BR102017009519A2 - INDUSTRIAL TASKING MACHINE AND CONTROLLER - Google Patents

Abstract

An industrial task machine includes a mechanical arm and a hydraulic actuator coupled to a mechanical arm to move the arm between a first and a second position. The valve is in fluid communication with the hydraulic actuator to provide fluid to the hydraulic actuator. The pump is configured to dispense fluid to the valve. A load sensing system is configured to determine the load pressure value associated with the mechanical arm. A control device is configured to allow selection of a normal mode or a speed adjustment mode. The speed adjuster is configured to receive an input signal from the control device, modify a pressure range value in response to selection in speed adjustment mode, and output the modified pressure range value. the controller is coupled to the pump, load sensing system, and speed adjuster. The controller is configured to receive the load pressure value from the load sensing system and the pressure margin value from the speed adjuster, and adjust the fluid discharge from the pump based on both of the pressure values. load pressure and the modified pressure range value.

Description

(54) Title: INDUSTRIAL TASK MACHINE, E, CONTROLLER (51) Int. Cl .: F15B 9/02; E02F 3/85 (30) Unionist Priority: 7/29/2016 US 15/223287 (73) Owner (s): DEERE & COMPANY (72) Inventor (s): STEVE G. FLEISCHMANN (74) Attorney (s): KASZNAR LEONARDOS INTELLECTUAL PROPERTY (57) Summary: An industrial task machine includes a mechanical arm and a hydraulic actuator coupled to a mechanical arm to move the arm between a first and a second position. The valve is in fluid communication with the hydraulic actuator to supply fluid to the hydraulic actuator. The pump is configured to dispense fluid to the valve. A load sensing system is configured to determine the load pressure value associated with the mechanical arm. A control device is configured to allow selection of a normal mode or a speed adjustment mode. The speed adjuster is configured to receive an input signal from the control device, modify a pressure margin value in response to the selection in the speed adjustment mode and output the modified pressure margin value. The controller is coupled to the pump, the load sensing system, and the speed adjuster. The controller is configured to receive the load pressure value from the load sensing system and the pressure margin value from the speed adjuster, and adjust the fluid discharge from (...)

/ 14 “INDUSTRIAL TASK MACHINE, AND, CONTROLLER” FIELD [001] Several examples of embodiments related to hydraulic control systems.

FUNDAMENTALS [002] Many industrial machines, such as construction equipment, use hydraulics to control various mobile instruments. The operator is provided with one or more inputs or control devices coupled to one or more hydraulic actuators, which manipulate the relative location of selected components or equipment devices to perform various operations. For example, backhoes often have a plurality of control levers and / or pedals to control certain functions of a backhoe, such as the position of a boom arm, position of a bucket arm attached to the boom arm and the position of a shovel attached to a bucket arm.

SUMMARY [003] According to an example in the embodiment, an industrial task machine includes a mechanical arm and a hydraulic actuator coupled to the mechanical arm to move the arm between a first position and a second position. A valve is in fluid communication with the hydraulic actuator to supply fluid to the hydraulic actuator. A pump is configured to discharge fluid to the valve. A load sensing system is configured to determine the pressure value of the load associated with the mechanical arm. A control device is configured to allow the selection of a normal mode or a speed adjustment mode. A speed adjuster is configured to receive input from the control device, modify a pressure range value in response to the selection of the speed adjustment mode and output the modified pressure range value. A controller is attached to the pump, the

Petition 870170029886, of 05/05/2017, p. 47/71 / 14 load sensing system and the speed adjuster. The controller is configured to receive the load pressure value from the load sensing system and the modified pressure margin value from the speed adjuster and adjust the pump fluid discharge based on the load pressure value and the margin value modified pressure

[004] According to another example in the embodiment, an industrial task machine includes a frame and a plurality of mobile instruments coupled to the frame. Each instrument individually movable between a first position and a second position. The machine includes a plurality of hydraulic actuators, in which at least one hydraulic actuator is coupled to one of the instruments, and a plurality of valves, in which at least one valve is coupled to a hydraulic actuator. A pump is configured to supply fluid to the valves. A load sensing system is configured to determine a load pressure value associated with each instrument and generate a signal corresponding to the determined pressure value of the highest load. A control device is configured to allow the selection of a first speed mode, a second speed mode or a third speed mode. A controller is coupled to the pump and the load sensing system. The controller includes a speed adjustment portion configured to receive an input signal from the control device corresponding to the selection, modify a pressure margin value in response to the selection of the second or third mode and provide the pressure margin value modified. The controller is additionally configured to receive a signal corresponding to the highest pressure value of the determined load and adjust the fluid supply based on the valve both at the highest pressure pressure value and the modified pressure range value.

[005] According to another example of embodiment, a controller for adjusting the operating speed of a mobile instrument

Petition 870170029886, of 05/05/2017, p. 48/71 / 14 on an industrial task machine includes a speed adjustment module and a pump control module. The controller is configured to receive a speed adjustment mode signal from a control device and receive a signal of the load pressure value associated with the mobile device. The speed adjustment module is configured to obtain a margin pressure value and to modify a margin pressure value in response to the speed adjustment mode signal. The pump control module is configured to generate a pump pressure request based on the load pressure value and the margin pressure value and to transmit the pump pressure request to modify a pump response.

BRIEF DESCRIPTION OF THE DRAWINGS [006] The aspects and characteristics of several examples of embodiments will be more evident from the description of the examples of embodiments made with reference to the attached drawings, in which:

FIG. 1 is a perspective view of an example of an industrial machine illustrated as a backhoe;

FIG. 2 is a schematic of a section of an example hydraulic system;

FIG. 3 is a flow chart of an example speed adjuster;

FIG. 4 is a flow chart of an example of a speed adjustment method for a hydraulic system; and FIG. 5 is a flow chart of an example hydraulic system using a speed adjuster.

DETAILED DESCRIPTION OF EXAMPLES OF ACHIEVEMENTS [007] Examples of embodiments are directed to systems and methods to adjust the speed of movement of components

Petition 870170029886, of 05/05/2017, p. 49/71 / 14 hydraulic in industrial machines. Industrial machines can be vehicles or stationary devices capable of performing an industrial task such as mining, agriculture, construction, production, etc. An industrial machine typically includes one or more components that cause movement or perform a task that can generally be referred to as an active component, a mobile instrument or an arm. FIG. 1 shows an example of an industrial machine illustrated as a backhoe 10 capable of carrying out different operations related to the excavation and movement of dirt or other materials.

[008] Vehicle 10 includes a number of instruments for performing tasks. For example, a loader 12 coupled to a vehicle frame 14 can lift and transport materials on a loading paddle 16 coupled to the support arms 18. Support arms 18 and the loading paddle 16 can be raised or lowered in relation to to the frame 14 by one or more hydraulic actuators 20A and the loader blade 16 can be moved relative to the support arms 18 by one or more hydraulic actuators 20B. A backhoe can be used to dig trenches and move material through the movement of a boom arm 22, a bucket arm 24 and a backhoe blade 26. The backhoe blade 26 is movable and attached to bucket arm 244, which is movable and attached to the boom arm 22, which is movable and attached to the frame 14. The boom arm 22 is rotatable in relation to the frame 14 in a first and second direction 30, 32 controlled by one or more hydraulic actuators (not shown) . The bucket arm 24 is rotatable in relation to the boom arm 22 in a first and second direction 34, 36 controlled by one or more hydraulic actuators 38. The backhoe blade 26 is rotatable in relation to the bucket arm 24 in a first and second directions 40, 42 controlled by a hydraulic actuator 44. A plurality of coupling devices or ground traction are connected to the structure 14 for the movement of the vehicle 10. The structure 14 can also

Petition 870170029886, of 05/05/2017, p. 50/71 / 14 to be stabilized in a single location by one or more stabilizer arms 48. One or more control devices are positioned in a cabin or operator compartment 50 to allow a user to control the movement of the instruments and vehicle 10. The operator's compartment 50 is shown as a closed compartment, but it can be opened or partially closed.

[009] Each of the hydraulic actuators 20, 38, 44 is shown illustratively as a hydraulic cylinder that includes a movable piston and a rod. As would be understood by one skilled in the art, the position of the rod is adjustable by introducing and / or removing hydraulic fluid to a respective side of the piston within the hydraulic cylinder. Additionally, the rate of detachment of the rod is determined by the rate of hydraulic fluid introduced or removed from a respective side of the piston.

[0010] FIG. 2 is a partial schematic of an example of an embodiment of a hydraulic system 100 configured to supply fluid to instruments in an industrial machine. A basic diagram of a section of the hydraulic system 100 is shown for clarity and one skilled in the art will understand that different hydraulic, mechanical and electrical components can be used depending on the machine and the mobile instruments. The hydraulic system 100 includes a pump 102 that receives fluid from a reservoir 104 and supplies fluid to one or more components downstream. For example, pump 102 is in fluid communication with one or more valves 106 and each valve 106 is in fluid communication with at least one actuator 108. A load sensing system 110 is included with or connected to valves 106 and uses one or more components load sensors 112 to monitor the load pressure of actuators 108. A controller 114 is coupled to pump 102, load sensor system 110 and a control device 116 and is configured to adjust the pump output based on one or more more entries.

Petition 870170029886, of 05/05/2017, p. 51/71 / 14 [0011] The embodiment shown in FIG. 2 shows three valves 106A, 106B, 106C, three actuators 108A, 108B, 108C and three load sensing components 112A, 112B, 112C, although any number of valves 106, actuators 108 and load sensing components 112 can be used. one-to-one is shown for valves 106, actuators 108 and load sensing components 112, but more than one driver 108 can be associated with each valve 106, more than one valve 106 associated with each actuator 108 and more than a load sensing component 112 can be associated with each valve 106, as would be understood by one skilled in the art.

[0012] Pump 102 is configured to discharge fluid to valves 106. The rate of fluid discharged from pump 102 adjusts the pressure of the fluid supplied to valves 106 and actuators 108. Pump 102 may be able to provide a adjustable outlet, for example a variable displacement pump or a variable distribution pump, which is controlled based on a signal from controller 114. A fixed displacement pump can also be used with different reliefs or discharge valves to effectively create an outlet variable. Pump 102 receives fluid, for example hydraulic oil, from reservoir 104 and discharges fluid according to the requested flow rate to create a desired system pressure.

[0013] The type of valve 106 may depend on actuators 108 and the type of machine. Each valve 106 can be coupled to a hydraulic line to receive fluid from pump 102 and one or more hydraulic lines to send fluid to one or more actuators 108. Although not illustrated, valves 106 can be configured to receive a signal from the controller and / or one or more control devices to selectively deliver fluid to actuators 108 based on a user's commands. A basic scheme of valves 106 is shown for clarity and one versed in

Petition 870170029886, of 05/05/2017, p. 52/71 / 14 technician will understand that valves 106 may comprise a system of one or more different types of valves, sensors, comparators, switches, regulators and other hydraulic components, including coil valves, check valves, solenoids, etc., which are controlled by various hydraulic, mechanical or electrical signals.

[0014] Actuators 108 can be similar to actuators 20, 38, described above, or they can be any other suitable type of hydraulic actuator known to one skilled in the art. FIG. 2 illustrates an example of an embodiment of three double-acting hydraulic actuators 108A, 108B, 108C. Each of the double-acting actuators includes a first chamber and a second chamber and the fluid is selectively supplied to the first or second chamber by the associated valve 106 to move the actuator in a corresponding direction. Actuators 108 can be in fluid communication with reservoir 104 so that the fluid exiting actuators 108 flows into reservoir 104.

[0015] In an example of an embodiment, each of the actuators 108 controls the operation of a respective mobile instrument. Examples of mobile instruments may include the loader blade 16, movable arms 18, boom arm 22, bucket arm 24 and / or backhoe blade 26 of vehicle 10 illustrated in FIG. 1. In one embodiment, two actuators 108 control the same instrument. An example is the lifting of the support arms 18 which includes an actuator for each of the two support arms 18 (only one illustrated). In another form of assembly, actuators 108 control separate instruments. An example is where actuator 108A controls the raising and lowering of bucket arm 24 and actuator 108B controls the movement of the backhoe blade 26. The type of instruments will depend on the type of industrial machine and the tasks to be performed.

[0016] During use, each instrument can create a variable load

Petition 870170029886, of 05/05/2017, p. 53/71 / 14 on the associated hydraulic actuator 108 and the hydraulic system 100 can be compensated under pressure by the load sensing system 110 to account for variable loads. The load sensing system 110 determines the load requirements for one or more of the instruments and creates a load pressure value that is used to adjust the pump output. In an assembly example, a load sensing component 112 is associated with each of the valves 106 to measure the load, or pressure requirements, on the valves 106 of actuators 108. The load sensing components 112 can be incorporated into valves 106 or in communication with them. For example, the load sensing component 112 may include one or more check valves or isolating valves in communication with the main valves 106. The check valve determines the highest pressure of two inlet pressures and sends a signal of the highest pressure to a new location. Certain systems may use a single check valve associated with each actuator, while other systems may use a set of primary check valves and a set of secondary check valves. Primary check valves determine the highest pressure associated with an actuator, for example by extending or retracting on a double-acting cylinder, and producing the highest pressure. Secondary check valves are used to select the highest pressure from more than one valve 106. Consequently, there may be less one secondary check valve than there are primary check valves. The load sensing components 112 can use other hydraulic, mechanical, electrical and / or electromechanical devices and methods to determine and output the load pressure value to the controller 114.

[0017] Controller 114 may include any properly programmed processor or computer that is capable of receiving and processing data and sending appropriate commands. Controller 114 can have multiple inputs and outputs as needed. Controller 114 can be

Petition 870170029886, of 05/05/2017, p. 54/71 / 14 capable of operating automatically based on inputs and also based on manual input from control device 116. Control device 116 can be positioned in an operator compartment 50 and can include one or more buttons, switches, levers, pedals, joystick or other devices manipulated by the user.

[0018] In addition to the load pressure requirements, controller 114 can be configured to compensate for a pressure margin. Controller 114 can instruct pump 102 to supply extra pressure above the required load pressure referred to herein as the pressure range value. The pressure margin value can be based, for example, on pressure loss through the system, or on an estimated pressure loss. Margin pressure can also be used to help control the pump's delivery rate to more quickly accommodate a pressure change or over pressure request.

[0019] Controller 114 receives the load pressure value from the load sensing system 110 and obtains the pressure margin value. These two values are then combined to obtain a pump output or flow rate. Controller 114 can obtain the pressure range value in several ways. For example, the pressure range can be: a predetermined value that is incorporated into controller 114, stored in memory or received from a look-up table containing different values based on different machine or vehicle operating parameters; adjustable value controlled by a user, technician, dealer, manufacturer, etc .; measured valve that floats based on the use of components in the hydraulic system and / or external influences such as temperature; or any combination of these. One skilled in the art would understand other ways of establishing the pressure margin value. [0020] According to an example of an embodiment, a speed adjuster 120 is capable of modifying a pressure margin value in

Petition 870170029886, of 05/05/2017, p. 55/71 / 14 response to an input from control device 116, as shown in FIG. 3 with the steps of the method described in FIG. 4. For example, controller 114 receives the load pressure value (step 202) and control device 116 can allow a user to select a speed adjustment mode (step 204). In speed adjustment mode, speed adjuster 120 obtains the pressure range value (step 206). The pressure range value can be obtained from controller 114, or it can be obtained by speed adjuster 120 using any of the methods described above. The speed adjuster 120 modifies the pressure range value (step 208) to increase or decrease the pressure range in response to the user's selection. In an example of embodiments, a calculation is performed using the pressure range of the standard valve and a request for speed increase or decrease. Controller 114 combines the modified pressure range value with the load pressure value (step 210) to obtain a pump outlet pressure as shown in FIG. 3. Controller 114 then produces a signal to modify the pump output (step 212). In an example embodiment, the output is a pump pressure value of the modified load direction creating a modified pump output. Since the pressure generated by the pump 102 directly affects the movement speed of the hydraulic actuators and thus the mobile instruments, decreasing or increasing the pressure margin value, can adjust the movement speed of all the mobile instruments associated with the pump 102 Speed adjuster 120 can be incorporated into controller 114, for example, as a device, module, control algorithm, logic program or other software, or speed adjuster 120 can be a separate and independent device with a processor and memory in communication with controller 114, pump 102, or other combinations of components.

Petition 870170029886, of 05/05/2017, p. 56/71 / 14 [0021] The type of control signal, and how pump 102 is set, will vary depending on the system. For example, a control signal can be sent from controller 114 directly to pump 102 or to a pump controller, a control signal can be sent from controller 114 via a valve in the load sensing system 110 or a control signal can be sent from controller 114 via a sensory load generation valve (not shown) and a pump load sensor. The control signal can be electrical, hydraulic, mechanical or any combination of them. In an example of embodiments, an electrical signal is sent to a valve that is hydraulically connected to pump 102.

[0022] FIG. 5 shows an example of an embodiment of a hydraulic system using a speed adjuster. The system includes an actuator 302 that receives fluid from a main control valve 304. The main control valve 304 includes a load sensing system that submits a load detection request 306 to a controller 308. If desired, a user implements a speed mode request 310 that triggers a speed mode calculation 312 based on the speed mode request 310 and the valve pressure range 314. The speed mode calculation 312 modifies the pressure range 314 based on in the required speed mode and issues the calculated valve to controller 308. Controller 308 combines load sensing request 306 with calculated speed mode value 312 to create a speed mode pressure request value that is translated for a current value using a pressure versus a current comparison table 316. The resulting current is then emitted to a load sense generation valve 318 that communicates with a the hydraulic pump 320 to modify the flow from the pump outlet 322. The load sense generation valve 318 can be an electro-proportional pressure control valve,

Petition 870170029886, of 05/05/2017, p. 57/71 / 14 for example a hydraulic tapered seat valve of the pressure valve type that can be infinitely adjusted within a prescribed interval using a variable electrical input from the 308 controller, where the pressure output is proportional to the current input.

[0023] Different operations may require different movement speeds. For example, certain operations, such as digging near a pipe with a backhoe, require precision or precise control over the movement of the components of a backhoe. As such, a high resolution of the movement rates of the respective components would be desirable. In another example, such as moving dirt to a truck to be removed, it is desired to provide a higher rate of movement of the components of the backhoe to reduce cycle times. As such, a lower resolution or gross resolution of movement rates would be desired.

[0024] Consequently, the speed adjustment mode may include a slow or precision mode that reduces the movement speed of the instruments and a fast or productivity mode that increases the movement speed of the instruments. For example, control device 116 has two discrete configurations, a first configuration corresponding to normal operation (gain = 1) and a second configuration corresponding to slow or precision operation (gain <1). In another example, control device 116 has three discrete settings, a first setting corresponding to normal operation (gain = 1), a second setting corresponding to precision operation (gain <1) and a third setting corresponding to fast or productivity (gain> 1). In various examples of embodiments, the control device 116 has a plurality of configurations or has a variable gain, as in the case of an infinitely adjustable control device 116.

Petition 870170029886, of 05/05/2017, p. 58/71 / 14 [0025] In several examples of embodiments, the slow mode can be in the range of approximately 20% to approximately 100% of the speed of the normal mode, although the slow mode can be set down and only slightly above 0% in the normal mode, if necessary. In several other examples of embodiments, the slow mode can be approximately 50% or approximately 55% of the speed of the normal mode. In various examples of embodiments the fast mode can be in the range between approximately 100% and approximately 200% of the speed of the normal mode. In various examples of embodiments, the fast mode is approximately 120% or approximately 130% of the speed of the normal mode. In various examples of embodiments, the amount of speed adjustment can be selected by a user up to approximately 200% in the normal way.

[0026] Reducing movement speed and reducing margin pressure may vary depending on the system. As such, the reduction in the movement speed and the reduction of the pressure margin are not necessarily linear, that is, a 50% reduction in speed is not necessarily equal to a 50% reduction in the margin pressure.

[0027] By changing the margin pressure, the system can effectively reduce or increase the movement speed of one or more mobile instruments without the use of complex electro-hydraulic valves.

[0028] The previous detailed description of certain examples of embodiments has been provided in order to explain the general principles and practical application, thus allowing those skilled in the art to understand the description for various embodiments and with various modifications as they are. suitable for the particular intended use. This description is not necessarily intended to be exhaustive or to limit the description to examples of disclosed embodiments. Any of the forms of embodiments and / or elements described herein can be

Petition 870170029886, of 05/05/2017, p. 59/71 / 14 combined with each other to form various additional embodiments not specifically described. Accordingly, additional embodiments are possible with the intention of being included within this specification and within the scope of the appended claims. The specification describes specific examples to achieve a more general objective that can be achieved in another way.

[0029] As used in this patent application, the terms "previous", "rear", "upper", "lower", "ascending", "descending" and other guidance descriptions are intended to facilitate the description of the examples of embodiments of the present description, and are not intended to limit the structure of the examples of embodiments of the present description to any particular position or orientation. Degree terms, such as "substantially" or "approximately" are understood by ordinary verses to refer to reasonable intervals outside the given value, for example, general tolerances associated with the manufacture, assembly and use of the described embodiments.

Petition 870170029886, of 05/05/2017, p. 60/71 / 5

Claims (20)

1. Industrial task machine, characterized by the fact that it comprises: a mechanical arm; a hydraulic actuator coupled to the mechanical arm to move the arm between the first and second positions; a valve in fluid communication with the hydraulic actuator to supply fluid to the hydraulic actuator; a pump configured to deliver fluid to the valve; a sensor system configured to determine a pressure value associated with the mechanical arm; a control device configured to allow selection of a normal mode or a speed adjustment mode; a speed adjuster configured to receive input from a control device, modify a pressure margin value in response to the selection of the speed adjustment mode, and output the modified pressure margin value; and a controller coupled to the pump, load sensing system and speed adjuster, the controller configured to receive the load pressure value from the load sensing system and the modified pressure margin value from the speed adjuster, and adjust the fluid discharge from the pump based on both the load pressure value and the modified pressure margin value. 2. Machine according to claim 1, characterized by the fact that the speed adjustment mode includes a slow mode and a fast mode, each of which is selected independently, in which the selection of the slow mode reduces the movement speed of the mechanical arm and fast mode selection increases the movement speed of the mechanical arm. Petition 870170029886, of 05/05/2017, p. 61/71 2/5 3. Machine according to claim 2, characterized in that the speed adjuster reduces the margin pressure value in response to the slow mode selection and increases the margin pressure value in response to the fast mode selection. 4. Machine according to claim 2, characterized by the fact that in the slow motion speed mode there is a reduction of approximately 50% in relation to the operation in the normal mode. 5. Machine according to claim 2, characterized by the fact that in the fast movement speed mode there is an increase of approximately 20% in relation to the operation in the normal mode. 6. Machine according to claim 1, characterized by the fact that the speed adjuster calculates the modified pressure range value based on a determined pressure range. 7. Machine according to claim 1, characterized by the fact that the mechanical arm contains a swing arm, a boom arm or articulation arm. 8. Machine according to claim 1, characterized by the fact that the speed adjuster is incorporated inside the controller. 9. Industrial task machine, characterized by the fact that it comprises: a structure; a plurality of mobile instruments coupled to the structure, each instrument individually mobile between a first and a second position; a plurality of hydraulic actuators, in which at least one hydraulic actuator is coupled to each instrument; a plurality of valves, at least one valve is coupled to each hydraulic actuator; Petition 870170029886, of 05/05/2017, p. 62/71 3/5 a pump configured to supply fluid to the valves; a load sensing system configured to determine the charge pressure value associated with each instrument and generate a signal corresponding to the highest determined pressure pressure value; a control device configured to allow the selection of a first speed mode, a second speed mode or a third speed mode; and a controller coupled to the valve and the load sensing system, where the controller includes a speed adjustment section configured to receive an input signal from a control device corresponding to the selection, modify a pressure margin value in response to the selection of the second or third mode, and output the modified pressure range value, a controller additionally configured to receive a signal corresponding to the highest pressure value of the determined load and adjust the fluid supply from the pump based on both the highest load pressure value and the modified pressure margin value. Machine according to claim 9, characterized in that it comprises in the second mode, a movement speed of one of the various mobile instruments is in the range of approximately 20 to 100% of the movement speed of one of the various mobile instruments in the first mode. Machine according to claim 9, characterized in that it comprises in the third mode, a movement speed of one of the various mobile instruments is in the range of approximately 10 to 200% of the movement speed of one of the various mobile instruments in the first mode. 12. Machine according to claim 9, characterized by the fact that the operation in the second or third mode alters the Petition 870170029886, of 05/05/2017, p. 63/71 4/5 speed of all mobile instruments from the plurality of mobile instruments. 13. Machine according to claim 9, characterized in that a first mobile instrument of the plurality of mobile instruments includes a boom arm and a second mobile instrument of the plurality of mobile instruments includes a paddle. 14. Machine according to claim 9, characterized in that the control device includes a user interface for selecting the first mode, the second mode, or the third mode. 15. Controller for adjusting the operating speed of a mobile instrument on an industrial task machine, the controller characterized by the fact that it comprises: a speed adjustment module; and a pump control module, in which the controller is configured to receive a speed adjustment mode signal from a control device, and to receive a load pressure value signal associated with the mobile instrument, in which the speed adjustment module is configured to obtain the pressure margin value and modify a pressure margin value in response to the speed adjustment mode signal, and where the pump control module is configured to generate a pump pressure requested based on the load pressure value and pressure range value and transmit the required pump pressure to modify a pump output. 16. Controller according to claim 15, characterized by the fact that the speed adjustment mode signal represents a slow mode or a fast mode, in which operation in slow mode corresponds to a reduction in the movement speed of the instrument Petition 870170029886, of 05/05/2017, p. 64/71 5/5 mobile and in which operation in fast mode corresponds to an increase in the movement speed of the mobile instrument. 17. Controller according to claim 15, characterized by the fact that the requested pump pressure is transmitted to a valve in fluid communication with the pump. 18. Controller according to claim 15, characterized by the fact that the pressure margin value is a predetermined value. 19. Controller according to the claim, characterized by the fact that the required pump pressure includes an electronic signal. 20. Controller according to claim 17, characterized by the fact that the mobile instrument is powered by a hydraulic actuator in fluid communication with the valve. Petition 870170029886, of 05/05/2017, p. 65/71 1/5 Petition 870170029886, of 05/05/2017, p. 66/71 2/5 106 108