Control for hydraulically operated construction machine having multiple tandem articulated members
First Claim
1. A method of controlling a hydraulically operated construction machine having a plurality of tandem articulated members in a manner which moves said tandem articulated members in a particular pattern wherein movement of a first one of said tandem articulated members is controlled in response to movement of a second one of said tandem articulated members, including:
- determining anticipated future movement of said second one of said tandem articulated members; and
controlling said first one of said tandem articulated members as a function at least of said anticipated future movement of said second one of said tandem articulated members;
wherein said determining anticipated future movement includes measuring actual time delay between movement of said first and second ones of said tandem articulated members.
1 Assignment
0 Petitions
Accused Products
Abstract
An apparatus and method for controlling a hydraulically operated construction machine having a plurality of tandem articulated members which move in a particular pattern, wherein movement of one of the articulated members is controlled in response to movement of a second one of the articulated members. Anticipated future movement of the second articulated member is determined and the first articulated member is controlled as a function at least of the anticipated future movement of the second articulated member. Anticipated future movement is determined by measuring actual delay between movement of the first and second articulated members. Operation of the articulated members is a function of operation of an actuator and a selectable command level.
89 Citations
29 Claims
-
1. A method of controlling a hydraulically operated construction machine having a plurality of tandem articulated members in a manner which moves said tandem articulated members in a particular pattern wherein movement of a first one of said tandem articulated members is controlled in response to movement of a second one of said tandem articulated members, including:
-
determining anticipated future movement of said second one of said tandem articulated members; and controlling said first one of said tandem articulated members as a function at least of said anticipated future movement of said second one of said tandem articulated members; wherein said determining anticipated future movement includes measuring actual time delay between movement of said first and second ones of said tandem articulated members. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. 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 particular pattern wherein movement of a first one of said members is controlled in response to movement of a second one of said tandem articulated members, including:
-
providing an actuator operable by an operator for controlling movement of one of said tandem articulated members; providing a motion-producing system which moves said one of said tandem articulated members in response to operation of said actuator; receiving a user input selection of a command level; and operating said motion-producing system as a function of operation of said actuator and a value of said command level selected, wherein said second one of said tandem articulated members is responsive to operation of said actuator in a manner which is determined at least in part by the selected value of said command level. - View Dependent Claims (9, 10, 11, 12)
-
-
13. A hydraulically operated construction machine having a body, a plurality of tandem articulated members extending from said body, a hydraulic drive system for moving said members with respect to each other subject to a system delay, and a control for said hydraulic drive system which moves said tandem articulated members in a particular pattern, wherein movement of a first one of said tandem articulated members is controlled in response to movement of a second one of said tandem articulated members, comprising:
-
position encoders on said first and second ones of said tandem articulated members, said position encoders monitoring the positions of said first and second ones of said tandem articulated members; and a control computer that is programmed to control movement of the first one of said tandem articulated members in response to movement of the second one of said tandem articulated members and to determine system delay by monitoring said position encoders to determine differences in first movements of said first and second ones of said tandem articulated members. - View Dependent Claims (14, 19, 20, 21)
-
-
15. A hydraulically operated construction machine having a body, a plurality of tandem articulated members extending from said body, a hydraulic drive system for moving said tandem articulated members with respect to each other up to a maximum speed capacity, and a control for said hydraulic drive system which moves said tandem articulated members in a particular pattern, wherein movement of a first one of said tandem articulated members is controlled in response to movement of a second one of said tandem articulated members, comprising:
-
a control computer that is programmed to control movement of the first one of said tandem articulated members in response to movement of the second one of said tandem articulated members; and an actuator operable by an operator for providing an input to said computer for controlling movement of said second one of said tandem articulated members, wherein said actuator operates a valve which produces a hydraulic signal proportional to an amount of actuation of the actuator, the computer is programmed to adjust said hydraulic signal as a function of a command code entered by the operator and wherein said second one of said tandem articulated members is operated as a function of said adjusted hydraulic signal, wherein said computer limits the rate of movement of said second one of said tandem articulated members below the maximum speed capability of said second one of said tandem articulated members to move. - View Dependent Claims (16, 17, 18)
-
-
22. A hydraulically operated construction machine having a body, a plurality of tandem articulated members extending from said body, a hydraulic drive system for moving said tandem articulated members with respect to each other subject to a system delay, and a control for said hydraulic drive system which moves said members in a particular pattern, wherein movement of a first one of said tandem articulated members is controlled in response to movement of a second one of said tandem articulated members, comprising:
-
position encoders on said first and second ones of said tandem articulated members, said position encoders monitoring positions of said first and second ones of said tandem articulated members; and a control computer that is programmed to control movement of the first one of said tandem articulated members in response to movement of the second one of said tandem articulated members; an actuator operable by an operator for controlling movement of said second one of said tandem articulated members, wherein said actuator produces a hydraulic signal proportional to an amount of actuation of the actuator, the computer is programmed to adjust said signal as a function of a command code entered by an operator and wherein said second one of said tandem articulated members is operated as a function of said adjusted signal. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29)
-
Specification