Automated control of dipper swing for a shovel

Patent metadata

Field	Value
Publication number	US-9745721-B2
Application number	US-201514929167-A
Country	US
Kind code	B2
Filing date	Oct 30, 2015
Priority date	Mar 16, 2012
Publication date	Aug 29, 2017
Grant date	Aug 29, 2017

Abstract

Systems and methods for compensating dipper swing control. One method includes, with at least one processor, determining a direction of compensation opposite a current swing direction of the dipper and applying the maximum available swing torque in the direction of compensation when an acceleration of the dipper is greater than a predetermined acceleration value. The method can also include determining a current state of the shovel and performing the above steps when the current state of the shovel is a swing-to-truck state or a return-to-tuck state. When the current state of the shovel is a dig-state, the method can include limiting the maximum available swing torque and allowing, with the at least one processor, swing torque to ramp up to the maximum available swing torque over a predetermined period of time when dipper is retracted to a predetermined crowd position.

First claim

What is claimed is:

1. A method of compensating swing of a dipper of a shovel, the method comprising:
(a) determining, by at least one processor, a direction of compensation opposite a current swing direction of the dipper;
(b) applying, by the at least one processor, a maximum available swing torque in the direction of compensation opposite the current swing direction of the dipper when acceleration of the dipper is greater than a predetermined acceleration value; and
when the current state of the shovel is in a dig state:
(c) limiting the maximum available swing torque; and
(d) allowing swing torque to ramp up to the limited maximum available swing torque over a predetermined period of time when dipper is retracted to a predetermined crowd position.

2. The method of claim 1 , further comprising determining, by the at least one processor, a current state of the shovel and performing steps (a) through (b) when the current state of the shovel is a swing-to-truck state or a return-to-tuck state.

3. The method of claim 1 , wherein limiting the maximum available swing torque includes limiting the maximum available swing torque between approximately 30% and approximately 80% of the maximum available swing torque.

4. The method of claim 1 , wherein allowing swing torque to ramp up when the dipper is retracted to a predetermined crowd position includes allowing swing torque to ramp up when the dipper is retracted a predetermined percentage from a maximum crowd position.

5. The method of claim 4 , wherein allowing swing torque to ramp up when the dipper is retracted a predetermined percentage from a maximum crowd position includes allowing swing torque to ramp up when the dipper is retracted between approximately 5% and approximately 40% from the maximum crowd position.

6. The method of claim 1 , wherein allowing swing torque to ramp up over the predetermined period of time includes allowing the swing torque to ramp up over approximately 100 milliseconds to approximately 2 seconds.

7. The method of claim 1 , further comprising increasing the maximum available swing torque before applying the maximum available swing torque in the direction of compensation.

8. The method of claim 7 , wherein increasing the maximum available swing torque includes increasing the maximum available swing torque up to approximately 200%.

9. The method of claim 1 , further comprising stopping applying the maximum available swing torque in the direction of compensation opposite the swing direction of the dipper when a swing speed of the dipper drops to or below a predetermined speed value.

10. The method of claim 9 , wherein stopping applying the maximum available swing torque when the swing speed of the dipper drops to or below a predetermined speed value includes stopping applying the maximum available swing torque when the swing speed of the dipper drops to or below between approximately 0 rpm and approximately 300 rpm.

11. The method of claim 9 , wherein stopping applying the maximum available swing torque when the swing speed of the dipper drops to or below a predetermined speed value includes stopping applying the maximum available swing torque when the swing speed of the dipper drops by a predetermined percentage.

12. The method of claim 1 , further comprising stopping applying the maximum available swing torque in the direction of compensation opposite the swing direction of the dipper when a timer value reaches a predetermined setpoint.

13. The method of claim 1 , wherein applying the maximum available swing torque includes calculating a deceleration speed based on a difference between the acceleration of the dipper and the predetermined acceleration value.

14. The method of claim 1 , further comprising determining the predetermined acceleration value based on a full state of the dipper.

15. The method of claim 1 , further comprising determining the predetermined acceleration value based on an empty state of the dipper.

16. The method of claim 1 , further comprising determining the predetermined acceleration value based on a current dipper load.

17. The method of claim 1 , further comprising determining the predetermined acceleration value based on a current dipper position.

18. The method of claim 1 , wherein applying the maximum available swing torque includes applying the maximum available swing torque when acceleration of the dipper is greater than a predetermined acceleration value and a swing speed of the dipper reaches a predetermined threshold.

19. The method of claim 1 , wherein applying the maximum available swing torque when a swing speed of the dipper reaches a predetermined threshold includes applying the maximum available swing torque when the swing speed of the dipper reaches or exceeds approximately 5% to approximately 40% of a maximum speed.

20. The method of claim 1 , further comprising setting swing motoring torque to a predetermined limit.

21. The method of claim 1 , wherein setting swing motoring torque to a predetermined limit includes setting swing motoring torque based on an angle of the shovel received from at least one inclinometer.

22. A non-transitory computer-readable medium configured to execute, by a processor, a set of functions for compensating swing of a dipper of a shovel, the set of functions comprising:
(a) determining a direction of compensation opposite a current swing direction of the dipper;
(b) applying a maximum available swing torque in the direction of compensation opposite the current swing direction of the dipper when acceleration of the dipper is greater than a predetermined acceleration value; and
when the current state of the shovel is in a dig state:
(c) limiting the maximum available swing torque; and
(d) allowing swing torque to ramp up to the limited maximum available swing torque over a predetermined period of time when dipper is retracted to a predetermined crowd position.

Assignees

• Harnischfeger Tech Inc

Inventors

• Linstroth Michael
• Colwell Joseph
• Emerson Mark

Classifications

• E02F3/30

  with a dipper-arm pivoted on a cantilever beam {, i.e. boom} · 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

• G06F17/00 Primary

  Digital computing or data processing equipment or methods, specially adapted for specific functions (information retrieval, database structures or file system structures therefor G06F16/00) · CPC title

• E02F3/435 Primary

  for dipper-arms, backhoes or the like · CPC title

• E02F9/24

  Safety devices {, e.g. for preventing overload (E02F9/226 takes precedence)} · CPC title