Hydraulic arrangement
The invention relates to a method ( 50 ) of operating an actuated arrangement ( 1 ) including a lifting boom ( 3 ), an associated lifting actuator ( 4 ), a tool attachment device ( 5 ) for attachment of a tool ( 7, 23 ), and an associated tilting actuator ( 6 ). The torque that is exerted onto the tool attachment device ( 5 ) is calculated using the attitude of the tool attachment device ( 5 ), a mass information, representing the mass that is connected to the tool attachment device ( 5 ), and a tool type information, representing the characteristics of the tool ( 7, 23 ) that is to be attached to the tool attachment device ( 5 ).
1 . A method of operating an actuated arrangement comprising a lifting boom, an associated lifting actuator, a tool attachment device for attachment of a tool, and an associated tilting actuator, wherein the method comprises determining a tool type information corresponding to a tool selected from a plurality of tools using an automated tool type identification device and/or tool type information that is entered by an operator, calculating a torque that is exerted onto the tool attachment device using an attitude of the tool attachment device, a mass information, representing a mass that is connected to the tool attachment device, and the tool type information, representing characteristics of the tool that is attached to the tool attachment device, wherein the attitude of the tool attachment device is determined using a positional information of the lifting boom and/or of the tool attachment device using information of at least one position sensor, and applying a modified control signal to a control valve arrangement to control the actuated arrangement, the modified control signal being a control signal modified based on the calculated torque, wherein the modified control signal causes a first tool of the plurality of tools to, when attached to the tool attachment device, move at an operating speed for a certain operating command position set by the operator and the modified control signal causes a second tool of the plurality of tools to, when attached to the tool attachment device, move at the operating speed at the certain operating command position.
2 . The method according to claim 1 , wherein the characteristics of the tool include a length of a distance between a point of rotation and a centre of gravity of the tool that is attached to the tool attachment device and/or an angle enclosed between a direction of a connection between the point of rotation and the centre of gravity of the tool that is attached to the tool attachment device and the direction of the gravity in dependence of the attitude and/or its mass.
3 . The method according to claim 2 , wherein the method calculates a compensation signal for generating the modified control signal, the modified control signal being such that the control valve arrangement controls the tilting actuator to compensate for a variation of the torque that is exerted onto the tool attachment device in dependence of the attitude of the tool attachment device.
4 . The method according to claim 3 , wherein the method calculates the compensation signal for generating the modified control signal, the modified control signal being such that the control valve arrangement maintains a constant rotational speed of the tool attachment device and/or compensates for the variation of the torque that is exerted onto the tool attachment device in dependence of the current mass of the tool that is connected to the tool attachment device.
5 . The method according to claim 2 , wherein the mass that is connected to the tool attachment device is determined using a load information representing a load acting onto the lifting boom using pressure information from a pressure sensor.
6 . The method according to claim 1 , wherein the method calculates a compensation signal for generating the modified control signal, the modified control signal being such that the control valve arrangement controls the tilting actuator to compensate for a variation of the torque that is exerted onto the tool attachment device in dependence of the attitude of the tool attachment device.
7 . The method according to claim 6 , wherein the mass that is connected to the tool attachment device is determined using a load information representing a load acting onto the lifting boom using pressure information from a pressure sensor.
8 . The method according to claim 6 , wherein the method calculates the compensation signal for generating the modified control signal, the modified control signal being such that the control valve arrangement maintains a constant rotational speed of the tool attachment device and/or compensates for the variation of the torque that is exerted onto the tool attachment device in dependence of the current mass of the tool that is connected to the tool attachment device.
9 . The method according to claim 1 , wherein the mass that is connected to the tool attachment device is determined using a load information representing a load acting onto the lifting boom using information from a pressure sensor.
10 . The method according to claim 9 , wherein the sensor information is compensated for friction, speed and fluid flow effects, influencing the information obtained by the pressure sensor.
11 . The method according to claim 1 , wherein the lifting actuator and/or the tilting actuator comprises at least a hydraulic actuator.
12 . The method according to claim 11 , wherein the hydraulic actuator is a hydraulic piston.
13 . The method according to claim 1 , wherein the tool type information is additionally determined using tool type information that comes from movement characteristics obtained during operation of the actuated arrangement.
14 . The method according to claim 1 , wherein the calculation is performed using a mathematical description of the arrangement and/or that a lookup table is used for performing the calculation.
15 . The method according to claim 1 , wherein the actuated arrangement comprises the tool that is attached to the tool attachment device, the tool taken from the group comprising forks, bale grapplers, shovels and buckets, where the tools are used interchangeably.
16 . The method according to claim 15 , wherein the tool is taken from the group comprising forks, bale grapplers, shovels, and/or buckets.
17 . The method according to claim 1 , wherein pressure sensor information is compensated for friction, speed and fluid flow effects, influencing the pressure sensor information obtained by a pressure sensor.
18 . The method according to claim 1 , wherein the at least one position sensor is at least one translational position sensor and/or at least one angular position sensor.
19 . An electronic controller device for operating an actuated arrangement, the actuated arrangement including:
a lifting boom,
a lifting actuator,
a tool attachment device, and
a tilting actuator,
wherein the electronic controller device is configured to calculate torque using an attitude of the tool attachment device, a mass connected to the tool attachment device and tool type information corresponding to a tool selected from a plurality of tools attached to the tool attachment device,
wherein the electronic controller device is configured to determine the tool type information using an automated tool type identification device and/or using tool type information that is entered by an operator,
wherein the electronic controller device is configured to determine the attitude of the tool attachment device using a positional information of the lifting boom and/or of the tool attachment device using information of at least one position sensor,
wherein the electronic controller device is configured to generate a modified control signal to be applied to a control valve arrangement to control the actuated arrangement, the modified control signal being a control signal modified based on the calculated torque, and
wherein the modified control signal causes a first tool of the plurality of tools to, when attached to the tool attachment device, move at an operating speed for a certain operating command position set by the operator and the modified control signal causes a second tool of the plurality of tools to, when attached to the tool attachment device, move at the operating speed at the certain operating command position.
20 . An actuated arrangement comprising:
a lifting boom,
an associated lifting actuator, a tool attachment device for attachment of a tool,
an associated tilting actuator, and
a controller device,
wherein the controller device is configured to calculate torque using an attitude of the tool attachment device, a mass connected to the tool attachment device and tool type information corresponding to a tool selected from a plurality of tools attached to the tool attachment device,
wherein the controller device is configured to determine the tool type information using an automated tool type identification device and/or using tool type information that is entered by an operator,
wherein the controller device is configured to determine the attitude of the tool attachment device using a positional information of the lifting boom and/or of the tool attachment device using information of at least one position sensor,
wherein the controller device is configured to generate a modified control signal to be applied to a control valve arrangement to control the actuated arrangement, the modified control signal being a control signal modified based on the calculated torque, and
wherein the modified control signal causes a first tool of the plurality of tools to, when attached to the tool attachment device, move at an operating speed for a certain operating command position set by the operator and the modified control signal causes a second tool of the plurality of tools to, when attached to the tool attachment device, move at the operating speed at the certain operating command position.
21 . A working vehicle, comprising the actuated arrangement according to claim 20 .