Modulating operator input for work element actuator operation
A control system for controlling movement of a work element of a power machine can include a control device, and an operator input device in communication with the control device. The control device can be configured to receive, from the operator input device, a signal for controlling an actuator of the work element. The signal can be filtered, using a digital notch filter, to generate a filtered signal, and an actuator of the work element can be controlled based on the filtered signal.
1 . A power machine comprising:
a main frame;
a work element supported by the main frame, the work element comprising:
a lift arm moveably secured to the main frame;
an implement carrier movably secured to the lift arm;
an implement secured to the implement carrier;
an actuator that is actuatable to move one of: the implement with respect to the lift arm or the lift arm with respect to the main frame;
an operator input device that is configured to transmit actuation command signals based on operator input that directly commands movement of the work element, to control the actuator of the work element to cause movement that corresponds with the commanded movement;
a control system that includes a control device in communication with the operator input device and the actuator, the control device being configured to:
receive, from the operator input device, an actuation command signal that commands movement of the implement, wherein the actuation command signal is based on a physical movement of the operator input device, wherein vibration of the power machine during operation induces a portion of the physical movement of the operator input device, and wherein the actuation command signal includes a vibrational component corresponding to the portion of the physical movement induced by the vibration of the power machine;
filter the actuation command signal, using a band-stop filter, to generate a filtered actuation command signal that excludes at least a portion of the actuation command signal received from the operator input device; and
control movement of the implement, via the actuator, based on the filtered actuation command signal.
2 . The power machine of claim 1 , wherein the control device is further configured to:
filter the actuation command signal, using the band-stop filter, to attenuate a vibrational resonant frequency component of the power machine.
3 . The power machine of claim 2 , wherein the band-stop filter has a stop band with a non-zero gain.
4 . The power machine of claim 3 , wherein the non-zero gain is greater than or equal to 0.5.
5 . The power machine of claim 1 , wherein the control device is further configured to amplify at least one frequency component of the actuation command signal or the filtered actuation command signal to generate an amplified actuation command signal.
6 . The power machine of claim 5 , wherein the at least one frequency component is greater than a threshold frequency; and
wherein the threshold frequency is greater than a vibrational resonant frequency of the power machine.
7 . The power machine of claim 5 , wherein the at least one frequency component is greater than at least 5.5 Hz.
8 . The power machine of claim 1 , wherein the actuator is one of: a tilt actuator that is coupled to the implement to adjust an attitude of the implement relative to the lift arm, or a lift actuator that is coupled to the lift arm to adjust the lift arm relative to the main frame.
9 . The power machine of claim 1 , wherein the operator input device includes at least one of a pedal, a joystick mounted in the power machine, an actuatable input device on a remote control, or a personal computing device.
10 . A computer-implemented method for controlling movement of a work element of a power machine, the method comprising:
receiving, from an operator input device, an actuation command signal for commanded movement of an actuator of the work element, wherein the actuation command signal is based on a physical movement of the operator input device, wherein vibration from operation of the power machine induces at least a portion of the physical movement of the operator input device;
filtering the actuation command signal to generate a filtered actuation command signal, wherein filtering the actuation command signal attenuates a frequency component of the actuation command signal that corresponds to a vibrational resonant frequency of the power machine; and
causing the actuator of the work element to move based on the filtered actuation command signal.
11 . The method of claim 10 , further comprising determining a frequency of the actuation command signal; and
wherein filtering the actuation command signal is based on the determined frequency of the actuation command signal.
12 . The method of claim 11 , wherein filtering the actuation command signal avoids attenuating a frequency component of the actuation command signal that is 0 Hz.
13 . The method of claim 10 , further comprising:
amplifying at least one frequency component of the actuation command signal or the filtered actuation command signal to generate an amplified actuation command signal.
14 . The method of claim 13 , further comprising determining a frequency of the actuation command signal; and
wherein amplifying the actuation command signal is based on the determined frequency of the actuation command signal.
15 . The method of claim 13 , wherein the at least one frequency component of the actuation command signal that is amplified is greater than a cutoff frequency of a frequency response of an input handling system in which actuation command signals are provided thereto to move the actuator.
16 . The method of claim 10 , wherein the actuation command signal includes a first frequency; and
wherein the actuator of the work element is caused to move at a second frequency that is less than the first frequency.
17 . A power machine comprising:
a main frame;
a work element supported by the main frame, the work element comprising:
a lift arm moveably secured to the main frame;
an implement carrier movably secured to the lift arm; and
an actuator that is configured to move the implement carrier with respect to the lift arm, or the lift arm with respect to the main frame;
an operator input device that is configured to transmit actuation command signals based on operator input that commands movement of the implement carrier, to control the actuator of the work element to cause movement of the implement carrier that corresponds to the commanded movement;
a control system that includes a control device in communication with the operator input device and the actuator, the control device being configured to:
in response to movement of the operator input device by an operator, receive, from the operator input device, an actuation command signal that commands movement of the actuator, wherein a portion of the movement of the operator input device is induced by operational vibration of the power machine, and wherein the actuation command signal includes a vibrational component corresponding to the portion of the movement; and
control the actuator for movement of the implement carrier based on the movement of the operator input device by the operator, including, for a first frequency range of the actuation command signal, filtering the actuation command signal using a band-stop filter to generate a filtered actuation command signal that excludes at least a portion of the actuation command signal received from the operator input device.
18 . The power machine of claim 17 , wherein the control device is configured to control the actuator for movement of the implement carrier based further on:
for a second frequency range of the actuation command signal below the first frequency range, not attenuating or amplifying a magnitude of a frequency of the actuation command signal.
19 . The power machine of claim 17 , wherein the control device is configured to control the actuator for movement of the implement carrier based further on:
for a third frequency range of the actuation command signal, amplifying the actuation command signal to generate an amplified actuation command signal.
20 . The power machine of claim 17 , wherein the control device is configured to control the actuator for movement of the implement carrier based further on:
for a fourth frequency range of the actuation command signal, causing the actuator to reciprocally move at a reduced frequency as compared to the actuation command signal.
21 . The power machine of claim 17 , wherein the first frequency range includes a vibrational resonant frequency of the power machine.
22 . The power machine of claim 17 , wherein the actuator is a tilt actuator configured to change an attitude of the implement carrier relative to the lift arm.
23 . The power machine of claim 17 , wherein the actuator is a direct current (DC) actuator.