Feller Buncher Boom Control for Constant End Effector Leveling
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Solution Overview
Problem
Conventional control systems for end effectors on feller bunchers require significant operator training due to complex relationships between actuator movements and end effector movement, making precise control difficult without extensive skill and practice.
Innovation Solution
A control system that includes a boom assembly with a hoist boom, stick boom, and end effector, utilizing sensors to sense movement speeds and an input interface for target angle commands, a controller to determine actuator velocities, and a weighting function to combine target and actual velocities for precise end effector movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional control systems with multiple pivoting booms are used, then the end effector can be positioned at various locations, but the control complexity increases significantly requiring extensive operator training
Solution Approach 1:
The patent introduces a controller as an intermediary between the operator and the multiple actuators. The controller receives simplified operator inputs (single joystick or button presses) and automatically calculates the coordinated movements of multiple actuators (boom actuators, stick actuators, tilt actuators) to achieve the desired end effector positioning, eliminating the need for operators to manually coordinate complex multi-actuator systems
Solution Approach 2:
The control system performs self-service by automatically computing the actuator coordination required for end effector movement. The controller internally manages the complex relationships between actuator movements and end effector positioning, using sensors to monitor actual positions and making automatic adjustments to achieve target positions without requiring operator expertise in the complex mechanical relationships
2Adaptability or versatility
If multiple actuators are used to control the boom assembly, then the end effector movement range is increased, but the precision of control decreases due to complex geometric relationships
Solution Approach 1:
The patent implements feedback control by using sensors to continuously monitor the actual positions of the boom, stick, and end effector. The controller compares actual positions with target positions and automatically adjusts actuator commands to eliminate positioning errors. This closed-loop feedback system maintains high positioning precision despite the complex geometric relationships between multiple actuators
Solution Approach 2:
The controller acts as an intermediary that translates simple operator intent into precise coordinated actuator movements. It calculates the exact movement required for each actuator based on the current boom configuration and desired end effector position, compensating for geometric complexities and maintaining precision across the full range of motion
3Device complexity
If manual control of multiple booms is required, then the system remains simple in structure, but the ease of operation deteriorates due to the skill and practice needed
Solution Approach 1:
The control system performs self-service by automatically managing the coordination of multiple actuators. The controller internally handles the complex task of coordinating boom, stick, and tilt actuators based on simple operator inputs, effectively making the system serve itself by eliminating the need for operator expertise in complex multi-actuator coordination
Solution Approach 2:
The patent replaces manual mechanical control with an electronic control system. Instead of requiring operators to manually coordinate multiple mechanical actuators through complex mechanical linkages, the system uses electronic sensors, a digital controller, and electronic actuator control to achieve the same physical result with much simpler operator interaction
Data Source
AI summary
An end effector leveling system for moving an end effector of a work machine with a boom assembly, a plurality of sensors, an input interface, and a controller. The plurality of sensors are configured to sense a current movement speed of the hoist boom, the stick boom, and the end effector. The input interface is configured to receive an end effector target angle input command for movement of the end effector at a constant target angle. The controller receives command signals from the input interface, determines based on the command signals a target tilt actuator velocity for actuating the tilt actuator, and an actual tilt actuator tilt velocity actuator and command the tilt actuator to move such that the end effector moves with an aggregate velocity derived from a weighting function of the target tilt actuator velocity and the actual tilt actuator velocity.