System and method for controlling a motor function of a machine - Patents.com

Abstract

A system and method for controlling a motion function of a machine having a first component and a second component. A controller commands a coil to provide an initial threshold current to open a valve in response to a user request to perform a motion function. The controller determines a difference between a measured value and a target value of a parameter associated with the first component. When a change in the difference during a first time period exceeds a first change threshold, the controller commands a decrease threshold current that is less than the initial threshold current. When a change in the difference during a second time period is equal to or less than a second change threshold, the controller commands an increase threshold current that is greater than the initial threshold current. When the decrease threshold current or the increase threshold current is provided to the coil, motion of the first component relative to the second component is controlled.

Description

[Technical field]

[0001] [CROSS REFERENCE TO RELATED APPLICATIONS] This application claims priority to U.S. Application No. 17 / 653,683, filed March 7, 2022, the entire disclosure of which is incorporated herein by reference.

[0002] The following relates to a system and method for controlling the motion functions of a machine such as a boom lift. [Background technology]

[0003] Vehicles such as aerial work platforms and cranes may include a boom assembly and such vehicles may be referred to as boom lifts. Examples of such vehicles are disclosed in U.S. Patent No. 5,669,517, U.S. Patent No. 5,899,347, U.S. Patent No. 6,109,463, and U.S. Patent No. 6,341,665. Summary of the Invention

[0004] According to one non-limiting exemplary embodiment described herein, a system is provided for controlling a motion function of a machine having a first component and a second component by adjusting a threshold current supplied to a coil connected to a proportional valve used in performing the motion function of the machine. The system includes a controller configured to command an initial threshold current to the coil for opening the valve in response to a user request to perform the motion function of the machine, and a sensor configured to provide a measurement of a parameter associated with the first component. The controller is further configured to determine a difference between the measurement of the parameter and the target value of the parameter. The controller is further configured to command a reduced threshold current to the coil for opening the valve when a change in the difference between the measurement and the target value during a first time period exceeds a first change threshold, where the reduced threshold current is less than the initial threshold current. The controller is further configured to command an increased threshold current to the coil for opening the valve when a change in the difference between the measurement and the target value during a second time period is less than or equal to a second change threshold, where the increased threshold current is greater than the initial threshold current. The decreased threshold current or the increased threshold current, when supplied to the coil for opening the valve, controls movement of the first component of the machine relative to the second component of the machine.

[0005] According to another non-limiting exemplary embodiment described herein, a method is provided for controlling a motion function of a machine having a first component and a second component by adjusting a threshold current supplied to a coil connected to a proportional valve used in performing the motion function of the machine. The method includes the steps of: providing an initial threshold current to the coil for opening the valve in response to a user request to perform the motion function of the machine; and determining a difference between a measured value of a parameter associated with the first component and a target value of the parameter. The method further includes providing a decreased threshold current to the coil for opening the valve when a change in the difference between the measured value and the target value during a first time period exceeds a first change threshold, the decreased threshold current being less than the initial threshold current. The method further includes providing an increased threshold current to the coil for opening the valve when a change in the difference between the measured value and the target value during a second time period is equal to or less than a second change threshold, the increased threshold current being greater than the initial threshold current. The decreased threshold current or the increased threshold current, when supplied to the coil to open the valve, controls movement of the first component of the machine relative to a second component of the machine.

[0006] According to another non-limiting exemplary embodiment described herein, a non-transitory computer readable storage medium having stored thereon computer executable instructions for controlling a motion function of a machine having a first component, a second component, and a controller by adjusting a threshold current supplied to a coil connected to a proportional valve used in performing the motion function of the machine. Execution of the instructions causes the controller to direct the coil to provide an initial threshold current to open the valve in response to a user request to perform the motion function of the machine, and to determine a difference between a measured value of a parameter associated with the first component and a target value of the parameter. Execution of the instructions further causes the controller to direct the coil to provide a reduced threshold current to open the valve when a change in the difference between the measured value and the target value during a first time period exceeds a first change threshold, where the reduced threshold current is less than the initial threshold current. Execution of the instructions further causes the controller to command an increased threshold current to be provided to the coil to open the valve when the change in the difference between the measured value and the target value during a second time period is less than or equal to a second change threshold, where the increased threshold current is greater than the initial threshold current, and the decreased threshold current or the increased threshold current, when provided to the coil to open the valve, controls movement of the first component of the machine relative to a second component of the machine.

[0007] Detailed descriptions of these and other non-limiting exemplary embodiments of control systems and methods for controlling the movement functions of a machine are set forth below in conjunction with the accompanying drawings. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a side view of a vehicle with a non-limiting exemplary boom assembly according to this disclosure.

[0009] [Diagram 2]FIG. 2 is a side view of the vehicle of FIG. 1 with the boom assembly moved to an intermediate position.

[0010] [Diagram 3] FIG. 3 is a side view of the vehicle of FIG. 1 with the boom assembly moved to a raised position.

[0011] [Figure 4] FIG. 4 is a side view of the vehicle of FIG. 1 with the boom assembly moved to an extended position.

[0012] [Diagram 5] FIG. 5 is an exemplary flow chart of a non-limiting exemplary embodiment of the present disclosure.

[0013] [Figure 6] FIG. 6 is an exemplary flow chart of another non-limiting exemplary embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Where necessary, detailed non-limiting embodiments are disclosed herein. However, it should be understood that the disclosed embodiments are merely exemplary and may take various alternative forms. The figures are not necessarily to scale, and features may be exaggerated or reduced in size to show details of specific configuration requirements. Therefore, specific structural and functional details disclosed herein should not be interpreted as limiting, but merely as representative basis for teaching those skilled in the art.

[0015] Non-limiting, exemplary embodiments of systems and methods for controlling a machine's motion functions will now be described in more detail with reference to the drawings, in which, for convenience and ease of understanding, the same components and features may be designated by the same reference numerals throughout the drawings.

[0016] FIG. 1 illustrates a vehicle 10 according to the present disclosure, which may be an elevated work platform or other vehicle with a lifting device. The vehicle 10 includes a base, such as a frame or chassis 12, one or more motion-facilitating members, such as wheels or tracks, movably mounted to the chassis 12, a drive system (not shown), such as an engine or one or more electric motors, for driving the motion-facilitating members, and a boom assembly 14 according to the present disclosure mounted on the chassis 12. The boom assembly 14 is movable from a lowered position, shown in FIG. 1, to an intermediate position, shown in FIG. 2, to a raised position, shown in FIG. 3. Additionally or alternatively, one or more portions of the boom assembly 14 may be movable between a retracted position and an extended position along line B, as shown in FIG. 4.

[0017] The boom assembly 14 may include any suitable components, devices, or configurations for movement between lowered and raised positions, upper or lower positions, and / or extended or retracted positions. In the embodiment shown in Figures 1-3, for example, the boom assembly 14 includes a lower boom structure 16, which may include one or more boom sections, members, or arms. The lower boom assembly 16 is pivotally mounted to the chassis 12, and the lower boom structure 16 is pivotable relative to the chassis 12 between a lowered position shown in Figure 1 and a raised position shown in Figure 3. The boom assembly 14 also includes an upper boom structure 18, which may include one or more boom sections, members, or arms. The upper boom structure 18 is pivotally mounted to the lower boom structure 16, and the upper boom structure 18 is pivotable relative to the lower boom structure 16 between a lowered position shown in Figure 1 and a raised position shown in Figure 3. As shown in FIG. 4, the upper boom structure 18 may include an adjustment, member, or arm 18' that allows movement of the upper boom structure 18 between a retracted position and an extended position. The illustrated embodiment further includes a work platform 19 pivotally mounted to the upper boom structure 18. The work platform 19 may be configured to carry one or more personnel and other loads, such as one or more tool boxes. The work platform 19 may also include suitable controls for operating the boom assembly 14 and / or other aspects of the vehicle 10, such as a drive system for moving the vehicle 10. The illustrated embodiment further includes a boom turntable 17 rotatably mounted to a base (e.g., chassis 12) for rotating the boom assembly 14 clockwise / counterclockwise. In another embodiment, the boom assembly 14 may include a forklift or other suitable support or lift component attached to the upper boom structure 18.

[0018] 2, the boom assembly 14 also includes a pivot arrangement 20 for pivotally connecting the lower boom structure 16 to the upper boom structure 18. For example, the pivot arrangement 20 may include a pivot member, such as a mid-pivot 22, pivotally connected to a boom member, such as a lower riser boom 24 of the lower boom structure 16, and a boom member, such as a primary boom 26 of the upper boom structure 18. The pivot arrangement 20 further includes a link 28, one end of which is pivotally connected to a second boom member, such as an upper riser boom 30 of the lower boom structure 16, and another end of which is pivotally connected to the primary boom 26 of the upper boom structure 18. Additionally, the pivot arrangement 20 may include a drive member or actuator, such as a cylinder 32 (e.g., a piston connected to a piston rod and a corresponding chamber or cylinder barrel that receives the piston), connected to the mid-pivot 22 and the primary boom 26. As the cylinder 32 extends (e.g., the piston rod moves outward relative to the cylinder barrel), the primary boom 26 rises, pulling the link 28 which in turn pulls the upper riser boom 30 of the lower boom structure 16, causing the boom assembly 14 to move from the lowered position shown in FIG. 1 to the raised position shown in FIG. 3. As the cylinder 32 retracts (e.g., the piston rod moves inward relative to the cylinder barrel), the boom assembly 14 moves from the raised position shown in FIG. 3 to the lowered position shown in FIG. 1. The lower riser boom 24 may also function as a timing member as the boom assembly 14 moves between the lowered and raised positions.

[0019] Additionally, the boom assembly 14 may include one or more additional drive members to adjust the position of the work platform 19, or other suitable components attached to the upper boom structure 18, and to maintain the orientation of the work platform 19 or other components in a desired orientation, such as horizontal. In the illustrated embodiment, the boom assembly 14 includes a master cylinder 34 coupled to the primary boom 26 and the mid pivot 22, and a slave cylinder 35 connected to the master cylinder 34 and coupled to the primary boom 26 and the work platform 19, the cylinders 34, 35 being operated together to adjust the position of the work platform 19 or other components attached to the upper boom structure 18 as the boom assembly 14 moves between the lowered and raised positions. In this regard, it should be noted that the vehicle 10, chassis 12, and / or boom assembly 14 may include suitable systems (not shown), such as a hydraulic system including one or more pumps, and an electrical system including one or more motors, to drive, power, operate, and / or control the components, functions, and / or operations described herein.

[0020] As shown in FIG. 2, the boom assembly 14 may include an electronic leveling machine 36 configured to maintain the platform 19 in a level orientation relative to the ground G as the boom assembly 14 moves between the start, intermediate, and raised positions shown in FIGS. 1-3, or between the extended and retracted positions shown in FIG. 4. Although shown in FIG. 2 as being attached to the upper boom structure 18, the leveling machine 36 may be attached, mounted, carried, disposed, or integral to or within or on any part or portion of the vehicle 10, such as the chassis 12 or the platform 19. In this regard, it should be noted that while the leveling machine 36 is illustrated in a simplified, exaggerated, and schematic manner, this illustration is for illustrative purposes only. The leveling machine 36 may include or be configured to interface with a suitable hydraulic system for moving the platform 19 relative to the boom assembly 14 so as to maintain the platform 19 in a horizontal orientation relative to the ground G as the boom assembly 14 moves in response to a user request to perform a motion function, such as a boom up / down motion function (see Figures 1 to 3) or a boom extend / retract motion function (see Figure 4).

[0021] Such hydraulic system and / or leveling machine 36 may include a proportional valve 38 for controlling the flow of working oil used to move the platform 19 relative to the boom assembly 14 and / or upper boom structure 18, any boom sections, members, or arms thereof. The proportional valve 38 may be opened or closed by energizing or providing current to a coil 40 of a solenoid 42 connected to the valve 38, and typically the degree or amount of opening of the valve 38 is proportional to the current provided to the coil 40. More specifically, when an initial threshold current is provided to the coil 40, the valve 38 begins to open and working oil begins to flow, beginning to move the platform 19, and as the level or amount of current provided to the coil 40 rises or increases over time, the valve 38 progresses to a fully open position, further increasing the flow rate of working oil. This is in contrast to the flow function provided by a digital flow valve, which only has an open or closed state.

[0022] As shown in FIG. 2, a controller 50 may be provided to control or direct the supply of current to the coil 40. In that regard, the controller 50 may be configured to communicate with one or more switches (not shown) to switch on / off the energization of the coil 40 and thereby operate the valve 38. Although shown in FIG. 2 as being located on the platform 19, it should be noted that the controller 50 may be located, mounted, carried, or integrated on or within or on any component of the vehicle 10, such as the chassis 12 or the boom assembly 14. The controller 50 may be comprised of one or more controllers and / or circuitry and appropriate software located in the vehicle 10 or distributed among multiple components. It should also be noted that the controller 50 may be in electrical communication with other components of the vehicle 10, such as a battery (not shown), via a suitable electrical communication system (wired and / or wireless) to provide power to the controller 50 and / or to receive signals at the controller 50, which may consist of information from one or more sensors or commands from a user, as described herein, and / or to transmit signals from the controller 50, such as commands to provide current to the coil 40, as described herein.

[0023] One of the most common problems with existing electronic leveling machines is that the initial current level required to begin opening the valve 38 to level the platform 19 during a motion function can vary due to a variety of factors. As a result, such initial threshold current level must be adjusted frequently to ensure that the platform 19 remains accurately level. If the initial threshold current level is not set correctly, the movement of the platform 19 may lag when the user moves the boom assembly 14 up or down. This can be uncomfortable for the user and may require manual correction by the user to return the platform 19 to a level position. The initial threshold current level is initially set at the factory and thereafter requires a service technician to be on-site and manually adjust the initial threshold current level to reset, change or adjust it.

[0024] As previously discussed, a command to initiate a motion function controlled, facilitated or enabled by a proportional flow valve must begin at an initial threshold current level and then ramp up to a target current value to facilitate the motion function. As previously discussed, such initial threshold current value may change over time based on or in response to various machine and ambient parameters, such as valve age, ambient temperature, hydraulic oil temperature, load, etc.

[0025] The present disclosure provides a feature to increase or decrease (i.e., adjust) the initial threshold current level utilized or employed based on the amount of motion detected within a given time period. This provides automatic and / or active calibration of the initial threshold current level and automatically calculates the reported ambient parameters. The new initial threshold current value is also used as a new starting value when a motor function is again requested by the user.

[0026] It should be noted that the initial threshold current level is the minimum amperage (sometimes indicated in milliamps) commanded by the controller 50 or control system to cause the output coil 40 to open the proportional flow valve 38 and begin flowing hydraulic fluid. It should also be noted that one or more angle sensors measure the angle of the platform 19 relative to a boom angle, indicated as A in FIG. 2. In that regard, the boom angle sensor 34' may be located or integrated with the master cylinder 34 and the platform angle sensor 35' may be located or integrated with the slave cylinder 35. Such an angle of the platform 19, sometimes referred to as a platform angle, may be reported, provided, generated, or output by the sensors in hundredths of a degree (°).

[0027] The present disclosure calculates the minimum amperage required to fully operate the platform leveling function. The platform 19 automatically moves every time the primary boom 14 moves up or down to maintain the platform angle set by the user. As a result, the features of the present disclosure are active any time the primary boom 14 is moving up or down (and / or during boom extension / retraction operations).

[0028] More specifically, when a user requests an up or down movement of the boom 14, the controller 50 or control system calculates the difference between the actual platform angle (sometimes referred to as a measured parameter) measured, reported, generated, output, or provided by the sensor or sensors 34', 35' and the platform angle requested by the user. In that regard, the platform angle requested by the user may include a horizontal position initially set by the user or captured by the machine at start-up, and may also be referred to as a target, target value, target angle, target position, or target parameter value. In one embodiment, if the difference between the measured platform angle and the target position is less than 0.5°, active threshold calibration according to the present disclosure may be initiated. Alternatively, if the difference is greater than 0.5°, the currently used initial threshold current level may be maintained. It should be noted that the level or amount of current supplied to the coil 40 is then increased exponentially to account for larger errors (i.e., differences between the measured platform angle and the target position that exceed 0.5°). It should also be noted that the 0.5° threshold for the difference between the measured platform angle and the target platform angle is merely exemplary, and other values ​​may alternatively be selected or specified and utilized or employed. In that regard, for example, the difference between the measured value and the target value may preferably be any value within the range of 0° to 0.5°, more preferably any value within the range of 0° to 0.3°, and even more preferably 0.3°.

[0029] According to one non-limiting embodiment of the present disclosure, when a command is made to provide an output current to the coil 40 connected to the valve 38 for use in leveling the platform 19, if the platform angle changes by more than 0.03° in less than 100 milliseconds, such a change is deemed to be too fast as it may be uncomfortable for the user. In that regard, the starting value of the initial threshold current level may be set at the factory to a default value or another value, or may be manually adjusted in the field. For example, the default value of the initial threshold current level may be 690 milliamps for platform up movement and 680 milliamps for platform down movement, although other values ​​may be employed for such initial threshold current level. As a result, when a command is made to provide an output current to the coil 40 connected to the valve 38 for use in leveling the platform 19, if the platform angle changes by more than 0.03° in less than 100 milliseconds, the threshold current level may be too high and may be reduced by 20 milliamps (e.g., the threshold current level may be reduced to 670 milliamps for platform up movement and 660 milliamps for platform down movement, taking into account the default values ​​described above). It should also be noted that the 0.03° threshold, 100 ms period, 690 / 680 mA initial threshold current level (for up / down motion), and 20 mA current reduction are exemplary only, and other change thresholds, periods, threshold current levels, and / or current reductions may be alternatively selected or specified and utilized or employed. It should also be noted that the reduction applied to the threshold current level for platform up motion may be the same or different than the reduction applied to the threshold current level for platform down motion. Furthermore, the platform angle change threshold may be, for example, any value preferably within the range of 0.02° to 0.05°, more preferably within the range of 0.03° to 0.05°, and even more preferably 0.03°.The duration of the platform angle change can be, for example, preferably any value in the range of 100 ms to 200 ms, more preferably any value in the range of 100 ms to 150 ms, and even more preferably 100 ms. The initial threshold current level of 690 / 680 milliamps (for up / down movement) can be, for example, preferably any value in the range of 600 mA to 750 mA, more preferably any value in the range of 620 mA to 730 mA, and even more preferably 690 milliamps for platform up movement and 680 milliamps for platform down movement. The current reduction can be, for example, preferably in the range of 5 mA to 30 mA, more preferably in the range of 10 mA to 20 mA, and even more preferably 20 mA.

[0030] According to another non-limiting embodiment of the present disclosure, when a command is issued to supply output current to the coil 40 connected to the valve 38 for use in leveling the platform 19, if the platform angle does not change within 1.5 seconds, it is deemed too late, as such lack of change may also be uncomfortable for the user. As a result, in such a case, the threshold current level is too low and may be increased by 20 milliamps (e.g., the threshold current level may be increased to 710 milliamps for platform up motion and 700 milliamps for platform down motion, considering the default values ​​mentioned above). It should be noted that the threshold of 0° (i.e., no change in platform angle), the period of 1.5 seconds, the initial threshold current level of 690 / 680 milliamps, and the current increment of 20 milliamps are merely exemplary, and other change thresholds, periods, threshold current levels, and / or current increments may be employed instead. It should also be noted that the increment applied to the threshold current level for the platform up motion may be the same or different from the increment applied to the threshold current level for the platform down motion. Further, the platform angle change threshold may be, for example, any value within the range of 0° to 0.02°, more preferably, any value within the range of 0° to 0.01°, and even more preferably, 0°. The platform angle change period may be, for example, any value within the range of 750 ms to 1.5 s, more preferably, any value within the range of 1 s to 1.5 s, and even more preferably, 1.5 s. The initial threshold current level of 690 / 680 mA (for up / down movement) may be, for example, any value within the range of 600 mA to 750 mA, more preferably, any value within the range of 620 mA to 730 mA, and even more preferably, 690 mA for platform up movement and 680 mA for platform down movement.The current reduction amount may be, for example, preferably in the range of 5 milliamps to 30 milliamps, more preferably in the range of 10 milliamps to 20 milliamps, and even more preferably 20 milliamps.

[0031] According to non-limiting embodiments of the present disclosure, such new, adjusted, calibrated, or recalibrated (whether increased or decreased) threshold current level may be used as a starting or initial threshold current level when the user stops a boom up / down motion and then requests a boom up / down motion again. Furthermore, during such new boom motion request, if the difference between the actual platform angle and the target platform angle is less than 0.5°, the calibration according to the present disclosure may be started again and the threshold current level adjusted accordingly. It should also be noted again that the 0.5° threshold for the difference between the measured platform angle and the target platform angle is merely exemplary, and other values ​​may alternatively be selected or specified and utilized or employed. In that regard, for example, the difference between the measured value and the target value may preferably be any value within the range of 0° to 0.5°, more preferably any value within the range of 0° to 0.3°, and even more preferably 0.3°.

[0032] In such an embodiment, according to the present disclosure, the threshold current level required to level the platform 19 may be adjusted as conditions change based on or in response to various machine and ambient parameters, such as valve age, ambient temperature, hydraulic oil temperature, load, etc. As a result, the present disclosure provides optimal platform leveling performance without the need for manual threshold setting and without being noticeable to the user.

[0033] Referring now to FIG. 5, an exemplary flow chart of one non-limiting exemplary embodiment of the present disclosure is shown. With continued reference to FIG. 5 and to FIGS. 1-4 and the description of these figures, a method 60 according to the present disclosure may begin with powering on 62 of a machine, such as a vehicle 10 with a boom lift, and proceed with a user request 64 of boom up / down movement (i.e., boom up / down function). A determination 66 may then be made (e.g., by the controller 50) as to whether the difference (in absolute value) between the target level (or target value, or target position) of the platform angle and the measured platform angle is less than 0.5°. If not (i.e., if such difference is greater than 0.5°), the initial threshold current value of the current supplied to the coil 40 of the solenoid 42 for opening the proportional valve 38 used to maintain the horizontal position of the platform 19 may not be changed (68) until the user stops boom up / down movement (70). The determination step 66 may then be repeated when the user again requests boom up / down movement (64). It should again be noted that the 0.5° threshold for the difference between the measured platform angle and the target platform angle is exemplary only, and other values ​​may alternatively be selected or specified and utilized or employed, In that regard, for example, the difference between the measured value and the target value may preferably be any value within the range of 0° to 0.5°, more preferably any value within the range of 0° to 0.3°, and even more preferably 0.3°.

[0034] On the other hand, if the difference (in absolute value) between the target level (or target value, or target position) of the platform angle and the measured platform angle is less than 0.5°, the angle sensor or sensors 34', 35' may read, sense, or measure, report, provide, generate, or output the measured platform angle, and a change in the difference between the target level (or target value, or target position) of the platform angle and the measured platform angle may be determined (72) (e.g., by the controller 50). It may then be determined (74) (e.g., by the controller 50) whether the difference has changed by more than 0.03° in less than 100 milliseconds. If so, the initial threshold current value of the current supplied to the coil 40 of the solenoid 42 for opening the proportional valve 38 used to maintain the horizontal position of the platform 19 may be reduced by 20 milliamps (76) until the user stops raising or lowering the boom (70). Thereafter, the steps of determining 66, reading 72, and determining 74 may be repeated if the user again requests raising or lowering the boom (64). Again, default values ​​for the initial threshold current levels may be 690 milliamps for platform up motion and 680 milliamps for platform down motion, although other values ​​for such initial threshold current levels may be employed. As a result, decreasing the initial threshold current level by 20 milliamps may decrease the threshold current level to 670 milliamps for platform up motion and 660 milliamps for platform down motion. It is again noted that the 0.03° threshold, 100 millisecond period, 690 / 680 milliamp initial threshold current levels, and 20 milliamp current decrease are exemplary only, and other change thresholds, periods, threshold current levels, and / or current decrease amounts may be selected or specified instead and utilized or employed. It is further noted that the decrease applied to the threshold current level for the platform up motion may be the same as or different from the decrease applied to the threshold current level for the platform down motion.Further, the platform angle change threshold may be, for example, any value within the range of 0.02° to 0.05°, more preferably any value within the range of 0.03° to 0.05°, and even more preferably 0.03°. The period of the platform angle change may be, for example, any value within the range of 100 ms to 200 ms, more preferably any value within the range of 100 ms to 150 ms, and even more preferably 100 ms. The initial threshold current level of 690 / 680 milliamps (for up / down movement) may be, for example, any value within the range of 600 mA to 750 mA, more preferably any value within the range of 620 mA to 730 mA, and even more preferably 690 milliamps for platform up movement and 680 milliamps for platform down movement. The current reduction amount may be, for example, preferably in the range of 5 milliamps to 30 milliamps, more preferably in the range of 10 milliamps to 20 milliamps, and even more preferably 20 milliamps.

[0035] Alternatively, if the difference between the target level (or target value, or target position) of the platform angle and the measured platform angle has not changed by more than 0.03° in less than 100 milliseconds, a determination may be made (such as by controller 50) whether the difference has not changed at all in less than 1.5 seconds (78). In that case, the initial threshold current value of the current supplied to coil 40 of solenoid 42 for opening proportional valve 38 used to maintain a level position of platform 19 may not be changed (80) until the user stops raising or lowering the boom (70). Thereafter, if the user again requests raising or lowering the boom (64), the steps of decision 66, read 72, decision 74, and decision 78 may be repeated.

[0036] On the other hand, if the difference between the target level (or target value, or target position) of the platform angle and the measured platform angle does not change within 1.5 seconds, the initial threshold current value of the current supplied to the coil 40 of the solenoid 42 for opening the proportional valve 38 used to maintain the level position of the platform 19 may be increased by 20 milliamps (82) until the user stops the boom up or down movement (70). Thereafter, when the user again requests the boom up or down movement (64), the steps of decision 66, read 72, decision 74, and decision 78 may be repeated. Again, the default values ​​for the initial threshold current levels may be 690 milliamps for platform up movement and 680 milliamps for platform down movement, although other values ​​for such initial threshold current levels may be employed. As a result, increasing the initial threshold current level by 20 milliamps may increase the threshold current level to 710 milliamps for platform up movement and 700 milliamps for platform down movement. It should also be noted again that the 0° threshold (i.e., no change in platform angle), 1.5 second period, 690 / 680 milliamp initial threshold current level, and 20 milliamp current increment are exemplary only, and other change thresholds, periods, initial threshold current levels, and / or current increments may be employed instead. It should also be noted again that the increment applied to the threshold current level for the platform upward motion may be the same as or different from the increment applied to the threshold current level for the platform downward motion. It should also be noted that the increment applied to any threshold current level may be the same as or different from any of the decrements that may be applied to any threshold current level. It should also be noted that the increment applied to the threshold current level for the platform upward motion may be the same as or different from the increment applied to the threshold current level for the platform downward motion. It should also be noted that the platform angle change threshold may be, for example, any value preferably within the range of 0° to 0.02°, more preferably any value within the range of 0° to 0.01°, and even more preferably 0°.The duration of the platform angle change can be, for example, preferably any value in the range of 750 milliseconds to 1.5 seconds, more preferably any value in the range of 1 second to 1.5 seconds, and even more preferably 1.5 seconds. The initial threshold current level of 690 / 680 milliamps (for up / down movement) can be, for example, preferably any value in the range of 600 milliamps to 750 milliamps, more preferably any value in the range of 620 milliamps to 730 milliamps, and even more preferably 690 milliamps for platform up movement and 680 milliamps for platform down movement. The current reduction can be, for example, preferably in the range of 5 milliamps to 30 milliamps, more preferably in the range of 10 milliamps to 20 milliamps, and even more preferably 20 milliamps.

[0037] Although one embodiment described herein is implemented to calculate threshold current levels used to level the platform 19 during a boom up / down motion function, the present disclosure may be used or applied to other motion functions as well, including proportional flow valves. For example, the present disclosure may alternatively or additionally be used for a boom extend / retract motion function (see FIG. 4). In that regard, the initial threshold current levels of the proportional flow valves for use with or to achieve such boom extend / retract motion functions are currently set manually, but may also be automated according to the present disclosure.

[0038] In this regard, next, FIG. 6 shows an exemplary flow chart of another non-limiting exemplary embodiment of the present disclosure. With continued reference to FIG. 6 and to FIGS. 1-4 and the description of these figures, a method 100 according to the present disclosure may begin with powering on 102 of a machine, such as a vehicle 10 with a boom lift, and proceed with a user request 104 for a motion function of the machine connected to a proportional flow valve provided for use in performing such motion function. Such motion function may be a boom up / down motion function as described herein above, or may be other types of motion functions of the machine, such as extending / retracting the boom (see FIG. 4), rotating (clockwise / counterclockwise) a boom turntable relative to a base (such as the chassis 12), driving or propelling (forward / reverse) the machine (i.e., rotating an axle relative to the chassis of the machine), or other motion functions of the machine connected to a proportional flow valve provided for use in performing such motion function and having an associated threshold current level required to initiate the opening of such proportional flow valve. In this regard, the exemplary flow chart of FIG. 6 illustrates a more general non-limiting exemplary embodiment of the present disclosure.

[0039] Following such user request 104, the sensor may read, sense, or measure (106) and report, provide, generate, or output a measured parameter. In that regard, such a sensor may be an angle sensor (e.g., 34', 35') as described above, or any other type of sensor suitable for sensing an appropriate parameter related to the applicable motion function of the machine (e.g., a position sensor measuring the position or extension / retraction length (e.g., inches) of arm 18' as illustrated in FIG. 4). It may then be determined (e.g., by controller 50) whether the rate of change of such measured parameter (i.e., the change in units of the measured parameter within a selected or specified time period) is greater than a selected or specified first threshold value (e.g., X units / millisecond). If so, an initial threshold current value of the current supplied to a coil of a solenoid for opening a proportional valve used to perform the applicable motion function of the machine may be reduced (110) by a selected or specified amount (e.g., C milliamps) until the user stops (112) the requested motion of the machine. Thereafter, if the user again requests (104) the machine's exercise function, the steps of reading 106 and determining 108 may be repeated. Note that such parameters, parameter thresholds, time periods, initial threshold current values, and / or current reduction amounts may be empirically selected or specified, or may be selected or specified based on safety considerations and / or user comfort.

[0040] Alternatively, when the rate of change of such a measurement parameter exceeds a selected or specified first threshold value, it may be determined (by the controller 50 or the like) (114) whether the rate of change of such a measurement parameter (i.e., the change per unit of the measurement parameter during the selected or specified period) is greater than a selected or specified second threshold value (e.g., Y units / millisecond, where Y < X) that is smaller than the first threshold value. In that case, it may not be necessary to change the initial threshold current value of the current supplied to the solenoid coil for opening the proportional valve used to execute the applicable motion function of the machine until the user stops the requested motion of the machine (112) (116). Thereafter, when the user requests the motion function 104 of the machine again, the steps of reading 106, determining 108, and determining 114 may be repeated.

[0041] On the other hand, when the rate of change of such a measurement parameter is less than or equal to the selected or specified second threshold value, the initial threshold current value of the current supplied to the solenoid coil for opening the proportional valve used to execute the applicable motion function of the machine may be increased by a selected or specified amount (e.g., D milliamperes) until the user stops the requested motion of the machine (112) (118). Thereafter, when the user requests the motion function 104 of the machine again, the steps of reading 106, determining 106, and determining 114 may be repeated. It is again noted that such parameters, parameter thresholds, periods, initial threshold current values, and / or current reduction amounts may be selected or specified empirically or based on safety considerations and / or user comfort. Also, note that the amount of increase applied to any threshold current level may be the same as or different from any of the reduction amounts described hereinabove that may be applied to any threshold current level (i.e., C = D, or C / = D).

[0042] With continued reference to FIGS. 1 through 6, the present disclosure provides a system for controlling a motion function of a machine comprising a first component and a second component by adjusting a threshold current provided to a coil associated with a proportional valve for use in performing the motion function. The system may include a controller configured to command an initial threshold current to the coil for opening the valve in response to a user request to perform the motion function of the machine, and a sensor configured to provide a measurement of a parameter associated with the first component. The controller may be further configured to determine a difference between the measurement of the parameter and the target value of the parameter. The controller may be further configured to command a decreased threshold current to the coil for opening the valve when a change in the difference between the measurement and the target value during a first time period exceeds a first change threshold, where the decreased threshold current is less than the initial threshold current. The controller may be further configured to command an increased threshold current to the coil for opening the valve when a change in the difference between the measurement and the target value during a second time period is less than or equal to a second change threshold, where the increased threshold current is greater than the initial threshold current. The decreased threshold current or the increased threshold current, when supplied to the coil for opening the valve, controls movement of the first component of the machine relative to the second component of the machine.

[0043] As previously described, the machine may comprise a boom lift, the first component may comprise a platform, the second component may comprise a boom arm, and the motion function may include boom up / down movement, and the motion of the first component relative to the second component may include leveling of the platform. Alternatively, the machine may comprise a boom lift, the first component may comprise a first boom arm, the second component may comprise a second boom arm, and the motion function may include extension / contraction of the first boom arm or the second boom arm. As will be readily understood, the present disclosure also provides a machine comprising a boom, a platform attached to the boom, and a system for controlling the motion function of the machine as described herein, characterized in that the motion function includes boom up / down movement. The present disclosure further provides a machine comprising a first boom arm, a second boom arm, and a system for controlling the motion function of the machine as described herein, characterized in that the motion function includes boom up / down movement. The present disclosure further provides a machine comprising a boom turntable, a base, and a system for controlling a motion function of the machine as described herein, the motion functions including clockwise / counterclockwise rotation of the boom turntable.The present disclosure further provides a machine comprising a chassis, an axle, and a system for controlling a motion function of the machine as described herein, the motion functions including forward / reverse propulsion of the machine.

[0044] Also, as previously mentioned, the parameters may include an angle of the platform relative to the boom, and the controller may be further configured to command the supply of the decreased threshold current or the increased threshold current when the difference between the measured value and the target value is within a range of 0° to 0.5°.

[0045] In one non-limiting exemplary embodiment, the parameters may include an angle of a platform relative to a boom, and the first change threshold may be in a range of 0.02° to 0.05°, and the first time period may be in a range of 100 ms to 200 ms. In another non-limiting exemplary embodiment, the parameters may include an angle of a platform relative to a boom, and the second change threshold may be in a range of 0° to 0.02°, and the second time period may be in a range of 750 ms to 1.5 s.

[0046] Similarly, for a platform upward movement, the initial threshold current may be in the range of 600 to 750 milliamps, and the difference between the initial threshold current and each of the decreasing and increasing threshold currents may be in the range of 5 to 30 milliamps. For a platform downward movement, the initial threshold current may be in the range of 600 to 750 milliamps, and the difference between the initial threshold current and each of the decreasing and increasing threshold currents may be in the range of 5 to 30 milliamps.

[0047] It should be noted that the electronic leveling machine 36, solenoid 42 (including proportional valve 38 and coil 40), controller 50, and / or any other units, control units, control systems, controllers, controls, components, consoles, algorithms, devices, features, systems, functions, modules, arrangements, etc. described herein may include and / or be implemented in or by one or more appropriately programmed processors (e.g., one or more microprocessors including a central processing unit (CPU)) and associated memory and / or storage devices, and may further include and / or store thereon or therein data, firmware, operating system software, application software, and / or any other suitable computer-executable programs, code or instructions executable by the processors to control their operation, including interaction and / or cooperation with each other, and / or to perform particular algorithms representative of the various functions and / or operations described herein. Such one or more processors, as well as other circuitry and / or hardware, may be contained in a single ASIC (Application Specific Integrated Circuit), or may be packaged separately or assembled into a System-on-a-Chip (SoC). Similarly, multiple processors, various circuits and / or hardware may be distributed across multiple separate components and / or locations.

[0048] In this regard, the components described herein, including but not limited to the electronic leveling machine 36, the solenoid 42 (including the proportional valve 38 and the coil 40), and the controller 50, may enable, facilitate, or be configured to provide the methods for controlling the motion functions of the machine, including performing the various steps, functions, and / or operations described herein. Similarly, the memory and / or storage devices and executable programs, codes, or instructions described herein may enable, facilitate, or be configured to provide a non-transitory computer-readable storage medium having computer-executable instructions stored thereon for controlling the motion functions of the machine, as described herein, and to perform the particular algorithms represented by the various steps, functions, and / or operations described and / or suggested herein.

[0049] As can be readily understood from the foregoing, various non-limiting embodiments of improved systems and methods for controlling the motion functions of a machine have been described. While various embodiments have been illustrated and described herein, they are merely exemplary and it is not intended that these embodiments illustrate and describe all that are possible. Instead, the words used herein are descriptive rather than limiting, and it will be understood that various changes can be made to these embodiments without departing from the spirit and scope of the following claims.

Claims

1. 1. A system for controlling a motion function of a machine having a first component and a second component by adjusting a threshold current supplied to a coil connected to a proportional valve used in performing the motion function, the system comprising: a controller configured to command the coil to provide an initial threshold current to open the valve in response to a user request to perform the motor function of the machine; a sensor configured to provide a measurement of a parameter related to the first component; The controller further comprises: determining a difference between the measured value of the parameter and a target value of the parameter; commanding a reduced threshold current to the coil to open the valve when a change in the difference between the measured value and the target value during a first time period exceeds a first change threshold, wherein the reduced threshold current is less than the initial threshold current; commanding an increased threshold current to the coil to open the valve when a change in the difference between the measured value and the target value during a second time period is less than or equal to a second change threshold, wherein the increased threshold current is greater than the initial threshold current; and The system, wherein the decreased threshold current or the increased threshold current, when supplied to the coil for opening the valve, controls movement of the first component of the machine relative to the second component of the machine.

2. 2. The system of claim 1, the machine comprises a boom lift, the first component comprises a platform, the second component comprises a boom arm, the movement function includes a boom up / down movement, and The system, wherein movement of the first component relative to the second component includes leveling the platform.

3. 2. The system of claim 1, the machine comprises a boom lift, the first component comprises a first boom arm, the second component comprises a second boom arm, and the movement function comprises extending / retracting the first boom arm or the second boom arm; or the machine comprises a boom lift, the first component comprises a turntable, the second component comprises a base, and the motion function includes clockwise / counterclockwise rotation of the turntable; or 11. The system, wherein the machine comprises a boom lift, the first component comprises an axle, the second component comprises a chassis, and the motion function comprises forward / reverse propulsion of the boom lift.

4. 2. The system of claim 1, The parameters include an angle of the platform relative to the boom; and The controller is further configured to command the supply of the decreased threshold current or the increased threshold current when the difference between the measured value and the target value is within a range of 0° to 0.5°.

5. 3. The system of claim 2, The parameters include an angle of the platform relative to the boom; and The first change threshold is in a range of 0.02° to 0.05° and the first time period is in a range of 100 milliseconds to 200 milliseconds.

6. 3. The system of claim 2, The parameters include an angle of the platform relative to the boom; and The second change threshold is within a range of 0° to 0.02° and the second time period is within a range of 750 milliseconds to 1.5 seconds.

7. 3. The system of claim 2, for platform upward motion, the initial threshold current is in the range of 600 milliamps to 750 milliamps, and the difference between the initial threshold current and each of the decreasing threshold current and the increasing threshold current is in the range of 5 milliamps to 30 milliamps; and A system, wherein for a platform downward motion, the initial threshold current is within a range of 600 milliamps to 750 milliamps, and a difference between the initial threshold current and each of the decreasing threshold current and the increasing threshold current is within a range of 5 milliamps to 30 milliamps.

8. 13. A machine comprising a boom, a platform attached to said boom, and a system for controlling a motion function of said machine as recited in claim 1, said motion function including up and down movement of the boom.

9. 1. A method of controlling a motion function of a machine having a first component and a second component by adjusting a threshold current supplied to a coil connected to a proportional valve used in performing the motion function, the method comprising: providing an initial threshold current to the coil to open the valve in response to a user request to perform the motor function of the machine; determining a difference between a measured value of a parameter associated with the first component and a target value of the parameter; providing a reduced threshold current to the coil for opening the valve when a change in the difference between the measured value and the target value during a first time period exceeds a first change threshold, the reduced threshold current being less than the initial threshold current; providing an increased threshold current to the coil for opening the valve when a change in the difference between the measured value and the target value during a second time period is less than or equal to a second change threshold, the increased threshold current being greater than the initial threshold current; and A method of controlling movement of the first component of the machine relative to a second component of the machine when the decreased threshold current or the increased threshold current is supplied to the coil to open the valve.

10. 10. The method of claim 9, the machine comprises a boom lift, the first component comprises a platform, the second component comprises a boom arm, the movement function includes a boom up / down movement, and The method, wherein moving the first component relative to the second component includes leveling the platform.

11. 10. The method of claim 9, the machine comprises a boom lift, the first component comprises a first boom arm, the second component comprises a second boom arm, and the movement function comprises extending / retracting the first boom arm or the second boom arm; or the machine comprises a boom lift, the first component comprises a turntable, the second component comprises a base, and the motion function includes clockwise / counterclockwise rotation of the turntable; or The method, wherein the machine comprises a boom lift, the first component comprises an axle, the second component comprises a chassis, and the motion function comprises forward / reverse propulsion of the boom lift.

12. 10. The method of claim 9, The parameters include an angle of the platform relative to the boom; and The method, wherein providing the decreased threshold current or the increased threshold current further comprises providing the decreased threshold current or the increased threshold current when a difference between the measured value and the target value is within a range of 0° to 0.5°.

13. 11. The method of claim 10, the parameters include an angle of the platform relative to a boom; and the first change threshold is in a range of 0.02° to 0.05°, the first time period is in a range of 100 milliseconds to 200 milliseconds, and The method of claim 1, wherein the second change threshold is in a range of 0° to 0.02° and the second time period is in a range of 750 milliseconds to 1.5 seconds.

14. 10. The method of claim 9, for platform upward motion, the initial threshold current is within a range of 600 milliamps to 750 milliamps, and the difference between the initial threshold current and each of the decreasing threshold current and the increasing threshold current is within a range of 5 milliamps to 30 milliamps; and A method according to claim 1, wherein for a platform downward motion, the initial threshold current is within a range of 600 milliamps to 750 milliamps, and the difference between the initial threshold current and each of the decreasing threshold current and the increasing threshold current is within a range of 5 milliamps to 30 milliamps.

15. A non-transitory computer readable storage medium having stored thereon computer executable instructions for controlling a motion function of a machine having a first component, a second component, and a controller by adjusting a threshold of a current supplied to a coil connected to a proportional valve used in performing the motion function, the instructions, when executed, causing the controller to: commanding said coil to provide an initial threshold current to open said valve in response to a user request to perform said motor function of said machine; determining a difference between a measured value of a parameter associated with the first component and a target value of the parameter; commanding a reduced threshold current to the coil for opening the valve when a change in the difference between the measured value and the target value during a first time period exceeds a first change threshold, wherein the reduced threshold current is less than the initial threshold current; commanding an increased threshold current to the coil to open the valve when the change in the difference between the measured value and the target value during a second time period is less than or equal to a second change threshold, wherein the increased threshold current is greater than the initial threshold current; and A non-transitory computer readable storage medium, wherein the decreased threshold current or the increased threshold current, when supplied to the coil to open the valve, controls movement of the first component of the machine relative to a second component of the machine.

16. 16. The non-transitory computer readable recording medium of claim 15, the machine comprises a boom lift, the first component comprises a platform, the second component comprises a boom arm, the movement function includes a boom up / down movement, and The non-transitory computer readable storage medium, wherein movement of the first component relative to the second component includes leveling the platform.

17. 16. The non-transitory computer readable recording medium of claim 15, the machine comprises a boom lift, the first component comprises a first boom arm, the second component comprises a second boom arm, and the movement function comprises extending / retracting the first boom arm or the second boom arm; or the machine comprises a boom lift, the first component comprises a turntable, the second component comprises a base, and the motion function includes clockwise / counterclockwise rotation of the turntable; or 11. The computer readable non-transitory storage medium of claim 10, wherein the machine comprises a boom lift, the first component comprises an axle, the second component comprises a chassis, and the motion function comprises forward / reverse propulsion of the boom lift.

18. 16. The non-transitory computer readable recording medium of claim 15, The parameters include an angle of the platform relative to the boom; and The instructions, when executed, further cause the controller to supply the decreased threshold current or the increased threshold current when the difference between the measured value and the target value is within a range of 0° to 0.5°.

19. 17. The non-transitory computer readable storage medium of claim 16, the parameters include an angle of the platform relative to a boom; and the first change threshold is in a range of 0.02° to 0.05°, the first time period is in a range of 100 milliseconds to 200 milliseconds, and The second change threshold is in a range of 0° to 0.02° and the second time period is in a range of 750 milliseconds to 1.5 seconds.

20. 17. The non-transitory computer readable storage medium of claim 16, for platform upward motion, the initial threshold current is in the range of 600 milliamps to 750 milliamps, and the difference between the initial threshold current and each of the decreasing threshold current and the increasing threshold current is in the range of 5 milliamps to 30 milliamps; and For a platform downward motion, the initial threshold current is in the range of 600 milliamps to 750 milliamps, and a difference between the initial threshold current and each of the decreasing threshold current and the increasing threshold current is in the range of 5 milliamps to 30 milliamps.

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