公开(公告)号：US09181682B2

公开(公告)日：2015-11-10

申请号：US13868790

申请日：2013-04-23

Applicant: Caterpillar Inc.

Inventor： Jonathan W. Anders ,  Brian D. Kuras ,  Adam M. Nackers ,  Christopher P. Braet

IPC: E02F9/20 ,  G05B13/02 ,  G05B11/42 ,  E02F9/12 ,  E02F9/22

CPC classification number: E02F9/2058 ,  E02F9/123 ,  E02F9/2095 ,  E02F9/2253 ,  G05B11/42 ,  G05B13/02

Abstract: A system and method are provided for controlling a movable element in accordance with a speed command. The movable element, which may be an excavator swing platform, is moved via an actuator that is driven in accordance with a torque command. The speed of the movable element is sensed, and a torque command is generated via PID control based on the speed command and the sensed speed. The PID control uses a set of gains including a P-gain, an I-gain, and a D-gain. At least one of these gains is set based on a counter, and the counter is set, cleared, incremented, or decremented based on one or more of the speed command, the torque command and the sensed speed. In this way, the movable element responds aggressively to operator input, but stability is maintained.

Abstract translation: 提供了一种用于根据速度指令控制可移动元件的系统和方法。 可移动元件（其可以是挖掘机摆动平台）通过根据扭矩指令驱动的致动器移动。 感测到可动元件的速度，并通过基于速度指令和检测速度的PID控制产生转矩指令。 PID控制使用一组增益，包括P增益，I增益和D增益。 这些增益中的至少一个基于计数器设置，并且基于速度命令，转矩命令和感测速度中的一个或多个来设置，清除，递增或递减计数器。 以这种方式，可移动元件对操作者输入进行积极的响应，但是保持稳定性。

公开(公告)号：US20140316664A1

公开(公告)日：2014-10-23

申请号：US13868790

申请日：2013-04-23

Applicant: CATERPILLAR INC.

Inventor： Jonathan W. Anders ,  Brian D. Kuras ,  Adam M. Nackers ,  Christopher P. Braet

IPC: E02F9/20 ,  G05B13/02

CPC classification number: E02F9/2058 ,  E02F9/123 ,  E02F9/2095 ,  E02F9/2253 ,  G05B11/42 ,  G05B13/02

Abstract: A system and method are provided for controlling a movable element in accordance with a speed command. The movable element, which may be an excavator swing platform, is moved via an actuator that is driven in accordance with a torque command. The speed of the movable element is sensed, and a torque command is generated via PID control based on the speed command and the sensed speed. The PID control uses a set of gains including a P-gain, an I-gain, and a D-gain. At least one of these gains is set based on a counter, and the counter is set, cleared, incremented, or decremented based on one or more of the speed command, the torque command and the sensed speed. In this way, the movable element responds aggressively to operator input, but stability is maintained.

Abstract translation: 提供了一种用于根据速度指令控制可移动元件的系统和方法。 可移动元件（其可以是挖掘机摆动平台）通过根据扭矩指令驱动的致动器移动。 感测到可动元件的速度，并通过基于速度指令和检测速度的PID控制产生转矩指令。 PID控制使用一组增益，包括P增益，I增益和D增益。 这些增益中的至少一个基于计数器设置，并且基于速度命令，转矩命令和感测速度中的一个或多个来设置，清除，递增或递减计数器。 以这种方式，可移动元件对操作者输入进行积极的响应，但是保持稳定性。