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    • 2. 发明公开
    • MOTION CONTROL OF WORK VEHICLE
    • BEWEGUNGSSTEUERUNG EINES ARBEITSFAHRZEUGS
    • EP2349903A1
    • 2011-08-03
    • EP09740812.4
    • 2009-10-16
    • Eaton Corporation
    • YUAN, QingHuiLEW, Jae, Y.PIYABONGKARN, Damrongrit
    • B66C13/06B66C13/08B66C23/70B66F11/04B66F17/00
    • B66F11/046B66C13/063B66C13/066B66C13/085B66C23/705B66F17/006
    • A method for controlling a boom assembly (20) includes providing a boom assembly having an end effector (38). The boom assembly includes an actuator (22, 34) in fluid communication with a flow control valve. A desired coordinate of the end effector of the boom assembly is converted from Cartesian space to actuator space. A deflection error of the end effector based on a measured displacement of the actuator is calculated. A resultant desired coordinate of the end effector is calculated based on the desired coordinate and the deflection error. A control signal for the flow control valve is generated based on the resultant desired coordinate and the measured displacement of the actuator. The control signal is shaped to reduce vibration of the boom assembly. The shaped control signal is transmitted to the flow control valve.
    • 一种用于控制起重臂组件(20)的方法,包括提供具有端部执行器(38)的起重臂组件。 动臂组件包括与流量控制阀流体连通的致动器(22,34)。 动臂组件的末端执行器的期望坐标从笛卡尔空间转换到致动器空间。 计算末端执行器基于所测量的致动器位移的偏转误差。 基于期望的坐标和偏转误差来计算末端执行器的合成所需坐标。 基于所得到的所需坐标和所测量的致动器的位移产生用于流量控制阀的控制信号。 控制信号被成形为减小吊杆组件的振动。 成形控制信号被传送到流量控制阀。