In the disclosed solution, a boom assembly (14) of a work machine (1) is controlled by tip control. In tip control, a control command is issued to the tip of the boom assembly (14), converted into a control command for each actuator of the boom assembly (14). In the disclosed solution, variables relating to the load and its position at the tip of the cantilever assembly (14) are defined, and the variables in question relating to the load and its position at the tip of the cantilever assembly (14) are taken into account in control commands for the actuator.
在所公开的解决方案中,作业机械(1)的悬臂组件(14)通过梢部控制来控制。在梢部控制中,控制命令被发出至悬臂组件(14)的梢部、转换成用于悬臂组件(14)的各个致动器的控制命令。在所公开的解决方案中,与负载及其在悬臂组件(14)的梢部处的位置相关的变量被限定,并且与负载及其在悬臂组件(14)的梢部处的位置相关的所讨论的变量在用于致动器的控制命令中被考虑到。
Cantilever for controlling work machine
控制作业机械的悬臂
2023-02-03
Patent
Electronic Resource
Chinese
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