초록 ▼

A control for a working apparatus having a boom arm. The apparatus includes a controller operable to receive signals from at least one pressure sensor. The at least one pressure sensor detects pressure of hydraulic fluid in at least one chamber of a control valve. The controller compares the signals

A control for a working apparatus having a boom arm. The apparatus includes a controller operable to receive signals from at least one pressure sensor. The at least one pressure sensor detects pressure of hydraulic fluid in at least one chamber of a control valve. The controller compares the signals from the at least one pressure sensor to parameters generated by testing the working apparatus. The controller predicts boom arm oscillations based on the comparison of the signals with the parameters, and generates a control signal in response to predicting the boom arm oscillations.

대표청구항 ▼

What is claimed is: 1. A working apparatus comprising: a first source configured to provide pressurized hydraulic fluid; an operator control unit; a boom arm; a boom cylinder configured to be coupled to the boom arm, the cylinder having a first chamber and a second chamber; a main control valve con

What is claimed is: 1. A working apparatus comprising: a first source configured to provide pressurized hydraulic fluid; an operator control unit; a boom arm; a boom cylinder configured to be coupled to the boom arm, the cylinder having a first chamber and a second chamber; a main control valve configured to direct the pressurized hydraulic fluid from the first source to the first and second chambers in response to manipulation of the operator control unit to selectively raise and lower the arm; a first pressure sensor and a second pressure sensor operable to detect hydraulic pressure in the first and second chambers, respectively, and generate a signal in reference to the amount of hydraulic pressure in the first and second chambers, respectively; a controller valve operable in a parallel configuration with the operator control unit to override the operation of the control unit and manipulate the main control valve; and a controller operable to receive the signals from the pressure sensors, process the signals to predict boom oscillations, and control the controller valve to operate the main control valve and help prevent the predicted boom oscillations. 2. The working apparatus of claim 1, further comprising a second source configured to provide pressurized hydraulic fluid, and operable to communicate with the main control valve; the controller valve operable to communicate the second source and the main control valve; wherein the main control valve is operable to operate under the influence of the second source to direct hydraulic fluid from the first source into one of the first and second chambers. 3. The working apparatus of claim 2, wherein the operator control unit is operable to control the delivery of hydraulic fluid from the second source to the main control valve to control operation of the main control valve. 4. The working apparatus of claim 3, further comprising a control pressure sensor operable to detect pressure of hydraulic fluid between the second source and the main control valve, and to send a signal to the controller indicative of the sensed pressure. 5. The working apparatus of claim 4, wherein the controller is operable to receive the signal from the control pressure sensor, process the signal to predict boom oscillations, and send a control signal to the controller valve; and wherein the controller valve is operable to override the operator control unit and manipulate the main control valve to help prevent the predicted boom oscillations in response to receiving the control signal. 6. The working apparatus of claim 1, wherein the operator control unit includes a joystick unit; and the main control valve is operable to direct hydraulic fluid from the first source into one of the first and second chambers in response to manipulation of the joystick. 7. The working apparatus of claim 6, further comprising a sensor operable to detect a signal between the joystick and the main control valve, and send the signal to the controller indicative of the joystick controlling the main control valve; and wherein the controller is operable to receive the signals from the sensors, process the signals to predict boom oscillations, and override the joystick to manipulate the main control valve and help prevent the predicted boom oscillations. 8. A working apparatus comprising: a first source of pressurized hydraulic fluid; an operator control unit; a boom arm; a boom cylinder coupled to the boom arm, the cylinder having a first chamber and a second chamber; a main control valve selectively directing pressurized hydraulic fluid from the first source to the first and second chambers in response to manipulation of the operator control unit to selectively raise and lower the arm; a first pressure sensor and a second pressure sensor detecting hydraulic pressure in the first and second chambers, respectively, and generating signals in reference to the amount of hydraulic pressure in the first and second chambers, respectively; a controller receiving the signals from the pressure sensors, processing the signals to monitor operation of the cylinder and arm, and generating a control signal when the signals are indicative of impending boom oscillations; and a controller valve overriding the operator control unit and manipulating the main control valve to help prevent boom oscillations in response to receiving the control signal. 9. The working apparatus of claim 8, further comprising a second source of pressurized hydraulic fluid communicating with the main control valve; wherein the operator control unit controls the delivery of hydraulic fluid from the second source to the main control valve to direct hydraulic fluid from the first source into one of the first and second chambers; and wherein the controller valve communicates the second source and the main control valve and selectively overrides the operator control unit to manipulate the operation of the main control valve and help prevent boom oscillations in response to receiving the control signal. 10. The working apparatus of claim 9, further comprising a control pressure sensor detecting hydraulic pressure between the operator control unit and the main control valve and sending signals to the controller in reference to the sensed pressure. 11. The working apparatus of claim 8, wherein the operator control unit includes a joystick unit; and wherein the main control valve selectively directs hydraulic fluid from the first source into one of the first and second chambers in response to manipulation of the joystick. 12. The working apparatus of claim 11, further comprising a sensor operable to detect signals between the joystick and the main control valve, and sending signals to the controller in reference to the joystick controlling the main control valve; and wherein the controller receives the signals from the sensors, process the signals to monitor the operation of the cylinder and arm, and overrides the operation of the joystick to manipulate the main control valve and help prevent boom oscillations in response to receiving the control signal. 13. A method for inhibiting boom oscillations in a working apparatus having a boom arm coupled to a boom cylinder having first and second chambers, a main control valve, and an operator control unit permitting an operator to manipulate the main control valve to direct hydraulic fluid into one of the first and second chambers to selectively raise and lower the arm, the method comprising: (a) detecting pressure of hydraulic fluid in the first and second chambers of the boom cylinder; (b) generating first and second signals indicative of the hydraulic pressure in the first and second chambers, respectively; (c) comparing the first and second signals to parameters; (d) predicting boom oscillations based on the comparison of step (c); (e) generating a control signal in response to predicting boom oscillations; and (f) overriding operation of the control unit to manipulate the main control valve and help prevent predicted boom oscillations in response to creating the control signal. 14. The method of claim 13, further comprising: (g) detecting pressure of hydraulic fluid between the operator control unit and the main control valve; (h) generating a third signal indicative of the detected pressure in step (g); and (i) comparing the third signal to another parameter; wherein step (d) includes predicting boom oscillations based on the comparison of step (c) and based on the comparison of step (i). 15. The method of claim 13, wherein step (a) includes attaching a first chamber sensor and a second chamber sensor to the first and second chambers, respectively, to generate the first and second signals. 16. The method of claim 15, the working apparatus including a controller; wherein step (c) includes using the controller to compare the first and second signals to parameters; wherein step (d) includes using the controller to predict boom oscillations based on the comparison of step (c); and wherein step (e) includes using the controller to generate the control signal in response to predicting boom oscillations. 17. The method of claim 16, the working apparatus including a controller valve; wherein step (f) includes using the controller valve to override the operation of the control unit to manipulate the main control valve and help prevent predicted boom oscillations in response to receiving the control signal. 18. The method of claim 17, the working apparatus including a control pressure sensor; wherein step (g) includes using the control sensor to detect hydraulic pressure between the operator control unit and the main control valve; wherein step (h) includes using the control sensor to generate the third signal in reference to the detected pressure; and wherein step (i) includes using the controller to compare the third signal to another parameter. 19. The method of claim 14, further comprising: (j) presetting the parameters based on the type of working apparatus; and wherein step (c) includes comparing the first and second signals to the preset parameters. 20. The method of claim 19, further comprising: (k) presetting the another parameter based on the type of working apparatus; and wherein step (i) includes comparing the third signal to the another preset parameter. 21. A control for a working apparatus having an arm; the control comprising: a controller operable to receive at least one signal from a first pressure sensor that is operable to detect a pressure in a first chamber of a boom cylinder, and at least one signal from a second pressure sensor that is operable to detect a pressure in a second chamber of the boom cylinder; wherein the controller is operable to process the at least one signal from each of the first and second sensors, and to control a controller valve coupled in a parallel configuration to an operator control unit to help prevent oscillations of the arm. 22. The control of claim 21, wherein the controller is operable to compare the at least one signal from the first pressure sensor to the at least one signal from the second pressure sensor. 23. The control of claim 22, wherein the controller is operable to generate a control signal when the difference of the value of the at least one signal from the first pressure sensor and the value of the at least one signal from the second pressure sensor is less than a first parameter. 24. The control of claim 22, wherein the controller is operable to generate a control signal when the difference of the value of the at least one signal from the first pressure sensor and the value of the at least one signal from the second pressure sensor is greater than a second parameter. 25. The control of claim 21, wherein the controller is operable to receive at least one signal from a third pressure sensor configured to detect an operating condition of the operator control unit. 26. The control of claim 25, wherein the controller is operable to generate the control signal when the value of the at least one signal from the third pressure sensor is similar to a third parameter, and when the difference of the value of the at least one signal from the first pressure sensor and the value of the at least one signal from the second pressure sensor is less than a first parameter. 27. The control of claim 26, wherein the controller is operable to generate the control signal when the value of the at least one signal from the third pressure sensor is similar to a fourth parameter, and when the difference of the value of the at least one signal from the first pressure sensor and the value of the at least one signal from the second pressure sensor is greater than a second parameter. 28. A method for inhibiting arm oscillations in an apparatus having an arm, the method comprising: generating a first signal indicative of pressure in a first chamber; generating a second signal indicative of pressure in a second chamber; comparing the first signal to the second signal; predicting arm oscillations based on the comparison of the first signal to the second signal; and generating a control signal to override an operator control unit operable to control the arm in response to predicting the arm oscillations. 29. The method of claim 28, wherein comparing the first and second signals includes subtracting the value of the first signal from the value of the second signal. 30. The method of claim 28, wherein predicting arm oscillations includes at least one of predicting the arm oscillations when the difference of the value of the first signal and value of the second signal is less than the first parameter; and predicting the arm oscillations when the difference of the value of the first signal and the value of the second signal is greater than the second parameter. 31. The method of claim 28, further comprising generating a third signal indicative of an operating condition of the operator control unit; and predicting the arm oscillations is further based on the operating condition of the arm.