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    Hystat swing motion actuation, monitoring, and control system
    1.
    发明授权
    Hystat swing motion actuation, monitoring, and control system 有权

    公开(公告)号：US11585071B2

    公开(公告)日：2023-02-21

    申请号：US16860585

    申请日：2020-04-28

    Applicant: CATERPILLAR INC.

    Inventor： Rustin Glenn Metzger ,  Adam Martin Nackers ,  Joshua Aaron Fossum ,  Christopher M. Ruemelin ,  Corey Lee Gorman

    IPC: E02F9/22 ,  E02F9/12 ,  F15B15/06 ,  E02F3/32

    Abstract: A swing motion control system for an earth-moving machine may include a closed loop hydraulic circuit including a hydrostatic swing pump fluidly coupled to at least one hydraulic swing motor configured to control a swing mechanism of the earth-moving machine, a pressure control device configured to control the pressure of fluid supplied to the hydrostatic swing pump for control of the pressure output by the pump, and a controller. The controller may be configured to monitor and process signals received from sensors and operator input, wherein the signals received from the sensors are indicative of machine position and pose, and inertia mass of swing components and a payload being moved by the swing mechanism of the machine, and control at least one of an offset amount for desired pump displacement by the hydrostatic swing pump or an offset amount for pump output pressure from the hydrostatic swing pump based on at least one of an amount of slope on which the machine is operating or the inertia mass of the swing components and payload.

    System and method for determining machine state using sensor fusion
    3.
    发明授权
    System and method for determining machine state using sensor fusion 有权

    公开(公告)号：US10401176B2

    公开(公告)日：2019-09-03

    申请号：US15629122

    申请日：2017-06-21

    Applicant: CATERPILLAR INC.

    Inventor： Adam Martin Nackers ,  Russell Aaron Schloss ,  Roberto Martinez ,  Corey Lee Gorman

    IPC: G01C21/10 ,  G01C21/16 ,  G06K9/62

    Abstract: A method of determining the real time state of a machine includes receiving acceleration and angular rate of motion measurements from IMU's mounted on components of a machine. Fusing signals received from the IMU's with separate Kalman filter modules by combining an acceleration measurement and an angular rate of motion measurement from each IMU to estimate an output joint angle for the component on which the IMU is mounted. Estimated and measured values of the output joint angle for each component are combined, a kinematic equation is solved to determine a real time value for at least one of position, velocity, and acceleration of the component at successive timesteps, and the determined real time values are applied to control movement of each component.

    Boom assist management feature
    4.
    发明授权
    Boom assist management feature 有权

    公开(公告)号：US09765499B2

    公开(公告)日：2017-09-19

    申请号：US14520487

    申请日：2014-10-22

    Applicant: Caterpillar Inc.

    Inventor： Corey Lee Gorman ,  Adam Martin Nackers ,  John J. Krone ,  Mahmoud M. Tobaa

    IPC: E02F3/00 ,  E02F3/43 ,  E02F3/32 ,  E02F3/42 ,  E02F9/20 ,  E02F9/22

    CPC classification number: E02F3/435 ,  E02F3/32 ,  E02F3/425 ,  E02F3/437 ,  E02F9/2004 ,  E02F9/2012 ,  E02F9/2203 ,  E02F9/2228 ,  E02F9/2285

    Abstract: A hydraulic control system is disclosed for an excavation machine including a tool linkage system. The hydraulic control system may have a first actuator configured to move a first link of the tool linkage system in response to input from an operator of the excavation machine, and a pressure sensor configured to generate a signal indicative of a pressure of the first actuator. The hydraulic control system may also have a second actuator configured to move a second link of the tool linkage system in response to input from the operator. In addition, the hydraulic control system may have a controller in communication with the pressure sensor, the first actuator, and the second actuator. The controller may be configured to automatically affect operation of the first actuator based on the pressure signal at times when movement of the second actuator is being requested by the operator and movement of the first actuator is being requested by the operator at a level less than a threshold.

    SWING MOTION VARIABLE CONTROL SYSTEM
    5.
    发明申请
    SWING MOTION VARIABLE CONTROL SYSTEM 有权

    公开(公告)号：US20240410134A1

    公开(公告)日：2024-12-12

    申请号：US18207741

    申请日：2023-06-09

    Applicant: CATERPILLAR INC.

    Inventor： Christopher Michael Ruemelin ,  Adam Martin Nackers ,  Santosh Ram Ancha ,  Rustin Glenn Metzger ,  Steven Donald Spencer

    IPC: E02F9/12

    Abstract: A mechanical swing brake variable control system for an earth-moving machine including an upper revolving car body with swing components mounted on the upper revolving car body, a lower traveling car body with traction components mounted on the lower traveling car body, and a mechanical service brake interconnected with the upper and lower car bodies, controls relative rotation between the upper and lower car bodies. A pressure control device controls a variable pressure applied to the mechanical service brake to vary an amount of swing drive holding torque. An electronic controller monitors and processes signals received from sensors associated with the swing components and machine operator commands, and variably controls the amount of holding torque exerted on the upper revolving car body using the mechanical service brake as a function of one or more of machine roll angle, operational configuration of the swing components, inertial mass of the swing components, and machine operator commands.

    Hydraulic circuit for a swing system in a machine
    6.
    发明授权
    Hydraulic circuit for a swing system in a machine 有权

    公开(公告)号：US11198987B2

    公开(公告)日：2021-12-14

    申请号：US16858367

    申请日：2020-04-24

    Applicant: Caterpillar Inc.

    Inventor： Rustin Glenn Metzger ,  Adam Martin Nackers ,  Joshua Aaron Fossum ,  Christopher M. Ruemelin ,  Corey Lee Gorman

    IPC: E02F9/22 ,  F15B15/02 ,  E02F9/20

    Abstract: A hydraulic circuit is disclosed. The hydraulic circuit may include a hydrostatic pump to provide, at a flow rate, a fluid to a hydraulic motor, wherein the hydrostatic pump has a displacement, and wherein the hydraulic motor drives a swinging element; a swing circuit pressure sensor to sense a circuit pressure of the hydraulic circuit; a pilot pressure actuator to control, based on a supply pressure, the displacement of the hydrostatic pump; a pilot pressure override valve to control the supply pressure; and a controller configured to adjust, based on sensed signals and with the pilot pressure override valve, the supply pressure, wherein the sensed signals include: a circuit pressure signal based on the circuit pressure sensed by the swing circuit pressure sensor; and a sensed swing speed signal based on a swing speed of the swinging element sensed by one or more machine sensors.

    Control of a hydraulic system
    8.
    发明授权
    Control of a hydraulic system 有权

    公开(公告)号：US11608610B2

    公开(公告)日：2023-03-21

    申请号：US17444405

    申请日：2021-08-04

    Applicant: Caterpillar Inc.

    Inventor： Adam Martin Nackers ,  Rustin Glenn Metzger ,  Chris Rustu Cesur ,  Steven D Spencer

    IPC: E02F3/42 ,  E02F3/43 ,  E02F9/22

    Abstract: A hydraulic system may include a first actuator to control a first linkage member, a second actuator to control a second linkage member, a first primary hydraulic circuit and a first secondary hydraulic circuit that include the first actuator, a second primary hydraulic circuit and a second secondary hydraulic circuit that include the second actuator, a first pump to cause fluid to flow through the first primary hydraulic circuit and the second secondary hydraulic circuit, a second pump to cause fluid to flow through the second primary hydraulic circuit and the first secondary hydraulic circuit, and a controller. The controller may be configured to determine that an operator assistance mode is enabled, and cause closing of a first valve that controls fluid flow through the first secondary hydraulic circuit and a second valve that controls fluid flow through the second secondary hydraulic circuit.

    Electrical control of a hydraulic system
    9.
    发明授权
    Electrical control of a hydraulic system 有权

    公开(公告)号：US11473271B2

    公开(公告)日：2022-10-18

    申请号：US17301867

    申请日：2021-04-16

    Applicant: Caterpillar Inc.

    Inventor： Rustin Glenn Metzger ,  Corey Lee Gorman ,  Adam Martin Nackers

    IPC: E02F9/22 ,  F15B13/02

    Abstract: A hydraulic system controller is disclosed. The hydraulic system controller may determine a maximum active circuit pressure of a set of active hydraulic circuits of the hydraulic system, wherein the hydraulic system includes a hydraulic pump to cause fluid to flow throughout the set of active hydraulic circuits; determine a circuit pressure of a hydraulic circuit of the hydraulic system; determine, based on a hydraulic flow command for the hydraulic circuit and the circuit pressure, a desired circuit delta-pressure for the hydraulic circuit; determine, based on the desired circuit delta-pressure and a pressure difference between the maximum active circuit pressure and the circuit pressure, a circuit valve setting for a circuit valve of the hydraulic circuit; and cause a control device to set a position of the circuit valve according to the circuit valve setting.

    Electrical control of a hydraulic system
    10.
    发明授权
    Electrical control of a hydraulic system 有权

    公开(公告)号：US11001989B1

    公开(公告)日：2021-05-11

    申请号：US16834810

    申请日：2020-03-30

    Applicant: Caterpillar Inc.

    Inventor： Rustin Glenn Metzger ,  Corey Lee Gorman ,  Adam Martin Nackers

    IPC: E02F9/22 ,  F15B13/02

    Abstract: A hydraulic system controller is disclosed. The hydraulic system controller may determine a maximum active circuit pressure of a set of active hydraulic circuits of the hydraulic system, wherein the hydraulic system includes a hydraulic pump to cause fluid to flow throughout the set of active hydraulic circuits; determine a circuit pressure of a hydraulic circuit of the hydraulic system; determine, based on a hydraulic flow command for the hydraulic circuit and the circuit pressure, a desired circuit delta-pressure for the hydraulic circuit; determine, based on the desired circuit delta-pressure and a pressure difference between the maximum active circuit pressure and the circuit pressure, a circuit valve setting for a circuit valve of the hydraulic circuit; and cause a control device to set a position of the circuit valve according to the circuit valve setting.

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