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Control method and system for hydraulic machines employing a dynamic joint motion model

United States Patent

November 22, 2011
View the Complete Patent at the US Patent & Trademark Office
A control method and system for controlling a hydraulically actuated mechanical arm to perform a task, the mechanical arm optionally being a hydraulically actuated excavator arm. The method can include determining a dynamic model of the motion of the hydraulic arm for each hydraulic arm link by relating the input signal vector for each respective link to the output signal vector for the same link. Also the method can include determining an error signal for each link as the weighted sum of the differences between a measured position and a reference position and between the time derivatives of the measured position and the time derivatives of the reference position for each respective link. The weights used in the determination of the error signal can be determined from the constant coefficients of the dynamic model. The error signal can be applied in a closed negative feedback control loop to diminish or eliminate the error signal for each respective link.
Danko; George (Reno, NV)
Board of Regents of the Nevada System of Higher Education, on Behalf of the University of Nevada, Reno (Reno, NV), N/A (
12/ 188,035
August 7, 2008
STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT Financial support from the Mining Industry of the Future program of the U.S. Department of Energy, under grant number DE-FC26-04NT42087, is gratefully acknowledged.