System and method of vector drive control for a mining machine

Patent metadata

Field	Value
Publication number	US-9506221-B2
Application number	US-201514834799-A
Country	US
Kind code	B2
Filing date	Aug 25, 2015
Priority date	Jul 9, 2013
Publication date	Nov 29, 2016
Grant date	Nov 29, 2016

Abstract

A method of controlling a digging operation of an industrial machine, the industrial machine including a dipper and an actuator. The method including determining a force associated with the actuator; determining a dig force vector for the dipper based on the force associated with the actuator, the dig force vector including a dig force angle and a dig force magnitude; determining a characteristic of the industrial machine; and controlling, using a processor, the dig force vector based on the characteristic of the industrial machine, the dig force vector being controlled by controlling at least one of the force associated with the actuator and an angle of the dipper.

First claim

What is claimed is:

1. A method of controlling a digging operation of an industrial machine, the industrial machine including a dipper and an actuator, the method comprising:
determining a force associated with the actuator;
determining a dig force vector for the dipper based on the force associated with the actuator, the dig force vector including a dig force angle and a dig force magnitude;
determining a characteristic of the industrial machine; and
controlling, using a processor, the dig force vector based on the characteristic of the industrial machine, the dig force vector being controlled by controlling at least one of the force associated with the actuator and an angle of the dipper.

2. The method of claim 1 , wherein the actuator is a crowd motor.

3. The method of claim 1 , wherein the actuator is a hoist motor.

4. The method of claim 3 , wherein the force associated with the hoist motor is a torque of the hoist motor.

5. The method of claim 1 , wherein the characteristic of the industrial machine is a net force acting on the dipper.

6. The method of claim 1 , wherein the characteristic of the industrial machine is a position of the dipper.

7. The method of claim 6 , wherein the position of the dipper corresponds to a position of a point on the dipper.

8. The method of claim 7 , wherein the point on the dipper is a point at which the dipper engages a bank.

9. The method of claim 1 , wherein the characteristic of the industrial machine is an operator reference.

10. An industrial machine comprising:
a dipper;
a drive configured to provide one or more control signals to an actuator, the actuator operable to provide a force to the dipper to move the dipper; and
a controller including a processor and a memory, the controller connected to the drive, the controller configured to
determine a force associated with the actuator,
determine a dig force vector for the dipper based on the force associated with the actuator, the dig force vector including a dig force angle and a dig force magnitude,
determine a characteristic of the industrial machine, and
control the dig force vector based on the characteristic of the industrial machine, the dig force vector being controlled by controlling at least one of the force associated with the actuator and an angle of the dipper.

11. The industrial machine of claim 10 , wherein the actuator is a crowd motor.

12. The industrial machine of claim 11 , wherein the force associated with the crowd motor is controlled by controlling a breakdown torque of the crowd motor.

13. The industrial machine of claim 11 , further comprising a hoist motor.

14. The industrial machine of claim 13 , wherein controlling the dig force vector includes proportionally controlling a torque of the crowd motor and a torque of the hoist motor.

15. The industrial machine of claim 13 , wherein controlling the dig force vector includes disproportionally controlling a torque of the crowd motor and a torque of the hoist motor.

16. The industrial machine of claim 13 , wherein a torque of the crowd motor or a torque of the hoist motor is varied between a minimum torque value corresponding to a first dig force angle boundary and a maximum torque value corresponding to a second dig force angle boundary.

17. The industrial machine of claim 16 , further comprising modifying the first dig force angle boundary or the second dig force angle boundary based on the characteristic of the industrial machine.

18. The industrial machine of claim 17 , wherein the characteristic of the industrial machine is selected from the group consisting of a position of the dipper, a force exerted on the dipper, or an operator reference.

19. The industrial machine of claim 10 , wherein the force associated with the actuator is a torque.

20. The industrial machine of claim 10 , wherein the industrial machine is an electric rope shovel.

Assignees

• Harnischfeger Tech Inc

Inventors

• Knuth Jason
• Taylor Wesley P
• Lee Mooyoung

Classifications

• E21C35/282

  Autonomous machines; Autonomous operations · CPC title

• E21C35/302

  Measuring, signaling or indicating specially adapted for machines for slitting or completely freeing the mineral (measuring or indicating on tunneling machines E21D9/003) · CPC title

• E02F3/437 Primary

  providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant · CPC title

• E02F9/2029

  Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed (control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence) · CPC title

• E21C35/24

  Remote control specially adapted for machines for slitting or completely freeing the mineral (control in general G05) · CPC title