Automated control of dipper swing for a shovel
First Claim
1. A method of compensating swing control of a dipper of a shovel, the shovel including a swing motor, the method comprising:
- determining, by at least one processor, a current swing direction of the dipper;
determining, by the at least one processor, a direction of compensation opposite the current swing direction of the dipper;
monitoring, by the at least one processor, an acceleration of the dipper;
detecting, by the at least one processor, an impact of the dipper with an object when the monitored acceleration is within a determined range of acceleration values;
modifying, by the at least one processor, a swing torque value for the swing motor; and
applying, by the at least one processor, the modified swing torque value for the swing motor to slow a current swing speed of the dipper in response to detecting the impact of the dipper with the object.
2 Assignments
0 Petitions
Accused Products
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.
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Citations
24 Claims
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1. A method of compensating swing control of a dipper of a shovel, the shovel including a swing motor, the method comprising:
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determining, by at least one processor, a current swing direction of the dipper; determining, by the at least one processor, a direction of compensation opposite the current swing direction of the dipper; monitoring, by the at least one processor, an acceleration of the dipper; detecting, by the at least one processor, an impact of the dipper with an object when the monitored acceleration is within a determined range of acceleration values; modifying, by the at least one processor, a swing torque value for the swing motor; and applying, by the at least one processor, the modified swing torque value for the swing motor to slow a current swing speed of the dipper in response to detecting the impact of the dipper with the object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A system for compensating swing control of a dipper of a shovel, the system comprising:
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a swing motor; and a controller including at least one processor, the at least one processor configured to determine a current swing direction of the dipper, determine a direction of compensation opposite the current swing direction of the dipper, monitor an acceleration of the dipper, detect an impact of the dipper with an object when the monitored acceleration is within a determined range of acceleration values; modify a swing torque value for the swing motor; and apply the modified swing torque value for the swing motor to slow a current swing speed of the dipper in response to detecting the impact of the dipper with the object. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. A non-transitory computer-readable medium configured to execute, by a processor, a set of functions for compensating swing control of a dipper of a shovel, the shovel including a swing motor, the set of functions comprising:
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determining a current swing direction of the dipper; determining a direction of compensation opposite the current swing direction of the dipper; monitoring an acceleration of the dipper; detecting an impact of the dipper with an object when the monitored acceleration is within a determined range of acceleration values; and modifying a swing torque value for the swing motor; and applying the modified swing torque value for the swing motor to slow a current swing speed of the dipper in response to detecting the impact of the dipper with the object.
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Specification