System for limiting contact between a dipper and a shovel boom
AssigneeHarnischfeger Technologies, Inc.
InventorWesley P. Taylor
Life of this patent
Estimating the term…
Abstract
A system for limiting contact between a dipper and dipper attachments and a boom and machinery desk of a shovel, the system defining dipper to boom relative position in terms of crowd amount or hoist length, the system defining the relative position boom limits in terms of a second order polynomial of crowd amount or hoist length. The system also includes a slow speed region of the crowd amount and the hoist length, where the speed is varied depending on the crowd amount or the hoist length. The system also includes a field-strengthening region, depending on the crowd amount or the hoist length, where the field weakening is removed.
Claims13
A system for limiting contact between an attachment and a boom of an industrial machine, the system comprising:
- a first resolver for determining a first position of a first component of the industrial machine, the first resolver having a first resolver count;
- a second resolver for determining a second position of a second component of the industrial machine, the second resolver having a second resolver count;
- and
- a controller configured to
- determine a minimum resolver count for the first resolver based on the second resolver count and a non-linear approximation of a boom profile, and
- limit operation of a first motor associated with the first resolver or a second motor associated with the second resolver based on the first resolver count, the second resolver count, and the minimum resolver count,
- wherein limiting operation of the first motor or the second motor includes the controller entering a field strengthening mode of operation, a reduced speed mode of operation, and a zero speed mode of operation based on the first resolver count, the second resolver count, and the minimum resolver count.
A method of limiting contact between an attachment and a boom of an industrial machine, the method comprising:
- calibrating a non-linear approximation of a boom profile;
- determining a first position of a first component of the industrial machine based on a first resolver count of a first resolver;
- determining a second position of a second component of the industrial machine based on a second resolver count of a second resolver;
- determining a minimum resolver count for the first resolver based on the second resolver count and the calibrated non-linear approximation of the boom profile;
- applying field strengthening to the first motor associated with the first resolver or the second motor associated with the second resolver during a field strengthening mode of operation based on the first resolver count, the second resolver count, and the minimum resolver count;
- reducing a speed of a first motor associated with the first resolver or a second motor associated with the second resolver during a reduced speed mode of operation based on the first resolver count, the second resolver count, and the minimum resolver count;
- and
- stopping the first motor associated with the first resolver or the second motor associated with the second resolver during a zero speed mode of operation based on the first resolver count, the second resolver count, and the minimum resolver count.
Dependencies are inferred from the claim text.