Systems and methods for control of excavators and other power machines
A power machine can include operator input devices and a control system configured to command movement of actuators based on operator inputs received from the operator input devices. Movement of one or more of the actuators can be commanded based on input at one or more of the operator input devices and a response curve selected from a plurality of different response curves. Movement of one or more of the actuators can be based on a selected control mode for the power machine that corresponds to a selected control-function mapping of the operator input devices to the one or more actuators. A lift arm can be variously controlled to execute automatic or other operations. An excavator can be operated in a sustained-speed travel mode.
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, and an implement interface movably secured to the lift arm;
one or more actuators configured to move one or more components of the power machine;
an operator input device configured to receive operator inputs to control movement of the one or more actuators;
a control system that includes an electronic controller in electronic communication with the operator input device and the one or more actuators, the electronic controller being configured to:
identify a plurality of response curves for the operator input device, each of which specifies a respective relationship between input signals from the operator input device and control signals for the one or more actuators;
select a first selected response curve of the plurality of response curves;
receive, from the operator input device, an operator input that commands movement of the one or more actuators;
generate a command output, to control of the one or more actuators, based on the received operator input and the first selected response curve; and
modify one or more characteristics of one or more of the response curves based on operator input so as to provide differently modified command outputs based on the one or more of the response curves.
2 . The power machine of claim 1 , wherein the electronic controller is further configured to:
after generating the command output based on the first selected response curve, select a different second selected response curve of the plurality of response curves;
receive, from the operator input device, a second operator input that commands movement of the one or more actuators; and
generate a second command output, to control of the one or more actuators, based on the received second operator input and the second selected response curve.
3 . The power machine of claim 1 , wherein the power machine is configured as an excavator and the lift arm includes a boom pivotally secured to the main frame and an arm pivotally secured to the boom.
4 . The power machine of claim 3 , wherein the first selected response curve is non-linear.
5 . The power machine of claim 1 , wherein the first selected response curve specifies a substantially non-zero initial command output corresponding to an initial movement of the operator input device.
6 . The power machine of claim 5 , wherein the first selected response curve specifies a maximum command output to be provided based on receiving, from the operator input device, less than a maximum possible operator input from the operator input device.
7 . The power machine of claim 1 , wherein the control system is configured to store a plurality of operator-customized response curves as at least part of the plurality of response curves.
8 . The power machine of claim 1 , wherein the electronic controller is configured to modify the one or more characteristics of the one or more of the response curves to reduce a maximum commanded speed of the one or more actuators.
9 . The power machine of claim 1 , wherein the response curves include a plurality of operating-mode response curves, including a default-mode response curve and one or more of:
a drive-mode response curve; or
one or more of a trenching-mode response curve, a digging-mode response curve, or a grading-mode response curve.
10 . The power machine of claim 1 , wherein the response curves include a default response curve and a trenching-mode response curve; and
wherein the trenching-mode response curve exhibits increased maximum actuator speed and reduced response as compared to the default response curve.
11 . The power machine of claim 10 , wherein the response curves further include a digging-mode response curve; and
wherein the digging-mode response curve exhibits increased maximum actuator speed and reduced response as compared to the trenching-mode response curve.
12 . The power machine of claim 1 , wherein the response curves include a default response curve and a grading-mode response curve; and
wherein the grading-mode response curve exhibits decreased maximum actuator speed and increased response as compared to the default response curve.
13 . A control system for a power machine, comprising:
a controller in electronic communication with an operator input device and an actuator of the power machine, the controller to:
select a response curve from a plurality of response curves, each response curve specifying a respective relationship between input signals from the operator input device and control signals for the actuator, the plurality of response curves including:
a first response curve that provides a first output command to the actuator in response to a first input signal from the operator input device; and
a second response curve that provides a second output command to the actuator, different from the first output command in response to the first input signal from the operator input device, the second response curve based on operator input to provide differently modified command outputs based on the first response curve; and
control the actuator in response to the first input signal from the operator input device, based on the selected response curve.