Abstract: An apparatus for controlling a track-mounted vehicle includes at least one processor, and at least one memory including computer program code. The at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus at least to: obtain information on a path to be followed by the track-mounted vehicle; obtain information on at least one characteristic affecting movement control of the track-mounted vehicle; determine a position of a control point in relation to the track-mounted vehicle based on the at least one characteristic; and control movement of the track-mounted vehicle based on the path and the control point, wherein the control point is configured to be aligned with the path to cause the track-mounted vehicle to follow the path.

Abstract: A method of controlling a hydraulic actuator, wherein the hydraulic actuator includes a linear double-acting output member, and at least three working chambers in fluid connection with the output member, the working chambers having respective effective areas with a non-binary relationship; wherein the method includes selectively fluidly connecting each working chamber to either a high-pressure side or a low-pressure side to provide a plurality of discrete pressurization states of the hydraulic actuator; determining at least one of the pressurization states as a prevented pressurization state; and transitioning between a plurality of allowed pressurization states among the pressurization states while preventing transition to the at least one prevented pressurization state. A hydraulic actuator and a hydraulic system are also provided.

Abstract: A hydraulic system includes: a high-pressure line; a pump configured to supply pressurized hydraulic fluid to the high-pressure line; a variable displacement hydraulic machine connected by a fluid connection to the high-pressure line for rotationally driving the rotatable load; an electronic control unit; an energy storing device connected to the high-pressure line and configured to communicate with the high-pressure line by receiving energy from the high-pressure line and/or supplying energy to the high-pressure line; and a first detector configured to detect the amount of energy stored in the energy storing device and to transmit a signal indicating said amount of energy stored to the electronic control unit. The electronic control unit is configured to control the volume flow intake of the variable displacement hydraulic machine dependent on a target output of the variable displacement hydraulic machine and on the detected amount of energy stored in the energy storing device.

Abstract: A method of controlling a rotatable load by a hydraulic system, the method includes determining if the hydraulic system is in a first operating state or a second operating state; controlling the rotatable load in a valve control mode if the hydraulic system is in the first operating state, the valve control mode including controlling the rotatable load by controlling a valve arrangement; controlling the rotatable load in a displacement control mode if the hydraulic system is in the second operating state, the displacement control mode including controlling the rotatable load mainly by controlling the displacement of a hydraulic machine; and applying a non-zero absolute minimum displacement limitation to the hydraulic machine at least in the valve control mode.

Abstract: The invention relates to a hydraulic device for a hydraulic system (12). The hydraulic device includes a chamber arrangement including at least one high-pressure chamber for connection to a high-pressure side of the hydraulic system, and at least one low-pressure chamber for connection to a low-pressure side of the hydraulic system; and a movable member arranged to reciprocate at least partly inside the chamber arrangement in response to pressure variations within the at least one high-pressure chamber and within the at least one low-pressure chamber. The chamber arrangement further includes at least one tank chamber for connection to a tank-pressure side of the hydraulic system.

Abstract: A method of controlling a hydraulic actuator, wherein the hydraulic actuator includes a linear double-acting output member, and at least three working chambers in fluid connection with the output member, the working chambers having respective effective areas with a non-binary relationship; wherein the method includes selectively fluidly connecting each working chamber to either a high-pressure side or a low-pressure side to provide a plurality of discrete pressurization states of the hydraulic actuator; determining at least one of the pressurization states as a prevented pressurization state; and transitioning between a plurality of allowed pressurization states among the pressurization states while preventing transition to the at least one prevented pressurization state. A hydraulic actuator and a hydraulic system are also provided.

Abstract: A method of controlling a rotatable load by a hydraulic system, the method includes determining if the hydraulic system is in a first operating state or a second operating state; controlling the rotatable load in a valve control mode if the hydraulic system is in the first operating state, the valve control mode including controlling the rotatable load by controlling a valve arrangement; controlling the rotatable load in a displacement control mode if the hydraulic system is in the second operating state, the displacement control mode including controlling the rotatable load mainly by controlling the displacement of a hydraulic machine; and applying a non-zero absolute minimum displacement limitation to the hydraulic machine at least in the valve control mode.

Abstract: The invention relates to a hydraulic device for a hydraulic system (12). The hydraulic device includes a chamber arrangement including at least one high-pressure chamber for connection to a high-pressure side of the hydraulic system, and at least one low-pressure chamber for connection to a low-pressure side of the hydraulic system; and a movable member arranged to reciprocate at least partly inside the chamber arrangement in response to pressure variations within the at least one high-pressure chamber and within the at least one low-pressure chamber. The chamber arrangement further includes at least one tank chamber for connection to a tank-pressure side of the hydraulic system.

Abstract: A hydraulic system includes: a high-pressure line; a pump configured to supply pressurized hydraulic fluid to the high-pressure line; a variable displacement hydraulic machine connected by a fluid connection to the high-pressure line for rotationally driving the rotatable load; an electronic control unit; an energy storing device connected to the high-pressure line and configured to communicate with the high-pressure line by receiving energy from the high-pressure line and/or supplying energy to the high-pressure line; and a first detector configured to detect the amount of energy stored in the energy storing device and to transmit a signal indicating said amount of energy stored to the electronic control unit. The electronic control unit is configured to control the volume flow intake of the variable displacement hydraulic machine dependent on a target output of the variable displacement hydraulic machine and on the detected amount of energy stored in the energy storing device.

Abstract: A hydraulic system including: a pressure line; a pump; an actuator; a valve device configured to control the flow of pressurized hydraulic fluid to the actuator; an electronic control unit configured to control the valve device by a control signal proportional to the desired speed of the actuator at any given time; a pressure accumulator capable of supplying, together with the pump, pressurized hydraulic fluid for moving the actuator; a sensor device configured to measure, directly or indirectly, the amount of pressurized hydraulic fluid in the pressure accumulator at any given time; setting devices configured to set a setting signal to be proportional with the desired speed of the actuator at any given time. The electronic control unit is configured to restrict the targeted speed of the actuator not to exceed a predetermined maximum speed which is proportional to the amount of pressurized hydraulic fluid in the pressure accumulator.

Abstract: A hydraulic system including: a pressure line; a pump; an actuator; a valve device configured to control the flow of pressurized hydraulic fluid to the actuator; an electronic control unit configured to control the valve device by a control signal proportional to the desired speed of the actuator at any given time; a pressure accumulator capable of supplying, together with the pump, pressurized hydraulic fluid for moving the actuator; a sensor device configured to measure, directly or indirectly, the amount of pressurized hydraulic fluid in the pressure accumulator at any given time; setting devices configured to set a setting signal to be proportional with the desired speed of the actuator at any given time. The electronic control unit is configured to restrict the targeted speed of the actuator not to exceed a predetermined maximum speed which is proportional to the amount of pressurized hydraulic fluid in the pressure accumulator.

Abstract: A hydraulic system and a method comprising a linear actuator 23 for generating discrete sum forces, chambers A-D for generating discrete force components, at least two charging circuits 3,4 configured to maintain predetermined pressure levels of hydraulic fluid, independent control interfaces 9-16 configured to open and close connections of the first and second charging circuits to the chambers, and an electronic control unit 50 for controlling the control interfaces. At least two control interfaces are proportional valves which are used as shut-off valves and are independently switchable to the open and closed positions in a controlled manner. Moreover, non-throttled control and secondary control are implemented in the hydraulic system and the method.

Abstract: A hydraulic system and a method comprising a linear actuator 23 for generating discrete sum forces, chambers A-D for generating discrete force components, at least two charging circuits 3,4 configured to maintain predetermined pressure levels of hydraulic fluid, independent control interfaces 9-16 configured to open and close connections of the first and second charging circuits to the chambers, and an electronic control unit 50 for controlling the control interfaces. At least two control interfaces are proportional valves which are used as shut-off valves and are independently switchable to the open and closed positions in a controlled manner. Moreover, non-throttled control and secondary control are implemented in the hydraulic system and the method.