Hydraulic Actuator Control for Telescopic Handler Compensation
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Solution Overview
Problem
The operation of telescopic handlers and wheel loaders is complicated due to side effects from actuator movements, requiring skilled operators to manually compensate for unwanted movements, which can lead to accidents and operator exhaustion, as existing solutions do not adequately address the tilting movements of attached devices like buckets.
Innovation Solution
A method employing at least two types of actuators to automatically compensate for changes in attitude and position of connected devices, such as buckets, by generating modified control signals to mitigate unintended movements, using a controller device that can adjust compensation levels based on mechanical limitations and operator preferences.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual compensation methods are used to counteract side effects of actuator movements, then operational precision can be maintained, but operator workload increases and exhaustion occurs
Solution Approach 1:
The control system automatically compensates for side effects of actuator movements without requiring manual intervention from the operator. The controller device calculates and applies compensation values based on sensor data and pre-stored compensation characteristics, enabling the system to self-correct positioning errors while the operator focuses on primary task control
Solution Approach 2:
The system continuously monitors the actual position of the connected device using sensors and compares it with the desired position. Based on this feedback and pre-stored compensation characteristics, the controller automatically adjusts actuator commands to eliminate positioning errors caused by side effects, creating a closed-loop control system that maintains precision without increasing operator workload
2Ease of operation
If automated compensation systems are implemented, then operator workload is reduced, but device complexity increases
Solution Approach 1:
The controller device integrates multiple functions including primary actuator control, automatic compensation calculation, sensor data processing, and communication interfaces within a single integrated unit. This multi-functionality reduces the need for separate dedicated components for each function, thereby managing complexity while providing comprehensive automated compensation capabilities
Solution Approach 2:
The system introduces a controller device as an intermediary between the operator's control inputs and the actuators. This intermediary processes commands, calculates compensation values based on pre-stored characteristics, and generates corrected control signals, thereby automating the compensation process while maintaining a manageable system architecture through clear separation of control logic
3Manufacturing precision
If compensation for tilting movements is added, then loading precision improves, but control complexity increases
Solution Approach 1:
The system pre-calculates and stores compensation characteristics for various tilting movements and operating conditions in the controller's memory. When tilting occurs during operation, the controller retrieves the appropriate pre-computed compensation values and applies them immediately, avoiding the need for complex real-time calculations and simplifying the control logic while maintaining high loading precision
Data Source
AI summary
The invention relates to a method (100) of operating an actuator arrangement including at least two types of actuators (6, 7, 11, 12, 30, 34) effectuating different types of movement of a connected device (10, 32) to be actuated, where a change of attitude of the connected device (10, 32) has an influence on the position of at least a defined part (13, 14) of the connected device (10, 32). Different types of actuators (6, 7, 11, 12, 30, 34) are actuated in an automated way to at least partly compensate for the change of position of the defined part (13, 14) of the connected device (10, 32) when changing the attitude of the connected device (10, 32), at least for a certain range of movements.