens eines auslegers und/oder eines arbeitsgerätes in einem arbeitsfahrzeug, entsprechendes steuersystem und arbeitsfahrzeug mit einem solchen steuersystem - Google Patents

Steuerverfahren zum betätigen einer kombinierten bewegung mindestens eines auslegers und/oder eines arbeitsgerätes in einem arbeitsfahrzeug, entsprechendes steuersystem und arbeitsfahrzeug mit einem solchen steuersystem Download PDF

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Publication number
EP3719219A1
EP3719219A1 EP20168286.1A EP20168286A EP3719219A1 EP 3719219 A1 EP3719219 A1 EP 3719219A1 EP 20168286 A EP20168286 A EP 20168286A EP 3719219 A1 EP3719219 A1 EP 3719219A1
Authority
EP
European Patent Office
Prior art keywords
boom
implement
joystick
actuating
solenoid 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.)
Granted
Application number
EP20168286.1A
Other languages
English (en)
French (fr)
Other versions
EP3719219B1 (de
Inventor
Adriano GARRAMONE
Andrea Gravili
Stefano Liberti
Antonio Venezia
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.)
CNH Industrial Italia SpA
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CNH Industrial Italia SpA
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Publication date
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Publication of EP3719219A1 publication Critical patent/EP3719219A1/de
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Publication of EP3719219B1 publication Critical patent/EP3719219B1/de
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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
    • E02F3/434—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig

Definitions

  • the present invention relates generally to a work vehicle, such as for example a compact wheel loader, and particularly to a control method of actuating a combined movement of a boom and an implement connected to the boom in a work vehicle, and to a corresponding control system.
  • Motorized work vehicles are well known for use in material handling that carry an implement and have a hydraulically operated lifting arm for moving the implement. Examples of such vehicles are tractors and loaders.
  • a loader is a heavy equipment machine used in construction to move aside on the ground or load materials such as asphalt, demolition debris, dirt, snow, feed, gravel, logs, raw minerals, recycled material, rock, sand, woodchips, etc. into or onto another type of machinery (such as a dump truck, conveyor belt, feed-hopper, or railroad car).
  • loader which, depending on design and application, are called by various names, including bucket loader, front loader, front-end loader, payloader, scoop, shovel, skip loader, wheel loader, or skid-steer.
  • compact wheel loaders are compact vehicles that have road wheels and carry a working implement, such as a bucket, attached to a lift arm or boom, that is hydraulically powered.
  • a work vehicle 1 such as a compact wheel loader
  • the invention is not limited to such a kind of work vehicle, but is applicable to any other kind of work vehicle.
  • a compact wheel loader includes a bucket 2 connected to a frame 3 of the work vehicle for movement relative thereto. As shown, a pair of booms 5 (only one being shown) is each pivotally connected at one end on opposite sides of frame 3. The bucket 2 is pivotally connected at the opposite end of booms for tilting movement relative to the frame 3 about a generally horizontal axis.
  • the above-described features form no substantial part of the present invention and are generally well known in the art.
  • a bucket may be replaced in operation by any other implement or attachment.
  • the movement of the boom 5 and of the bucket 2 is controlled by the user through a joystick 7 placed inside an operator's cab or cabin 9 of the work vehicle 1.
  • FIG 2 which shows a control diagram of the work vehicle 1
  • the boom 3 and the bucket 2 are moved by an hydraulic control circuit 10 comprising a first and a second hydraulic actuators 12, 14 which are controlled by an electronic control unit 16 through respective solenoid valves 18, 20 according to the position of the joystick 7 controlled by the user.
  • Load-sensing valves allow a pressure compensation so that downstream channels take proportional allocation of flow depending on the load.
  • the flow rate at a predetermined opening degree is not dependent upon the load downstream each valve and is not dependent upon the pump inlet flow.
  • load-sensing valves with flow sharing also prevent the working fluid from taking the path of least resistance.
  • this solution is very expensive.
  • open centre directional solenoid valves are less expensive than load-sensing valves.
  • each hydraulic actuator comprises an hydraulic cylinder operatively connected respectively to the boom and the implement, that uses hydraulic power of a working fluid to facilitate mechanical operation, the working fluid being controlled by means of open centre directional solenoid valves 18, 20.
  • a hydraulic actuator can exert a large force.
  • the rate of actuation of the boom and implement is controlled by the opening degree of the respective open centre directional solenoid valve 18, 20 by means of a driving current thereof as a function of the position of the joystick.
  • the hydraulic flow rate of the working fluid required to operate the boom and the implement is produced by a hydraulic fixed displacement pump P connected to a fluid reservoir T and driven by an internal combustion engine or an electrical motor M (hereinafter simply referred to as motor) of the vehicle, e.g. by a mechanical linkage.
  • motor an electrical motor M
  • the same motor is also used to drive the wheels as a propulsion means of the work vehicle. Therefore, the rate of movement of the boom and the implement at a predetermined joystick position is dependent upon the motor rotational speed. For instance, when the motor is working at a high rotational speed, it is necessary a minimum movement of the joystick by the user to start the movement of the boom and/or the implement. On the contrary, when the motor is working at a low rotational speed, or at idle, it is necessary a large movement of the joystick by the user to start the movement of the boom and/or the bucket.
  • Figure 3 shows an exemplary joystick of a work vehicle.
  • a movement of the joystick in an associated bi-dimensional control area A according to a first direction y causes the actuation of the boom and a movement of the joystick in said bi-dimensional control area A according to a second direction x causes the actuation of the implement.
  • the intersection of said x and y directions is defined as origin O of the control area A, and corresponds to the neutral position of the joystick.
  • a neutral region N around the neutral position of the joystick is a region where the boom and implement are not actuated.
  • a region externally surrounding the neutral region is defined a driving region and indicated D in this figure.
  • the implement when the joystick is moved up from the origin O of the control area A according to the y direction the boom is lowered with respect to ground and when the joystick is moved down from the origin O according to the y direction the boom is lifted towards ground.
  • the implement e.g. a bucket
  • the implement when the joystick is moved right from the origin O according to the x direction the implement, e.g. a bucket, is tilted towards a dumping position
  • the implement e.g. the bucket, is tilted towards a dig position and beyond.
  • a combination of movement in both directions x and y of the joystick is allowed in order to move simultaneously the boom and the bucket.
  • the flow rate at a predetermined opening degree is dependent upon the force driving the pump, the number of valves supplied by the pump and the load downstream each valve.
  • loads such as the boom and the implement, e.g. the bucket
  • the pumped working fluid would take the path of least resistance, i.e. flow mainly to the hydraulic actuator of the smallest load, resulting in the system typically activating the implement.
  • the user can activate either the boom - with a specific joystick movement - or the bucket - due to the behaviour of the hydraulic system, irrespectively of the joystick position.
  • the aim of the present invention is to provide a solution that avoids the drawbacks of the prior art.
  • an aim of the present invention is to improve the controllability of a boom and an implement in a work vehicle, specifically in applications where the simultaneous movement of the boom and the implement (and possibly of any further attachment) is required.
  • this aim is achieved by a control method for actuating a combined movement of a boom and an implement in a work vehicle, having the features claimed in claim 1.
  • control system for actuating a combined movement of a boom and an implement in a work vehicle, as well as a work vehicle, as claimed.
  • an actuation strategy of a boom and an implement of a work vehicle is disclosed according to which, based on information about the joystick position - that can be retrieved as an electronic signal provided by a position sensor associated with the joystick - and about the current rotational speed of the motor - that can be retrieved as an electronic signal provided on a CAN network of the vehicle - actuation is controlled by recognizing if the user is requesting simultaneous actuation of the boom and the implement (and possibly any other auxiliary attachment) and, in the affirmative, by reducing the driving current of the open centre directional solenoid valve of the hydraulic actuating means associated with the implement (and possibly of any other hydraulic actuating means associated with an auxiliary attachment), depending on the actuation request of the boom and the motor rotational speed.
  • actuation of the boom 5 and the implement 2 occurs by means of joystick 7 controlled by a user, whose movement in the control area A according to direction y causes the actuation of the boom 5 by first hydraulic actuating means 12 and whose movement in the control area A according to direction x causes the actuation of the implement 2 by second hydraulic actuating means 14.
  • Each hydraulic actuating means 12, 14 include an hydraulic cylinder operatively connected respectively to the boom 5 and the implement 2, and a respective first and second open centre directional solenoid valve 18, 20 whose opening degree is adapted to control the flow of a working fluid to the respective hydraulic cylinder.
  • the rate of actuation of the boom 5 is controlled by the opening degree of the first open centre directional solenoid valve 18 by means of the driving current thereof as a function of a first component of the position P of the joystick 7 along direction y in the control area A.
  • the rate of actuation of the implement 2 is controlled by the opening degree of the second open centre directional solenoid valve 20 by means of the driving current thereof as a function of a second component of the position P of the joystick 7 along direction x in the control area A.
  • the first component of the position P of the joystick 7 along direction y is indicated y P in figure 3 and is the projection over y axis of a vector representing the position P of the joystick in the control area A.
  • the second component of the position P of the joystick 7 along direction x is indicated x P in figure 3 and is the projection over x axis of the vector representing the position P of the joystick in the control area A.
  • the electronic control unit 16 has first input means adapted to receive at least a signal S J indicative of a position of the joystick in the control area as well as second input means adapted to receive at least a signal S E indicative of the rotational speed of the motor M, and output means adapted to issue at least a signal S DC indicative of the respective driving currents intended to control an opening degree of the open centre directional solenoid valve 18, 20.
  • the electronic control unit has also memory means (not shown) storing a predetermined reference model of a correction factor, indicative of a nominal relation between the actuation command of the boom, the hydraulic flow rate of the working fluid, and a correction factor for the actuation of the implement.
  • said reference model is an analytical relationship between, or a map of numerical values in a bijective correspondence of, the component Y P of the position of the joystick along y direction - corresponding to the actuation command of the boom, the rotational speed of the motor - corresponding to the hydraulic flow rate of the working fluid, and a correction factor for the driving current of the open centre directional solenoid valve 20 for actuation of the implement.
  • the electronic control unit 16 is configured to acquire the signal S J indicative of the current position of the joystick 7 in the control area A, particularly a position in a driving region D of the control area A external to the neutral region N.
  • the electronic control unit is also configured to acquire the signal S E indicative of the rotational speed of the motor M.
  • the electronic control unit When the electronic control unit receives the signal S J indicative of the current joystick position, the first component Y P of the position P of the joystick 7 along direction y and the second component X P of the position P of the joystick 7 along direction x are acquired or determined, and a respective nominal driving current for controlling the opening degree of the first and second open centre directional solenoid valves 18, 20 is determined.
  • the electronic control unit applies the nominal driving current to the open centre directional solenoid valve 20 of the implement. Otherwise, if a boom actuation is present, i.e. the electronic control unit detects that the joystick position has a component along direction y, the electronic control unit applies a correction factor to the nominal driving current intended to the open centre directional solenoid valve 20 of the implement according to the stored predetermined reference model, based on the current rotational speed of the motor acquired through the signal S E , so as to calculate an actual driving current to be applied to said open centre directional solenoid valve, which is included in signal S DC .
  • the corrector factor is a reduction factor, i.e. a coefficient comprised between 0 and 1.
  • a plurality of reference models indicative of a nominal relation between the actuation command of the boom, the hydraulic flow rate of the working fluid, and a correction factor for the actuation of the implement may be considered, depending upon different control modes of the work vehicle that may be provided by the manufacturer, such as a "smooth” mode, a “moderate” mode, an "aggressive” mode.
  • the electronic control unit is configured to select the corresponding reference model.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Manipulator (AREA)
  • Feeding Of Workpieces (AREA)
EP20168286.1A 2019-04-05 2020-04-06 Steuerverfahren zum betätigen einer kombinierten bewegung mindestens eines auslegers und eines arbeitsgerätes in einem arbeitsfahrzeug, entsprechendes steuersystem und arbeitsfahrzeug mit einem solchen steuersystem Active EP3719219B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102019000005234A IT201900005234A1 (it) 2019-04-05 2019-04-05 Procedimento di controllo per l'attuazione di un movimento combinato di un braccio ed un attrezzo in una macchina operatrice, sistema di controllo corrispondente e macchina operatrice comprendente tale sistema di controllo

Publications (2)

Publication Number Publication Date
EP3719219A1 true EP3719219A1 (de) 2020-10-07
EP3719219B1 EP3719219B1 (de) 2023-02-15

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EP20168286.1A Active EP3719219B1 (de) 2019-04-05 2020-04-06 Steuerverfahren zum betätigen einer kombinierten bewegung mindestens eines auslegers und eines arbeitsgerätes in einem arbeitsfahrzeug, entsprechendes steuersystem und arbeitsfahrzeug mit einem solchen steuersystem

Country Status (2)

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EP (1) EP3719219B1 (de)
IT (1) IT201900005234A1 (de)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140283508A1 (en) * 2012-01-11 2014-09-25 Hitachi Construction Machinery Co., Ltd. Drive system for hydraulic closed circuit
US20150322647A1 (en) * 2006-01-18 2015-11-12 Board Of Regents Of The Nevada System Of Higher Education, On Behalf Of The University Of Nevada, Coordinated joint motion control system with position error correction
JP2016125282A (ja) * 2015-01-06 2016-07-11 住友重機械工業株式会社 建設機械

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150322647A1 (en) * 2006-01-18 2015-11-12 Board Of Regents Of The Nevada System Of Higher Education, On Behalf Of The University Of Nevada, Coordinated joint motion control system with position error correction
US20140283508A1 (en) * 2012-01-11 2014-09-25 Hitachi Construction Machinery Co., Ltd. Drive system for hydraulic closed circuit
JP2016125282A (ja) * 2015-01-06 2016-07-11 住友重機械工業株式会社 建設機械

Also Published As

Publication number Publication date
EP3719219B1 (de) 2023-02-15
IT201900005234A1 (it) 2020-10-05

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