Leveling method and system with learn function

Patent metadata

Field	Value
Publication number	US-9616859-B2
Application number	US-201414314051-A
Country	US
Kind code	B2
Filing date	Jun 25, 2014
Priority date	Oct 4, 2011
Publication date	Apr 11, 2017
Grant date	Apr 11, 2017

Abstract

A system and method to level a vehicle. The method utilizes a reference current draw unique for each individual actuator that is measured and saved at measured temperature and actuator actuating duration times. The reference current draws are adjusted by a fixed predetermined compensation increment and by a variable predetermined time and temperature increment. During operating function steps, actual extend and retract current draws are measured, which may be at another temperature and duration time. The adjusted reference current draws are compared to the actual extend and retract current draws to determine when desired conditions such as ground contact or fully retracted condition are achieved.

First claim

The invention claimed is:

1. A method for controlling an electric actuator on an object to be moved by the electric actuator relative to ground, comprising the steps:
providing an electric controller having electric communication with the electric actuator;
storing a predetermined current draw increment;
actuating the actuator by operation of the electric controller during an initializing function after storing the predetermined current draw increment;
measuring the current draw of the actuator during the actuating during the initializing function;
actuating the actuator during an operating function after the initializing function;
measuring the current draw of the actuator during the actuating during the operating function;
comparing the current draw of the actuator measured during the operating function with the current draw of the actuator measured during the initializing function;
adjusting the comparison by the amount of the predetermined current draw increment; and
using the comparison to determine when the actuator during the operating function achieves a specified condition.

2. The method as set forth in claim 1 , including storing the actuating current draw measured during the initializing function.

3. The method as set forth in claim 1 , wherein the actuating during the initializing function and during the operating function includes actuating the actuator at a first actuating velocity;
and the measuring during the initializing function and during the operating function includes measuring at the first actuating velocity.

4. The method as set forth in claim 3 , wherein the adjusting includes adjusting the current draw of the actuator measured during the initializing function at the first velocity by the amount of the first predetermined current draw increment.

5. The method as set forth in claim 3 , wherein the predetermined current draw increment is substantially equal to the difference between maximum and minimum current draw during actuating the actuator at the first predetermined velocity at a given temperature and a given duration time of actuator actuating.

6. The method as set forth in claim 3 , wherein the predetermined current draw increment is substantially equal to the difference between current draw during the actuating at one temperature and one duration time of the actuating at the first velocity and another temperature and/or duration time of the actuating at the first velocity.

7. The method as set forth in claim 6 , including storing prior to the initializing function a plurality of current draw increments for a plurality of temperatures and a plurality of duration times of the actuator actuating at the first velocity; and
the adjusting includes selecting a specific current draw increment from the plurality of current draw increments.

8. The method as set forth in claim 7 , wherein the plurality of predetermined current draw increments is stored in the controller as a lookup table having a plurality of current draw increments for a plurality of temperatures and a plurality of duration times of the actuator actuating at the first velocity.

9. The method as set forth in claim 3 , wherein the actuating during the initializing function further includes actuating the actuator at a second velocity less than the first velocity;
the actuating the actuator during the operating function further includes actuating the actuator at the second velocity;
the measuring the current draw of the actuator during the actuating during the initializing function further includes measuring such current draw at the second velocity;
the measuring the current draw of the actuator during the actuating during the operating function further includes measuring such current draw at the second velocity;
the comparing further includes comparing the current draw of the actuator measured during the operating function at the second velocity with the current draw of the actuator measured during the initializing function at the second velocity;
the adjusting further includes adjusting the comparison of the current draw of the actuator measured during the operating function at the second velocity with the current draw of the actuator measured during the initializing function at the second velocity by the amount of another predetermined current draw increment; and
using the last mentioned comparison to determine when the actuator at the second velocity during the operating function achieves a specified condition.

10. The method as set forth in claim 6 , wherein the adjusting includes adjusting the comparison by the amount of another predetermined current draw increment;
the other predetermined current draw increment is substantially equal to the difference between maximum and minimum current draw during actuating at the first predetermined velocity at a given temperature and a given duration time of actuator actuating.

11. The method as set forth in claim 1 , wherein the actuating is actuator retracting, and the specified condition is fully retracted.

12. The method as set forth in claim 1 , wherein the actuating is actuator extending, and the specified condition is ground contact.

13. The method as set forth in claim 1 , wherein the actuating is actuator extending, and the specified condition is end of actuator extending stroke.

14. The method as set forth in claim 1 , wherein the comparing and adjusting includes calculating a first adjusted reference actuating current draw based upon the measured current draw during the initializing function as adjusted based upon the temperature and actuation duration time existing when the initializing current draw is measured.

15. The method as set forth in claim 14 , wherein the comparing and adjusting includes calculating a second adjusted reference actuating current draw based upon the first adjusted reference actuating current draw further adjusted based upon the temperature and actuation duration time existing when the operating current draw is measured.

Assignees

• Parker Hannifin Corp

Inventors

• Maurer Garrett

Classifications

• G05B15/02

  electric · CPC title

• B60S9/00

  Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks (lifting devices in general B66F; supports in general F16M) · CPC title

• B60S9/12

  of telescopic type · CPC title

• B60S9/02 Primary

  for only lifting or supporting · CPC title

• B60G21/002

  longitudinally · CPC title