| 摘要 |
<p>The invention relates to a method and apparatus as well as to a computer program for adjusting the operation of a hydraulically operated boom, the boom (1) comprising at least two mutually movably coupled boom parts (1a, 1 b), which are coupled to move with respect to one another by means of a hydraulic actuator (5a - 5b, 7a - 7b), control means (13, 14) for controlling the hydraulic actuators, a detector (15) for detecting the position between the boom parts (1a, 1 b), whereby for adjusting the operation of the boom (1) it is possible to configure a movement-specific adjustment parameter of the joint controller in the control means (13, 14) for each particular movement. In the invention the mutual movement of the boom parts (1a, 1b) is controlled with respect to a predetermined position, on both sides thereof, between the boom parts (1 a, 1 b), the actual position and motional speed values obtained from the detector (15) in response to the control signal are compared with the theoretical position and motional speed values, and the adjustment parameter of the joint controller is adjusted on the basis of the difference between the values.</p> |
