Control of a boom construction and a tool articulated thereto

摘要

A working apparatus comprises a working machine, a tool, a boom construction, and a control system. A first end of the boom construction is connected to the working machine. The tool is connected to an opposite second end of the boom construction. The boom construction comprises a first boom and a first actuator controlling the first boom, a second boom articulated to the first boom and a second actuator controlling the second boom, and a third actuator controlling the position of the tool. The control system has a link mode, a parallel mode, and a tool-levelling mode.

主权项

1. A work machine, comprising:
a structure, a tool, a boom construction comprising a first end and an opposite second end, the first end connected to the structure by a first articulation, the tool connected to the second end by a second articulation, the boom construction comprising a first boom and a first actuator configured to control the first boom, a second boom connected to the first boom by a third articulation and a second actuator configured to control the second boom, and a third actuator configured to control the position of the tool, a first device configured for giving a first set point a second device configured for giving a second set point or a third set point, and a control system for controlling the boom construction and tool, wherein the control system is configured to selectively control simultaneously the first actuator with the first set point and the second actuator with the second set point in a link mode so as to control the first and second actuators in a manner independent of one another or to control simultaneously the first and second actuators with the first set point and the third set point in a parallel mode for a parallel movement of the second end of the boom construction, wherein the control system is configured to control the third actuator in a tool-levelling mode that targets positioning the tool in a constant attitude during movement of the second end of the boom construction by using a variable dependent on the first and second set points when controlling the first and second actuators in the link mode and by using the variable dependent on the first and third set points when controlling the first and second actuators in the parallel mode.