Method for damping relative movements occurring in a work vehicle during advance

1. A method for damping relative movements occurring between a first and a second part of a work vehicle during advance of the vehicle, which parts are interconnected by means of at least one hydraulic actuator, comprising

advancing the vehicle by rolling the vehicle by way of ground-engaging elements,

repeatedly detecting a hydraulic fluid pressure associated with the actuator resulting from rolling the vehicle,

determining whether a damping condition is present based on a predetermined change in values of the hydraulic fluid pressure that is detected,

if the determined damping condition is present, controlling a displacement of a variable displacement hydraulic motor arranged downstream of the actuator by initiating an energy recovery phase during which flow communication between a chamber of the actuator and the motor is opened and hydraulic fluid is transmitted from the actuator to the motor so that energy from the hydraulic fluid is recovered by being converted to a rotational energy in the motor,

transmitting the recovered energy from the motor to a power source, and

after termination of the energy recovery phase, automatically moving the first and second parts relative to one another to a relative position existing prior to determining whether the damping condition is present.

2. A method according to claim 1 , comprising detecting an angle between the first and second parts, and determining whether the damping condition is present based on a value of the angle that is detected.

3. A method according to claim 2 , further comprising repeatedly detecting the angle and determining whether the damping condition is present based on a predetermined change in values of the angle that is detected.

4. A method according to claim 1 , comprising repeatedly detecting an angle between the first and second parts, and determining whether the damping condition is present based on a predetermined change in values of the angle that is detected, and determining the damping condition as a function of a relationship in the change in the values of the angle that is detected and the change in the values of the hydraulic fluid pressure that is detected.

5. A method according to claim 1 , wherein the first part is formed by an arm of a load-arm unit and the second part is formed by a vehicle section comprising a vehicle frame part.

6. A method according to claim 1 , wherein the first part is formed by an arm of a load-arm unit and the second part is formed by an implement.

7. A method according to claim 1 , wherein the first part is formed by a first vehicle section comprising a first vehicle frame part and the second part is formed by a second vehicle section.

8. A method according to claim 1 , further comprising determining a termination of an energy recovery phase, the energy recovery phase having been initiated by the determination of the damping condition, by repeatedly detecting the at least one operation parameter.

9. A method according to claim 1 , further comprising initiating the energy recovery phase by the determination of the damping condition.

10. A method according to claim 9 , wherein the two parts are moved relative to one another by means of the actuator.

11. A method according to claim 9 , further comprising the step of closing a fluid connection from the actuator to the motor after termination of the recovery phase.

12. A computer comprising computer program segments for implementing the method as claimed in claim 1 .

13. A computer program product comprising computer program segments stored on a non-transitory computer-readable medium for implementing the method as claimed in claim 1 .