A method for calibrating a hydraulic system that generates a hydraulic fluid flow to a tiltrotator in order to control the motion of the tiltrotator.

Abstract

A method is provided for calibrating a hydraulic system that generates a hydraulic fluid flow to a tilt rotator in order to control the motion of the tilt rotator. [Solution] The hydraulic system 100 comprises a first subsystem 110 and a second subsystem 120 hydraulically interconnected with the first subsystem. The method comprises providing the first subsystem with a first control parameter α1 such that the second subsystem can increase and thereby limit at least one of the flow rate and pressure of the outflowing hydraulic fluid to a predetermined capacity of the first secondary of the second subsystem. The method further comprises providing the second subsystem with a second control parameter β1 to control the second subsystem to increase at least one of the flow rate and pressure of the outflowing hydraulic fluid.

Description

Technical Field

[0001] The present disclosure generally relates to a method of calibrating a hydraulic system that generates a hydraulic fluid flow to a tiltrotator mounted on a construction machine in order to control the movement of the tiltrotator.

Background Art

[0002] Attachment rotators, such as tiltrotators, that enable construction machine attachments to be used in a variety of ways are known in the art. Such tiltrotators can provide rotation and tilt of the attachment, and thus can also provide improved maneuverability. The movement of the tiltrotator is generally powered by a hydraulic pump of a construction machine that pressurizes a hydraulic fluid, typically oil, to create a high-pressure hydraulic system. This pressurized hydraulic fluid is then directed to various hydraulic cylinders or hydraulic motors of the tiltrotator to drive its movement.

[0003] Tiltrotators are typically designed to be retrofitted to construction machines. When this retrofitting occurs, the hydraulic system for generating a hydraulic fluid flow to the tiltrotator to control its movement depends on accurately controlling one or more components to accurately control the hydraulic fluid flow rate. This is for accurately controlling the movement of the tiltrotator. These components can be, for example, a hydraulic pump of a construction machine for generating a hydraulic fluid flow, or a valve for controlling the hydraulic fluid flow carried by the hydraulic pump to drive the movement of the tiltrotator.

[0004] Due to the retrofitting of the tilt rotator, the performance characteristics of the components described above are typically uncalibrated or uncertain. For example, a hydraulic pump, generally intended to power construction machinery and individual auxiliary functions, is now also tasked with powering the tilt rotator. This additional requirement, combined with performance variability due to the model and type of hydraulic pump, can lead to unpredictable changes in the pump's behavior. This makes it difficult to predict its performance for generating hydraulic fluid flow. Furthermore, when a valve controlling the hydraulic fluid flow is installed to control the hydraulic fluid flow from the hydraulic pump with uncertain performance, predicting the performance of that valve can be equally difficult.

[0005] As a result, uncertainty or difficulty in determining the performance characteristics of the components that control the hydraulic fluid flow driving the tiltrotator's motion can lead to poor accuracy and precision when controlling the tiltrotator's motion.

[0006] Therefore, an improved hydraulic system is needed to control the movement of rotators, which are accessories for construction machinery. [Overview of the project]

[0007] The object of this disclosure is to mitigate, mitigate, or eliminate one or more of the defects and shortcomings identified above in the art, either individually or in combination. This object is resolved by the disclosure as described in the independent claims. Preferred embodiments are provided in the dependent claims. Further advantageous embodiments are described below.

[0008] A first aspect of the present disclosure provides a method for calibrating a hydraulic system that generates a hydraulic fluid flow to a tilt rotator in order to control the motion of the tilt rotator. The hydraulic system comprises a first subsystem and a second subsystem hydraulically interconnected with the first subsystem. The method comprises providing the first subsystem with a first control parameter so that the second subsystem can increase and thereby limit at least one of the flow rate and pressure of the outflowing hydraulic fluid to a predetermined capacity of a first secondary of the second subsystem. The method further comprises providing the second subsystem with a second control parameter to control the second subsystem to increase at least one of the flow rate and pressure of the outflowing hydraulic fluid. The method further comprises detecting that the second subsystem has reached a predetermined capacity of the first secondary and measuring a first secondary peak level of the second control parameter when the predetermined capacity of the first secondary has been reached. The method further comprises calibrating the second subsystem using the first secondary peak level.

[0009] Generally, the concept of the present invention is based on the recognition that when there are first and second subsystems, both of which may be uncalibrated and both generate a flow rate of outflowing hydraulic fluid, the second subsystem can be calibrated by providing the first subsystem with first control parameters such that it enables the flow rate of outflowing hydraulic fluid to increase to a predetermined first secondary capacity representing a dimensional constraint of either the first or second subsystem.

[0010] Even if the first subsystem is uncalibrated, it can be controlled to allow the second subsystem to increase the flow rate of the outflowing hydraulic fluid up to the dimensional constraint, for example, the maximum flow capacity of the valve controlling the flow rate of the outflowing hydraulic fluid. The hydraulic system can then be calibrated based on the first secondary peak level of a second control parameter required to control the second subsystem to generate a flow rate of the outflowing hydraulic fluid according to a predetermined first secondary capacity.

[0011] For example, if a first subsystem includes a hydraulic pump for generating a flow rate of hydraulic fluid and a second subsystem includes a valve for controlling the flow rate, a first control parameter may be provided to the first subsystem to generate an excess amount of flow rate so as to ensure that the second subsystem generates a flow rate that is at least in accordance with a predetermined capacity of the first secondary of the second subsystem, i.e., the maximum flow rate capacity of the valve of the second subsystem. A second control parameter may then be provided to the second subsystem to increase the opening of the valve until the maximum flow rate capacity of the valve is reached, i.e., the predetermined capacity of the first secondary. The hydraulic system can thereby be calibrated to precisely control the valve of the second subsystem so that it is fully opened.

[0012] Similarly, if the second subsystem instead comprises a hydraulic pump for generating a flow rate of hydraulic fluid and the first subsystem comprises a valve for controlling the flow rate, a first control parameter may be provided to the first subsystem to control the valve to be fully open so as to ensure that a flow rate of hydraulic fluid according to a predetermined capacity of the first secondary of the second subsystem, in this case, the maximum flow capacity of the valve of the first subsystem, is allowed to pass through. A second control parameter may then be provided to control the second subsystem to increase the flow rate generated by the second subsystem, i.e., the hydraulic pump, until the flow rate is equal to the maximum flow capacity of the valve, i.e., the predetermined capacity of the first secondary. The hydraulic system can thereby be calibrated to precisely control the hydraulic pump of the second subsystem to generate a magnitude of hydraulic fluid flow rate that matches the maximum flow capacity of the valve of the first subsystem.

[0013] As a further example, the first subsystem may comprise a hydraulic pump for generating hydraulic fluid pressure, and the second subsystem may comprise a valve, which, when closed, may prevent the propagation of the hydraulic fluid pressure, and when the valve is opened to any extent, may allow the hydraulic fluid pressure to propagate through the valve. A first control parameter may be provided to the first subsystem for generating hydraulic fluid pressure to ensure that hydraulic fluid pressure according to a predetermined capacity of the first secondary of the second subsystem, for example, the maximum hydraulic pressure that can propagate through the valve of the second subsystem, can propagate through the valve and is detected when the valve is open. A second control parameter may be provided to control the second subsystem to increase the opening of the valve until the hydraulic fluid pressure is detected so that it subsequently propagates through the valve. When the pressurized hydraulic fluid is immobilized, an initial opening of the valve may generate a pressure increase according to a predetermined capacity of the first secondary.

[0014] The hydraulic system can thereby be calibrated to precisely control the initial opening of a valve. Thus, the disclosure enables the hydraulic system to calibrate an uncalibrated valve that controls the flow rate of hydraulic fluid from an uncalibrated hydraulic pump. Alternatively, the disclosure enables the hydraulic system to calibrate an uncalibrated hydraulic pump that generates a flow rate of hydraulic fluid to an uncalibrated hydraulic pump. The first subsystem may mean a system comprising one or more components that control the flow rate of hydraulic fluid flowing out to drive the motion of a tiltrotator. Examples of components may be a hydraulic pump or a valve. The second subsystem may mean a system comprising one or more components that control the flow rate of hydraulic fluid flowing out to drive the motion of a tiltrotator. Examples of components may be a hydraulic pump or a valve. The second subsystem is separated from the first subsystem. The flow rate of hydraulic fluid flowing out may mean the flow rate of hydraulic fluid intended to drive at least one motion of the tiltrotator. The first secondary predetermined capacity may mean a fixed limit on the flow rate of the outflowing hydraulic fluid, or a predetermined threshold for the hydraulic fluid flow. The first secondary predetermined capacity may be defined as the maximum level of outflowing hydraulic fluid flow that the first subsystem can enable the second subsystem to generate. Alternatively, the first secondary predetermined capacity may mean a fixed limit on the hydraulic fluid pressure. The hydraulic fluid flow rate refers to the volume of hydraulic fluid passing through a given surface or conduit per unit time. The flow rate may be calculated by multiplying the hydraulic fluid by the cross-sectional area over which the hydraulic fluid flows at its average velocity.

[0015] According to embodiments of the present disclosure, the detection step further comprises detecting when at least one of the flow rate and pressure of the outflowing hydraulic fluid has begun to increase, and when at least one of the flow rate and pressure of the outflowing hydraulic fluid has begun to increase, measuring an entry level for a second control parameter, and the calibration step further comprises calibrating a second subsystem using the entry level.

[0016] The starting level of the second control parameter can, advantageously, be used to find the initial level of flow rate increase of the second subsystem. This is advantageous for finding the starting level of the second control parameter that is appropriate for initiating the motion of the tiltrotator. Alternatively, it can be used to find the initial pressure increase of the outflowing hydraulic fluid.

[0017] According to the embodiment, the detection step further comprises measuring an increase in the flow rate of the outflowing hydraulic fluid, and the calibration step further comprises linearizing a second subsystem using the measured increase in the flow rate of the outflowing hydraulic fluid. This is advantageous in providing a linear increase in the flow rate of the outflowing hydraulic fluid generated by the second subsystem from increasing a second control parameter. There may be a nonlinear relationship between the increase in the flow rate of the outflowing hydraulic fluid and the increase in the second control parameter. From this, the hydraulic system can be advantageously calibrated to provide a linearization curve for linearly increasing the flow rate of the outflowing hydraulic fluid when the second control parameter is increased. A linearization curve for a first or second control parameter for controlling a first valve can advantageously be applied to other valves between measured minimum and maximum points.

[0018] According to embodiments, the method further comprises the step of providing a first control parameter to a second subsystem so that the second subsystem can increase and thereby limit the flow rate of the outflowing hydraulic fluid to a predetermined second secondary capacity of the second subsystem. The method further comprises providing a second control parameter to the second subsystem to control the second subsystem to increase the flow rate of the outflowing hydraulic fluid, detecting that the second subsystem has reached a predetermined second secondary capacity, and measuring the second secondary peak level of the second control parameter when the predetermined second secondary capacity has been reached. The method further comprises calibrating the second subsystem using the second secondary peak level. The second subsystem can therefore be calibrated based on a predetermined second secondary capacity, the predetermined second secondary capacity being higher than the predetermined first secondary capacity. For example, if the first subsystem has already been calibrated, the predetermined first secondary capacity may represent a first determined flow rate, e.g., 6 liters / minute. A predetermined capacity of the second secondary may represent a second determined flow rate, for example, 12 liters / minute. A second control parameter may be provided to the second subsystem as a first step to enable the second subsystem to increase the flow rate of the outflowing hydraulic fluid until it reaches the predetermined capacity of the first secondary, and then as a second step to enable the second subsystem to increase the flow rate of the outflowing hydraulic fluid until it reaches the predetermined capacity of the first secondary. This is advantageous, for example, when the second subsystem comprises an uncalibrated hydraulic pump. The predetermined capacity of the first secondary may represent, for example, 50% of the maximum flow rate capacity of the two valves of the first subsystem, and the predetermined capacity of the second secondary may represent, for example, 100% of the maximum flow rate capacity of the two valves. The hydraulic pump may thereby be calibrated using a flow rate level exceeding the maximum flow rate of a single valve. The predetermined capacities of the first and second secondary may represent the flow rate capacities of more than two valves of the first subsystem.

[0019] According to embodiments, the method further comprises providing a second control parameter to a second subsystem such that the first subsystem increases and is thereby limited to at least one of the flow rate and pressure of the outflowing hydraulic fluid up to a first primary predetermined capacity of the first subsystem. The method further comprises providing a first control parameter to the first subsystem to control the first subsystem to increase at least one of the flow rate and pressure of the outflowing hydraulic fluid. The method further comprises detecting that the first subsystem has reached a first primary predetermined capacity and measuring a first primary peak level of the first control parameter when the first primary predetermined capacity has been reached. The method further comprises calibrating the first subsystem using the first primary peak level. From this, the first subsystem can be calibrated after the second subsystem. This is advantageous when the first subsystem is uncalibrated.

[0020] According to the embodiment, a first subsystem comprises a valve for controlling at least one of the flow rate and pressure of the outflowing hydraulic fluid, and a second subsystem comprises a hydraulic pump for generating at least one of the flow rate and pressure of the outflowing hydraulic fluid. Thereafter, a first control parameter may be provided to the valve such that the hydraulic pump can increase the flow rate of the outflowing hydraulic fluid to and thereby limit it to the valve's maximum flow rate capacity. Thus, the hydraulic system can be calibrated to control the hydraulic pump to generate a flow rate of hydraulic fluid that matches the valve's maximum flow rate capacity. Subsequently, the hydraulic system can be calibrated to determine the first control parameter at a precise level so that the valve is controlled to be fully open. This is advantageous for further calibration of the valve.

[0021] According to the embodiment, the first subsystem comprises at least two valves for controlling the flow rate of the outflowing hydraulic fluid. This is advantageous in allowing a predetermined capacity of the first secondary or a predetermined capacity of the second secondary to be higher than the maximum flow rate capacity of a single valve. For example, the maximum flow rate capacity of the first subsystem when it has two valves may be twice that of the first subsystem when it has only a single valve. The first subsystem having at least two valves is advantageous in allowing the second subsystem to be calibrated to a flow rate that exceeds the maximum flow rate capacity of a single valve. This is advantageous in calibrating a hydraulic pump for generating hydraulic fluid flow to drive multiple motions of a tilt rotator.

[0022] According to the embodiment, the first subsystem can be configured to increase the flow rate of the hydraulic fluid flowing out through a loop-shaped trajectory. By having a loop-shaped trajectory, the outgoing hydraulic fluid can move along the loop-shaped trajectory after flowing through the first or second valve. This is advantageous in enabling the flow rate of the outgoing hydraulic fluid to flow continuously through the first subsystem. In addition, the hydraulic fluid can flow without driving the motion of the tilt rotator.

[0023] According to the embodiment, the step of detecting that the second subsystem has reached a predetermined capacity of the first secondary is performed by measuring the fluid pressure drop across the first subsystem. Measuring the pressure drop across the first subsystem can be advantageously used to determine when the pressure drop is following a specific value that indicates the flow rate of the outflowing hydraulic fluid has stopped increasing. This is advantageous in determining that the second subsystem has reached a predetermined capacity of the first secondary.

[0024] According to an embodiment, the first subsystem includes a hydraulic pump for generating at least one of the flow rate and pressure of the outflowing hydraulic fluid, and the second subsystem includes a valve for adjusting at least one of the flow rate and pressure of the outflowing hydraulic fluid. Thereby, the first control parameter can be provided to the hydraulic pump to generate a flow rate of the inflowing hydraulic fluid equal to or greater than the maximum flow rate capacity of the valve. From this, the hydraulic system can be calibrated to precisely control the valve to be fully open. It is advantageous to determine how to control the valve to be fully open so that the valve can be further calibrated.

[0025] According to an embodiment, an increase in the flow rate of the outflowing hydraulic fluid increases the movement of the tilt rotor. According to an embodiment, the operation of detecting that the second subsystem has reached a first secondary predetermined capacity is performed by detecting a stop in the increase in the movement of the tilt rotor. From this, the hydraulic system is calibrated with respect to the movement of the tilt rotor. This can be advantageous in directly providing a real-time feedback loop that reflects the actual movement of the tilt rotor, enabling a more accurate calibration, for example, compared to when measuring the hydraulic fluid flow that controls the movement of the tilt rotor.

[0026] According to an embodiment, the operation of detecting further includes measuring the movement of the tilt rotor.

[0027] According to an embodiment, the movement of the tilt rotor is at least one of a rotational movement and a tilting movement.

[0028] Measuring the rotational motion is advantageous because the rotational motion of the tilt rotor is uncertain. Therefore, the calibration method will not be limited to stopping or pausing due to time.

[0029] In addition, when generating a linearization curve for a second control parameter for controlling the rotational movement of the tilt rotator, the linearization curve can advantageously be applied to another valve of a second subsystem for linearly controlling other movements of the tilt rotator.

[0030] According to an embodiment, the hydraulic system includes a motion sensor, and the detecting step further includes using the motion sensor to measure the movement of the tilt rotator.

[0031] Features described in connection with one aspect can also be combined with other aspects, and the advantages of the features are applicable to all aspects in which they are combined. Other objects, features, and advantages of the present disclosure will become apparent from the following modes for carrying out the invention, the appended claims, and the drawings.

[0032] In general, all terms used in the claims should be interpreted according to their ordinary meanings in the art, unless explicitly defined otherwise herein. Further, the use of terms such as "first", "second", and "third" herein does not indicate any order, quantity, or importance, but is used to distinguish one element from another. All references to "a / an / the [element, device, component, means, step, etc.]" should be construed broadly as referring to at least one instance of the said element, device, component, means, step, etc., unless otherwise explicitly described. None of the steps of any method disclosed herein need to be performed in exactly the order disclosed, unless explicitly stated.

[0033] The above and additional objects, features, and advantages of the present disclosure will be better understood through the following exemplary and non-limiting modes for carrying out the invention of different embodiments of the present disclosure with reference to the accompanying drawings.

Brief Description of the Drawings

[0034] [Figure 1]A schematic example of an embodiment of the first aspect of the hydraulic system of the present disclosure is provided below. [Figure 2] A schematic example of an embodiment of the first aspect of the hydraulic system of the present disclosure is provided below. [Figure 3] A schematic example of a second embodiment of the hydraulic system of the present disclosure is provided below. [Figure 4] A schematic example of a second embodiment of the hydraulic system of the present disclosure is provided below. [Figure 5a] Two valves of a hydraulic system according to the first embodiment are schematically illustrated. [Figure 5b] Two valves of a hydraulic system according to the first embodiment are schematically illustrated. [Figure 6] A schematic flowchart of an embodiment of the method described herein is shown. [Modes for carrying out the invention]

[0035] Herein, this disclosure is described with reference to the accompanying drawings. Features illustrated or described as part of one embodiment may be used in conjunction with another embodiment and may result in further embodiments. For clarity, not all features of the implementations of the embodiment are described in this specification. Various structures, systems, and devices are schematically illustrated in the drawings for illustrative purposes only and so as not to obscure the description with details well known to those skilled in the art. Nevertheless, the accompanying drawings are included to describe and illustrate exemplary examples of the subject matter disclosed.

[0036] Words and phrases used herein should be understood and interpreted as having meanings consistent with those understood by those skilled in the art. No special definition of a term or phrase, i.e., a definition different from the ordinary and customary meanings understood by those skilled in the art, is intended to be implied by the consistent use of terms or phrases herein. To the extent that a term or phrase is intended to have a special meaning, i.e., a meaning other than that understood by those skilled in the art, such a special definition will be clearly stated in the specification in a definitive form that directly and explicitly provides the special definition for the term or phrase.

[0037] Referring to Figure 1, an embodiment of a first aspect of the present disclosure is shown. A hydraulic system 100 is provided comprising a first subsystem 110 and a second subsystem 120. The first subsystem 110 and the second subsystem 120 are hydraulically interconnected with each other, for example, via hoses.

[0038] The second subsystem 120 generates at least one of the flow rate and pressure of the incoming hydraulic fluid. The second subsystem 120 can generate the flow rate of the incoming hydraulic fluid flowing into the first subsystem 110. Alternatively, the second subsystem 120 can generate an increase in the pressure of the incoming hydraulic fluid propagating to the first subsystem 110. The second subsystem 120 includes means for generating an increase in at least one of the flow rate and pressure of the incoming hydraulic fluid, such as a hydraulic pump. In an illustrative embodiment, the second subsystem 120 generates an increase in the flow rate of the incoming hydraulic fluid flowing through the first subsystem 110. The flow rate of the outgoing hydraulic fluid 130 can be defined as the amount of the flow rate of the incoming hydraulic fluid flowing through the first subsystem 110. Thus, the first subsystem 110 controls an upper limit on the flow rate of the outgoing hydraulic fluid 130. The flow rate of the outgoing hydraulic fluid 130 can be used to drive the motion of the tilt rotator 300. The motion of the tiltrotator 300 may be, for example, either rotational motion or tilting motion.

[0039] The first subsystem 110 can be controlled so that the entire flow rate of the incoming hydraulic fluid passes through it. The flow rate of the outgoing hydraulic fluid 130 is therefore equal to the flow rate of the incoming hydraulic fluid. Alternatively, the first subsystem 110 may allow only a portion of the flow rate of the incoming hydraulic fluid to pass through it. The amount of the incoming hydraulic fluid that is prevented from passing through the first subsystem 110 can flow back to the hydraulic vessel through a return channel (not shown). The first subsystem 110 can prevent the entire flow rate of the incoming hydraulic fluid from passing through it.

[0040] The first subsystem 110 includes a valve for controlling an upper limit on the flow rate of the outflowing hydraulic fluid 130. Alternatively, the first subsystem 110 may include multiple valves for controlling an upper limit on the flow rate of the outflowing hydraulic fluid 130. At least one valve may be a flow control valve. The first subsystem 110 is controllable to be closed, fully open, or to any intermediate opening between closed and fully open.

[0041] The first subsystem 110 is controlled by being provided with a first control parameter α1. The first control parameter α1 may be provided to the first subsystem 110 to control the degree of valve opening. The first control parameter α1 may be an electrical signal. For example, if the first control parameter α1 is 0 or relatively low, the valve may be closed. If the magnitude of the first control parameter α1 is increased, the degree of opening of the first subsystem is increased, for example, by increasing the opening of the valve. At a certain value of the first control parameter α1, the valve may be fully open. If the first control parameter α1 is further increased beyond a certain value, the valve will remain fully open.

[0042] The first subsystem 110 can be controlled to allow the second subsystem 120 to increase and thereby limit the flow rate of the outflowing hydraulic fluid 130 to a predetermined capacity of the first secondary. The predetermined capacity of the first secondary may be the flow rate that can flow through the first subsystem 110. For example, the predetermined capacity of the first secondary may be the maximum flow rate that can pass through the valve of the first subsystem 110 when the valve of the first subsystem 110 is fully open.

[0043] If the required level of the first control parameter α1 to bring about the opening of the first subsystem 110 according to a predetermined capacity of the first secondary is unknown, the level of the first control parameter α1 can be advantageously set to an excessively high level. For example, if the initial estimated level of the first control parameter α1 to bring about the complete opening of the first subsystem 110 is 1800 mA, the first control parameter α1 can be set to 2400 mA to ensure that the first subsystem 110 is completely opened. Thereafter, the second subsystem 120 is able to increase and thereby limit the flow rate of the outflowing hydraulic fluid 130 to a predetermined capacity of the first secondary. When the second subsystem 120 is not able to further increase the flow rate of the outflowing hydraulic fluid 130, it is said that the flow rate of the outflowing hydraulic fluid 130 is saturated, since a further increase in the flow rate of the inflowing hydraulic fluid does not result in a further increase in the flow rate of the outflowing hydraulic fluid 130.

[0044] The second subsystem 120 is controllable by being provided with a second control parameter β1. The second control parameter β1 can control the magnitude of the flow rate of the incoming hydraulic fluid generated by the second subsystem 120. The second control parameter β1 can be an electrical signal. When the second control parameter β1 is 0 or relatively low, the generated flow rate of the incoming hydraulic fluid may be 0. When the magnitude of the second control parameter β1 is increased, the generated flow rate of the incoming hydraulic fluid may increase. At a specific value of the second control parameter β1, the second subsystem 120 can generate a flow rate of the outgoing hydraulic fluid 130 according to the total capacity of the second subsystem 120. When the second control parameter β1 is further increased beyond this specific value, the second subsystem 120 can continue to generate hydraulic power according to its total capacity.

[0045] The performance characteristics of the first subsystem 110 and the second subsystem 120 may initially be partially or completely unknown to the hydraulic system 100. Performance characteristics can mean how the system or its components are controlled to provide a desired flow rate of hydraulic fluid. The more accurately the performance characteristics of the first subsystem 110 and the second subsystem 120 are known to the hydraulic system 100, the more accurately the hydraulic system can control the flow rate of the outflowing hydraulic fluid 130. For this reason, the hydraulic system 100 is advantageously calibrated to recognize at least a higher degree of the performance characteristics of the first subsystem 110 and the second subsystem 120.

[0046] Referring to Figure 1, an embodiment of a method for calibrating a hydraulic system 100 that generates a hydraulic fluid flow to a tiltrotator 300 in order to control the motion of the tiltrotator 300 is provided. The method comprises providing a first control parameter α1 to a first subsystem 110 such that a second subsystem 120 can increase the flow rate of the outflowing hydraulic fluid 130 to a predetermined capacity of a first secondary of the second subsystem 120 and thereby limit it.

[0047] The method further comprises providing a second control parameter β1 to a second subsystem 120 in order to increase the flow rate of the outflowing hydraulic fluid 130, S2. The second subsystem 120 can increase the flow rate of the outflowing hydraulic fluid 130 by increasing the flow rate of the inflowing hydraulic fluid until the flow rate of the outflowing hydraulic fluid 130 becomes equal to a predetermined capacity of the first secondary.

[0048] The method further comprises S3 detecting that the second subsystem 120 is unable to further increase the flow rate of the outflowing hydraulic fluid 130. At this stage, the flow rate of the inflowing hydraulic fluid is equal to or higher than the flow rate of the outflowing hydraulic fluid 130. From this, it is detected that the second subsystem 120 has reached a predetermined first secondary capacity, and the first secondary peak level of the second control parameter β1 is measured. The first secondary peak level of the second control parameter β1 is the level of the second control parameter β1 that generates an inflowing hydraulic fluid flow rate equal to the predetermined first secondary capacity. At this stage, the flow rate of the outflowing hydraulic fluid 130 may be saturated. The measurement of whether the flow rate of the outflowing hydraulic fluid 130 is saturated is performed by a sensor.

[0049] The method further comprises calibrating a second subsystem 120 using a first secondary peak level S4. The second subsystem 120 can be calibrated so that the hydraulic system 100 knows which level of the second control parameter β1 is required to generate the flow rate of the inflowing hydraulic fluid in order to produce a flow rate of the outflowing hydraulic fluid 130 according to a predetermined capacity of the first secondary.

[0050] Referring here to Figure 2, a further embodiment of the first aspect of the hydraulic system 100 is shown. The hydraulic system 100 comprises a first subsystem 110 and a second subsystem 120. The first subsystem 110 and the second subsystem 120 are hydraulically interconnected via a flow path 102, which may be a hose. The second subsystem 120 comprises a hydraulic pump 122 for generating the flow rate of the incoming hydraulic fluid 140 that flows into the first subsystem 110. The second subsystem 120 may further comprise sub-components necessary for controlling the hydraulic pump 122.

[0051] The first subsystem 110 is capable of controlling the flow rate of the incoming hydraulic fluid 140 that flows through the first subsystem 110. The flow rate of the outgoing hydraulic fluid 130 is defined as the flow rate of the incoming hydraulic fluid 140 that flows through the first subsystem 110.

[0052] The first subsystem 110 comprises a first valve 111, a second valve 112, a third valve 113, a fourth valve 114, and a fifth valve 115. Each of the valves 111, 112, 113, 114, and 115 may be a bidirectional valve. Each of the valves 111, 112, 113, 114, and 115 may be a flow control valve. Each of the valves 111, 112, 113, 114, and 115 may be controllable to be closed, fully open, or to any intermediate opening between closed and fully open. In this illustrative embodiment, the first valve 111 controls the flow rate of the first outflowing hydraulic fluid 131. The second valve 112 controls the flow rate of the second outflowing hydraulic fluid 132. The third valve 113 controls the flow rate of the third outflowing hydraulic fluid 133. A fourth valve 114 controls the flow rate of the fourth outflowing hydraulic fluid 134. A fifth valve 115 controls the flow rate of the fifth outflowing hydraulic fluid 135. In an illustrative embodiment, a first valve 111 controls the rotational motion of the tiltrotator 300, a second valve 112 controls the tilting motion of the tiltrotator 300, and a third valve 113, a fourth valve 114, and a fifth valve 115 control additional functions of the tiltrotator 300. Controlling additional functions of the tiltrotator 300 may include, for example, controlling the rotational motion of a connected sweeper or the gripping motion of a connected grapple. It is conceivable that the first subsystem 110 may provide additional or fewer valves than those presented in the illustrative embodiment. The flow rate of the outflowing hydraulic fluid 130 is the combined flow rates of the first, second, third, fourth, and fifth hydraulic fluids 131, 132, 133, 134, and 135. The amount of inflowing hydraulic fluid 140 that cannot enter through any of the valves 111, 112, 113, 114, and 115 can return to the hydraulic vessel (not shown) via a return channel (not shown). The first subsystem 110 is controlled by being provided with a first control parameter α1. The first control parameter α1 may be provided to the first subsystem 110 to control the opening degree of each of the valves 111, 112, 113, 114, and 115.The first subsystem 110 can be controlled to allow the second subsystem 120 to increase and thereby limit the flow rate of the outflowing hydraulic fluid 130 to a predetermined capacity of the first secondary. The predetermined capacity of the first secondary may be the flow rate that can flow through the first subsystem 110. For example, the first subsystem 110 can be controlled so that the first valve 111 is fully open and the rest of the valve is closed. The flow rate of the outflowing hydraulic fluid 130 cannot thereby exceed the maximum flow rate capacity of the first valve 111. In this case, the predetermined capacity of the first secondary of the second subsystem 120 is the maximum flow rate capacity of the first valve 111. If a specific level of the first control parameter α1 that results in the full opening of the first valve 111 is not known, the first control parameter α1 may be advantageously set to an excessively high level. For example, if the initial estimated level of the first control parameter α1 for bringing about the full opening of the first valve 111 is 1800 mA, the first control parameter α1 may be set to 2400 mA to ensure that the first valve 111 is fully open. Thereafter, the second subsystem 120 can increase and thereby limit the flow rate of the outflowing hydraulic fluid 130 to a predetermined capacity of the first secondary subsystem. The second subsystem 120 is controllable by providing the second control parameter β1 to the second subsystem 120. The second control parameter β1 is provided to the second subsystem 120 to control the flow rate level of the inflowing hydraulic fluid 140 generated by the hydraulic pump 122. The hydraulic system 100 further comprises a first sensor 104 for measuring the hydraulic pressure of the inflowing hydraulic fluid 140. The hydraulic system 100 further comprises a second sensor 106 for measuring the hydraulic pressure of the outflowing hydraulic fluid 130. The second sensor 106 measures the hydraulic pressure of the outflowing hydraulic fluid 130 as the highest of the hydraulic pressures in the first, second, third, fourth, and fifth outflowing hydraulic fluids 131, 132, 133, 134, and 135. The hydraulic system 100 further includes a sensor device 108 for measuring the motion of the tilt rotator 300.The motion of the tiltrotator 300 may mean the rotational motion of the tiltrotator to rotate an attachment connected to the tiltrotator 300. Alternatively, it may mean tilting motion. The sensor device 108 may be at least one sensor for measuring the motion of the tiltrotator 300. The sensor device 108 may comprise a motion sensor or a plurality of motion sensors for measuring some motion of the tiltrotator 300, such as rotational motion or tilting motion. In an illustrative embodiment, the tiltrotator 300 partially comprises a hydraulic system 100. When the tiltrotator 300 is mounted on a construction machine, the hydraulic pump 122 is provided by the construction machine. Due to the model, type, and individual characteristics of the hydraulic pump 122, its performance characteristics may be partially or completely unknown to the hydraulic system 100. In addition, the performance characteristics of one or more of the valves 111, 112, 113, 114, and 115 may initially be partially or completely unknown to the hydraulic system 100. The hydraulic system 100 is advantageously calibrated to know the performance characteristics of the first subsystem 110 and the second subsystem 120 to at least a higher degree.

[0053] Referring to Figure 2, a further embodiment of a method for calibrating the hydraulic system 100 is provided. The method comprises providing a first control parameter α1 to the first subsystem 110 such that a second subsystem 120 can increase and thereby limit the flow rate of the outgoing hydraulic fluid 130 to a predetermined capacity of the first secondary. In this embodiment, a hydraulic pump 122 generates the flow rate of the ingoing hydraulic fluid 140 flowing into the first subsystem 110. Second, third, fourth, and fifth valves 112, 113, 114, and 115 are controlled to be closed. Thus, the flow rate of the outgoing hydraulic fluid 130 is equal to the flow rate of the first outgoing hydraulic fluid 131. The predetermined capacity of the first secondary is the maximum flow rate that is allowed to flow through the first valve 111 when the first valve 111 is fully open. The first control parameter α1 is advantageously a level that ensures the first valve 111 is fully open. This allows the second subsystem 120 to increase and thereby limit the flow rate of the outflowing hydraulic fluid 130 to a predetermined capacity of the first secondary by increasing the flow rate of the inflowing hydraulic fluid 140. Alternatively, the predetermined capacity of the first secondary can be defined as the opening degree of one or more valves of the first subsystem 110. The opening degree can be fully open or partially open.

[0054] The method further comprises providing a second control parameter β1 to a second subsystem 120 in order to increase the flow rate of the outflowing hydraulic fluid 130 S2. Since the first valve 111 of the first subsystem 110 is fully open, the second subsystem 120 can increase the flow rate of the outflowing hydraulic fluid 130 by increasing the flow rate of the inflowing hydraulic fluid 140 until the flow rate of the outflowing hydraulic fluid 130 is equal to a predetermined capacity of the first secondary subsystem.

[0055] The method further comprises S3 detecting that the second subsystem 120 is unable to further increase the flow rate of the outflowing hydraulic fluid 130. At this stage, the flow rate of the inflowing hydraulic fluid 140 is equal to or higher than the flow rate of the outflowing hydraulic fluid 130. From this, it is detected that the second subsystem 120 has reached a predetermined first secondary capacity, and the first secondary peak level of the second control parameter β1 is measured. From this, it can be determined that the flow rate of the outflowing hydraulic fluid 130 is saturated. The measurement that the flow rate of the outflowing hydraulic fluid is saturated can be performed by at least one of the first sensor 104, the second sensor 106, and the sensor device 108.

[0056] The method further comprises calibrating a second subsystem 120 using a first secondary peak level S4. The second subsystem 120 can be calibrated so that the hydraulic system 100 knows which level of the second control parameter β1 is required to control the hydraulic pump 122 to generate a flow rate of inflowing hydraulic fluid 140 to bring about a flow rate of outflowing hydraulic fluid 130 according to a predetermined capacity of the first secondary.

[0057] In this embodiment of the method, the detection step S3 further comprises detecting when the flow rate of the outflowing hydraulic fluid 130 began to increase and measuring the starting level of the second control parameter β1. The start of an increase in the flow rate of the outflowing hydraulic fluid 130 may indicate that it is increasing from a static state.

[0058] Additionally, the calibration step S4 further comprises the calibration of the second subsystem 120 using the starting level of the second control parameter β1.

[0059] In this embodiment of the method, the detection step S3 further comprises measuring the increase in the flow rate of the outflowing hydraulic fluid 130. The increase in the flow rate of the outflowing hydraulic fluid 130 is measured by a sensor.

[0060] In addition, calibration step S4 further comprises linearizing a second subsystem 120 using a measured increase in the flow rate of the outflowing hydraulic fluid 130. The second subsystem 120 is calibrated so that the hydraulic system 100 knows how to increase a second control parameter β1 to produce a linear increase in the flow rate of the outflowing hydraulic fluid 130. Thus, the hydraulic system can be advantageously calibrated to provide a linearization curve for linearly increasing the flow rate of the outflowing hydraulic fluid 130 when the second control parameter β1 is increased. A linearization curve can mean a graphical representation or mathematical process used to approximate a nonlinear relationship with a linear relationship. The nonlinear relationship may be, for example, a nonlinear relationship between an increase in the second control parameter β1 and an increase in the flow rate of the outflowing hydraulic fluid 130.

[0061] In embodiments of this method, the method further comprises providing a first control parameter α1 to the first subsystem 110 such that the second subsystem 120 can increase and thereby limit the flow rate of the outflowing hydraulic fluid 130 to a predetermined capacity of the second secondary. In this embodiment, the predetermined capacity of the first secondary may not represent the maximum flow rate capacity of the first subsystem 110. Instead, the predetermined capacity of the first secondary represents the maximum flow rate capacity of the first valve 111. The predetermined capacity of the second secondary represents the combined capacity of the maximum flow rates of the first valve 111 and the second valve 112. The predetermined capacity of the first secondary may be, for example, 60 liters / min, and the predetermined capacity of the second secondary may be, for example, 120 liters / min. Alternatively, the performance characteristics of the valves of the first subsystem 110 may be known. Thereafter, the predetermined capacity of the first secondary may represent 10% of the maximum flow rate capacity of the first valve 111. The predetermined capacity of the second secondary may represent 20% of the maximum flow rate capacity of the first valve 111. The first control parameter α1 is advantageously such that it ensures that the predetermined capacity of the second secondary is achieved. From this, the second subsystem 120 can increase the flow rate of the outgoing hydraulic fluid 130 by increasing the flow rate of the inflowing hydraulic fluid 140 to and thereby limiting it to the predetermined capacity of the second secondary. The predetermined capacity of the second secondary is higher than the predetermined capacity of the first secondary.

[0062] The method further comprises S6 providing a second control parameter β1 to a second subsystem 120 in order to increase the flow rate of the outflowing hydraulic fluid 130.

[0063] The method further comprises S7 detecting that the second subsystem 120 is unable to further increase the flow rate of the outflowing hydraulic fluid 130. From this, the flow rate of the outflowing hydraulic fluid 130 may be saturated. The measurement of whether the flow rate of the outflowing hydraulic fluid 130 is saturated can be performed by a sensor.

[0064] The method further comprises calibrating a second subsystem 120 using a second secondary peak level S8. The second subsystem 120 can be calibrated so that the hydraulic system 100 knows which level of the second control parameter β1 is required to generate a flow rate of the incoming hydraulic fluid 140 according to a predetermined second secondary capacity. The second subsystem 120 may be calibrated using additional predetermined capacities, for example, third and fourth secondary predetermined capacities. The first subsystem 110 may comprise a plurality of valves, where the predetermined first secondary capacity may represent 10% of the maximum flow capacity through the plurality of valves. The predetermined second secondary capacity may represent 20% of the maximum flow capacity through the plurality of valves.

[0065] In embodiments of the present method, the method further comprises providing a second control parameter β1 to a second subsystem 120 such that the first subsystem 110 can increase and thereby limit the flow rate of the outflowing hydraulic fluid 130 to a first primary predetermined capacity. The first primary predetermined capacity may be the maximum flow rate that can flow through the first subsystem 110. This may be, for example, the maximum flow rate of the first valve 111. Since the second subsystem 120 is already calibrated in this embodiment to carry a flow rate of the inflowing hydraulic fluid 140 according to the maximum flow rate capacity of the first subsystem 110, the first primary predetermined capacity may be set to, for example, the maximum flow rate capacity of the first subsystem 110. This may be, for example, the maximum flow rate capacity of the first valve 111, e.g., 60 liters / minute.

[0066] The method further comprises S10 providing a first control parameter α1 to a first subsystem 110 in order to increase the flow rate of the outflowing hydraulic fluid 130. The first subsystem 110 can increase the flow rate of the outflowing hydraulic fluid 130 until the flow rate of the outflowing hydraulic fluid 130 becomes equal to a first primary predetermined capacity.

[0067] The method further comprises S11 detecting that the first subsystem 110 is unable to further increase the flow rate of the outflowing hydraulic fluid 130, where the flow rate of the outflowing hydraulic fluid 130 is equal to the flow rate of the inflowing hydraulic fluid 140, and the flow rate of the outflowing hydraulic fluid 130 is saturated. From this, it is detected that the first subsystem 110 has reached a first primary predetermined capacity, and the first primary peak level of the first control parameter α1 is measured. The first primary peak level of the first control parameter α1 is the level of the first control parameter α1 that allows the flow rate of the outflowing hydraulic fluid 130 to be equal to the first primary predetermined capacity. The measurement that the flow rate of the outflowing hydraulic fluid 130 is saturated is performed by a sensor.

[0068] The method further comprises calibrating the first subsystem 110 using a first primary peak level S12. The first subsystem 110 can be calibrated so that the hydraulic system 100 knows which level of the first control parameter α1 is required to generate a flow rate of the outflowing hydraulic fluid 130 according to a predetermined first primary volume.

[0069] In embodiments of this method, the predetermined capacity of the first secondary represents the flow capacity of at least two valves, for example, a third valve 113 and a fourth valve 114. The third valve 113 and the fourth valve 114 are arranged to increase the flow rate of the hydraulic fluid 130 flowing out in a loop-shaped trajectory. This may mean that the flowing hydraulic fluid flows in a loop and therefore does not need to be stopped or paused after a certain time. This makes it possible that the calibration of the second subsystem 120 is not limited by time. It is conceivable that more than two valves in the first subsystem 110 are arranged to form a loop-shaped trajectory.

[0070] In embodiments of this method, the flow rate of the outflowing hydraulic fluid 130 may be measured to be saturated using the first sensor 104 and the second sensor 106 to determine or calculate the pressure drop across the first valve 111. Alternatively, the first sensor 104 and the second sensor 106 may measure the pressure drop across any of the multiple valves of the first subsystem 110. It may be known that the flow rate of the outflowing hydraulic fluid 130 is saturated when the pressure drop follows a certain value. For example, it may be known that the first subsystem 110 generates a certain pressure drop between the inflowing hydraulic fluid 140 and the outflowing hydraulic fluid 130 when the flow rate of the outflowing hydraulic fluid 130 is saturated.

[0071] In this embodiment of the method, the flow rate of the outflowing hydraulic fluid 130 drives the motion of the tiltrotator 300, and detection of saturation of the outflowing hydraulic fluid 130 is performed by detecting the cessation of the increase in the motion of the tiltrotator 300. The cessation of the increase in motion may mean that the motion has stopped moving forward. The flow rate of the outflowing hydraulic fluid 130 can be measured to be saturated using the sensor device 108. For example, the flow rate of the outflowing hydraulic fluid 130 is saturated when an increase in the flow rate of the inflowing hydraulic fluid 140 no longer results in an increase in the motion of the tiltrotator. If the hydraulic fluid passing through the first valve 111 drives the rotational motion of the tiltrotator 300, the rotational motion is infinite. This is advantageous because the sensor device 108 can continuously measure the rotational motion of the tiltrotator 300 until the flow rate of the outflowing hydraulic fluid 130 becomes saturated. The sensor device may, advantageously, provide a motion sensor for measuring the rotational motion of the tilt rotator 300.

[0072] Referring to Figure 3, an embodiment of a second aspect of the present disclosure is shown. A hydraulic system 200 is provided comprising a first subsystem 210 and a second subsystem 220. The first subsystem 210 and the second subsystem 220 are hydraulically interconnected with each other, for example, via a hose. The first subsystem 210 generates a flow rate of incoming hydraulic fluid flowing into the second subsystem 220. The first subsystem 210 may include means for generating the flow rate of incoming hydraulic fluid, such as a hydraulic pump. The first subsystem 210 is controllable by being provided with a first control parameter α2. The first control parameter α2 can control the magnitude of the flow rate of incoming hydraulic fluid generated by the first subsystem 210. The first control parameter α2 may be an electrical signal. When the first control parameter α2 is 0 or relatively low, the generated flow rate of incoming hydraulic fluid may be 0. When the magnitude of the first control parameter α2 is increased, the generated flow rate of incoming hydraulic fluid increases. At a specific value of the first control parameter α2, the first subsystem 210 generates a flow rate of incoming hydraulic fluid according to its total capacity. If the first control parameter α2 is further increased beyond this specific value, the first subsystem 210 may continue to generate hydraulic power according to its total capacity. The second subsystem 220 can control the amount of flow rate of incoming hydraulic fluid flowing through the second subsystem 220. The flow rate of outgoing hydraulic fluid 230 is defined as the amount of flow rate of incoming hydraulic fluid flowing through the second subsystem 220. Thus, the second subsystem 220 can control an upper limit on the flow rate of outgoing hydraulic fluid 230. The flow rate of outgoing hydraulic fluid 230 may be used to drive the motion of the tiltrotator 300. The motion of the tiltrotator 300 may be, for example, rotational motion or tilting motion. The second subsystem 220 may be controlled so that the entire flow rate of incoming hydraulic fluid passes through the second subsystem 220. The flow rate of the outflowing hydraulic fluid 230 is therefore equal to the flow rate of the inflowing hydraulic fluid 240.Alternatively, the second subsystem 220 may allow only a portion of the inflow rate of the inflowing hydraulic fluid to pass through the second subsystem 220. The amount of inflowing hydraulic fluid that is prevented from passing through the second subsystem 220 may flow back to a hydraulic vessel (not shown) via a return channel (not shown). The second subsystem 220 may prevent all of the inflowing hydraulic fluid from passing through the second subsystem 220. The second subsystem 220 includes a valve for controlling an upper limit on the flow rate of the outflowing hydraulic fluid 230. Alternatively, the second subsystem 220 may include multiple valves for controlling an upper limit on the flow rate of the outflowing hydraulic fluid 230. At least one valve may be a flow control valve. The second subsystem 220 is controllable to be closed, fully open, or to any intermediate opening between closed and fully open. The second subsystem 220 is controlled by being provided with a second control parameter β2. A second control parameter β2 may be provided to the second subsystem 220 to control the valve opening. The second control parameter β2 may be an electrical signal. For example, if the second control parameter β2 is 0 or relatively low, the valve may be closed. If the magnitude of the second control parameter β2 is increased, the opening of the second subsystem 220 may be increased, for example, by increasing the valve opening. At a certain value of the second control parameter β2, the valve may be fully open. If the second control parameter β2 is further increased beyond a certain value, the valve will remain fully open. The first subsystem 210 may be controlled to allow the second subsystem 220 to increase and thereby limit the flow rate of the outflowing hydraulic fluid 230 to a predetermined capacity of the first secondary. The predetermined capacity of the first secondary may be the flow rate that can flow through the second subsystem 220. For example, the predetermined capacity of the first secondary could be the maximum flow rate that can pass through the valve of the second subsystem 220 when the valve of the second subsystem 220 is fully open.In order for the second subsystem 220 to increase the flow rate of the outflowing hydraulic fluid 230 to a predetermined capacity of the first secondary, the first subsystem 210 is required to generate an inflow flow rate of hydraulic fluid at least equal to the predetermined capacity of the first secondary. The required level of the first control parameter α2 to bring about an inflow flow rate of hydraulic fluid at least equal to the predetermined capacity of the first secondary is unknown, and the level of the first control parameter α2 can be advantageously set to an excessively high level. For example, an initial estimated level of the first control parameter α2 to bring about an inflow flow rate of hydraulic fluid at least equal to the predetermined capacity of the first secondary is 1800 mA, and the first control parameter α2 can be set to 2400 mA. The first subsystem 210 will then generate an inflow flow rate of hydraulic fluid at least equal to the predetermined capacity of the first secondary. Thereafter, the second subsystem 220 will be able to increase and thereby limit the flow rate of the outflowing hydraulic fluid 230 to a predetermined capacity of the first secondary. This is done, for example, by increasing the opening of a valve provided in the second subsystem 220. When the second subsystem 220 is unable to further increase the flow rate of the outflowing hydraulic fluid 230, it is said that the flow rate of the outflowing hydraulic fluid 230 is saturated. This may be due to the second subsystem 220 reaching its maximum opening. Alternatively, it may be due to the flow rate of the outflowing hydraulic fluid 130 being equal to the flow rate of the inflowing hydraulic fluid. The performance characteristics of the first subsystem 210 and the second subsystem 220 may initially be partially or completely unknown to the hydraulic system 200. The more accurately the performance characteristics of the first subsystem 210 and the second subsystem 220 are known to the hydraulic system 200, the more accurately the hydraulic system can control the flow rate of the outflowing hydraulic fluid 230. From this, the hydraulic system 200 is advantageously calibrated to know the performance characteristics of the first subsystem 210 and the second subsystem 220 to at least a higher degree.

[0073] Referring to Figure 3, an embodiment of a method for calibrating a hydraulic system 200 that generates a hydraulic fluid flow to a tiltrotator 300 in order to control the motion of the tiltrotator 300 is provided. The method comprises providing a first control parameter α2 to a first subsystem 210 such that a second subsystem 220 can increase the flow rate of the outflowing hydraulic fluid 230 to a predetermined capacity of a first secondary of the second subsystem 220 and thereby limit it.

[0074] The method further comprises providing a second control parameter β2 to a second subsystem 220 in order to increase the flow rate of the outflowing hydraulic fluid 230. The second subsystem 220 can increase the flow rate of the outflowing hydraulic fluid 230 until the flow rate of the outflowing hydraulic fluid 230 becomes equal to a predetermined capacity of the first secondary.

[0075] The method further comprises S3 detecting that the second subsystem 220 is unable to further increase the flow rate of the outflowing hydraulic fluid 230. From this, it is detected that the second subsystem 220 has reached a predetermined first secondary capacity, and the first secondary peak level of the second control parameter β2 is measured. The first secondary peak level of the second control parameter β2 is the level of the second control parameter β2 that causes the opening of the second subsystem 220 to enable a flow rate of the outflowing hydraulic fluid 230 according to the predetermined first secondary capacity. From this, the flow rate of the outflowing hydraulic fluid may be saturated. The measurement of whether the flow rate of the outflowing hydraulic fluid 230 is saturated is performed by a sensor.

[0076] The method further comprises calibrating a second subsystem 220 using a first secondary peak level S4. The second subsystem 220 can be calibrated so that the hydraulic system 200 knows what level of a second control parameter β2 is required to generate an opening of the second subsystem so that a flow rate of the outflowing hydraulic fluid 230 according to a predetermined capacity of the first secondary is available.

[0077] Referring here to Figure 4, a further embodiment of a second aspect of the hydraulic system 200 is shown. The hydraulic system 200 comprises a first subsystem 210 and a second subsystem 220. The first subsystem 210 and the second subsystem 220 are hydraulically interconnected via a flow path 202, which may be a hose. The first subsystem 210 comprises a hydraulic pump 212 for generating a flow rate of incoming hydraulic fluid 240 flowing into the second subsystem 220. The first subsystem 210 may further comprise sub-components necessary for controlling the hydraulic pump 212. The first subsystem 210 is controllable by providing the first subsystem 210 with a first control parameter α2. The first control parameter α2 is provided to the first subsystem 210 to control the level of the flow rate of the incoming hydraulic fluid 240 generated by the hydraulic pump 212. The second subsystem 220 is capable of controlling the amount of flow rate of the incoming hydraulic fluid 240 flowing through the second subsystem 220. The flow rate of the outflowing hydraulic fluid 230 is defined as the amount of the inflowing hydraulic fluid 240 flowing through the second subsystem 220.

[0078] The second subsystem 220 comprises a first valve 221, a second valve 222, a third valve 223, a fourth valve 224, and a fifth valve 225. Each of the valves 221, 222, 223, 224, and 225 may be a bidirectional valve. Each of the valves 221, 222, 223, 224, and 225 may be a flow control valve. Each of the valves 221, 222, 223, 224, and 225 may be controllable to be closed, fully open, or to any intermediate opening between closed and fully open. In this illustrative embodiment, the first valve 221 controls the flow rate of the first outflowing hydraulic fluid 231. The second valve 222 controls the flow rate of the second outflowing hydraulic fluid 232. The third valve 223 controls the flow rate of the third outflowing hydraulic fluid 233. The fourth valve 224 controls the flow rate of the fourth outflowing hydraulic fluid 234. The fifth valve 225 controls the flow rate of the fifth outflowing hydraulic fluid 235. In an illustrative embodiment, the first valve 221 controls the rotational motion of the tiltrotator 300, the second valve 222 controls the tilting motion of the tiltrotator 300, and the third valve 223, the fourth valve 224, and the fifth valve 225 each control additional functions of the tiltrotator 300. It is conceivable that a second subsystem 220 may provide additional or fewer valves than those presented in the illustrative embodiment. The flow rate of the outflowing hydraulic fluid 230 is the combined flow rates of the first, second, third, fourth, and fifth hydraulic fluids 231, 232, 233, 234, and 235. The amount of incoming hydraulic fluid 240 that cannot enter through any of the valves 221, 222, 223, 224, and 225 may return to a hydraulic vessel (not shown) via a return channel (not shown). The second subsystem 220 is controlled by being provided with a second control parameter β2, which may be provided to the second subsystem 220 to control the opening degree of each of the valves 221, 222, 223, 224, and 225. The first subsystem 210 may be controlled to allow the second subsystem 220 to increase and thereby limit the flow rate of outgoing hydraulic fluid 230 to a predetermined capacity of a first secondary. The predetermined capacity of the first secondary may be defined as the flow rate that can flow through the second subsystem 220.For example, the first subsystem 210 may be controlled to generate an inflow flow rate of hydraulic fluid exceeding the maximum hydraulic fluid flow rate capacity of the first valve 221. When the first valve 221 is released, the second subsystem may increase and thereby limit the flow rate of the outflow hydraulic fluid 230 to the maximum flow rate capacity of the first valve 221. In this case, the predetermined capacity of the first secondary of the second subsystem 220 is the maximum flow rate capacity of the first valve 221. If a specific level of the first control parameter α2 for producing an inflow flow rate of hydraulic fluid 240 equal to the predetermined capacity of the first secondary is not known, the first control parameter α2 may be advantageously set to an excessively high level. Thereafter, the second subsystem 220 can increase and thereby limit the flow rate of the outflow hydraulic fluid 230 to the predetermined capacity of the first secondary. The hydraulic system 200 further comprises a first sensor 204 for measuring the hydraulic pressure in the inflow hydraulic fluid 240. The hydraulic system 200 further comprises a second sensor 206 for measuring the hydraulic pressure of the outflowing hydraulic fluid 230. The second sensor 206 measures the hydraulic pressure in the outflowing hydraulic fluid 230 as the highest of the hydraulic pressures in the first, second, third, fourth, and fifth hydraulic fluids 231, 232, 233, 234, and 235. The hydraulic system 200 further comprises a sensor device 208 for measuring the motion of the tiltrotator 300. The sensor device 208 may comprise at least one sensor for measuring the motion of the tiltrotator 300. The sensor device 208 may comprise a motion sensor or a plurality of motion sensors for measuring some motion of the tiltrotator 300, such as rotational motion or tilting motion. In an illustrative embodiment, the tiltrotator 300 comprises the hydraulic system 200 in part. When the tiltrotator 300 is mounted on a construction machine, the hydraulic pump 212 is provided by the construction machine. Due to the model, type, and individual characteristics of the hydraulic pump 212, the performance characteristics may be partially or completely unknown to the hydraulic system 200. In addition, the performance characteristics of one or more of the valves 221, 222, 223, 224, and 225 may initially be partially or completely unknown to the hydraulic system 200.The hydraulic system 200 is advantageously calibrated to recognize, at least to a higher degree, the performance characteristics of the first subsystem 210 and the second subsystem 220.

[0079] Referring to Figure 4, a further embodiment of a method for calibrating the hydraulic system 200 is provided. This method comprises providing a first control parameter α2 to the first subsystem 210 such that the second subsystem 220 can increase and thereby limit the flow rate of the outflowing hydraulic fluid 230 to a predetermined capacity of the first secondary. In this embodiment, the hydraulic pump 212 generates a flow rate of the inflowing hydraulic fluid 240 that flows only into the second subsystem 220. The second, third, fourth, and fifth valves 222, 223, 224, and 225 are controlled to be closed. Thus, the flow rate of the outflowing hydraulic fluid 230 is equal to the flow rate of the first outflowing hydraulic fluid 231. The predetermined capacity of the first secondary is the maximum flow rate that is allowed to flow through the first valve 221 when the first valve 221 is fully open. The first control parameter α2 is advantageously such that the hydraulic pump generates a flow rate of incoming hydraulic fluid 240 equal to or higher than the maximum flow rate of the first valve 221 when the first valve 221 is fully open. Thereafter, the second subsystem 220 can increase and thereby limit the flow rate of outgoing hydraulic fluid 230 to a predetermined capacity of the first secondary by increasing the opening of the first valve 221.

[0080] Alternatively, the predetermined capacity of the first secondary may be defined as the flow rate of at least one of the multiple valves of the second subsystem 220. If the predetermined capacity of the first secondary is defined as the flow rate through the first valve 221 and the second valve 222, the opening degree is defined as the combined opening degree of the first valve 221 and the second valve 222.

[0081] The method further comprises providing a second control parameter β2 to a second subsystem 220 in order to increase the flow rate of the outflowing hydraulic fluid 230. Since the flow rate of the inflowing hydraulic fluid 240 is at least equal to the maximum flow rate of the first valve 221, the second subsystem 220 can increase the flow rate of the outflowing hydraulic fluid 230 by increasing the opening of the first valve 221 until the flow rate of the outflowing hydraulic fluid 230 is equal to a predetermined capacity of the first secondary.

[0082] The method further comprises detecting S3 that the second subsystem 220 is unable to further increase the flow rate of the outflowing hydraulic fluid 230. At this stage, the flow rate of the inflowing hydraulic fluid 240 is equal to or higher than the flow rate of the outflowing hydraulic fluid 230. From this, it is detected that the second subsystem 120 has reached a predetermined first secondary capacity, and the first secondary peak level of the second control parameter β2 is measured. At this stage, the flow rate of the outflowing hydraulic fluid 230 is saturated. The measurement that the flow rate of the outflowing hydraulic fluid is saturated is performed by at least one of the first sensor 204, the second sensor 206, and the sensor device 208.

[0083] The method further comprises calibrating a second subsystem 220 using a first secondary peak level S4. The second subsystem 220 can be calibrated so that the hydraulic system 200 knows what level of the second control parameter β2 is required to control the first valve 221 to be fully open.

[0084] In this embodiment of the method, the detection step S3 further comprises detecting when the flow rate of the outflowing hydraulic fluid 230 began to increase and measuring the starting level of the second control parameter β2. The initial increase in the flow rate of the outflowing hydraulic fluid 230 is measured by a sensor.

[0085] Additionally, the calibration step S4 further comprises the calibration of the second subsystem 220 using the starting level of the second control parameter β1.

[0086] In this embodiment of the method, the detection step S3 further comprises measuring the increase in the flow rate of the outflowing hydraulic fluid 230. The increase in the flow rate of the outflowing hydraulic fluid 230 is measured by a sensor.

[0087] Additionally, the calibration step S4 further comprises linearizing a second subsystem 220 using a measured increase in the flow rate of the outflowing hydraulic fluid 230. The second subsystem 220 is calibrated so that the hydraulic system 200 knows how to increase a second control parameter β2 to produce a linear increase in the flow rate of the outflowing hydraulic fluid 230.

[0088] In embodiments of the present method, the method further comprises providing the first subsystem 210 with a first control parameter α2 such that the second subsystem 220 can increase and thereby limit the flow rate of the outflowing hydraulic fluid 230 to a predetermined capacity of the second secondary. In this embodiment, the predetermined capacity of the first secondary does not represent the maximum flow rate capacity of the first subsystem 210. Instead, the predetermined capacity of the first secondary represents a first level of the flow rate of the inflowing hydraulic fluid generated by the first subsystem 210. The predetermined capacity of the second secondary may represent a second level of the flow rate of the inflowing hydraulic fluid generated by the first subsystem 210. Thus, the second subsystem 220 can increase and thereby limit the flow rate of the outflowing hydraulic fluid 230 to a predetermined capacity of the second secondary. The predetermined capacity of the second secondary is higher than the predetermined capacity of the first secondary.

[0089] The method further comprises S6 providing a second control parameter β2 to a second subsystem 220 in order to increase the flow rate of the outflowing hydraulic fluid 230.

[0090] The method further comprises detecting S7 that the second subsystem 220 is unable to further increase the flow rate of the outflowing hydraulic fluid 230. At this stage, the flow rate of the outflowing hydraulic fluid 230 is saturated. The measurement that the flow rate of the outflowing hydraulic fluid 230 is saturated is performed by a sensor.

[0091] The method further comprises calibrating a second subsystem 220 using a second secondary peak level S8. The second subsystem 220 is calibrated so that the hydraulic system 200 knows which level of the second control parameter β2 is required to generate an opening of the first valve 221 according to a predetermined second secondary capacity. It is conceivable that the second subsystem 220 may be calibrated using additional predetermined capacities, for example, third and fourth secondary predetermined capacities.

[0092] In embodiments of the present method, the method further comprises providing a second control parameter β2 to a second subsystem 220 such that the first subsystem 210 can increase and thereby limit the flow rate of the outflowing hydraulic fluid 230 to a first primary predetermined capacity S9. The first primary predetermined capacity represents the maximum flow rate that can flow through the second subsystem 220. This may be, for example, the maximum flow rate capacity of the first valve 221. Since the hydraulic system 200 is calibrated to control the first valve 221 to be fully open, the first primary predetermined capacity is set to the maximum flow rate capacity of the first valve 221.

[0093] The method further comprises S10 providing a first control parameter α2 to a first subsystem 210 in order to increase the flow rate of the outflowing hydraulic fluid 230. The first subsystem 210 can increase the flow rate of the outflowing hydraulic fluid 230 until the flow rate of the outflowing hydraulic fluid 230 becomes equal to a first primary predetermined capacity.

[0094] The method further comprises S11 detecting that the first subsystem 210 is unable to further increase the flow rate of the outflowing hydraulic fluid 230. At this stage, the flow rate of the outflowing hydraulic fluid 230 is equal to or higher than the flow rate of the inflowing hydraulic fluid 240. At this stage, the flow rate of the outflowing hydraulic fluid 230 is saturated. At this stage, it is detected that the first subsystem 210 has reached a first primary predetermined capacity, and the first primary peak level of the first control parameter α2 is measured. The first primary peak level of the first control parameter α2 is the level of the first control parameter α2 that generates a flow rate of inflowing hydraulic fluid 240 equal to the first primary predetermined capacity. The measurement that the flow rate of the outflowing hydraulic fluid 230 is saturated is performed by a sensor.

[0095] The method further comprises calibrating the first subsystem 210 using a first primary peak level S12. The first subsystem 210 is calibrated so that the hydraulic system 200 knows which level of the first control parameter α1 is required to generate a flow rate of the outflowing hydraulic fluid 230 according to a first primary predetermined capacity.

[0096] In this embodiment of the method, the flow rate of the outflowing hydraulic fluid 230 drives the motion of the tiltrotator 300, and detection of saturation of the outflowing hydraulic fluid 230 is performed by detecting the cessation of the increase in the motion of the tiltrotator 300. The flow rate of the outflowing hydraulic fluid 230 is measured to be saturated using the sensor device 208. When the hydraulic fluid passing through the first valve 221 is driving the rotational motion of the tiltrotator 300, the rotational motion is infinite. This is advantageous because the sensor device 108 can continuously measure the rotational motion of the tiltrotator 300 until the flow rate of the outflowing hydraulic fluid 230 becomes saturated. The sensor device 208 may advantageously provide a motion sensor for measuring the rotational motion of the tiltrotator 300.

[0097] Referring now to Figure 3, further embodiments of a second aspect of the presented disclosure are described. In this embodiment, the outflowing hydraulic fluid 230 is prevented from moving. For example, the outflowing hydraulic fluid 230 may be intended to drive the movement of an accessory of the tilt rotator 300, but the passage for driving that movement is closed. Thus, the outflowing hydraulic fluid 230 is prevented from flowing. The first subsystem 210 includes means for generating an increase in the pressure of the inflowing hydraulic fluid, such as a hydraulic pump. The pressure of the inflowing hydraulic fluid can be propagated to the outflowing hydraulic fluid 230 through the second subsystem 220. The second subsystem 220 includes a valve for controlling whether the hydraulic fluid pressure can be propagated to the outflowing hydraulic fluid 230 through the second subsystem 220. When the valve is closed, the second subsystem 220 prevents the hydraulic pressure from propagating. When the valve is open to any extent, the hydraulic fluid pressure can propagate through the valve. In this embodiment, a first control parameter α2 controls the magnitude of the pressure of the incoming hydraulic fluid generated by the first subsystem 210. A second control parameter β2 controls the opening degree of the valve of the second subsystem 220. Further embodiments of a method for calibrating the hydraulic system 200 based on increasing the pressure of the outgoing hydraulic fluid 230 are provided.

[0098] The method comprises providing a first control parameter α2 to the first subsystem 210 such that the second subsystem 220 increases the pressure of the outflowing hydraulic fluid 230 to a predetermined capacity of the first secondary subsystem 220 and thereby limits it. This can be done by the first subsystem 210 increasing the pressure in the inflowing hydraulic fluid according to a predetermined capacity of the hydraulic pump.

[0099] The method further comprises providing a second control parameter β2 to a second subsystem 220 in order to increase the pressure of the outflowing hydraulic fluid 230. The second subsystem 220 allows the pressure from the inflowing hydraulic fluid to propagate to the outflowing hydraulic fluid 230 by opening a valve.

[0100] The method further comprises S3 detecting that the second subsystem 220 is unable to further increase the pressure of the outflowing hydraulic fluid 230. In this embodiment, as soon as pressure propagates from the inflowing hydraulic fluid to the outflowing hydraulic fluid 230, the pressure in the outflowing hydraulic fluid rises sharply to a predetermined first secondary capacity determined by the first subsystem 210, which in this case may be the pressure generated by the first subsystem 210. The first secondary peak level of the second control parameter β2 is measured.

[0101] In this embodiment, the first secondary peak level of the second control parameter β2 is the level of the second control parameter β2 that causes the valve of the second subsystem 220 to open initially. When the outflowing hydraulic fluid 230 is prevented from flowing, the pressure in the outflowing fluid 230 will instantaneously increase to a predetermined capacity of the first secondary as soon as the second subsystem 220 opens initially.

[0102] The method further comprises calibrating a second subsystem 220 using a first secondary peak level S4. The second subsystem 220 may be calibrated so that the hydraulic system 200 knows what level of the second control parameter β2 is required to cause an initial opening of the second subsystem 220. Thereafter, a preset value may be applied to determine the level of the second control parameter β2 to cause full opening of the valve of the second subsystem 220. After calibration of a first level of the second control parameter β2 to cause initial opening of the valve and a second level of the second control parameter β2 to cause full opening of the valve, a pre-calculated curve for causing linear opening of the valve may be used. The pre-calculated curve may be, for example, a curve for providing a linear increase in the rotational motion of a tilt rotator calibrated from another embodiment of the present disclosure. The pre-calculated curve may be fitted, for example, within the first and second levels of the second control parameter β2.

[0103] Figures 5a and 5b schematically illustrate enlarged views of the third valve 113 and the fourth valve 114 in an embodiment of the first aspect of the present disclosure, respectively. The third valve 113 and the fourth valve 114 are each bidirectional valves. The third valve 113 comprises a first port 113a, a second port 113b, a third port 113c, and a fourth port 113d. The fourth valve 114 comprises a first port 114a, a second port 114b, a third port 114c, and a fourth port 114d. The flow path 102 is fluidly connected to the first port 113a of the third valve 113 and the first port 114a of the fourth valve 114. The third port 113c of the third valve 113 is fluidly connected to the third port 114c of the fourth valve 114 and the first tilt rotator port P1. The second tiltrotator port P2 is fluid-connected to the fourth port 113d of the third valve 113 and the fourth port 114d of the fourth valve 114. The second port 113b of the third valve 113 and the second port 114b of the fourth valve 114 are fluid-connected to the return passage 150. Each of the first tiltrotator port P1 and the second tiltrotator port P2 is fluid-connected to, for example, the tiltrotator cylinder or hydraulic engine to drive the motion of the tiltrotator. The hydraulic fluid can enter the first tiltrotator port P1, flow through the tiltrotator cylinder / engine, and then exit the cylinder / engine through the second tiltrotator port P2, or vice versa.

[0104] In Figure 5a, the third valve 113 is in a first mode, fluidizing its first port 113a and third port 113c, and its fourth port 113d and second port 113b. The fourth valve 114 is in a first mode, fluidizing its first port 114a and third port 114c, and its fourth port 114d and second port 114b. This allows the hydraulic fluid to flow from the second subsystem through the flow path 102 to the first tiltrotator port P1, through either the third valve 113 or the fourth valve 114. Furthermore, the hydraulic fluid can flow from the second tiltrotator port P2 to the return flow path 150, through either the third valve 113 or the fourth valve 114.

[0105] In Figure 5b, the third valve 113 is in a second mode, fluidizing its first port 113a and fourth port 113d, and its third port 113c and second port 113b. The fourth valve 114 is in a first mode. In this embodiment, the first tiltrotator port P1 and the second tiltrotator port are closed. Thereafter, the third valve 113 and the fourth valve 114 are connected to form a loop-shaped trajectory. Hydraulic fluid is allowed to flow from the second subsystem through the flow path 102, through the third valve 113, and then through the fourth valve 114 to the return flow path 150. In addition, hydraulic fluid is allowed to flow from the second subsystem through the flow path 102, through the fourth valve 114, and then through the third valve 113 to the return flow path 150. This allows the first subsystem to increase the flow rate of the outflowing fluid, which in this case is defined as the combination of the flow rate of the third outflowing hydraulic fluid 133 and the flow rate of the fourth outflowing hydraulic fluid 134, until it equals the combined maximum flow capacity of the third valve 113 and the fourth valve 114, which is greater than what can be achieved through a single valve. In addition, the hydraulic fluid is allowed to continue flowing indefinitely through a loop-shaped trajectory.

[0106] Figure 6 schematically illustrates a method for calibrating the hydraulic systems 100 and 200 that generate a hydraulic fluid flow to the tiltrotator 300 in order to control the motion of the tiltrotator 300.

[0107] The methods of the present disclosure may comprise one or more additional steps discussed in relation to a hydraulic system according to the first aspect, the second aspect, or any embodiment thereof.

[0108] This disclosure has been described above primarily with reference to several embodiments. However, as will be readily apparent to those skilled in the art, embodiments other than those disclosed above are equally possible within the scope of this disclosure as defined by the appended claims.

[0109] While features and elements are described above in specific combinations, each feature or element can be used alone without other features and elements, or in various combinations with or without other features and elements.

[0110] Other variations of the disclosed embodiments can be understood and achieved by those skilled in the art in carrying out the claimed invention, based on a review of the drawings, disclosures, and appended claims. In the claims, the word “equipped with” does not exclude other elements or steps, and the indefinite article “a” or “an” does not exclude plurals. A single processor or other unit may perform the functions of several items described in the claims. The mere fact that certain features are described in mutually different dependent claims does not imply that combinations of these features cannot be used advantageously. No reference numeral in the claims should be construed as limiting the scope.

Claims

1. A method for calibrating a hydraulic system (100, 200) that generates a hydraulic fluid flow to a tiltrotator (300) in order to control the motion of the tiltrotator (300), wherein the hydraulic system (100, 200) comprises a first subsystem (110, 210) and a second subsystem (120, 220) hydraulically interconnected with the first subsystem (110, 210), and the method is - Provide the first subsystem (110, 210) with first control parameters (α1, α2) such that the second subsystem (120, 220) can increase and thereby limit at least one of the flow rate and pressure of the outflowing hydraulic fluid (130, 230) to a predetermined capacity of the first secondary of the second subsystem (120, 220), (S1) - To control the second subsystem (120, 220) to increase at least one of the flow rate and pressure of the outflowing hydraulic fluid (130, 230), second control parameters (β1, β2) are provided to the second subsystem (120, 220) (S2), - The second subsystem (120, 220) is detected to have reached a predetermined capacity of the first secondary (S3), and when the predetermined capacity of the first secondary is reached, the first secondary peak level of the second control parameters (β1, β2) is measured. - Calibrating the second subsystem (120, 220) using the first secondary peak level (S4), A method that includes [a certain feature].

2. - The detection step (S3) further comprises detecting that at least one of the flow rate and pressure of the outflowing hydraulic fluid (130, 230) has begun to increase, and measuring the starting level of the second control parameters (β1, β2) when at least one of the flow rate and pressure of the outflowing hydraulic fluid (130, 230) has begun to increase, The method according to claim 1, wherein the calibration step (S4) further comprises calibrating the second subsystem (120, 220) using the starting level.

3. - The detection step (S3) further comprises measuring the increase in the flow rate of the outflowing hydraulic fluid (130, 230), - The calibration step (S4) further comprises linearizing the second subsystem (120, 220) using the measured increase in the flow rate of the outflowing hydraulic fluid (130, 230), The method according to claim 1 or 2.

4. - Step (S5) of providing the first control parameters (α1, α2) to the first subsystem (110, 210) such that the second subsystem (120, 220) can increase the flow rate of the outflowing hydraulic fluid (130, 230) to a second secondary predetermined capacity of the second subsystem (120, 220) and thereby limit it, - Step (S6) of providing the second control parameters (β1, β2) to the second subsystem (120, 220) in order to control the second subsystem (120, 220) to increase the flow rate of the outflowing hydraulic fluid (130, 230), - The steps include detecting that the second subsystem (120, 220) has reached a predetermined second secondary capacity (S7), and measuring the second secondary peak level of the second control parameters (β1, β2) when the predetermined second secondary capacity has been reached, - A step (S8) of calibrating the second subsystem (120, 220) using the second secondary peak level, The method according to any one of claims 1 to 3, further comprising:

5. - The first subsystem (110, 210) provides the second subsystem (120, 220) with the second control parameter (β1, β1) such that the first subsystem (110, 210) can increase at least one of the flow rate and pressure of the outflowing hydraulic fluid (130, 230) to a first primary predetermined capacity of the first subsystem (110, 210) and thereby limit it (S9), - To control the first subsystem (110, 210) to increase at least one of the flow rate and pressure of the outflowing hydraulic fluid (130, 230), provide the first control parameters (α1, α2) to the first subsystem (110, 210) (S10), - The first subsystem (110, 210) is detected to have reached the first primary predetermined capacity (S11), and when the first primary predetermined capacity is reached, the first primary peak level of the first control parameters (α1, α2) is measured. - Calibrating the first subsystem (110, 210) using the first primary peak level (S12), The method according to any one of claims 1 to 4, further comprising:

6. The method according to any one of claims 1 to 5, wherein the first subsystem (110) comprises a valve for controlling at least one of the flow rate and pressure of the outflowing hydraulic fluid (130), and the second subsystem (120) comprises a hydraulic pump (122) for generating at least one of the flow rate and pressure of the outflowing hydraulic fluid (130).

7. The method according to claim 6, wherein the first subsystem (110) comprises at least two valves for controlling the flow rate of the outflowing hydraulic fluid (130).

8. The method according to claim 7, wherein the first subsystem (110) can be configured to increase the flow rate of the hydraulic fluid (130) flowing out through a loop-shaped orbit.

9. The method according to any one of claims 6 to 8, wherein the step (S3) of detecting that the second subsystem (120) has reached the first secondary predetermined capacity is performed by measuring the fluid pressure drop across the first subsystem (110).

10. The method according to any one of claims 1 to 5, wherein the first subsystem (210) comprises a hydraulic pump (212) for generating at least one of the flow rate and pressure of the outflowing hydraulic fluid (230), and the second subsystem (220) comprises a valve for adjusting at least one of the flow rate and pressure of the outflowing hydraulic fluid (230).

11. The method according to any one of claims 1 to 10, wherein an increase in the flow rate of the outflowing hydraulic fluid (130, 230) increases the motion of the tilt rotator (300) to which the hydraulic system (100, 200) is connected.

12. The method according to claim 11, wherein the step (S3) of detecting that the second subsystem (120) has reached a predetermined first secondary capacity is performed by detecting the cessation of the increase in the motion of the tilt rotator (300).

13. The method according to claim 11 or 12, wherein the detection step (S3) further comprises measuring the motion of the tilt rotator (300).

14. The method according to any one of claims 11 to 13, wherein the motion of the tilt rotator (300) is at least one of rotational motion and tilting motion.

15. The method according to any one of claims 11 to 14, wherein the hydraulic system (100, 200) comprises motion sensors, and the detection step (S3) further comprises using the motion sensors to measure the motion of the tilt rotator (300).

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