Selectable velocity-based or position-based work vehicle operator control system

Abstract

A control system is provided for a work vehicle having one or more actuation devices. The control system includes an operator input device configured to receive operator input from an operator of the work vehicle and a controller operatively connected to the operator input device and to the one or more actuation devices. The controller is configured to: receive a control mode selection input including a position control mode selection input or a velocity control mode selection input; receive an actuation request input from the operator input device; determine an operating command corresponding to the actuation request input from the operator input device according to the control mode selection input; and issue the operating command to the one or more actuation devices based on the position or velocity control mode.

What is claimed is: 
     
         1 . A control system for a work vehicle having one or more actuation devices, the control system comprising:
 an operator input device configured to receive operator input from an operator of the work vehicle; and   a controller operatively connected to the operator input device and to the one or more actuation devices, the controller configured to:
 receive a control mode selection input including a position control mode selection input or a velocity control mode selection input; 
 receive an actuation request input from the operator input device; 
 determine an operating command corresponding to the actuation request input from the operator input device according to the control mode selection input; and 
 issue the operating command to the one or more actuation devices. 
   
     
     
         2 . The control system of  claim 1 ,
 wherein, in the position control mode, the operating command includes an instruction to move the one or more actuation devices to a position corresponding to a position corresponding to the actuation request input from the operator input device; and   wherein, in the velocity control mode, the operating command includes an instruction to move the one or more actuation devices at a rate of change corresponding to the position of the actuation request input from the operator input device.   
     
     
         3 . The control system of  claim 1 , wherein the operator input device includes a grip interface having a range of motion for transmitting the operator input to the operator input device. 
     
     
         4 . The control system of  claim 3 , wherein the operator input device is an electro-mechanical joystick device having a feedback motor coupled to the grip interface; and
 wherein the controller is further configured to:
 determine a feedback command corresponding to movement of the grip interface associated with the actuation request according to the control mode selection input; and 
 issue the feedback command to the feedback motor. 
   
     
     
         5 . The control system of  claim 4 , wherein, in the position control mode, the feedback command includes an instruction to the feedback motor to maintain a position of the grip interface associated with at least one of the actuation request input and the position of the one or more actuation devices; and
 wherein, in the velocity control mode, the feedback command includes an instruction to the feedback motor to re-center the grip interface following the actuation request input.   
     
     
         6 . The control system of  claim 5 , wherein, in the velocity control mode, the feedback command includes an instruction to the feedback motor to provide a counteracting force resisting movement of the grip interface that is less than or equal to a force required to move the grip interface. 
     
     
         7 . The control system of  claim 6 , wherein the counteracting force is linearly or non-linearly proportional to the force required to move the grip interface. 
     
     
         8 . The control system of  claim 3 , wherein the operator input device is a partial electro-mechanical joystick device having a positioning motor and a centering spring both coupled to the grip interface;
 wherein, in the position control mode, the controller is further configured to determine a position command corresponding to movement of the grip interface associated with the actuation request input; and   wherein, in the velocity mode, the positioning motor is locked in a center position.   
     
     
         9 . The control system of  claim 3 , wherein the operator input device is a mechanical joystick having a position-maintaining device, a centering device or both the position-maintaining device and the centering device;
 wherein the position-maintaining device is configured to maintain a position of the grip interface after movement associated with the actuation request input; and   wherein the centering device is configured to center the grip interface after movement associated with the actuation request input.   
     
     
         10 . The control system of  claim 9 , wherein the position-maintaining device is a friction and damper device; and
 wherein the centering device is a centering spring.   
     
     
         11 . The control system of  claim 9 , wherein the operator input device includes a selection switch; and further comprising:
 a sensor configured to detect a position of the selection switch and provide the control mode selection input to the controller.   
     
     
         12 . The control system of  claim 11 , wherein the operator input device includes a link coupled to the selection switch and to either the position-maintaining device or the centering device. 
     
     
         13 . The control system of  claim 12 , wherein the operator input device includes both the position-maintaining device and the centering device; and
 wherein movement of the selection switch causes movement of the link to selectively couple to either the position-maintaining device or the centering device.   
     
     
         14 . A control system for a work vehicle having one or more actuation devices, the control system comprising:
 an operator input device configured to receive operator input from an operator of the work vehicle;   a controller operatively connected to the operator input device and to the one or more actuation devices, the controller configured to:
 receive a control mode selection input including a mode selection input as a position control mode or a velocity control mode; 
 receive an actuation request input from the operator input device; 
 determine an operating command corresponding to the actuation request input from the operator input device according to the control mode selection input; and 
 issue the operating command to the one or more actuation devices; 
 wherein, in the position control mode, the operating command includes an instruction to move the one or more actuation devices to a position corresponding to a position corresponding to the actuation request input from the operator input device; and 
 wherein, in the velocity control mode, the operating command includes an instruction to move the one or more actuation devices at a rate of change corresponding to the position of the actuation request input from the operator input device. 
   
     
     
         15 . The control system of  claim 14 , wherein the operator input device includes a grip interface having a range of motion for transmitting the operator input to the operator input device. 
     
     
         16 . The control system of  claim 15 , wherein the operator input device is an electro-mechanical joystick having a feedback motor coupled to the grip interface; and
 wherein the controller is further configured to:
 determine a feedback command corresponding to movement of the grip interface associated with the actuation request input according to the control mode selection input; and 
 issue the feedback command to the feedback motor, 
 wherein, in the position control mode, the feedback command includes an instruction to the feedback motor to maintain a position of the grip interface associated with at least one of the actuation request input and the position of the one or more actuation devices; and 
 wherein, in the velocity control mode, the feedback command includes an instruction to the feedback motor to re-center the grip interface following the actuation request input. 
   
     
     
         17 . The control system of  claim 16 , wherein, in the velocity control mode, the feedback command includes an instruction to the feedback motor to provide a counteracting force resisting movement of the grip interface that is less than or equal to a force required to move the grip interface; and
 wherein the counteracting force is linearly or non-linearly proportional to the force required to move the grip interface.   
     
     
         18 . The control system of  claim 15 , wherein the operator input device is a mechanical joystick having a friction dampening device, a spring centering device or both the friction dampening device and the spring centering device;
 wherein the friction dampening device is configured to maintain a position of the grip interface after movement associated with the actuator request; and   wherein the spring centering device is configured to center the grip interface after movement associated with the actuator request.   
     
     
         19 . The control system of  claim 18 , wherein the operator input device includes a mode selection switch; and further comprising:
 a sensor configured to detect a position of the mode selection switch and provide the control mode selection input to the controller.   
     
     
         20 . The control system of  claim 19 , wherein the operator input device includes both the position-maintaining device and the centering device; and
 wherein movement of the mode selection switch causes movement of the link to selectively couple to either the position-maintaining device or the centering device.