METHOD AND APPARATUS FOR CONTROLLING A WORK IMPLEMENT

摘要

A controller for a work implement, such as the arm of a backhoe, a feller buncher, an excavator or the like provides a number of advantages over previous controllers and control methods. The controller responds to an operator's inputs to a joystick control such that the work implement moves parallel to the direction in which the joystick is deflected at a speed which is proportional to the amount of deflection of the joystick. The controller uses the joystick position to generate a path and attempts to cause the work implement to move along the path. The controller computes a maximum available speed in the direction of motion specified by the joystick and is self calibrated so that full deflection of the joystick selects the maximum available speed. The controller has a self-calibration mode which compensates for variability in the motion produced by the various actuators in response to given control signals. In a hydraulically operated machine the self-calibration feature involves measuring actual fluid flow rates by measuring changes in the position of actuators and comparing the measured and actual flow rates to yield an error sample. The controller allows the maximum speeds of various parts of a controlled machine to be limited.