Method for operating work vehicle according to maximum permissible swing speed

Abstract

A method of operating a work vehicle (10) is provided. The work vehicle (10) comprises a swing device (11) rotatable about a swing axis (33), where the swing device (11) comprises an arm structure (14) comprising a boom (16) and an arm (17). The method comprises determining a speed profile (101) of a maximum permissible swing speed of the swing device (11) about the swing axis (33) by: determining a maximum initial swing speed; determining a maximum safe swing speed for stopping the rotation of the swing device (11) within a predetermined maximum angular stop displacement starting from a safe time and / or displacement; and determining a deceleration slope (103) of the maximum permissible swing speed. The deceleration ramp (103) is used to reduce the maximum initial swing speed to the maximum safe swing speed before the safe time and / or displacement. The method further comprises limiting, by a control system (50), a maximum operating swing speed of the swing device (11) to the speed profile (101).

Description

Technical Field

[0001] The present disclosure relates to a method for operating a work vehicle according to a maximum allowable swing speed, a controller configured to perform such a method, and a work vehicle configured to operate according to such a method. Background Art

[0002] Work vehicles or machines such as excavators or backhoe loaders have various degrees of freedom. One such degree of freedom is swing, which refers to the rotation of the body relative to its undercarriage, or the rotation of the arm structure relative to the body. Various characteristics affect the swing characteristics, including the swing speed and swing acceleration of the work vehicle. For example, the position of its components (e.g., the position of the arm structure and / or the tool) can change the moment of inertia. This can affect the rate at which the swing speed can be increased or decreased. Additionally, the configuration of the work vehicle (e.g., the type of tool attached) may affect the moment of inertia and thus the rate at which the swing speed can be increased or decreased.

[0003] Importantly, the swing speed can be reduced to zero within a certain distance or time to allow the operator to quickly stop the swing, for example when an obstacle or danger within a safe distance is detected.

[0004] In addition to this general requirement, European regulation EN 474 also requires that work vehicles, particularly excavators, must be able to perform a 180-degree swing with 100% control input and then subsequently stop within a predetermined distance. This requirement previously mandated that this be achieved through the most common configurations of the work vehicle. European regulation EN 474 has been updated to require that work vehicles must be able to stop within a safe distance in each available configuration. Summary of the Invention

[0005] An object of the present disclosure may be to provide a method for limiting the maximum operating swing speed of a work vehicle to allow the work vehicle to reduce its swing speed to zero within a safe distance. Another object is to ensure that such a method operates on different authorized configurations of the work vehicle. Additionally, another object is to ensure that such a method does not overly reduce the swing speed of the work vehicle. If the swing speed is overly reduced, the operator may notice this during single-function and some multi-function operations.

[0006] The present disclosure generally relates to limiting the maximum operating swing speed of a swing device (e.g., the body of an excavator) of a work vehicle such that it can stop within a safe distance and / or angle after performing a predetermined swing. The control system is configured to limit the swing speed to a speed curve, where the speed curve is initially at a high value and then decreases to a safe speed approaching the end of the predetermined swing. The safe speed can be a value low enough to ensure that the swing device can stop within a safe distance. The speed curve can vary over time or with respect to the angle of rotation measured from the start of the swing.

[0007] The present disclosure provides a method of operating a work vehicle, the work vehicle including a swing device rotatable about a swing axis, wherein the swing device includes an arm structure, the arm structure including a boom and a stick. The method includes determining a speed curve of a maximum allowable swing speed of the swing device rotating about the swing axis by the following steps: determining a maximum initial swing speed; determining a maximum safe swing speed for stopping rotation of the swing device within a predetermined maximum angular stop displacement starting from a safety time and / or displacement; and determining a deceleration ramp of the maximum allowable swing speed. The deceleration ramp is for reducing the maximum initial swing speed to the maximum safe swing speed before the safety time and / or displacement. The method further includes limiting a maximum operating swing speed of the swing device by a control system to the speed curve.

[0008] There is also provided a controller for controlling a work vehicle, the work vehicle including a swing device rotatable about a swing axis, wherein the swing device includes an arm structure, the arm structure including a boom and a stick. The controller is configured to limit a maximum operating swing speed of the swing device to a speed curve of a maximum allowable swing speed of the swing device rotating about the swing axis. The speed curve includes: a maximum initial swing speed; a maximum safe swing speed for stopping rotation of the swing device within a predetermined maximum angular stop displacement starting from a safety time and / or displacement; and a deceleration ramp of the maximum allowable swing speed. The deceleration ramp is for reducing the maximum initial swing speed to the maximum safe swing speed before the safety time and / or displacement.

[0009] There is also provided a work vehicle including: a swing device rotatable about a swing axis, wherein the swing device includes an arm structure, the arm structure including a boom and a stick; and a control system including the above controller.

[0010] By way of example only, embodiments in accordance with the present disclosure will now be described with reference to the drawings and as shown in the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a side elevational view of an embodiment of the system of the present disclosure;

[0012] Figure 2 is Figure 1 a top elevational view of the system of;

[0013] Figure 3 is Figure 1 a schematic diagram of the control system of the system of;

[0014] Figure 4Ais a graph showing the maximum speed curve with respect to angular displacement change according to the present disclosure;

[0015] Figure 4B is a graph showing the maximum speed curve over time according to the present disclosure;

[0016] Figure 5A is a graph showing the corresponding maximum, high-inertia configuration, and low-inertia configuration speed curves according to an embodiment of the present disclosure; and

[0017] Figure 5B is a graph showing the corresponding maximum, high-inertia configuration, and low-inertia configuration speed curves according to another embodiment of the present disclosure. Detailed Description

[0018] The following description only provides (a) preferred exemplary embodiment(s), and is not intended to limit the scope, applicability, or configuration of the present invention. On the contrary, the following description of (a) preferred exemplary embodiment(s) will provide those skilled in the art with an enabling description for implementing the preferred exemplary embodiment(s) of the present invention. It should be understood that various changes can be made to the functions and arrangements of elements (including combinations of features from different embodiments) without departing from the scope of the present invention. Specific details are given in the following description to provide a thorough understanding of the embodiments. However, those of ordinary skill in the art will understand that the embodiments can be practiced without these specific details. For example, well-known circuits, processes, algorithms, structures, and techniques can be shown without unnecessary details to avoid obscuring the embodiments.

[0019] In addition, it should be noted that an embodiment can be described as a process depicted as a flowchart, flow diagram, data flow diagram, structure diagram, or block diagram. Although a flowchart may describe operations as a sequential process, many operations can be performed in parallel or simultaneously. Additionally, the order of operations can be rearranged. The process terminates when its operations are completed, but can have additional steps not included in the figure. The process can correspond to a method, function, program, subroutine, subprogram, etc. When the process corresponds to a function, its termination corresponds to the function returning to the calling function or the main function. Furthermore, as disclosed herein, the term "storage medium" can refer to one or more devices for storing data, including read-only memory (ROM), random access memory (RAM), magnetic RAM, core memory, disk storage media, optical storage media, flash devices, and / or other machine-readable media for storing information. The term "computer-readable medium" includes, but is not limited to, portable or fixed storage devices, optical storage devices, wireless channels, and various other media capable of storing, containing, or carrying (a) instruction(s) and / or data.

[0020] In addition, an embodiment can be implemented by hardware, software, firmware, middleware, microcode, a hardware description language, or any combination thereof. When implemented in software, firmware, middleware, or microcode, the program code or code segments for performing the necessary tasks can be stored in a machine-readable medium such as a storage medium. The (multiple) processors can perform the necessary tasks. A code segment can represent any combination of a process, a function, a subroutine, a program, a routine, a subroutine, a module, a software package, a class, or an instruction, a data structure, or a program statement. A code segment can be coupled to another code segment or a hardware circuit by passing and / or receiving information, data, arguments, parameters, or memory contents. Information, arguments, parameters, data, etc. can be passed, forwarded, or transmitted by any suitable means including memory sharing, message passing, token passing, network transmission, etc.

[0021] It should be understood that the following disclosure provides many different embodiments or examples for implementing various features of the embodiments. To simplify the present disclosure, specific examples of components and structures are described below. Of course, these are merely examples and are not intended to be limiting. Additionally, the present disclosure may repeat reference numerals and / or letters in various examples. This repetition is for the purpose of simplicity and clarity and does not in itself indicate a relationship between the various embodiments and / or configurations discussed. Further, forming a first feature above or over a second feature in a subsequent description can include embodiments where the first and second features are formed in direct contact, and can also include embodiments where additional features can be formed between the first and second features such that the first and second features may not be in direct contact.

[0022] Figure 1 An embodiment of a system 9 including a work vehicle 10 (in this case, an excavator) is shown. The work vehicle 10 can be any suitable type of work vehicle 10, including multi-purpose work vehicles such as excavators, backhoes, loaders, bulldozers, scrapers, loggers, harvesters, material handlers, and other such work vehicles. The work vehicle 10 includes a swing device 11 and may include a swing base 13. The swing device 11 includes an arm structure 14. The swing device 11 may include a body 12. The swing base 13 may include a chassis 32 and / or a platform. The chassis 32 may include wheels or tracks 20. The body 12 may include a cab 8 for an operator and a power unit (not shown) therein for providing power to the wheels or tracks 20.

[0023] The swing device 11 can be attached to the swing base 13 via a rotary mount 31. The rotary mount 31 can allow the swing device 11 to rotate relative to the swing base 13. The rotary mount 31 can include a slip ring or a slewing ring. The rotation of the swing device 11 relative to the swing base 13 can be actuated using a swing actuator 30. The swing actuator 30 can include a hydraulic motor or a hydraulic swivel.

[0024] The swing device 11 is rotatable about a swing axis 33. The swing device 11 may be capable of rotating 360 degrees relative to the swing base 13 about the rotary mount 31 and / or the swing axis 33. When the work vehicle 10 is on a horizontal surface, the swing axis 33 may be perpendicular to the swing base 13 and / or may be perpendicular to the horizontal plane or the ground. The swing axis 33 may be the central axis of the rotary mount 31 and may be the axis of rotation of the swing device 11 relative to the swing base 13 at the rotary mount 31.

[0025] The arm structure 14 includes a boom 16 and a stick 17. The boom 16 and the stick 17 may be pivotally attached to each other. The boom 16 may be pivotally attached to the body 12 at a first end of the boom 16. The stick 17 may be pivotally attached to the boom 16 at a second end of the boom 16 and a first end of the stick 17. A tool 15 may be connected to the arm structure 14. The tool 15 may be pivotally attached to the stick 17 at a second end of the stick 17. The arm structure 14 may include at least one hydraulic actuator 18, 19, 21 for controlling its orientation. In particular, the arm structure 14 may include a boom hydraulic actuator 18 for controlling the orientation and movement of the boom 16. The arm structure 14 may include a stick hydraulic actuator 19 for controlling the orientation and movement of the stick 17. The arm structure 14 may include a tool hydraulic actuator 21 for controlling the orientation and movement of the tool 15.

[0026] The tool 15 may be of any suitable type. The tool 15 may be, for example, a bucket as shown in the figure, or may be a grapple, a tilt bucket, a tilt swivel, a hammer, a handling arm, a multi-processor, a shredder, a saw, a shear, a blower, a grinder, a tiller, a trencher, a winch, a auger, a broom, a cutter, a planer, a pruner, a log cutter, a mulcher or a rake. The tool 15 may include a sprinkler head or the like for providing water spray during the operation of the work vehicle 10, for example for dust suppression. The fluid may be pressurized hydraulic fluid, water or the like.

[0027] The work vehicle 10 may be operated in at least one configuration, may be configured in at least one configuration and / or may include at least one configuration. The configuration may refer to one or more of swing device 11 measurement; swing base 13 measurement; boom 16 measurement; stick 17 measurement; body 12 measurement; cab 8 measurement; tool 15 measurement; and / or the type of tool 15. The above measurements may be dimensional measurements and / or weight measurements. Dimensional measurements may be length, width, depth, area and / or volume. Weight measurements may be weight or mass.

[0028] The work vehicle 10 can be operated in multiple configurations having different inertias, can be configured in multiple configurations having different inertias, and / or can include multiple configurations having different inertias, the multiple configurations including a configuration having a maximum moment of inertia. In the maximum inertia configuration, the type of tool 15 can be a tool having a greater mass than other available tools, and / or the arm structure 14 can include components having greater length, weight, and / or mass.

[0029] The work vehicle 10 can be oriented in component positions and / or can include component positions. The component positions can include boom 16 positions; stick 17 positions; and / or tool 15 positions. The position can be defined by component angles. The position can be defined by component cylinder extensions. The component positions can include arm structure 14 positions or linkage positions. Each configuration of the work vehicle 10 can be capable of having multiple different component positions.

[0030] The boom 16 can include a boom axis 35. The boom axis 35 can be an axis parallel to the direction along which the boom 16 extends for most of its length. The stick 17 can include a stick axis 37. The stick axis 37 can be an axis parallel to the direction along which the stick 17 extends for most of its length. The boom angle 39 can be the angle between the boom axis 35 and the swing axis 33. The stick angle 41 can be the angle between the boom axis 35 and the stick axis 37. The boom angle 39 and / or the stick angle 41 can be used to define the component positions. Global angles, where each axis is measured relative to the horizontal plane, can be used to define the component positions.

[0031] The boom, stick, and tool hydraulic actuators 18, 19, 21 can each include a hydraulic cylinder and a piston rod. Hydraulic fluid can be supplied to the actuator to displace the rod relative to the cylinder. The boom hydraulic actuator 18 can include a boom hydraulic piston rod (not shown). The stick hydraulic actuator 19 can include a stick hydraulic piston rod 5. When the stick hydraulic piston rod and / or the stick hydraulic piston rod 5 extends, the component position can change. The extension of the boom hydraulic piston rod and / or the extension of the stick hydraulic piston rod can be used to define the component positions.

[0032] Figure 2 A plan view provides Figure 1 an illustration of the work vehicle 10, where the swing axis 33 is shown as a point. The work vehicle can include a reference travel axis 43. The reference travel axis 43 can be substantially horizontal with respect to the ground 33, be in the same plane as the horizontal plane, and can pass through and / or be perpendicular to the swing axis 33. When the tracks 20 are simultaneously actuated with the same input, the reference travel axis 43 can be parallel to the direction in which the work vehicle travels. When a forward command is given, the reference travel axis 43 can be parallel to the direction in which the work vehicle 10 travels.

[0033] The work vehicle 10 may include a swing device axis 45. The swing device axis 45 may be located in the same plane as the horizontal plane and / or may be located in the same plane as the reference travel axis 43. The swing device axis 45 may be parallel to the extension direction of the arm structure 14 (as Figure 2 shown), and may pass through and / or be perpendicular to the swing axis 33. The swing device axis 45 may be parallel to the direction that the operator faces when sitting in the cab 8.

[0034] The work vehicle 10 may include a swing angle θ. The swing angle θ may be defined as the angle measured between the reference travel axis 43 and the swing device axis 45. When the swing angle θ increases or decreases, the swing device 11 may rotate about the swing axis 33 at a swing speed ω. The swing device 11 may rotate relative to the swing base 13 at a swing speed ω. The swing device 11 may rotate about the swing axis 33 in the swing direction (clockwise or counterclockwise). The swing speed ω may be a swing speed including the swing direction.

[0035] The work vehicle 10 may include a work vehicle fluid circuit (not shown), and fluid may circulate around the work vehicle fluid circuit. The work vehicle 10 may include a controller 51 for automatically or based on an input received from at least one input device 6 ( Figure 1 shown) control the work vehicle fluid circuit. The at least one input device 6 may include one or more of a joystick, a display 57, a touch screen, a button, or any suitable input device. The at least one input device 6 may be used to operate the work vehicle 10. The work vehicle 10 may be operated to change the component positions. The work vehicle fluid circuit may be connected to at least one hydraulic actuator 18, 19, 21. Changing the component positions may include controlling at least one hydraulic actuator 18, 19, 21 for pivoting of the arm structure 14 and the tool 15. The work vehicle 10 may be operated to increase or decrease the swing angle θ. The work vehicle fluid circuit may be connected to a swing actuator 30 and a swing brake 34, and the swing brake is used to control the swing of the swing device 11 relative to the swing base 13.

[0036] The swing speed ω may be controlled and / or affected by the at least one input device 6. When the input to the at least one input device 6 indicates an increase, the swing speed ω may increase. When the input to the input device 6 indicates a decrease, the swing speed ω may decrease. When an input of 100% speed is provided to the at least one input device 6, the swing speed ω may increase toward the maximum operating swing speed of the work vehicle. When an input of 0% speed is provided to the at least one input device, the swing speed ω may decrease toward zero swing speed ω, or the swing speed ω may remain at zero.

[0037] To reduce the swing speed ω, the system 9 can apply the swing brake 34 and / or can stop applying torque by the swing actuator 30. The system 9 can apply the swing brake 34 to the rotary mount 31 and / or the swing actuator 30. The swing brake 34 can apply a braking torque τ in a direction opposite to the swing direction. b . The swing brake 34 can reduce the swing speed ω. The swing brake 34 can reduce the swing speed ω to zero.

[0038] For safety reasons, it may be beneficial for the system 9 to be able to reduce the swing speed ω to zero within a predetermined maximum angular stop displacement θ. s Furthermore, there is a regulation requirement for the system 9 to be able to reduce the swing speed ω to zero within a predetermined maximum angular stop displacement θ. s The predetermined maximum angular stop displacement θ can be a 90-degree angular displacement. It may be required that the system 9 be able to reduce the swing speed ω from the maximum operating swing speed to zero within a predetermined angular displacement. It may be required that the system 9 be able to reduce the swing speed ω from the maximum operating swing speed to zero within a 90-degree angular displacement. It may be required that the system 9 be able to reduce the swing speed ω to zero after performing a safety angular displacement θ. s The safety angular displacement θ can be 180 degrees. The requirement that the system 9 be able to reduce the swing speed ω to zero after performing the safety angular displacement θ ensures that even in a configuration with maximum inertia (which can only reach the maximum operating swing speed at the end of the safety angular displacement θ), it must stop within a predetermined maximum angular stop displacement θ. safety It may be required that the system 9 be able to reduce the swing speed ω to zero within a predetermined maximum angular stop displacement θ regardless of the configuration and / or component positions of the work vehicle 10. Instead of the predetermined maximum angular stop displacement θ, different metrics can be used, such as a predetermined maximum stop time. safety It may be required that the system 9 be able to reduce the swing speed ω to zero within a predetermined maximum angular stop displacement θ regardless of the configuration and / or component positions of the work vehicle 10. Instead of the predetermined maximum angular stop displacement θ, different metrics can be used, such as a predetermined maximum stop time. safety It may be required that the system 9 be able to reduce the swing speed ω to zero within a predetermined maximum angular stop displacement θ regardless of the configuration and / or component positions of the work vehicle 10. Instead of the predetermined maximum angular stop displacement θ, different metrics can be used, such as a predetermined maximum stop time. safety It may be required that the system 9 be able to reduce the swing speed ω to zero within a predetermined maximum angular stop displacement θ regardless of the configuration and / or component positions of the work vehicle 10. Instead of the predetermined maximum angular stop displacement θ, different metrics can be used, such as a predetermined maximum stop time. s It may be required that the system 9 be able to reduce the swing speed ω to zero within a predetermined maximum angular stop displacement θ regardless of the configuration and / or component positions of the work vehicle 10. Instead of the predetermined maximum angular stop displacement θ, different metrics can be used, such as a predetermined maximum stop time. s It may be required that the system 9 be able to reduce the swing speed ω to zero within a predetermined maximum angular stop displacement θ regardless of the configuration and / or component positions of the work vehicle 10. Instead of the predetermined maximum angular stop displacement θ, different metrics can be used, such as a predetermined maximum stop time. s Instead of the predetermined maximum angular stop displacement θ, different metrics can be used, such as a predetermined maximum stop time.

[0039] The swing device 11 includes a moment of inertia J. The moment of inertia J is a physical quantity of the body that represents the body's resistance to changes in angular velocity. The moment of inertia J affects the ability of the system 9 to reduce the swing speed ω to zero within a predetermined maximum angular stop displacement θ. A larger moment of inertia J makes it require a larger angular displacement to reduce the swing speed ω to zero and makes it require a lower swing speed so that the swing speed ω can be reduced to zero within a predetermined maximum angular stop displacement θ. s A larger moment of inertia J makes it require a larger angular displacement to reduce the swing speed ω to zero and makes it require a lower swing speed so that the swing speed ω can be reduced to zero within a predetermined maximum angular stop displacement θ. s A larger moment of inertia J makes it require a larger angular displacement to reduce the swing speed ω to zero and makes it require a lower swing speed so that the swing speed ω can be reduced to zero within a predetermined maximum angular stop displacement θ.

[0040] The moment of inertia J can be related to the braking torque τ and the angular deceleration experienced during braking by the following formula: b and the angular deceleration experienced during braking:

[0041] τ b = Jα

[0042] where α is the angular deceleration and is the rate of change of the swing speed ω.

[0043] The moment of inertia J about the axis can be defined as the sum of products obtained by multiplying the mass of each particle of matter in a given body by the square of its distance from the axis. The moment of inertia J of the swing device 11 can be higher when a tool 15 with a larger mass is attached to the arm structure 14, and can be lower when a tool 15 with a smaller mass is attached to the arm structure 14. The moment of inertia J of the swing device 11 can be higher when the component position is such that the arm structure 14 extends a longer distance from the swing axis 33, and can be lower when the component position is such that the arm structure 14 extends a shorter distance from the swing axis 33. When the work vehicle 10 is in use, the moment of inertia J can change continuously and is thus not a known design parameter of the work vehicle 10.

[0044] The system 9 can include a control system 50, which can be configured to execute the methods of the present disclosure. As Figure 3 shown, the control system 50 can include a controller 51, which can include a memory 53 and a processing unit 55. The memory can store instructions or algorithms in the form of data, and the processing unit can be configured to perform operations based on the instructions. The controller 51 can be of any suitable known type and can include an engine control unit (ECU), etc. The memory 53 can include any suitable computer-accessible or non-transitory storage medium for storing computer program instructions, such as RAM, SDRAM, DDR SDRAM, RDRAM, SRAM, ROM, magnetic media, optical media, etc. The processing unit 55 can include any suitable processor capable of executing the instructions stored in the memory, such as a microprocessor, a single processor, a multi-processor, etc. The controller 51 can also include a graphics processing unit for rendering objects for viewing on a display 57 of the control system 50. The controller 51 can also communicate with at least one work vehicle communication module 59 to transmit data to an external computing system 61 via a wired or wireless network 63 (such as Ethernet, fiber optic, satellite communication network, broadband communication network, cellular, Bluetooth). The external computing system 61 can include a computing system, a processor, a server, a memory, a database, a control system, etc.

[0045] As Figure 3 shown, the system 9 can include at least one system actuator 4. The at least one system actuator 4 can include one or more of the boom, stick, and tool hydraulic actuators 18, 19, 21, the swing actuator 30, and the swing brake 34.

[0046] System 9 may include at least one sensor 7. The at least one sensor 7 may include one or more of a swing angle sensor 71, at least one movement or acceleration sensor 73, at least one component position sensor 75, a boom pressure sensor 77, an inertial measurement unit (IMU), an accelerometer, a gyroscope, a magnetometer, and a pressure sensor. To reduce the complexity of the work vehicle 10, it may be beneficial to reduce the number of necessary sensors. For example, it may be beneficial for the work vehicle 10 not to include the swing angle sensor 71 if possible.

[0047] The controller 51 may be communicatively connected (via a wired or wireless connection) to the power unit, and to any one of at least one system actuator 4 and / or at least one sensor 7 to provide control signals thereto and receive sensor signals therefrom to control the operation of the work vehicle 10. The controller 51 may communicate with the input device 6 to receive inputs and control the work vehicle 10. The input device 6 may communicate with the controller 51 to control the actuation of the swing actuator 30 and / or the swing brake 34 to adjust the swing speed ω and / or the swing angle θ of the swing device 11. The input device 6 may increase or decrease the swing speed ω of the swing device 11 relative to the swing base 13.

[0048] The controller 51 may receive operation state data indicative of at least one operation state of the work vehicle 10 by communicatively coupling with at least one sensor 7 and at least one system actuator 4. The controller 51 may process the received operation state data to determine additional operation state data, and may store the operation state data on the memory 53. The at least one operation state and operation state data may include at least one of the following:

[0049] - The swing angle θ of the work vehicle 10 relative to a reference travel axis 43 (as Figure 2 shown). The control system 50 may include a swing angle sensor 71 for determining the swing angle θ of the work vehicle 10;

[0050] - The swing speed ω of the work vehicle 10. The control system 50 may include at least one movement or acceleration sensor 73 for determining the swing speed ω of the work vehicle 10;

[0051] - The component positions of the work vehicle 10. The control system 50 may include at least one component position sensor 75 for determining the component positions of the work vehicle 10. The at least one component position sensor 75 may be mounted to the swing device 11. The at least one component position sensor 75 may include at least one inertial measurement unit (IMU);

[0052] - The boom position, stick position, and / or tool position of the work vehicle 10. The control system 50 may include at least one component position sensor 75 attached to the boom 16, stick 17, and / or tool 15 for determining the position of the boom 16, stick 17, and / or tool 15 of the work vehicle 10. The at least one component position sensor 75 may include at least one inertial measurement unit (IMU) attached to the boom 16, stick 17, and / or tool 15;

[0053] - The movement and / or acceleration of components of the work vehicle 10. The control system 50 may include at least one movement or acceleration sensor 73 for determining the movement and / or acceleration of components of the work vehicle 10. The at least one movement or acceleration sensor 73 may be mounted to the swing device 11. The at least one movement or acceleration sensor 73 may be at least one accelerometer;

[0054] - Boom movement and / or acceleration; stick movement and / or acceleration; and / or tool movement and / or acceleration. The control system 50 may include at least one movement or acceleration sensor 73 attached to the boom 16, stick 17, and / or tool 15 for determining the movement and / or acceleration of the boom 16, stick 17, and / or tool 15. The at least one movement or acceleration sensor 73 may include at least one accelerometer attached to the boom 16, stick 17, and / or tool 15;

[0055] - The boom and / or stick angle of the work vehicle 10. The control system 50 may include a component position sensor 75, such as an IMU, for determining the boom and / or stick angle of the work vehicle 10;

[0056] - The boom and / or stick hydraulic piston rod extension of the work vehicle 10. The control system 50 may include a component position sensor 75, such as an IMU, for determining the boom and / or stick hydraulic piston rod extension of the work vehicle 10;

[0057] - The boom head pressure of the work vehicle 10. The boom head pressure may indicate the mass of the boom structure 14. The boom head pressure may indicate the moment of inertia J of the swing device 11. The control system 50 may include a boom pressure sensor 77 for determining the boom head pressure of the work vehicle 10, and the boom pressure sensor may be within the boom hydraulic cylinder 18;

[0058] - The configuration of the work vehicle 10. The configuration of the work vehicle 10 may be input by the operator via at least one input device 6; stored on the memory 53; and / or automatically detected using work vehicle sensors;

[0059] - The braking torque τ of the swing brake 34 of the work vehicle 10 b . The braking torque τ bCan be input by the operator via at least one input device 6, stored on the memory 53, and / or estimated based on changes in component movement and / or acceleration when applying the swing brake 34. The braking torque τ applied at any time b Can be based on the input to at least one input device 6. 0% input to at least one input device 6 can result in the maximum braking torque τ b，max Applied by the swing brake 34;

[0060] - The actuation torque τ of the swing actuator 30 of the work vehicle 10 a The actuation torque τ a Can be input by the operator via at least one input device 6, stored on the memory 53, and / or estimated based on changes in component movement and / or acceleration when applying the swing actuator 30. The actuation torque τ a Can be based on the input to at least one input device 6;

[0061] - The maximum operating swing speed of the work vehicle. The maximum operating swing speed of the work vehicle can be determined according to the method of the present disclosure;

[0062] - The maximum allowable swing speed ω of the work vehicle max The maximum allowable swing speed ω of the work vehicle max Can be determined according to the method of the present disclosure;

[0063] - The maximum initial swing speed ω of the work vehicle 10 max，init The maximum initial swing speed ω max,init Can be input by the operator via at least one input device 6 and / or stored on the memory 53. The maximum initial swing speed ω max,init Can be set by safety considerations and / or vehicle limitations;

[0064] - The maximum safe swing speed ω of the work vehicle 10 max，safety The maximum safe swing speed ω max,safety Can be input by the operator via at least one input device 6 and / or stored on the memory 53. The maximum safe swing speed ω max，safety Can be determined according to the method of the present disclosure;

[0065] - The speed curve 101 of the work vehicle 10. The speed curve 101 can be input by the operator via at least one input device 6 and / or stored on the memory 53. The speed curve 101 can be determined according to the method of the present disclosure;

[0066] - The predetermined maximum angular stop displacement θ s The predetermined maximum angular stop displacement θ sIt can be input by the operator via at least one input device 6 and / or stored on the memory 53. The predetermined maximum angular stop displacement θ s can be set by regulatory and / or safety requirements.

[0067] - Safety angular displacement θ safety . The safety angular displacement θ safety can be input by the operator via at least one input device 6 and / or stored on the memory 53. The safety angular displacement θ safety can be set by regulatory and / or safety requirements;

[0068] - Descent start displacement θ ramp . The descent start displacement θ ramp can be input by the operator via at least one input device 6 and / or stored on the memory 53. The descent start displacement θ ramp can be determined according to the method of the present disclosure;

[0069] - The time t measured from the start of the execution of the angular displacement. The time t can be measured by the control system;

[0070] - Safety time t safety . The safety time t safety can be input by the operator via at least one input device 6 and / or stored on the memory 53. The safety time t safety can be determined according to the method of the present disclosure; and

[0071] - Descent start time t ramp . The descent start time t tamp can be input by the operator via at least one input device 6 and / or stored on the memory 53. The descent start time t ramp can be determined according to the method of the present disclosure.

[0072] The operating state data collected by the control system 50 can be transmitted to an external computing system 61 that can execute the method of the present disclosure. Thus, in the present disclosure, the control system 50 can be considered to include the external computing system 61, which can have instructions stored thereon for executing the method disclosed herein in a manner similar to the controller 51.

[0073] The method of operating the work vehicle 10 includes determining a speed curve 101 of the maximum allowable swing speed ω of the swing device 11 rotating about the swing axis 33, and limiting the maximum operating swing speed of the swing device 11 to the speed curve 101 by the control system 50. max and

[0074] Generally, the speed curve 101 indicates the maximum allowable swing speed ω of the swing device 11 at a certain displacement or time max, and the swing device 11 operates at this maximum allowable swing speed ω max or at a speed lower than this maximum allowable swing speed.

[0075] As Figure 4A and 4B shown in, the speed curve 101 includes a maximum initial swing speed ω max，init ; a maximum safe swing speed ω max，safety ; and a deceleration ramp 103 for the maximum allowable swing speed ω max , and is determined by determining the maximum initial swing speed; the maximum safe swing speed; and the deceleration ramp for the maximum allowable swing speed. The maximum safe swing speed ω max，safety is used to stop the rotation of the swing device 11 within a predetermined maximum angular stop displacement θ safety and / or a safe time t safety starting from a safe angular displacement θ s . The deceleration ramp 103 is used to reduce the maximum initial swing speed ∈ safety and / or a safe time t safety to the maximum safe swing speed ω max，init before reaching the safe angular displacement θ max，safety .

[0076] The maximum safe swing speed ω max，safety can be determined in a variety of ways. If the work vehicle 11 can be configured with multiple configurations including a maximum inertia configuration, the maximum safe swing speed ω max，safety can be based on the deceleration rate of the swing device 11 in the maximum inertia configuration and a predetermined maximum angular stop displacement θ s . Given the deceleration rate of the swing device 11 in the maximum inertia configuration, the maximum safe swing speed ω max，safety can be calculated as the swing speed ω at which the swing device 11 will slow down to zero within the predetermined maximum angular stop displacement θ s . The deceleration rate of the swing device 11 in the maximum inertia configuration can be determined by inputting data regarding the maximum inertia configuration into a simulation, computational model, and / or digital twin of the work vehicle 10, and then calculating and / or modeling the deceleration rate of the swing device 11 of the simulation, computational model, and / or digital twin. The deceleration rate of the swing device 11 in the maximum inertia configuration can be calculated based on the moment of inertia of the determined maximum inertia configuration. The deceleration rate can be determined by experimental and / or empirical methods.

[0077] If the work vehicle 11 includes at least one component position sensor 75 mounted to the swing device 11, the maximum safe swing speed ω max，safety can be based on work vehicle component position data from the at least one component position sensor 75. Given the work vehicle component position data, the maximum safe swing speed ωmax，safety It can be determined that the swing device 11 will stop at a predetermined maximum angular displacement θ s with a swing speed ω that slows down to zero within it. The maximum safe swing speed ω can be determined by comparing the component position data and the predetermined maximum angular stop displacement θ s with a look-up table or mapping to find the appropriate maximum safe swing speed ω max，safety to determine the maximum safe swing speed ω max，safety . The look-up table or mapping can be prepared by experimental and / or empirical methods to find the appropriate maximum safe swing speed ω s for a given component position and a predetermined maximum angular stop displacement θ max，safety .

[0078] If the work vehicle 11 includes a boom 16, a boom actuator 18, and at least one boom head pressure sensor 77 mounted to the boom actuator 18, the maximum safe swing speed ω max，safety can be based on the boom head pressure data from at least one boom head pressure sensor 77. Given the boom head pressure data, the maximum safe swing speed ω max，safety can be determined as the swing speed ω at which the swing device 11 will slow down to zero within a predetermined maximum angular stop displacement θ s . The maximum safe swing speed ω can be determined by comparing the boom head pressure data and the predetermined maximum angular stop displacement θ s with a look-up table or mapping to find the appropriate maximum safe swing speed ω max,safety to determine the maximum safe swing speed ω max，safety . The look-up table or mapping can be prepared by experimental and / or empirical methods to find the appropriate maximum safe swing speed ω s for a given boom head pressure and a predetermined maximum angular stop displacement θ max，safety .

[0079] The speed curve 101 can include a speed curve that varies with respect to the angular displacement θ and / or time t as described below.

[0080] As Figure 4A shown, the speed curve 101 can include a maximum allowable swing speed ω that varies with respect to the angular displacement θ measured from the execution angular displacement θ0. max The angular displacement θ can be determined by a swing angle sensor 71. The speed curve 101 can include a safety displacement θ safety , and can include a ramp-down start displacement θ ramp . The deceleration ramp 103 can be between the ramp-down start displacement θ ramp and the safety displacement θ safety to reduce the maximum allowable swing speed ω max from the maximum initial swing speed ω max，init to the maximum safe swing speed ∈max，safety 。

[0081] Slope-down start displacement θ ramp can be based on the maximum initial swing speed ω max，init , the maximum safe swing speed ω max，safety , the deceleration rate of the swing device 11, and the safety displacement θ safety . Given the deceleration rate of the swing device 11, the slope-down start displacement θ ramp can be determined as the maximum possible angular displacement θ at which the swing speed can start to decrease from the maximum initial swing speed ω safety before the safety displacement θ max，init to the maximum safe swing speed ω max，safety . The slope-down start displacement θ ramp can be determined as the maximum possible angular displacement θ at which the swing speed ω can start to decrease from the maximum initial swing speed ω safety before the safety displacement θ max，init to the maximum safe swing speed ω max，safety , regardless of the vehicle configuration used. The slope-down start displacement θ ramp can be based on the maximum deceleration rate of the swing device 11 in the maximum inertia configuration. The slope-down start displacement θ ramp can be based on the deceleration rate of the swing device 11 that is less than the maximum deceleration rate, such that the user experiences a smoother deceleration. The slope-down start displacement θ ramp can be determined experimentally and / or empirically for different configurations of the work vehicle 11.

[0082] As Figure 4B shown, the speed curve 101 can include the maximum allowable swing speed ω that varies with time t measured from the execution angular displacement t0 max . The speed curve 101 can include a safety time t safety , and can include a slope-down start time t ramp . The deceleration ramp 103 of the maximum allowable swing speed ω max can decrease the maximum initial swing speed ω ramp to the maximum safe swing speed ω safety between the slope-down start time t max，init and the safety time t max,safety . The deceleration ramp 103 of the maximum allowable swing speed ω max can decrease the maximum initial swing speed ω ramp to the maximum safe swing speed ∈ safety between the slope-down start time t max，init and the safety time t max，safety .

[0083] Safety time t safetycan be determined based on the acceleration rate of the swing device 11. The safety time t safety can be based on the safety displacement θ safety . The safety time t safety can be determined as the time when the swing device 11 will reach the safety displacement θ safety . The safety time t safety can be based on the acceleration rate of the swing device 11 in the maximum inertia configuration. Given the acceleration rate of the swing device 11 in the maximum inertia configuration, the safety time t safety can be determined as the time when the swing device 11 will reach the safety displacement θ safety . This can ensure that when using the maximum inertia configuration, the speed curve 101 will be at the maximum safe swing speed ω safety at the safety displacement θ max，safety (This is important because the maximum safe swing speed ω max，safety may be necessary for the maximum inertia configuration to stop within the predetermined maximum angular stop displacement θ s ). If the safety time t safety is based on the acceleration rate of the swing device 11 in the maximum inertia configuration, then when using a configuration other than the maximum inertia configuration, the speed curve 101 can be higher than the maximum safe swing speed ω safety at the safety displacement θ max,safety (This may be okay because the swing device 11 may be able to stop from a swing speed higher than the maximum safe swing speed ω s within the predetermined maximum angular stop displacement θ max，safety in a configuration other than the maximum inertia configuration). Given the acceleration rate of the swing device 11 in a configuration other than the maximum inertia configuration, the safety time t safety can be determined as the time when the swing device 11 will reach the safety displacement θ safety . The safety time t safety can be determined such that the speed curve 101 will be at the maximum safe swing speed ω safety before reaching the safety displacement θ max，safety , regardless of its configuration. The safety time t safety can be determined experimentally and / or empirically for different configurations of the work vehicle 11.

[0084] The slope descent start time t ramp can be based on the maximum initial swing speed ω max，init , the maximum safe swing speed ω max，safety , the deceleration rate of the swing device 11, and the safety time t safety . Given the deceleration rate of the swing device 11, the slope descent start time t ramp can be determined as the time at which, within the safety time t safetyThe previous swing speed ω can start from its maximum initial swing speed ω max，init and decrease to the maximum safe swing speed ω max，safety at the latest time t. The ramp-down start time t ramp can be determined as the safe displacement t safety The previous swing speed ω can start from its maximum initial swing speed ω max,init and decrease to the maximum safe swing speed ω max，safety at the latest possible time t, regardless of the vehicle configuration used. The ramp-down start time t ramp can be based on the maximum deceleration rate of the swing device 11 in the maximum inertia configuration. The ramp-down start time t ramp can be based on the deceleration rate of the swing device 11, which is less than the maximum deceleration rate, such that the user experiences a smoother deceleration. The ramp-down start time t ramp can be determined experimentally and / or empirically on different configurations of the work vehicle 11.

[0085] As Figure 4A and 4B shown, the deceleration ramp 103 can be a linear deceleration ramp 103. The speed curve 101 can be at the ramp-down start time t ramp and / or displacement θ ramp and the safe time t safety and / or displacement θ safety decrease linearly between. The linear decrease can have a gradient based on the deceleration rate of the swing device 11 in the maximum inertia configuration. Alternatively, the linear decrease can have a shallower gradient than the deceleration rate of the swing device 11 in the maximum inertia configuration, such that the user experiences a smoother deceleration. On different configurations of the work vehicle 11, the gradient can be determined experimentally and / or empirically.

[0086] Figure 5AShows a generalized maximum speed curve 101 with respect to displacement θ and / or time t including a linear deceleration ramp 103, a high-inertia speed curve 105 of the swing speed ω of the swing device 11 in a high-inertia configuration, and a low-inertia speed curve 107 of the swing speed ω of the swing device 11 in a low-inertia configuration. The high-inertia speed curve 105 and the low-inertia speed curve 107 can be the corresponding speed curves experienced when a 100% speed input is provided to at least one input device 6. Both the high-inertia speed curve 105 and the low-inertia speed curve 107 show an initial acceleration (represented by a positive gradient) until they reach the maximum speed curve 101. The low-inertia speed curve 107 shows a steeper initial gradient representing a greater angular acceleration than the high-inertia speed curve 105 because it is a lower-inertia configuration and can thus achieve a higher angular acceleration. The low-inertia speed curve 107 can reach the maximum speed curve 101 before the deceleration ramp 103. The high-inertia speed curve 105 can reach the maximum speed curve 101 during the deceleration ramp 103. After reaching the maximum speed curve 101, both the high-inertia speed curve 105 and the low-inertia speed curve 107 follow the maximum speed curve 101. Different speed curves can be experienced when the configuration of the work vehicle 10 changes, with the high-inertia speed curve 105 and the low-inertia speed curve 107 being two examples.

[0087] The deceleration ramp 103 can be a non-linear deceleration ramp 109. Figure 5B Shows the generalized maximum speed curve 101, the high-inertia speed curve 105, and the low-inertia speed curve 107 with respect to displacement θ and / or time t when using the non-linear deceleration ramp 109. The speed curve 101 can decrease at a faster rate closer to the start time t ramp and / or displacement θ ramp of the slope decline, and decrease at a slower rate closer to the safety time t safety and / or displacement θ safety of the slope decline. The non-linear deceleration ramp 109 can allow the configuration to reach the maximum initial swing speed ω ramp before the start time t ramp and / or displacement θ max，init of the slope decline, thus decelerating at a faster rate than the deceleration rate of the swing device 11 in the maximum-inertia configuration (this is beneficial because a configuration that can reach the maximum initial swing speed ω ramp before the start time t ramp and / or displacement θ max，init will have a lower inertia and may thus be able to decelerate more quickly). The non-linear deceleration ramp 109 can allow the start time t ramp and / or displacement θ ramp of the slope decline to be later, and thus, the maximum initial swing speed ω max,initMay last for a relatively long time t and / or angular displacement θ.

[0088] Limiting the maximum operating swing speed of the swing device 11 to the speed curve 101 by the control system 50 may include the control system 50 measuring the time t and / or angular displacement θ from the start of the execution of the angular displacement, and selecting the corresponding maximum swing speed ω corresponding to the current time t and / or angular displacement θ from the speed curve 101 max . The control system 50 can then set the maximum operating swing speed to the corresponding maximum swing speed ω max . When the time t and / or angular displacement θ change and / or progress, for the new current time t and / or angular displacement θ, the control system 50 can select a new corresponding maximum swing speed ω from the speed curve 101 max . The control system 50 can update the maximum operating swing speed by setting the maximum operating swing speed to the new corresponding maximum swing speed ω max . When the time t and / or angular displacement θ change and / or progress, the control system can continuously update the maximum operating swing speed according to the speed curve 101.

[0089] When the swing speed ω decreases to zero and / or a new angular displacement starts, the control system 50 can measure the time t and / or angular displacement θ from zero again. Measuring the time t and / or angular displacement θ from zero again each time a new angular displacement starts ensures that the speed is limited to the maximum safe swing speed ω only near the end of the execution of the safe angular displacement θ safety rather than at other times. max，safety .

[0090] The control system 50 can determine the speed curve 101. The speed curve can be determined externally to the control system 50 and uploaded to the memory 53 of the control system.

[0091] The method may further include the control system 50 rotating the swing device 11 about the swing axis 33 at a swing speed ω equal to or less than the maximum operating swing speed. The method may further include the control system 50 overriding a user command to rotate the swing device 11 about the swing axis 33 at a swing speed ω greater than the maximum operating swing speed. Overriding the user command may include receiving a user input to perform a rotation at a swing speed ω greater than the maximum operating swing speed, and outputting a command to the swing actuator 30 to perform the rotation at a swing speed ω equal to or less than the maximum operating swing speed.

[0092] Industrial applicability

[0093] Thus, the method can limit the maximum operating swing speed of the work vehicle 10 to allow the work vehicle 10 to stop at a predetermined maximum angular displacement θ after executing the safe angular displacement θ safety ​s within which its swing speed ω is reduced to zero. By limiting the maximum operating swing speed of the swing device 11 to the speed curve 101, where the speed curve 101 includes a deceleration ramp 103 to the maximum safe swing speed θ before reaching the maximum safe swing speed ω, the work vehicle 10 will always be at a safe swing speed before the end of the safe angular displacement θ. max，safety before reaching the maximum safe swing speed θ safety of the deceleration ramp 103, the work vehicle 10 will always be at a safe swing speed during the safe angular displacement θ. safety ends.

[0094] The method can operate effectively on different authorized configurations of the work vehicle. If the maximum safe swing speed ω is based on the maximum inertia configuration, the work vehicle 10 will always be able to stop from the safe angular displacement θ regardless of the configuration. If the maximum safe swing speed ω is based on work vehicle component position data or boom head pressure data, for the current configuration and / or component position, the work vehicle will be at a safe swing speed before the end of the safe angular displacement θ. Additionally, performance will not be overly restricted due to the possibility of other configurations and / or component positions because the maximum safe swing speed ω is adjusted for the current configuration and / or component position. The method may also not overly affect the swing performance of the work vehicle 10 because for many angular displacements θ, the swing speed ω can be unrestricted to the maximum safe swing speed ω. Many angular displacements θ performed by the operator during normal use will have an angle less than the safe angular displacement θ, so for most normal use, the swing performance of the work vehicle 10 will not be affected by the limitations imposed by this method. Only when approaching the safe angular displacement θ and speed needs to be restricted for safety reasons will the limitations imposed by the method be affected. max，safety Based on the maximum inertia configuration, the work vehicle 10 will always be able to stop from the safe angular displacement θ safety regardless of the configuration. If the maximum safe swing speed ω max，safety is based on work vehicle component position data or boom head pressure data, then for the current configuration and / or component position, the work vehicle will be at a safe swing speed during the safe angular displacement θ safety ends. Additionally, performance will not be overly restricted due to the possibility of other configurations and / or component positions because the maximum safe swing speed ω max，safety is adjusted for the current configuration and / or component position. The method may also not overly affect the swing performance of the work vehicle 10 because for many angular displacements θ, the swing speed ω can be unrestricted to the maximum safe swing speed ω max，safety . Many angular displacements θ performed by the operator during normal use will have an angle less than the safe angular displacement θ safety , so for most normal use, the swing performance of the work vehicle 10 will not be affected by the limitations imposed by this method. Only when approaching the safe angular displacement θ safety and speed needs to be restricted for safety reasons will the limitations imposed by the method be affected.

[0095] If the speed curve 101 includes a maximum allowable swing speed ω that varies with respect to the angular displacement θ max , then the speed curve can be accurately calibrated with the safe angular displacement θ safety . Thus, if the exact angular displacement θ is not known, the method can meet safety requirements without the need for an additional safety margin.

[0096] If the speed curve 101 includes a maximum allowable swing speed ω that varies with time t max , then the method can be implemented without using the swing sensor 71. Producing a low-cost model of the work vehicle 10 can involve reducing the number of sensors used, so a method that can operate without using the swing sensor 71 can improve efficiency.

[0097] If the deceleration ramp 103 is asFigure 5B For the non-linear deceleration ramp 109 shown, the ramp-down start time t ramp and / or displacement θ ramp can be relatively late. Thus, the maximum initial swing speed ω max，init can last for a longer time t or angular displacement θ, as explained above.

Claims

1. A method of operating a work vehicle, the work vehicle including a swing device rotatable about a swing axis, wherein the swing device includes an arm structure including a boom and an arm, the method comprising: Determining a speed curve of a maximum allowable swing speed of the swing device rotating about the swing axis by the following steps: Determining a maximum initial swing speed; Determining a maximum safe swing speed for stopping the rotation of the swing device within a predetermined maximum angular stop displacement starting from a safety time and / or displacement; And Determining a deceleration ramp of the maximum allowable swing speed for reducing the maximum initial swing speed to the maximum safe swing speed before the safety time and / or displacement; and Limiting the maximum operating swing speed of the swing device to the speed curve by a control system.

2. The method according to claim 1, wherein the deceleration ramp of the maximum allowable swing speed reduces the maximum initial swing speed to the maximum safe swing speed between a ramp-down start time and / or displacement and the safety time and / or displacement, respectively.

3. The method according to claim 2, wherein the ramp-down start time and / or displacement is based on: The maximum initial swing speed; The maximum safe swing speed; The deceleration rate of the swing device; and The safety time and / or displacement.

4. The method according to claim 2 or 3, wherein the speed curve includes a maximum allowable swing speed varying with time measured from the start of an angular displacement execution.

5. The method according to claim 4, wherein the safety time is determined based on the acceleration rate of the swing device.

6. The method according to claim 2 or 3, wherein the work vehicle includes a swing angle sensor, and the speed curve includes a maximum allowable swing speed varying with respect to an angular displacement change measured from the start of an angular displacement execution.

7. The method according to any one of claims 3 to 6, wherein the work vehicle can be configured in a plurality of different configurations with different inertias, and: The ramp-down start time and / or displacement is further based on the deceleration rate of the swing device in the configuration with the maximum inertia; and / or The maximum safe swing speed is based on the deceleration rate of the swing device in the configuration with the maximum inertia and the predetermined maximum angular stop displacement.

8. The method according to any one of the preceding claims, wherein the speed curve linearly decreases between the ramp-down start time and / or displacement and the safety time and / or displacement.

9. The method according to any one of claims 1 to 7, wherein the speed curve decreases at a faster rate closer to the ramp-down start time and / or displacement and at a slower rate closer to the safety time and / or displacement.

10. The method according to any one of the preceding claims, wherein the work vehicle includes at least one component position sensor mounted to the swing device, and wherein the maximum safe swing speed is based on work vehicle component position data from the at least one component position sensor.

11. The method according to any one of the preceding claims, wherein the work vehicle further comprises: a boom actuator for controlling the boom; and at least one boom head pressure sensor mounted to the boom actuator, wherein the maximum safe swing speed is based on boom head pressure data from the at least one boom head pressure sensor.

12. The method according to any one of the preceding claims, wherein the method further comprises, by the control system: rotating the swing device about the swing axis at a swing speed equal to or less than the maximum operating swing speed; and / or overriding a user command to rotate the swing device about the swing axis at a swing speed greater than the maximum operating swing speed.

13. A controller for controlling a work vehicle, the work vehicle comprising a swing device rotatable about a swing axis, wherein the swing device comprises an arm structure including a boom and a stick, the controller configured to limit a maximum operating swing speed of the swing device to a speed profile of a maximum allowable swing speed of the swing device rotating about the swing axis, wherein the speed profile comprises: a maximum initial swing speed; a maximum safe swing speed for stopping rotation of the swing device within a predetermined maximum angular stop displacement starting from a safe time and / or displacement; and a deceleration ramp of the maximum allowable swing speed for reducing the maximum initial swing speed to the maximum safe swing speed before the safe time and / or displacement.

14. A work vehicle, comprising: a swing device rotatable about a swing axis, wherein the swing device comprises an arm structure including a boom and a stick; and a control system including the controller according to claim 13.

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