US 12,435,743 B2
Controlling boom of work machine
Tatu Kailavaara, Vieremä (FI)
Assigned to PONSSE OYJ, Vieremä (FI)
Appl. No. 18/007,559
Filed by PONSSE OYJ, Vieremä (FI)
PCT Filed Jun. 1, 2021, PCT No. PCT/FI2021/050401
§ 371(c)(1), (2) Date Dec. 1, 2022,
PCT Pub. No. WO2021/245335, PCT Pub. Date Dec. 9, 2021.
Claims priority of application No. 20205576 (FI), filed on Jun. 3, 2020.
Prior Publication US 2023/0213045 A1, Jul. 6, 2023
Int. Cl. F15B 21/08 (2006.01); A01G 23/02 (2006.01)
CPC F15B 21/087 (2013.01) [A01G 23/02 (2013.01); F15B 2211/6336 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method for controlling a boom of a work machine by tip control, the method comprising:
issuing a boom control command to a tip of the boom,
converting the boom control command of the tip of the boom into actuator control commands for individual actuators of the boom, and
determining a variable related to a load and its position at the tip of the boom,
wherein the converting of the boom control command into the actuator control commands comprises forming a speed request for each of the actuators, the actuator control commands for the individual actuators being magnitudes for speed control signals of each respective actuator, wherein the magnitude of the speed control signal for each respective actuator depends on the speed request of the respective actuator and the variable in order to maintain a desired speed for the respective actuator.