Method and System for Controlling Electric Actuators

• US 20140214283A1
• Filed: 04/01/2014
• Published: 07/31/2014
• Est. Priority Date: 10/04/2011
• Status: Active Grant

• Current Assignee: Parker Intangibles LLC (Parker-Hannifin Corporation)
• Original Assignee: Parker-Hannifin Corporation
• Inventors: Maurer, Garrett
• Granted Patent: US 9,223,302 B2
• Time in Patent Office: Days
• US Class Current: 701/49
• CPC Class Codes: B60S 9/02 for only lifting or supporting
• CPC Class Codes: B60S 9/04 mechanically
• CPC Class Codes: B60S 9/10 by fluid pressure
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: H02P 29/00 Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors arrangements for starting electric motors H02P1/00; arrangements for stopping or slowing electric motors H02P3/00; control of motors that can be connected to two or more different electric power supplies H02P4/00; regulating or controlling the speed or torque of two or more electric motors H02P5/00; vector control H02P21/00
• CPC Class Codes: H02P 29/40 Regulating or controlling the amount of current drawn or delivered by the motor for controlling the mechanical load
• CPC Class Codes: H02P 29/60 Controlling or determining the temperature of the motor or of the drive H02P29/02 takes precedence

Abstract

An object 10 includes an electric actuator system 11 and a method 12. The object 10 may be a vehicle that includes wheels 18-21. The system 11 and method 12 include microprocessor based controllers 32, 33 and 37, electric actuators 22-25, 38 and 39, and a user interface 34 with an integrated level sensor and temperature sensor. The system 11 and method 12 operate to automatically or manually move the vehicle 10 from a not level attitude to a level attitude when the vehicle 10 is parked. The system 11 and method 12 in a preferred embodiment (FIGS. 4-6) may be configured to utilize any number of substantially identical controllers and actuators. The system 11 and method 12 sense the load carried by each actuator, to assure the wheels of the vehicle are not carrying more than a desired amount of the load when the vehicle is parked.

Claims

1. A method of controlling a plurality of electric actuators comprising the steps:

providing an electric controller with two way electric communication with each of the electric actuators;

applying an electrical current to each of the plurality of actuators to cause movement of each of the plurality of actuators;

sensing the load carried by each of the plurality of actuators and communicating each load to the controller;

maintaining the electrical current applied to each of the plurality of actuators to cause further movement of each of the plurality of actuators until the sensed load carried by each of the plurality of actuators exceeds a preset minimum load.

2. A method of controlling a plurality of actuators as set forth in claim 1, including the further step:

sensing an X and Y direction attitude of an object to which the actuators are connected;

communicating the sensed attitude as an input to the controller;

moving the object from a not level attitude position to a level attitude position by operation of the actuators.

3. A method of controlling a plurality of actuators as set forth in claim 2, including the further step:

sensing the amount of electrical current supplied to each actuator to sense the load carried by the actuator during the application of the electrical current.

4. A method of controlling a plurality of actuators as set forth in claim 3, including the further steps:

applying an initial electrical current determined by the controller to the actuator to cause initial movement of the actuator;

applying a further electrical current to the actuator to cause further movement of the actuator only when the sensed load carried by the actuator during the initial movement exceeds a preset minimum load;

sensing the temperature of the actuator and combining the sensed temperature with the sensed electrical current to determine the load carried by the actuator;

ignoring the amount of electrical current supplied to the actuator during an initial predetermined time period of the initial electrical current;

sensing the amount of the initial electrical current supplied to the actuator to sense a condition in which the actuator reaches an end of its stroke.

5. A method of controlling a plurality of actuators as set forth in claim 1, including the further steps:

providing a second electric controller with two way electric communication with a second plurality of electric actuators;

applying an electrical current to each of the second plurality of actuators to cause movement of each of the second plurality of actuators;

sensing the load carried by each of the second plurality of actuators and communicating each load to the second controller;

maintaining the electrical current applied to each of the second plurality of actuators to cause further movement of each of the second plurality of actuators until the sensed load carried by each of the second plurality of actuators exceeds a preset minimum load;

applying a further electrical current to two of the actuators to achieve a level attitude in one of the X and Y directions;

applying a further electrical current to two of the actuators to achieve a level attitude in the other of the X and Y directions.

6. A method of controlling a plurality of actuators as set forth in claim 5, wherein:

the step applying of applying a further electrical current to two of the actuators to achieve a level attitude in one of the X and Y directions includes applying the further electrical current to two actuators associated with one of the controllers; and

the step of applying a further electrical current to two of the actuators to achieve a level attitude in the other of the X and Y directions includes applying the further electrical current to one actuator associated with one of the controllers and to one actuator associated with the other of the controllers.

7. A method of controlling a plurality of actuators as set forth in claim 1:

wherein the controller controls the velocity of each actuator during a first and a second displacement of each actuator, and the velocity of each actuator during one of the displacements is substantially less than the velocity during the other displacement in order to create a soft start or a soft stop for each actuator.

8. A method of controlling a plurality of actuators as set forth in claim 1, further comprising the step of ignoring the amount of electrical current supplied to each actuator during an initial predetermined time period of the initial electrical current.

9. A method of controlling the attitude of a vehicle comprising the steps:

(a) providing at least one electric controller in electric communication with a plurality of electric actuators and a user interface in electric communication with the electric controller and a temperature sensor in electric communication with the electric controller and a level sensor in electric communication with the electric controller;

(b) selecting through the user interface between an automatic level mode and an automatic retract mode and a manual level mode and a manual retract mode;

(c) when in the automatic level mode;

applying an initial electrical current determined by the controller to each actuator to cause simultaneous extension movement of the actuators;

sensing temperature and communicating the temperature to the controller;

soft starting extension movement of each actuator;

sensing the electrical current supplied to each actuator and communicating the electrical current to the controller;

ignoring the electrical current supplied to each actuator for an in rush time period;

combining the sensed electrical current supplied to each actuator and the sensed temperature to determine the a minimum ground contact load carried by each actuator;

soft stopping movement of each actuator that has achieved the minimum ground contact load until all actuators have achieved the minimum ground contact load;

soft starting further movement of each actuator by applying a further electrical current to the actuators to cause further movement of the actuator only when the sensed load carried by the actuators exceeds the preset minimum load;

sensing the attitude of the vehicle in the X and Y directions;

soft stopping movement of each actuator when a level attitude of the vehicle in the X and Y directions is sensed;

sensing the electrical current supplied to at least two of the actuators and combining the sensed current with the sensed temperature to determine the minimum ground contact load carried by each of the two actuators;

ignoring the electrical current supplied to each of the two actuators for an in rush time period;

combining the sensed electrical current supplied to each of the two actuators and the sensed temperature to determine the a minimum ground contact load carried by each of the two actuators;

ending the automatic level mode;

(d) when in the automatic retract mode;

applying an initial electrical current determined by the controller to each actuator to cause simultaneous retraction movement of the actuators;

sensing temperature and communicating the temperature to the controller;

soft starting retraction movement of each actuator;

sensing the electrical current supplied to each actuator and communicating the electrical current to the controller;

ignoring the electrical current supplied to each actuator for an in rush time period;

combining the sensed electrical current supplied to each actuator and the sensed temperature to determine a full retract load for each actuator;

stopping movement of each actuator that has achieved the full retract load;

ending the automatic retract mode when all actuators have achieved the full retract load;

(e) when in the manual level mode;

applying an initial electrical current determined by the controller to each actuator to cause simultaneous extension movement of the actuators;

sensing temperature and communicating the temperature to the controller;

soft starting extension movement of each actuator;

sensing the electrical current supplied to each actuator and communicating the electrical current to the controller;

ignoring the electrical current supplied to each actuator for an in rush time period;

combining the sensed electrical current supplied to each actuator and the sensed temperature to determine the a minimum ground contact load carried by each actuator;

soft stopping movement of each actuator that has achieved the minimum ground contact load until all actuators have achieved the minimum ground contact load;

soft starting further movement of each actuator by applying a further electrical current to the actuators in response to an operator command to cause further movement of the actuator only when the sensed load carried by the actuators exceeds the preset minimum load;

communicating the attitude of the vehicle in the X direction;

soft stopping movement of at least one actuator in response to operator command when a level attitude of the vehicle in the X direction is communicated;

communicating the attitude of the vehicle in the Y direction;

soft stopping movement of at least one actuator in response to operator command when a level attitude of the vehicle in the Y direction is communicated;

ending the manual level mode;

(f) when in the manual retract mode;

applying an initial electrical current determined by the controller to each actuator to cause simultaneous retraction movement of the actuators;

sensing temperature and communicating the temperature to the controller;

soft starting retraction movement of each actuator;

sensing the electrical current supplied to each actuator and communicating the electrical current to the controller;

ignoring the electrical current supplied to each actuator for an in rush time period;

combining the sensed electrical current supplied to each actuator and the sensed temperature to determine a full retract load for each actuator;

stopping movement of each actuator that has achieved the full retract load;

stopping the manual retract mode when all actuators have achieved a full retract load.

10. A multiple electric actuator system comprising:

a plurality of actuators mounted on an object to be moved;

an input/output operator interface;

a controller;

communication links extending among and communicating with the controller and the input/output operator interface and each of the actuators to actuate the plurality of actuators in response to operator input to control movement of the object;

a temperature sensor; and

a load sensor for determining the load carried by each actuator and communicating the load to the controller.

11. A multiple electric actuator system as set forth in claim 10, including a second plurality of actuators, a second controller, additional communication links extending among and communicating with the second controller and the second plurality of actuators and the first controller and with a temperature sensor to actuate the second plurality of actuators in response to operator input to control movement of the object.

12. A multiple electric actuator system as set forth in claim 11, including a load sensor for determining the load carried by each of the second plurality of actuators and communicating the load to the second controller.

13. A multiple electric actuator system as set forth in claim 12, including a third plurality of actuators, a third controller, additional communication links extending among and communicating with the third controller and each of the third plurality of actuators and one of the first and second controllers and with a temperature sensor to actuate the third plurality of actuators in response to operator input to control movement of the object.

14. A multiple electric actuator system as set forth in claim 13, including a load sensor for determining the load carried by each of the third plurality of actuators and communicating the load to the third controller, and the third controller communicating with the second controller.

15. A multiple electric actuator system as set forth in claim 10, wherein each of the load sensors is a current sensor that senses the electrical current supplied to its associated actuator, and each of the current sensors communicates its sensed current to its associated controller.

16. A multiple electric actuator system as set forth in claim 10, further including a level sensor for sensing the attitude of the object, the level sensor provides a level sense signal as an input to each controller, and the controller operates to extend the actuators to move the object from a not level attitude to a level attitude only when the load carried by each actuator exceeds a predetermined minimum load.

17. A multiple electric actuator system as set forth in claim 10, wherein each electric actuator is an electro-hydraulic actuator or an electro-mechanical actuator.

18. A multiple electric actuator system as set forth in claim 10, wherein the system is a central controller system in which all of the actuators included in the system are operated by a single controller.

19. A multiple electric actuator system as set forth in claim 10, wherein the system is a distributed controller system in which each of the actuators included in the system is operated by a separate controller.

20. A multiple electric actuator system as set forth in claim 10, wherein the system is an object leveling system.

21. The leveling system of claim 10, wherein a shunt resistor is associated with each actuator allowing the controller to monitor the current draw of each actuator.

22. The leveling system of claim 20, wherein the plurality of actuators include a manual level operation mode and an automatic level operation mode.