System and method for controlling implement operation of a work vehicle using a speed-based parameter

Abstract

A system for controlling implement operation of a work vehicle includes the computing system is configured to receive an input associated with a target position of an implement of the vehicle. Furthermore, the computing system is configured to monitor the current position of the implement of the vehicle. Additionally, the computing system is configured to control the operation of an actuator of the vehicle such that the implement is moved toward the target position based on the monitored current position. Moreover, the computing system is configured to determine a speed-based parameter associated with a speed at which the implement is being moved across a time period. In addition, after the time period has elapsed, the computing system is configured to control the operation of the actuator such that the implement is moved to the target position based on the monitored current position and the determined speed-based parameter.

1 . A system for controlling implement operation of a work vehicle, the system comprising:
 a vehicle chassis;   a loader arm pivotably coupled to the vehicle chassis;   an implement pivotably coupled to the loader arm;   a fluid-driven actuator configured to adjust a position of the implement relative to the vehicle chassis;   a sensor configured to capture data indicative of the position of the implement relative to the vehicle chassis; and   a computing system communicatively coupled to the sensor, the computing system configured to:
 receive an input associated with a target position of the implement; 
 monitor a current position of the implement based on the data captured by the sensor; 
 control an operation of the actuator such that the implement is moved toward the target position based on the monitored current position; 
 determine a speed-based parameter associated with a speed at which the implement is being moved across a time period; and 
 after the time period has elapsed, control the operation of the actuator such that the implement is moved to the target position based on the monitored current position and the determined speed-based parameter. 
   
     
     
         2 . The system of  claim 1 , wherein the speed-based parameter is an acceleration associated with the implement. 
     
     
         3 . The system of  claim 2 , wherein the speed-based parameter is an angular acceleration of the loader arm relative to the vehicle chassis. 
     
     
         4 . The system of  claim 2 , wherein, when determining the speed-based parameter, the computing device is configured to:
 determine a first position of the implement at a first time corresponding to a start of the time period;   determine a second position of the implement at a second time corresponding to an end of the time period;   determine an average acceleration of the implement based on the first and second positions; and   determine a projected speed of the implement at the target position.   
     
     
         5 . The system of  claim 4 , wherein, when determining the speed-based parameter, the computing device is further configured to determine a correction factor based on the projected speed. 
     
     
         6 . The system of  claim 5 , wherein, when controlling the operation of the actuator based on the monitored current position and the determined speed-based parameter, the computing system is configured to control the operation of the actuator based on the monitored position and the determined correction factor such that the implement is moving at a selected speed when flow of fluid to the fluid-driven actuator is halted. 
     
     
         7 . The system of  claim 1 , wherein, when controlling the operation of the actuator such that the implement is moved toward the target position, the computing system is further configured to:
 initiate an increase in a speed at which the implement is being moved as the implement is moved from an initial position to an intermediate position; and   subsequently initiate a decrease in the speed at which the implement is being moved from the intermediate position toward the target position.   
     
     
         8 . The system of  claim 7 , wherein the computing system is configured to determine the speed-based parameter when the speed at which the implement is being moved is decreased. 
     
     
         9 . The system of  claim 7 , wherein, when initiating the increase in the speed at which the implement is being moved as the implement is moved from the initial position to the intermediate position, the computing system is configured to control the operation of the fluid-driven actuator such that the implement is accelerated at a first acceleration rate from the initial position to a first position and a second acceleration rate from the first position to the intermediate position, the second acceleration rate being greater than the first acceleration rate. 
     
     
         10 . The system of  claim 1 , wherein the sensor is configured to monitor an angular position of the loader arm relative to the vehicle chassis. 
     
     
         11 . A method for controlling implement operation of a work vehicle, the work vehicle including an implement and a fluid-driven actuator configured to adjust a position of the implement relative to a chassis of the vehicle, the method comprising:
 receiving, with a computing system, an input associated with a target position of the implement;   monitoring, with the computing system, a current position of the implement based on received sensor data;   controlling, with the computing system, an operation of the actuator such that the implement is moved toward the target position based on the monitored current position;   determining, with the computing system, a speed-based parameter associated with a speed at which the implement is being moved across a time period; and   after the time period has elapsed, controlling, with the computing system, the operation of the actuator such that the implement is moved to the target position based on the monitored current position and the determined speed-based parameter.   
     
     
         12 . The method of  claim 11 , wherein the speed-based parameter is an acceleration associated with the implement. 
     
     
         13 . The method of  claim 12 , wherein the speed-based parameter is an angular acceleration of a loader arm of the work vehicle relative to the chassis. 
     
     
         14 . The method of  claim 12 , wherein determining the speed-based parameter comprises:
 determining, with the computing system, a first position of the implement at a first time corresponding to a start of the time period;   determining, with the computing system, a second position of the implement at a second time corresponding to an end of the time period;   determining, with the computing system, an average acceleration of the implement based on the first and second positions; and   determining, with the computing system, a projected speed of the implement at the target position.   
     
     
         15 . The method of  claim 14 , wherein determining the speed-based parameter speed correction value comprises determining, with the computing system, a correction factor based on the projected speed. 
     
     
         16 . The method of  claim 15 , wherein controlling the operation of the actuator based on the monitored current position and the determined speed-based parameter further comprises controlling, with the computing system, the operation of the actuator based on the monitored position and the determined correction factor such that the implement is moving at a selected speed when flow of fluid to the fluid-driven actuator is halted. 
     
     
         17 . The method of  claim 11 , wherein controlling the operation of the actuator such that the implement is moved toward the target position comprises:
 initiating, with the computing system, an increase in a speed at which the implement is being moved as the implement is moved from an initial position to an intermediate position; and   subsequently initiating, with the computing system, a decrease in the speed at which the implement is being moved from the intermediate position toward the target position.   
     
     
         18 . The method of  claim 17 , wherein determining the speed-based parameter comprises determining, with the computing system, the speed-based parameter across the time period when the speed at which the implement is being moved from the intermediate position toward the target position is decreased. 
     
     
         19 . The method of  claim 17 , wherein initiating the increase in the speed at which the implement is being moved as the implement is moved from the initial position to the intermediate position comprises controlling, with the computing system, the operation of the fluid-driven actuator such that the implement is accelerated at a first acceleration rate from the initial position to a first position and a second acceleration rate from the first position to the intermediate position, the second acceleration rate being greater than the first acceleration rate. 
     
     
         20 . The method of  claim 11 , wherein monitoring the current position of the implement based on received sensor data comprises monitoring, with the computing system, an angular position of the loader arm relative to the chassis.