System and method for controlling an electric power machine

Abstract

A control device for a power machine (600) may be configured to receive operational data (805) associated with current operation of the electric power machine, and determine a commanded direction of travel (810) for the electric power machine based on the operational data. Based on the operational data, an orientation of the working element relative to the lift arm may be determined (815). A comparison of the orientation to an orientation criterion may be performed (820). In response to determining the forward commanded direction of travel and based on the comparison, a modified operating parameter (825) may be determined for the electric power machine, and at least one of the electric actuators may be controlled based on the modified operating parameter (830).

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. Provisional Application No. 63 / 412,759, filed on October 3, 2022, the entire contents of which are incorporated herein by reference. Background Art

[0002] The present disclosure relates to power machinery. More specifically, the present disclosure relates to power machinery that operates in whole or in part under electric power. For the purposes of this disclosure, power machinery includes any type of machinery that generates power for accomplishing a specific task or various mission purposes. One type of power machinery is a work vehicle. Work vehicles such as loaders are typically self-propelled vehicles that have a work device such as a lift arm (although some work vehicles may have other work devices) that can be manipulated to perform work functions. To name a few examples, work vehicles include loaders, excavators, multi-purpose vehicles, tractors, and trenchers.

[0003] Conventional power machines may include hydraulic systems and related components that are configured to use output from a power source (e.g., an internal combustion engine) to perform various work functions. More specifically, hydraulic motors may be configured to power the movement of the power machine, and hydraulic actuators (e.g., hydraulic cylinders) may be used to move a lift arm structure attached to the power machine, to tilt or otherwise move an implement connected to the lift arm structure, or to perform other operations.

[0004] The above discussion is provided for general background information only and is not intended to be used as an aid in determining the scope of the claimed subject matter. Summary of the invention

[0005] Some embodiments of the present disclosure relate to improved systems and methods for protecting a tilt actuator of a power machine, and more particularly, controlling operating parameters of one or more components of a power machine so that the tilt actuator of the power machine is protected from unnecessary strain and stress. As an example, when the working group of the power machine is raised and lowered and the tilt actuator is extended (e.g., extended or swung out), the cutting edge of the bucket can be positioned perpendicular to the ground surface. According to this example, when the cutting edge is pushed hard, the tilt actuator may experience damage. Therefore, the configuration described herein provides a system and method for protecting a tilt actuator without unnecessarily hindering an operator from performing various operations using a power machine.

[0006] Some configurations described herein provide an electric power machine. The electric power machine may include a power machine frame. The electric power machine may include a plurality of electric actuators supported by the power machine frame, wherein the plurality of electric actuators include a traction motor, a lifting actuator, and a tilting actuator. The electric power machine may include a lifting arm structure. The lifting arm structure may include a lifting arm and a working element, the lifting arm is coupled to the power machine frame, and the lifting arm is configured to move relative to the power machine frame through the lifting actuator, the working element is supported by the lifting arm, and the working element is configured to move relative to the lifting arm through the tilting actuator. The electric power machine may include a power source configured to power the plurality of electric actuators. The electric power machine may include one or more electronic processors communicating with the plurality of electric actuators. The one or more electronic processors may be configured to receive operating data for the current operation of the electric power machine. The one or more electronic processors may be configured to determine the commanded travel direction for the electric power machine based on the operating data. The one or more electronic processors may be configured to determine the orientation of the working element relative to the lifting arm based on the operating data. The one or more electronic processors can be configured to compare the orientation to an orientation criterion. The one or more electronic processors can be configured to, in response to determining that the commanded direction of travel is for a first direction of travel and based on the comparison, determine modified operating parameters for the electric power machine, and control at least one of the electric actuators based on the modified operating parameters.

[0007] In some examples, the first driving direction may be a forward driving direction; and the one or more electronic processors may be configured to: determine the commanded driving direction for the electric power machine by detecting a commanded speed, and determine that the commanded driving direction for the electric power machine is the forward driving direction based on the commanded speed being a positive speed value that exceeds a current positive speed value.

[0008] In some examples, the modified operating parameter may correspond to a reduced power or speed of one or more of the traction motors or the hoist actuators in response to a given command input.

[0009] In some examples, the orientation may include a tilted position, and the orientation criteria may include a tilt criteria; and the one or more electronic processors may also be configured to determine whether the tilted position satisfies the tilt criteria based on the comparison; and the tilted position may satisfy the tilt criteria when the tilted position is within a predetermined extension range.

[0010] In some examples, the orientation may include a lift position, and the orientation criteria may include a lift position criteria; and the one or more electronic processors may also be configured to: compare the lift position of the lift arm with the lift position criteria, and determine the modified operating parameters based on the comparison of the lift position with the lift position criteria.

[0011] In some examples, the one or more electronic processors may be configured to determine the modified operating parameter in response to determining that the lifted position of the lift arm is less than a predetermined distance above the reference height.

[0012] In some examples, the reference altitude may correspond to a ground surface.

[0013] In some examples, the orientation may include a raised position of the lift arm and the orientation criteria may include a raised position criteria; and in response to a decrease in the raised position, the modified operating parameter may define a linear or other reduction in a maximum speed of the lift actuator.

[0014] In some examples, the one or more electronic processors can be configured to: determine a travel speed of the electric power machine; compare the travel speed of the electric power machine to a travel speed standard; and in response to the travel speed of the electric power machine satisfying the travel speed standard, limit the lift speed to zero for a non-zero lift height.

[0015] In some examples, the orientation may include a tilt position, and the orientation criterion may include a tilt criterion; and the modified operating parameter may be a speed limit for the lift actuator.

[0016] In some examples, the orientation may include an inclined position, and the orientation criterion may include an inclination criterion; and the modified operating parameter may be a speed limit for the traction motor, the speed limit defining a linear or other reduction in maximum drive speed in response to extension of the inclined position.

[0017] In some examples, the orientation may include a tilted position and the orientation criterion may include a tilt criterion; and the modified operating parameter may be a drive torque limit for the traction motor, the drive torque limit defining a linear or other reduction in traction torque in response to extension of the lift position.

[0018] Some configurations described herein provide an electric power machine. The electric power machine may include a power machine frame. The electric power machine may include a plurality of electric actuators supported by the power machine frame, wherein the plurality of electric actuators include a traction motor, a lifting actuator, and a tilting actuator. The electric power machine may include a lifting arm structure. The lifting arm structure may include a lifting arm and a working element, the lifting arm is coupled to the power machine frame, and the lifting arm is configured to move relative to the power machine frame through the lifting actuator, the working element is supported by the lifting arm, and the working element is configured to move relative to the lifting arm through the tilting actuator. The electric power machine may include a power source configured to power the plurality of electric actuators. The electric power machine may include one or more electronic processors communicating with the plurality of electric actuators. The one or more electronic processors may be configured to receive operating data for the current operation of the electric power machine. The one or more electronic processors may be configured to determine the commanded travel direction for the electric power machine based on the operating data. The one or more electronic processors may be configured to determine the orientation of the working element relative to the lifting arm based on the operating data. The one or more electronic processors may be configured to perform a comparison of the orientation to an orientation criterion. The one or more electronic processors may be configured to determine an operating limit for the traction motor in response to determining that the commanded direction of travel is for the first direction of travel and based on the comparison, and to control the traction motor based on the operating limit.

[0019] In some examples, the operating limit for the traction motor may be a drive torque limit, and the one or more electronic processors may control the traction motor based on the drive torque limit.

[0020] In some examples, the operating limit for the traction motor may be a drive speed limit, and the one or more electronic processors may control the traction motor based on the drive speed limit.

[0021] Some configurations described herein provide a method of operating an electric power machine. The method may include receiving, with one or more electronic processors, input parameters corresponding to one or more of an operator input for operating the electric power machine or sensed operational data for the electric power machine. The method may include determining, with one or more electronic processors, a first direction for a commanded direction of travel of the electric power machine based on one or more of the input parameters. The method may include determining, with one or more electronic processors, an orientation of a working element of the electric power machine based on one or more of the input parameters. The method may include performing a first comparison of the orientation with an orientation standard. The method may include determining, with one or more electronic processors, a lift position of a lift arm of the electric power machine. The method may include performing, with one or more electronic processors, a second comparison of the lift position with a lift standard. The method may include determining, with one or more electronic processors, an operating limit of an electric actuator of the electric power machine including a drive actuator or a lift actuator for travel in the determined first direction, and based on the first comparison and the second comparison, and controlling, with one or more electronic processors, the electric actuator of the electric power machine based on the operating limit.

[0022] In some examples, determining an operating limit of an electric actuator of the electric power machine may include determining a speed limit of a lift actuator of the electric power machine, and controlling the electric actuator of the electric power machine may include controlling the lift actuator based on the speed limit.

[0023] In some examples, a speed limit of the lift actuator may be determined based on the current lift position of the lift actuator.

[0024] In some examples, determining an operating limit of an electric actuator of the electric power machine may include determining a drive torque limit of a traction motor of the electric power machine, and controlling the electric actuator of the electric power machine may include controlling the traction motor based on the drive torque limit.

[0025] In some examples, the drive torque limit of the traction motor may be determined based on the current tilt position of the working element according to a direct relationship between the drive torque limit and the tilt position of the working element.

[0026] Some configurations described herein provide an electric power machine. The electric power machine may include a power machine frame. The electric power machine may include a plurality of electric actuators supported by the power machine frame. The electric power machine may include a lifting arm structure, the lifting arm structure may include a lifting arm and a working element, the lifting arm is coupled to the power machine frame, and the lifting arm is configured to move relative to the power machine frame through a lifting actuator in a plurality of electric actuators, and the working element is supported by the lifting arm. The electric power machine may include a power source configured to power the plurality of electric actuators. The electric power machine may include one or more electronic processors communicating with the plurality of electric actuators. The one or more electronic processors may be configured to receive operating data for the current operation of the electric power machine. The one or more electronic processors may be configured to determine a lifting position associated with the lifting actuator based on the operating data. The one or more electronic processors may be configured to determine a current limit for the lifting actuator based on the lifting position. The one or more electronic processors may be configured to control the current provided to the lifting actuator based on the current limit.

[0027] In some examples, the one or more electronic processors may be configured to detect an interrupt condition based on the lift position and an interrupt condition criteria, and in response to detecting the interrupt condition, the one or more electronic processors may determine a current limit based on a comparison of the lift position to the interrupt condition criteria.

[0028] In some examples, the current limit may be within a first current range for performing an interrupting operation with the electric power machine.

[0029] In some examples, the current limit may be within a second current range for performing a lifting operation with an electric power machine, where the second current range may be different from the first current range.

[0030] In some examples, the current limit may be within a third current range for performing a full extension operation with the electric power machine, where the third current range may be different from the second current range and the first current range.

[0031] In some examples, the current limit may correspond to a constant load rating when the lift position is within a discrete range of lift positions.

[0032] In some examples, the current limit may correspond to a dynamically increased load rating when the lift position is within an interruption range of lift positions, wherein the lift position of the interruption range may be lower than the lift position of the discrete range.

[0033] In some examples, when a lift position associated with the lift actuator is within the cutoff range, the one or more electronic processors may dynamically increase the current limit to correspond to a dynamically increased load rating associated with the cutoff range of the lift position.

[0034] In some examples, the current limit may correspond to a dynamically reduced load rating when the lift position is within a fully extended range of lift positions, where the fully extended range of lift positions may be higher than the discrete range of lift positions.

[0035] In some examples, when the associated lift position is within the full extension range, the one or more electronic processors may dynamically reduce the current limit to correspond to a dynamically reduced load rating associated with the full extension range of the lift position.

[0036] Some configurations described herein provide a method for operating an electric power machine. The method may include: receiving, using one or more electronic processors, one or more input parameters corresponding to one or more of an operator input for operating the electric power machine or sensed operating data for the electric power machine. The method may include: determining, using one or more electronic processors, a lift position of an electric lift actuator for the electric power machine based on the one or more input parameters. The method may include: determining, using one or more electronic processors, a dynamic current limit for the electric lift actuator based on the lift position. The method may include: controlling, using one or more electronic processors, a current provided to the electric lift actuator based on the dynamic current limit.

[0037] In some examples, determining the dynamic current limit may include determining the dynamic current limit to be within a first current range for performing an interrupting operation with the electric power machine.

[0038] In some examples, determining the dynamic current limit may include determining the dynamic current limit to be within a second current range for performing a hoist operation with the electric power machine, where the second current range may be different from the first current range.

[0039] In some examples, determining the dynamic current limit may include determining the dynamic current limit to be within a third current range for performing a full extension operation with the electric power machine, where the third current range may be different from the second current range and the first current range.

[0040] In some examples, determining the dynamic current limit may include determining the dynamic current limit to correspond to the dynamically increased load rating when the boost position is within an interruption range of boost positions, wherein the boost position of the interruption range may be lower than the boost position of the discrete range.

[0041] In some examples, the method may further include dynamically increasing the dynamic current limit when the boost position is within the interruption range to correspond to a dynamically increased load rating associated with the interruption range of the boost position.

[0042] In some examples, determining the dynamic current limit may include determining the current limit corresponds to a dynamically reduced load rating when the lift position is within a fully extended range of lift positions, wherein the fully extended range of lift positions may be higher than the discrete range of lift positions.

[0043] In some examples, the method may further include dynamically reducing the dynamic current limit when the lift position is within the full extension range to correspond to a dynamically reduced load rating associated with the full extension range of the lift position.

[0044] Some configurations described herein provide a method for operating an electric power machine. The method may include: receiving, using one or more electronic processors, one or more input parameters corresponding to one or more of an operator input for operating the electric power machine or sensed operating data for the electric power machine. The method may include: determining, using one or more electronic processors, a lift position for an electric lift actuator of the electric power machine based on the one or more input parameters. The method may include: determining, using one or more electronic processors, a dynamic current limit for the electric lift actuator based on the lift position, wherein the dynamic current limit is determined within a first current range for a first range of lift positions and within a second current range for a second range of lift positions. The method may include: controlling, using the one or more electronic processors, a current provided to the electric lift actuator based on the dynamic current limit.

[0045] The invention summary and abstract are provided to introduce some concepts in a simplified form, which will be further described in the detailed description below. The invention summary and abstract are neither intended to identify key features or essential features of the claimed subject matter, nor are they intended to be used to help determine the scope of the claimed subject matter. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The following drawings are provided to help illustrate various features of examples of the present disclosure and are not intended to limit the scope of the present disclosure or to exclude alternative implementations.

[0047] Figure 1 is a block diagram illustrating the functional systems of a representative power machine according to some configurations.

[0048] Figure 2is a perspective view generally illustrating a front portion of a power machine according to some configurations.

[0049] Figure 3 It is roughly shown according to some configurations Figure 2 A perspective view of the rear portion of the power machine is shown in FIG.

[0050] Figure 4 is a schematic illustration of a block diagram of a power system of a power machine according to some configurations.

[0051] Figure 5 is an isometric side view of an electric power machine according to some configurations with the lift arm in a fully lowered position.

[0052] Figure 6 An example power machine is schematically illustrated according to some configurations.

[0053] Figure 7 Schematically illustrates some configurations Figure 6 Controllers for power machinery.

[0054] Figure 8 is a flow chart illustrating a method of operating a power machine according to some configurations.

[0055] Fig. 9 is a graph illustrating the relationship between hoist speed limit and lift actuator position according to some configurations.

[0056] Fig.10 is a graph illustrating the relationship between drive speed limit and orientation according to some configurations.

[0057] Fig.11 is a graph illustrating the relationship between drive torque limit and orientation according to some configurations.

[0058] Fig.12 is a graph illustrating the relationship between actuator current and lift position according to some configurations.

[0059] Fig.13 is a graph illustrating the relationship between static holding force and lift actuator linear position according to some configurations. DETAILED DESCRIPTION

[0060] The concepts disclosed in this discussion are described and illustrated by reference to exemplary configurations. However, these concepts are not limited in their application to the details of the construction and arrangement of the components in the illustrative configurations, and can be implemented or practiced in a variety of other ways. The terms herein are used for descriptive purposes and should not be considered restrictive. Words such as "include," "comprise," and "have," and variations thereof as used herein are intended to cover the items listed after these words, the equivalents of the listed items, and additional items.

[0061] As generally described above, some actuators of power machines may be subjected to potentially destructive stresses during operation, particularly during certain operations powered by other actuators of the power machine. More specifically, in some cases, a traction motor or lift actuator may be commanded to provide traction or lifting power, which may indirectly apply sufficient stress to damage the tilt actuator. For example, when implemented with sufficient power, the commanded travel of a power machine on terrain or the commanded descent of a lifting arm may sometimes cause the implement to be forced into the earth with sufficient force, thereby damaging the tilt actuator of the implement. It has been found that this problem may be particularly significant for electrically powered power machines, including due to the particularly large power and speed that may be provided by the electric lift actuator and traction actuator. In addition, potential damage to the tilt cylinder may be more likely under some combinations of lifting, tilting and traction operating conditions (e.g., some combinations of lift or tilt arm positions and commanded or actual travel speeds or directions).

[0062] Accordingly, for some examples of the disclosed technology, a control system of a power machine can be configured to implement a modified operation of the power machine when the control system detects an operating condition that may otherwise cause undesirable stress on a particular actuator. For example, upon detecting a particular traction operating condition (e.g., a particular commanded traction speed or power or current travel speed), a particular lifting operating condition (e.g., a lift arm height within a particular range), or a particular tilt operating condition (e.g., a particular extension of a tilt actuator), the control system can automatically implement a reduced speed limit or reduced power limit (i.e., reduced compared to a maximum, default, or another implemented limit that was implemented just before) for the lift actuator, traction actuator, or other actuator. Thus, for example, upon detecting forward travel at a sufficiently high commanded speed, in combination with a particular tilt position of the implement (e.g., a relatively large tilt angle relative to the lift arm or the ground, or a relatively large specific extension of the tilt actuator), the maximum power or speed of the lift actuator varies directly with the lift position (e.g., decreases with lift height or lift actuator extension). As another example, when forward travel at a sufficiently high commanded speed is detected, the maximum torque limit or maximum speed limit of the traction motor may vary indirectly with bank position (e.g., decreasing with increasing bank angle or bank actuator extension) in conjunction with a particular orientation of the lift actuator.

[0063] In some embodiments, other operating limits may be provided, including limits on the load capacity of the lift actuator. For example, the control system may implement a maximum current limit for the electric lift actuator that may correspond to a specific load rating (i.e., lift capacity) of the lift arm at a specific lift position (e.g., at a specific extension of the lift actuator, or a specific vertical, horizontal, or other distance of a specific point on the lift arm relative to a reference feature or reference position). In some cases, different limits on the maximum current may be implemented at different lift positions, including different load capacities may be provided at different lift positions. For example, a dynamic maximum current limit may correspond to a specific (e.g., constant) load rating in a mid-range of lift positions, may correspond to an elevated load rating in a lower range of lift positions, or may correspond to a reduced load rating in a higher range of lift positions. In some cases, such an arrangement may allow for improved interruption capabilities of the power machine at low lift heights while also preventing operation with excessive load or current at high lift heights.

[0064] As proposed herein, using various commonly known control systems for electric actuators, limitations or limits on the speed of a power machine or a component of a power machine can be implemented. In addition, those skilled in the art will recognize that actuator speed limits can be implemented based on the actual speed of the actuator (e.g., rotational speed, or extension / retraction speed) or based on the actual speed of the component moved by the actuator (e.g., the travel speed of the power machine, or the movement speed of a lifting arm or other working element). Similarly, the speed or position of a power machine or a component thereof can be determined using various commonly known methods, including measuring the actual speed or position of the actuator, measuring the actual speed or position of another working element (e.g., a lifting arm or a tiltable implement), or deriving these values ​​from other parameters, including typically being able to measure or derive from data provided by a linear or rotary encoder, a current sensor, a position sensor, etc.

[0065] These concepts can be implemented or practiced on a variety of power machines as described below. Figure 1 A representative power machine on which the configuration may be practiced is shown in diagrammatic form in Figures 2 to 3 An example of such a power machine is shown in and described below. For the sake of brevity, only one power machine is shown and discussed as a representative power machine. However, as mentioned above, the following configuration can be implemented or practiced on any of a variety of power machines, including with Figures 2 to 3 Representative power machines shown are different types of power machines. For the purposes of this discussion, a power machine includes a frame, at least one working element, and a power source that can provide power to the working element to complete a work task. One type of power machine is a self-propelled work vehicle. A self-propelled work vehicle is a type of power machine that includes a frame, at least one working element, and a power source that can provide power to the at least one working element. At least one of the working elements is a power system for moving the power machine under power.

[0066] Figure 1 1 is a block diagram illustrating the basic systems of a power machine 100 , which may be any of a number of different types of power machines upon which the arrangements discussed herein may be advantageously incorporated. Figure 1 The block diagram of FIG. 1 identifies the various systems on the power machine 100 and the relationships between the various components and systems. As mentioned above, at the most basic level, a power machine for the purposes of this discussion includes a frame, a power source, and a working element. Figure 1 As shown, the power machine 100 has a frame 110, a power source 120, and a working element 130. Figure 1The power machine 100 shown in FIG. 1 is a self-propelled work vehicle, and thus the power machine 100 also includes a traction element 140, which itself is a working element configured to move the power machine 100 on a supporting surface. The power machine 100 may also include an operator station 150. The operator station 150 may provide an operating position for controlling the working element 130 of the power machine 100. The control system 160 is configured to interact with other systems to perform various working tasks at least in part in response to control signals provided by the operator.

[0067] Certain work vehicles have work elements that can perform specialized tasks. As an example, some work vehicles have a lift arm to which an implement, such as a bucket, is attached, for example, by a pinned arrangement. The work element (e.g., lift arm or implement) can be manipulated to position the implement to perform a task. In some cases, the implement can be positioned relative to the work element, such as by rotating the bucket relative to the lift arm, thereby further positioning the implement. Under normal operation of such a work vehicle, the bucket is intended to be attached and in use. Such a work vehicle is capable of accepting other implements by disassembling the implement / work element combination and reassembling another implement in place of the original bucket. However, other work vehicles are intended to be used with a wide variety of implements and have a plurality of work elements that are configured as implement interfaces (such as Figure 1 At its most basic, the implement interface 170 is a connection mechanism between the frame 110 or the work element 130 and the implement, which may be as simple as a connection point for attaching the implement directly to the frame 110 or the work element 130, or may be more complex, as discussed below.

[0068] On some power machines, the implement interface 170 may include an implement bracket. The implement bracket may be a physical structure that is movably attached to the working element 130. The implement bracket has engagement features and locking features to accept any one of a plurality of different implements and fix any one of the plurality of different implements to the working element 130. One characteristic of such an implement bracket is that once the implement is attached to the implement bracket, the implement bracket is fixed to the implement (e.g., cannot move relative to the implement), and when the implement bracket moves relative to the working element 130, the implement moves with the implement bracket. The term "implement bracket" as used herein is not only a pivot connection point, but also a dedicated device specifically used to accept and be fixed to a variety of different implements. The implement bracket itself may be mounted to a working element 130 such as a lifting arm or a frame 110. The implement interface 170 may also include one or more power sources for providing power to one or more working elements 130 on the implement. Some power machines may have multiple working elements with implement interfaces, each of which may, but need not, have an implement bracket for receiving an implement. Some other power machines may have a working element 130 with multiple implement interfaces, so that a single working element can accept multiple implements simultaneously. Each of these implement interfaces may, but need not, have an implement bracket.

[0069] The frame 110 includes a physical structure that can support various other components that are attached to or positioned on the frame 110. The frame 110 can include any number of separate components. Some power machines have a rigid frame 110. That is, no part of the frame 110 can move relative to another part of the frame 110. Other power machines have at least one part that can move relative to another part of the frame 110. As an example, an excavator can have an upper frame portion that rotates relative to a lower frame portion. Other work vehicles have an articulated frame so that one part of the frame 110 pivots relative to another part to achieve a steering function.

[0070] like Figure 1As shown, the frame 110 supports the power source 120. The power source 120 is configured to provide power to one or more working elements 130 including one or more traction elements 140, and in some cases, the power source can provide power used by the attached machine via the machine interface 170. The power from the power source 120 can be directly provided to any of the working elements 130, the traction elements 140, and the machine interface 170. Alternatively or additionally, the power from the power source 120 can be provided to the control system 160, which in turn selectively provides the power to the elements that can use the power to perform the working function. The power source for the power machine typically includes an engine such as an internal combustion engine, and a power conversion system such as a mechanical transmission or a hydraulic system, which is configured to convert the output from the engine into a form of power that can be used by the working element. Other types of power sources can be incorporated into the power machine, including electric power sources or power source combinations commonly referred to as hybrid power sources.

[0071] Figure 1 A single working element designated as working element 130 is shown, but various power machines may have any number of working elements. Typically, the working element is attached to the frame 110 of the power machine 100 and is movable relative to the frame 110 when performing a working task. As an example, the power machine 100 may be a lawn mower having a mower deck or other mower component that is movable relative to the frame 110 of the mower as the working element 130. In addition, the traction element 140 is a special case of the working element 130 in that the working function of the traction element 140 is generally to move the power machine 100 on a supporting surface. The traction element 140 is shown as being separate from the working element 130 because many power machines have additional working elements in addition to the traction element, but this is not always the case. The power machine may have any number of traction elements, some or all of which may receive power from the power source 120 to propel the power machine 100. The traction element may be, for example, a track assembly, a wheel attached to an axle, and the like. The traction element may be mounted to the frame such that movement of the traction element is limited to rotation about an axis (such that steering is accomplished by a sliding action), or alternatively, the traction element is pivotally mounted to the frame such that steering is accomplished by pivoting the traction element relative to the frame.

[0072] The power machine 100 includes an operator station 150, which includes an operating position from which an operator can control the operation of the power machine 100. In some power machines, the operator station 150 is defined by an enclosed cab or a partially enclosed cab. Some power machines on which the disclosed configuration can be implemented may not have a cab or operator compartment of the type described herein. As an example, a walk-behind loader may not have a cab or operator compartment, but has an operating position used as an operator station 150, from which the power machine 100 can be properly operated. More broadly, in addition to work vehicles, power machines can have operator stations that are not necessarily similar to the operating positions and operator compartments mentioned above. In addition, regardless of whether some power machines such as the power machine 100 and other power machines have an operator compartment or operator position, the power machines can be remotely operated as a replacement or addition to an operator station located on the power machine or an operator station adjacent to the power machine (i.e., from a remotely located operator station). This may include applications in which at least some of the operator-controlled functions of a power machine may be operated from an operating position associated with an implement coupled to the power machine. Alternatively, a remote control device (i.e., a remote control device remote from both the power machine and any implement coupled to the power machine) may be provided for some power machines that is capable of controlling at least some of the operator-controlled functions on the power machine.

[0073] Figures 2 to 3 A loader 200 is shown. Figure 1A specific example of a power machine of the type shown in Figure 2, in which the configuration discussed herein can be advantageously adopted. Loader 200 is a skid-steer loader, which is a loader with traction elements (four wheels in this case) that are mounted to the frame of the loader via a rigid axle. Here, the term "rigid axle" refers to the fact that the skid-steer loader 200 does not have any traction elements that can be turned or steered to help the loader complete a turn. Instead, the skid-steer loader has a drive system that independently powers one or more traction elements located on each side of the loader, so that by providing different traction signals to each side, the machine will be prone to slipping on the supporting surface. These changing signals can even include providing power to (one or more) traction elements located on one side of the loader to move the loader in a forward direction and to (one or more) traction elements located on the other side of the loader to move the loader in the opposite direction, so that the loader will turn around a radius centered in the coverage area of ​​the loader itself. The term "skid steer" traditionally refers to a loader with a skid steer with wheels as traction elements as described above. However, it should be noted that many crawler loaders can complete turns by skidding even without wheels, and are technically also skid steer loaders. For the purposes of this discussion, unless otherwise specified, the term "skid steer" should not be considered to limit the scope of the discussion to those loaders with wheels as traction elements. Accordingly, although some of the example power machines discussed herein are presented as skid steer power machines, some of the configurations disclosed herein can be implemented or practiced on various other power machines. For example, some configurations can be implemented on compact loaders or compact excavators that do not complete turns by skidding.

[0074] Loader 200 is Figure 1 1 and as discussed herein. To this end, the features of the loader 200 described herein include the following: Figure 1200 are substantially similar to the reference numerals used in the drawings. As an example, the loader 200 is described as having a frame 210, just as the power machine 100 has a frame 110. The skid steer loader 200 is described herein to provide a reference to understanding an environment in which the configurations described herein related to the track assembly and the mounting elements for mounting the track assembly to the power machine can be implemented. The loader 200 should not be considered to be particularly limited to the description of the features of the loader 200 that have been described herein, which are not essential to the disclosed configurations and therefore may or may not be included in a power machine that is not the loader 200 and can advantageously implement the configurations disclosed below. Unless otherwise specifically stated, the configurations disclosed herein can be implemented on a variety of power machines, and the loader 200 is only one of these power machines. As an example, to name just a few examples, some or all of the concepts discussed below can be implemented on many other types of work vehicles such as various other loaders, excavators, trenchers, and bulldozers.

[0075] The loader 200 includes a frame 210 that supports a power system 220. The power system 220 is capable of generating or otherwise providing power to operate various functions on the loader 200. The power system 220 is shown in block diagram form, but the power system 220 is located within the frame 210. The frame 210 also supports a working element in the form of a lift arm assembly 230 that is powered by the power system 220 and can perform various working tasks. Since the loader 200 is a working vehicle, the frame 210 also supports a traction system 240, which is also powered by the power system 220 and can propel the loader 200 on a supporting surface. The lift arm assembly 230 in turn supports an implement interface 270, which includes an implement bracket 272 that can receive and secure various implements to the loader 200 for performing various work tasks, and a power coupler 274 to which an implement can be coupled to selectively provide power to an implement that may be connected to the loader 200. The power coupler 274 can provide a hydraulic power source or an electric power source, or both. The loader 200 includes a cab 250 that defines an operator station 255, from which an operator can manipulate various controls 260 to cause the loader 200 to perform various work functions. The cab 250 can be rearwardly pivoted about an axis extending through the mount 254 to provide access to components of the power system as needed for maintenance and repair.

[0076] The operator station 255 includes an operator seat 258 and a plurality of operator input devices, which include a control lever 260 that the operator can manipulate to control various machine functions. The operator input device may include buttons, switches, rods, sliders, pedals, and similar devices. The operator input device may be an independent device such as a manual lever or a foot pedal. Alternatively or additionally, the operator input device may be incorporated into a handle or a display panel that includes a programmable input device. The actuation of the operator input device may generate a signal in the form of an electrical signal, a hydraulic signal, or a mechanical signal. The signal generated in response to the actuation of the operator input device is provided to various components on the loader 200 to control various functions on the power machine. The functions controlled by the actuation of the operator input device on the loader 200 include control of the traction element 219, the lifting arm assembly 230, the implement bracket 272, and providing a signal to any implement that is operably connected to the implement.

[0077] The loader may include a human-machine interface including a display device, which is arranged in the cab 250 to give an indication of information related to the operation of the power machine in a form that the operator can perceive, such as an audio indication or a visual indication. The audio indication may be formed in the form of a buzzer, a bell, etc., or may be carried out through verbal communication. The visual indication may be formed in the form of a graph, a light, an icon, an instrument, an alphanumeric symbol, etc. The display may provide a dedicated indication, such as a warning light or an instrument, or may dynamically provide programmable information, the display including a programmable display device such as a monitor of various sizes and functions. The display device may provide diagnostic information, troubleshooting information, guidance information, and various other types of information that help the operator operate the loader 200 or the implement connected to the loader 200. Other information that may be useful to the operator may also be provided. Other power machines such as walk-behind loaders may not have a cab, an operator's room, or a seat. The operator position on the loader is usually defined relative to the position where the operator is most suitable for manipulating the operator input device.

[0078] Various power machines that may include or interact with the configurations discussed herein may have various different frame components that support various operating elements. The elements of the frame 210 discussed herein are provided for illustrative purposes, and the frame 210 is not the only type of frame that the power machine that can practice the configuration thereon may adopt. The frame 210 of the loader 200 includes a chassis or lower portion 211 of the frame 210 and a main frame or upper portion 212 of the frame 210 supported by the chassis 211. In some configurations, the main frame 212 of the loader 200 is attached to the chassis 211, for example, by fasteners or by welding the chassis 211 to the main frame 212. Alternatively, the main frame 212 and the chassis 211 may be integrally formed. The main frame 212 includes a pair of upright portions 214A and 214B located on either side of the main frame 212 and toward the rear of the main frame 212. The pair of upright portions 214A and 214B can support a lift arm assembly 230 and the lift arm assembly 230 is pivotally attached to the pair of upright portions 214A and 214B. The lift arm assembly 230 is illustratively pinned to each of the upright portions 214A and 214B. For the purposes of this discussion, the combination of the lift arm assembly 230 and the mounting features on the upright portions 214A and 214B and the mounting hardware (including pins for pinning the lift arm assembly to the main frame 212) are collectively referred to as joints 216A and 216B (one joint is provided on each upright portion 214). The joints 216A and 216B are aligned along an axis 218 so that the lift arm assembly 230 can pivot about the axis 218 relative to the frame 210, as discussed below. Other power machines may not include upright portions 214A and 214B on either side of the frame 210, or may not have a lift arm assembly 230 that can be mounted to the upright portions 214A and 214B located on either side of the frame 210 and toward the rear of the frame 210. As an example, some power machines may have a single arm that is mounted to a single side of the power machine 100 or to the front or rear end of the power machine 100. Other machines may have multiple working elements 130 including multiple lift arms, each of which is mounted to the power machine 100 in its own configuration. The frame 210 also supports a pair of traction elements in the form of wheels 219A-219D located on either side of the loader 200.

[0079] Figures 2 to 3The illustrated lift arm assembly 230 is one example of many different types of lift arm assemblies that may be attached to a power machine, such as a loader 200 or other power machine on which the configuration discussed herein may be implemented. The lift arm assembly 230 is a so-called vertical lift arm, meaning that the lift arm assembly 230 is capable of moving relative to the frame 210 (e.g., the lift arm assembly 230 may be raised and lowered) along a lift path 237 under the control of the loader 200, the lift path 237 forming a generally vertical path. Other lift arm assemblies may have different geometries and may be coupled to the frame 210 of the loader 200 in various ways, thereby providing a lift path that is different from the radial path of the lift arm assembly 230. As an example, some lift paths on other loaders provide radial lift paths. Other lift arm assemblies may have extendable or retractable portions. Other power machines may have multiple lift arm assemblies attached to the frame of the power machine, each of which is independent of the other. Unless specifically stated otherwise, none of the disclosed configurations or concepts set forth in this discussion are limited by the type or number of lift arm assemblies coupled to a particular power machine.

[0080] The lift arm assembly 230 has a pair of lift arms 234 disposed on opposite sides of the frame 210. A first end 232A of each of the lift arms 234 is pivotally coupled to the loader 200 at the joint 216, and a second end 232B of each of the lift arms 234 is pivotally coupled to the loader 200 at the joint 216. Figure 2 The lowered position is shown positioned forward of the frame 210. The joint 216 is positioned toward the rear of the loader 200 so that the lift arm 234 extends along the side of the frame 210. A lift path 237 is defined by the path of travel of the second end 232B of the lift arm 234 when the lift arm assembly 230 moves between a minimum height and a maximum height.

[0081] Each of the lift arms 234 has a first portion 234A and a second portion 234B, the first portion 234A of each lift arm 234 being pivotally coupled to the frame 210 at one of the joints 216, and the second portion 234B extending from its connection with the first portion 234A to the second end 232B of the lift arm assembly 230. Each of the lift arms 234 is coupled to a cross member 236, which is attached to the first portion 234A. The cross member 236 provides increased structural stability to the lift arm assembly 230. A pair of actuators 238 are hydraulic cylinders configured to receive pressurized fluid from the power system 220 on the loader 200, and the pair of actuators 238 are pivotally coupled to both the frame 210 and the lift arm 234 at pivotable joints 238A and 238B, respectively, on either side of the loader 200. The actuators 238 are sometimes collectively referred to as lift cylinders alone. Actuation (eg, extension and retraction) of the actuator 238 causes the lift arm assembly 230 to pivot about the joint 216 and thereby along ( Figure 2 The control links 217 are each pivotally mounted to one of the lift arms 232 and the frame 210 on either side of the frame 210. The control links 217 help define a fixed lifting path for the lift arm assembly 230.

[0082] Some lift arms (most notably those on excavators, but possibly those on loaders) may have a section that pivots relative to the other section in a controlled manner rather than as Figure 2 The lifting arm assembly 230 shown in FIG. 2 is a portion of the lifting arm assembly that moves in unison (i.e., along a predetermined path). Some power machines have a lifting arm assembly with a single lifting arm, such as is known in excavators and even some loaders and other power machines. Other power machines may have multiple lifting arm assemblies, each of which is independent of the others.

[0083] The implement interface 270 is disposed adjacent the second end 232B of the lift arm assembly 234. The implement interface 270 includes an implement bracket 272 that is capable of receiving a variety of different implements and securing the implements to the lift arm 230. Such implements have a complementary mechanical interface configured to engage with the implement bracket 272. The implement bracket 272 is pivotally mounted at the second end 232B of the arm 234. An implement bracket actuator 235 operably couples the lift arm assembly 230 and the implement bracket 272 and is operable to rotate the implement bracket relative to the lift arm assembly. The implement bracket actuator 235 is illustratively a hydraulic cylinder and is commonly referred to as a tilt cylinder.

[0084] By having an implement bracket that can be attached to a number of different implements, changing from one implement to another can be accomplished relatively easily. As an example, a machine having an implement bracket may have an actuator disposed between the implement bracket and the lift arm assembly so that removal or attachment of an implement does not involve removal or attachment of the actuator from or to the implement, nor does it involve removal or attachment of the implement from or to the lift arm assembly 230. The implement bracket 272 provides a mounting structure for easily attaching an implement to the lift arm (or other portion of the power machine) that would not be present in a lift arm assembly without an implement bracket.

[0085] Some power machines may have an implement or implement-like device that is attached to the power machine, such as by being pinned to a lift arm having a tilt actuator that is also directly coupled to the implement or implement-like structure. A common example of such an implement that is rotatably pinned to the lift arm is a bucket, where one or more tilt cylinders are attached to a bracket that is secured directly to the bucket, such as by welding or with fasteners. Such power machines do not have an implement bracket, but instead have a direct connection between the lift arm and the implement.

[0086] The implement interface 270 also includes an implement power source 274 that can be used to connect to an implement on the lift arm assembly 230. The implement power source 274 includes a pressurized hydraulic fluid port to which the implement can be removably coupled. The pressurized hydraulic fluid port selectively provides pressurized hydraulic fluid to power one or more functions or actuators on the implement. The implement power source can also include an electrical power source that is used to power an electric actuator or electronic controller on the implement. The implement power source 274 also illustratively includes an electrical conduit that communicates with a data bus on the excavator 200 to allow communication between a controller on the implement and an electronic device on the loader 200.

[0087] The frame 210 supports and generally surrounds the power system 220 so that the various components of the power system 220 are arranged in a Figures 2 to 3 The arrangement of the drive pump, motor and shaft in loader 200 is only one example of an arrangement of these components. As discussed above, loader 200 is a skid steer loader, and thus the traction elements on each side of the power machine are controlled together via the output of a single hydraulic pump, or by a single drive motor as in loader 200, or by independent drive motors. It may be advantageous that various other configurations and combinations of hydraulic drive pumps and motors may be employed.

[0088] For illustrative purposes, the above description of power machine 100 and loader 200 is provided to provide an illustrative environment on which the configurations discussed herein may be implemented. Figure 1 The concepts discussed herein are implemented on a power machine 100 shown in the block diagram of , and more specifically on a loader 200 such as a track loader, but unless otherwise specified or stated, the concepts discussed herein are not intended to limit their application to the environment specifically described above.

[0089] Figure 4 A schematic illustration of a block diagram of a power machine 400 is shown, which can be any of a variety of different types of power machines (e.g., a wheeled or tracked skid steer loader), including any of the types generally discussed above. The power machine 400 can include a power source 402, a control device 404, electric actuators 406, 408, brakes 410, 412, and (one or more) auxiliary loads 414. The power machine 400 can be an electrically powered power machine, and thus the power source 402 can include an electric power source, such as, for example, a battery pack including one or more battery cells (e.g., lithium-ion batteries). In some configurations, the power source 402 can include other electrical storage devices (e.g., capacitors) and other power sources. Alternatively or additionally, the power machine 400 can, but does not necessarily, include an internal combustion engine that supplies power to the power source 402 via a generator (e.g., to charge one or more batteries of the electric power source).

[0090] Generally, the control device 404 can be implemented in a variety of different ways. For example, the control device 404 can be implemented as a processor device of a known type (e.g., a microcontroller, a field programmable gate array, a programmable logic controller, a logic gate, etc.), including a processor device that is part of a general-purpose computer or a special-purpose computer. In addition, the control device 404 may also include other computing components, including memory, input devices, output devices, etc. (not shown). In this regard, the control device 404 can be configured to implement some or all of the operations of the process described herein, which operations can be retrieved from the memory as needed. In some embodiments, the control device 404 may include multiple control devices (or modules), which can be integrated into a single component or arranged as multiple separate components. In some embodiments, the control device 404 may be a larger control system (e.g., Figure 1 The system 160 is part of the system 161 and thus may include or be in electronic communication with various control modules, including a wheel hub controller, an engine controller, a drive controller, etc.

[0091] In different configurations, different types of actuators may be configured to operate under power from the power source 402, including electric actuators configured as rotary actuators, linear actuators, and combinations thereof. Figure 4 As shown, each electric actuator 406, 408 may include a motor 416, 420 and an extender 418, 422. Actuators 406 and 408 schematically represent various actuators on the power machine 400. For the purpose of illustration, the electric actuator 406 may be a linear actuator including a motor 416 and an extender 418, and the electric actuator 408 may similarly include a motor 420 and an extender 422. Each motor 416, 420 may drive the extension (and retraction) of a corresponding extender 418, 422 to implement a specific function of the power machine 400. For example, the motor 416 may include a stator that rotates a rotor, and when the motor 416 rotates in a first rotational direction, the motor may drive the extension of the extender 418, and when the motor 416 rotates in a second rotational direction opposite to the first rotational direction, the motor may drive the retraction of the extender 418. In this manner, and depending on how the electric actuator 406 is coupled to components of the power machine 400, extension (and retraction) of the electric actuator 406 can, for example, raise (or lower) a lift arm of the power machine 400, change the attitude of an implement (e.g., a bucket) of the power machine 400, etc. The power machine 400 can also include a rotary actuator without an extender (in Figure 4 406 and 408), the rotary actuator is configured to drive the power machine 400 over terrain.

[0092] As mentioned above, each extender 418, 422 can move in a straight line (e.g., to implement the functions of the power machine 400), and therefore each electric actuator 406, 408 can be a linear electric actuator. In this case, for example, each extender 418, 422 can include a lead screw, a ball screw, or other known components for rotationally powered linear movement.

[0093] Despite Figure 4 The electric actuators 406, 408 are illustrated as possibly including corresponding extenders 418, 422, respectively, but in some embodiments, some of the electric actuators may be implemented without extenders. In this case, each electric actuator 406, 408 may include a corresponding motor 416, 420 to drive the rotation of a particular component, rather than the (linear) extension of the drive component (e.g., extender). As an example, the electric actuator 406 may be a traction motor of a drive system of the power machine 400 to drive the forward (and reverse) travel of the power machine 400. Although Figure 4Two electric actuators 406, 408 are shown, but the power machine 400 may include other numbers of electric actuators, such as, for example, one, two, three, four, five, six, etc. In some cases, the power machine 400 may include: an electric actuator as a first lift actuator on a first lateral side of the power machine 400; an electric actuator as a second lift actuator on a second lateral side of the power machine 400; an electric actuator as a first tilt actuator on a first lateral side of an implement interface of the power machine 400; an electric actuator as a second tilt actuator on a second lateral side of the implement interface of the power machine 400; an electric actuator as a motor for a first drive system located on (or otherwise powered by) the first lateral side of the power machine 400; and an electric actuator as a motor for a second drive system located on (or otherwise powered by) the second lateral side of the power machine 400.

[0094] Also like Figure 4 As shown, the brakes 410, 412 can be coupled to (e.g., included in) the respective electric actuators 406, 408. For example, each brake 410, 412 can be a mechanical brake including a mechanical stop that can be moved into engagement to block further movement of the associated stretcher 418, 422 (or in some cases, the associated motor 416, 420) in one or more directions, and can be moved into disengagement to allow movement of the stretcher 418, 422 (e.g., in an extension or retraction direction). In some cases, the mechanical brake can include an arm that contacts a lead screw of the stretcher 418, 422 (if the particular actuator has a stretcher) to block further movement of the stretcher 418, 422, and the arm disengages from the lead screw of the stretcher 418, 422 to allow (further) movement of the stretcher 418, 422. In some configurations, one or more of the mechanical brakes 410, 412 may be electrically powered brakes (ie, may include one or more electric actuators). For actuators without extenders (e.g., drive motors), the brakes may engage any acceptable movement mechanism to selectively block movement of the motor.

[0095] like Figure 4 As shown, the power source 402 can be electrically connected to the control device 404, the electric actuators 406, 408, the mechanical brakes 410, 412, and the (one or more) auxiliary loads 414. Thus, the power source 402 can provide power to each motor 416, 420 to drive the movement (e.g., extension and retraction) of the corresponding extender 418, 422, to the control device 404, to each mechanical brake 410, 412, to each of the (one or more) auxiliary loads 414, etc. Figure 4As shown, the control device 404 can be in electrical communication with the power source 402, the actuators 406, 408, the mechanical brakes 410, 412, and (one or more) auxiliary loads 414, and can adjust (e.g., limit) the power delivered to each of these electrical loads (or other electrical loads) or the power consumed by each of these electrical loads. As an example, in appropriate circumstances, the control device 404 can adjust (e.g., reduce) the power delivered to each of these electrical loads by adjusting (e.g., reducing) the current that can be consumed by at least some of these electrical loads. In some cases, the actual command for the movement of the actuator can be reduced from the commanded movement of the actuator according to the operator input, so that the actuator will consume less power than the operator input commands. As an example, the operator can command a specific travel speed for the power machine, and the control device 404 can reduce the actual commanded speed of the (one or more) related drive motors relatively (e.g., based on the predetermined derating of the (one or more) motors). As another example, the control device 404 can adjust the current delivered to the electrical load by adjusting the drive signal delivered to a current source (e.g., a voltage-controlled current source), which can be electrically connected to the electrical load (e.g., integrated into a power electronic driver board (e.g., a motor driver)) to deliver the current to the electrical load. As an example, the current source can include one or more field effect transistors, and the drive signal can be a voltage applied to the one or more field effect transistors to adjust the delivered current, and thereby adjust the power delivered to the electrical load (e.g., a motor).

[0096] In some configurations, similar to each electrical load of the power machine 400, the electrical power source of the power source 402 may include (or may be otherwise electrically connected to) a current source (e.g., a power electronics board) that regulates (e.g., and may constrain) the amount of power to be delivered to the electrical loads of the power machine 400. In such cases, the control device 404 may regulate the drive signal to the electrical power source to regulate the total amount of current, and thereby regulate the amount of power delivered to the electrical loads of the power machine 400. More specifically, the control device 404 may regulate the output from the electrical power source to adjust the torque, position, direction, and speed of the motor.

[0097] As also described above, in some configurations, power machine 400 may include one or more auxiliary loads 414 (i.e., loads not related to providing traction or work group power). As one example, auxiliary loads 414 may each be an electrical load that receives power from the electrical power source of power source 402. For example, auxiliary loads 414 may include a climate control system (e.g., including a heater, air conditioning system, fan, etc.), an audio system (e.g., speakers, radio, etc.), etc.

[0098] In some configurations, the power machine 400 may include one or more sensors that can sense various aspects of the power machine 400. As an example, the power machine 400 may include a torque sensor for each electric actuator to sense the current torque of each motor of the corresponding electric actuator. In some cases, the torque sensor may be the same as the current sensor electrically connected to the electric actuator (e.g., because current is related to torque). As another example, the power machine 400 may include a position sensor for each extender of each electric actuator (if necessary) to sense the current or current extension amount of the extender of each electric actuator (e.g., relative to the housing of the electric actuator). In some cases, this may be a Hall effect sensor, a rotary encoder for a motor (e.g., which can be used to determine the extension amount of an actuator having an extender), an optical sensor, etc. As yet another example, the power machine 400 may include an angle sensor for each pivotable joint of the lifting arm of the power machine 400 to determine the current orientation of the lifting arm (and the implement coupled to the lifting arm). As yet another example, power machine 400 may include a velocity sensor or an acceleration sensor (e.g., an accelerometer) to determine, respectively, a current velocity or current acceleration of power machine 400 (or a component thereof). As yet another example, power machine 400 may include an inclinometer (e.g., an accelerometer) that may sense a current attitude of a main frame of power machine 400 relative to gravity.

[0099] Figure 5 An isometric side view of an electrically powered power machine 500 is shown with a lift arm 504 in a fully lowered position, which may be an embodiment of power machine 200, power machine 400, etc. Figure 5 As shown, the power machine 500 may include a main frame 502, a lift arm 504 coupled to the main frame by a driven link 506, a drive link 508 pivotally coupled to the lift arm 504 and the main frame 502, an operator cabin 510 (e.g., a cab as shown in the figure), an implement interface 514 coupled to the end of the lift arm 504, an implement 516 (e.g., a bucket as shown in the figure) coupled to the implement interface 514, a lift electric actuator 518, a tilt electric actuator 522, an electric power source 526, a drive system 528 (e.g., including an electric drive motor), a traction device 532 (e.g., an endless track as shown in the figure), and a climate control system 536 (e.g., generally representing an auxiliary electric load). An operator input device 530 may be provided in the cab 510, including an input device that may be implemented as a touch screen, an electronic joystick, or other known input devices. As generally described above, similar other components may be provided symmetrically (or otherwise) on opposite lateral sides of the power machine 500, including another lift electric actuator, another tilt electric actuator, etc.

[0100] In some cases, the power source 526 can be implemented in a manner similar to the power source described above (e.g., power source 402). Thus, the power source 526 can include a battery pack including one or more batteries. Generally, the power source 526 can provide power to some or all of the electrical loads of the power machine 500. For example, the power source 526 can provide power to the lift electric actuator 518, the tilt electric actuator 522, the drive system 528, the climate control system 536, etc.

[0101] The power machine 500 may also include a control device 546 that may communicate, as desired, with the power source 526 and some (or all) of the electrical loads of the power machine 500. For example, the control device 546 may communicate with the lift electric actuator 518, the work group electric actuator 522, the drive system 528, the climate control system 536, etc. In this manner, the control device 546 may control the operation of these components or related other systems to adjust how power is routed to each of these electrical loads (e.g., depending on the criteria defined by the particular power management mode), and accordingly, how much power from the power source 526 is consumed during a given operating interval.

[0102] Figure 6 A power machine 600 is schematically illustrated according to some configurations. Figure 6 In the example shown, power machine 600 includes a traction or drive system 605, a control system 610 (e.g., control system 160 as described above), a power system 615, and a work group system 620. Traction system 605, control system 610, power system 615, and work group system 620 communicate via one or more communication links or buses. Power machine 600 may include in various configurations other than Figure 6 In addition, fewer, or different components than those shown in the drawings, and the power machine 600 can perform additional functions in addition to the functions described herein. For example, the power machine 600 may include the components described above with respect to Figure 1 Power machinery 100, Figures 2 to 3 Loader 200, Figure 4 Power machinery 400, Figure 5 Additional, similar, or different components, systems, and functionality described herein may be described with reference to electric power machine 500 or another power machine described herein.

[0103] like Figure 6 As shown, power machine 600 includes a traction system 605 (e.g., Figure 2The traction system 605 is configured to propel the power machine 600 over terrain or more generally over a supporting surface. In the illustrated example, the traction system 605 includes one or more traction elements 625 (e.g., Figure 1 traction element 140), one or more traction electric actuators 630 (e.g., Figure 4 The traction system 605 may include, in various configurations, a plurality of actuators 406, 408 and one or more traction sensors 635. Figure 6 The invention may include additional, fewer, or different components than those shown in the drawings, and may perform additional functions than those described herein.

[0104] One or more traction elements 625 may be collectively referred to herein as "traction elements 625" or individually as "traction elements 625". Figure 1 , the traction element 625 can be the working element itself that is configured to move the power machine 600 on the supporting surface. The traction element 625 can be, for example, a track assembly, a wheel attached to an axle, and the like. The traction element 625 can be mounted to the power machine frame of the power machine 600 (e.g., the frame 110 described above) so that the movement of the traction element 625 is limited to rotation about the axle (so that steering is accomplished by a sliding action), or alternatively, the traction element 625 is pivotally mounted to the power machine frame to accomplish steering by pivoting the traction element relative to the frame.

[0105] In some configurations, each traction element 625 can be driven (or controlled) by a corresponding traction electric actuator (eg, traction electric actuator 630). In the illustrated example, the traction electric actuator(s) 630 of the traction system 605 can include one or more traction motors 640 (eg, drive motors).

[0106] In the illustrated example, the traction sensor 635 may include a drive speed sensor 645 and a drive torque sensor 650. The drive speed sensor 645 may collect (e.g., detect) speed data of the power machine 600 (or its components). In some configurations, the drive speed sensor 645 may be an acceleration sensor (e.g., an accelerometer). The drive speed sensor 645 may determine the current speed or current acceleration of the power machine 600 (or its components). The drive torque sensor 650 may collect (e.g., detect) torque data of the power machine 600 (or its components). In some configurations, the traction system 605 may include a drive torque sensor 650 for each traction electric actuator 630 to sense the current torque of each traction motor 640 of the corresponding traction electric actuator 630. In some cases, the drive torque sensor 650 may be the same as a current sensor electrically connected to the traction electric actuator 630 (e.g., because current is related to torque). Each of these measurements (or other values) may inform current operating conditions of power machine 600 , which may be used by control system 610 , as described in greater detail herein.

[0107] The power machine 600 may also include a work group system 620 (also referred to herein as a lift arm structure). In the illustrated example, the work group system 620 may include one or more work elements 655 (e.g., Figure 1 The operating element 130 or Figure 5 516), one or more work group electric actuators 660, one or more work group speed sensors 665, one or more work group position sensors 667 (e.g., including one or more work group tilt sensors 669), and a lift arm 670 (e.g., the lift arm assembly 230 or components thereof, as described herein).

[0108] In the illustrated example, the workgroup electric actuator 660 of the workgroup system 620 includes a lift actuator 675 and a tilt actuator 680 (eg, an electric lift actuator and an electric tilt actuator, respectively). Figures 1 to 5 The lift actuator and tilt actuator corresponding to the lift actuator 675 and the tilt actuator 680 are described in more detail. Accordingly, the working group speed sensor 665 can be arranged to measure the movement (e.g., rotation or extension) speed of the lift actuator 675 or the tilt actuator 680. Similarly, the working group position sensor 667 can be configured to measure the linear extension or angular orientation of the actuator or other components of the working group, wherein the working group tilt sensor 669 is particularly arranged to measure the degree of tilt between the working element 655 and the lifting arm 670 (but other tilt measurements are possible).

[0109] The group speed sensor(s) 665 can function similarly to the drive speed sensor 645. In some configurations, the group speed sensor 665 can collect (e.g., detect) speed data of the power machine 600 (or its components). In some configurations, the group speed sensor 665 can be an acceleration sensor (e.g., an accelerometer). The group speed sensor 665 can determine the current speed or current acceleration of the power machine 600 (or its components). As an example, the group speed sensor 665 can detect a lifting speed associated with the lifting actuator 675 (e.g., a speed associated with a change in height of the lifting arm 670 or working element 655 of the power machine 600).

[0110] The group position sensor(s) 667 may collect position data of the power machine 600 (or its components). As one example, the group position sensor 667 may be associated with one of the group electric actuators 660 and may detect position data of the associated group electric actuator 660. As another example, the group position sensor 667 may be associated with each extender of each group electric actuator 660. Thus, in some configurations, the group position sensor 667 may sense the current extension amount (as position data) of the extender (e.g., relative to the housing of the group electric actuator 660) of each group electric actuator 660. In some cases, the group position sensor 667 may be a Hall effect sensor, a rotary encoder for a motor (e.g., which may be used to determine the extension amount of an actuator having an extender), an optical sensor, etc. Thus, in some configurations, the position data may include the lift height of the lift arm 670 or the working element 655, the extension amount associated with the lift actuator 675, or similar data.

[0111] The work group tilt sensor(s) 669 can collect tilt or orientation data of the power machine 600 (or its components). In some configurations, the work group tilt sensor 669 can be an angle sensor for each pivotable joint of the lift arm 670 of the power machine 600 to determine the current orientation of the lift arm 670 (or the work element(s) 655 coupled to the lift arm 670).

[0112] The power machine 600 may also include a power system 615 (e.g., Figure 1 Power system 120, Figure 2 power system 220, etc.). Figure 6In the illustrated example of , the power system 615 may include one or more power sources 682. As described herein, the power system 615 (via one or more power sources 682) may generate or otherwise provide power for operating various functions on the power machine 600 (or its components). Thus, the power system 615 may provide power to various components of the power machine 600 (such as, for example, one or more of the traction system 605, the control system 610, the work group system 620, etc.). Thus, the power machine 400 may be an electrically powered power machine, and thus the power system 615 may include a power source 682, such as, for example, a battery pack including one or more battery cells (e.g., lithium-ion batteries). In some configurations, the power system 615 may include other electrical storage devices (e.g., capacitors) and other power sources. Alternatively or additionally, the power machine 600 may, but need not, include an internal combustion engine that provides power to the power source 682 via a generator (e.g., to charge one or more batteries of the electric power system 615).

[0113] The power machine 600 may also include a control system 610. The control system 610 (e.g., Figure 1 The control system 160 of the power machine 600 is configured to receive operator input or other input signals (e.g., sensor data, such as speed data, position data, tilt or orientation data, or a combination thereof) and output commands accordingly to control the operation of the power machine 600. For example, the control system 610 can communicate with other systems of the power machine 405 to perform various work tasks, including controlling (one or more) traction electric actuators 630, (one or more) working group electric actuators 66, or a combination thereof to perform a traction operation (e.g., driving across a supporting surface), a work task operation (e.g., an excavation operation, etc.), another operation of the power machine 600, or a combination thereof. In some configurations, the control system 610 receives operator inputs (such as sensor data, such as speed data, position data, tilt or orientation data, or a combination thereof) and outputs commands accordingly to control the operation of the power machine 600. For example, the control system 610 can communicate with other systems of the power machine 405 to perform various work tasks, including controlling (one or more) traction electric actuators 630, (one or more) working group electric actuators 66, or a combination thereof to perform a traction operation (e.g., driving across a supporting surface), a working task operation (e.g., an excavation operation, etc.), another operation of the power machine 600, or a combination thereof. Figure 2 The control system 610 may receive input from one of the operator input devices 262 of the power machine 405, including input as a command signal provided by an operator of the power machine 405 via the operator input device. As an example, the command signal may include a commanded speed for the power machine 600 (e.g., a speed requested or commanded by an operator of the power machine 600). In response to receiving the input, the control system 610 may control the power machine 600 to perform an operation or maneuver based at least in part on the input received from the operator input device, the sensed operational data, or a combination thereof. Thus, in some configurations, the control system 610 may receive input parameters corresponding to operator input associated with operating the power machine 600, sensed operational data associated with the power machine 600, or a combination thereof.

[0114] like Figure 6As shown, the control system 610 includes a controller 690 (eg, control device(s) 260 , 404 as described herein). Figure 7 Controller 690 is shown according to some configurations. Figure 7 In the illustrated example of FIG. 6 , the controller 690 includes an electronic processor 700 (e.g., a microprocessor, an application specific integrated circuit (“ASIC”), or another suitable electronic device), a memory 705 (e.g., a non-transitory computer readable medium), and a communication interface 710. The electronic processor 700, the memory 705, and the communication interface 710 communicate via one or more communication lines or buses. The controller 690 may include, in addition to the Figure 7 690 and may perform additional functions in addition to the functions described herein. As an example, in some embodiments, the functions described herein as being performed by the controller 690 may be distributed between other components or devices.

[0115] The communication interface 710 allows the controller 690 to communicate with devices external to the controller 690. For example, Figure 6 As shown, the controller 690 can communicate with the traction system 605 (or (one or more) components in the traction system 605), the work group system 620 (or (one or more) components in the work group system 620), other components or systems of the power machine 600, or a combination thereof through the communication interface 710.

[0116] The communication interface 710 may include a port for receiving a wired connection to an external device (e.g., a wired universal serial bus ("USB"), etc.), a transceiver for establishing a wireless connection to an external device (e.g., through one or more communication networks, such as the Internet, a local area network ("LAN"), a wide area network ("WAN"), etc.), or a combination thereof. In some configurations, the controller 690 may be a dedicated or stand-alone controller. In some configurations, the controller 690 may be part of a system of multiple different controllers (e.g., a hub controller, a drive controller, a job group controller, etc.), or may be formed by a system of multiple different controllers (e.g., also having a hub controller, a drive controller, a job group controller, etc.).

[0117] The electronic processor 700 is configured to access and execute computer-readable instructions ("software") stored in the memory 705. The software may include firmware, one or more applications, program data, filters, rules, one or more program modules, and other executable instructions. For example, the software may include instructions and associated data for performing a set of functions, including the methods described herein.

[0118] For example, Figure 7 As shown, the memory 705 can store one or more control standards 750 (collectively referred to herein as "control standards 750" and individually as "control standards 750"). Alternatively or additionally, in some configurations, the control standards 750 can be stored remotely, such as, for example, in a memory of a user device or another remote device or database, so that each control standard 750 can be accessed by the controller 690.

[0119] The control criterion 750 may be a preset or predetermined operating parameter limit (or threshold). For example, in some configurations, the control criterion 750 may be a maximum operating parameter, a minimum operating parameter, etc. Alternatively or additionally, the control criterion 750 may be a preset or predetermined operating parameter range defined by an upper limit and a lower limit. In some configurations, the control criterion 750 may be a set of preset conditions, each of which acts as a trigger for a corresponding operating parameter limit or range. In some configurations, the control criterion 750 is associated with an operating parameter (such as, for example, speed, current, torque, orientation, position, etc.). Alternatively or additionally, in some configurations, the control criterion 750 is associated with multiple operating parameters. As an example, the control criterion 750 may set a speed limit (e.g., a maximum speed) for one of the traction motor 640, the lifting actuator 675, the tilt actuator 680, or another component of the power machine 600. In some configurations, the control criterion 750 may be an orientation criterion (or tilt criterion), a commanded speed criterion, a position criterion (e.g., a lifting position criterion), an actual speed criterion, an interruption condition criterion, etc.

[0120] Figure 8 8 is a flow chart illustrating a method 800 for operating a power machine (e.g., power machine 600) according to some configurations. In some configurations, method 800 may be performed by control system 610 (e.g., controller 690), and in particular, by electronic processor 700 of controller 690. However, as described above, the functions described with respect to method 800 may be performed by other devices, or may be distributed among multiple devices or components.

[0121] like Figure 8As shown, method 800 includes receiving, using electronic processor 700, operational data associated with the current operation of power machine 600 (at block 805). The operational data may include: lift actuator position (e.g., position associated with lift actuator 675), lift actuator speed (e.g., speed associated with lift actuator 675), drive torque (e.g., torque associated with traction motor 640), tilt actuator position (e.g., orientation or position associated with tilt actuator 680), drive speed (e.g., speed associated with traction motor 640), commanded speed (e.g., speed associated with operator command), etc. In some configurations, the operational data includes data collected or sensed by one or more sensors associated with power machine 600 (as sensed operational data). For example, the operational data may be data collected by the drive torque sensor(s) 650, the drive speed sensor(s) 645, the gang speed sensor(s) 665, the gang position sensor(s) 667, the gang tilt sensor(s) 669, or another sensor of the power machine 600. Alternatively or additionally, in some configurations, the operational data may include operator input provided via an operator input device.

[0122] The electronic processor 700 may determine the commanded direction of travel of the power machine 600 based on the operational data (at block 810). In some configurations, the electronic processor 700 may determine the commanded direction of travel of the power machine 600 by detecting a commanded speed. The commanded speed may be the speed of the power machine 600 requested (or commanded) by an operator of the power machine 600 via, for example, an operator input device. The electronic processor 700 may compare the commanded speed to a commanded speed criterion (e.g., as one of the criteria in the control criteria 750). The commanded speed criterion may define that a positive speed value is associated with a positive commanded speed (e.g., a forward travel direction) and a negative speed value is associated with a negative commanded speed (e.g., a reverse travel direction). Alternatively or additionally, in some configurations, the commanded speed criterion may define a speed threshold or set point. The speed threshold or set point may be associated with a minimum commanded speed so that the commanded speed is considered to be an actual commanded speed, rather than an unexpected commanded speed (e.g., due to vibration of the operator input device caused by operation or vibration of the power machine 600).

[0123] Thus, the electronic processor 700 may determine whether the commanded speed is a positive speed value or a negative speed value, whether the commanded speed satisfies a minimum commanded speed, or a combination thereof. As an example, when the commanded speed is a positive speed value and satisfies a preset speed value (e.g., a minimum commanded speed), the electronic processor 700 may determine that the commanded direction of travel of the power machine 600 is a forward commanded direction of travel. As another example, when the commanded speed is a negative speed value and exceeds a preset speed value, the electronic processor 700 may determine that the commanded direction of travel of the power machine 600 is a reverse commanded direction of travel. As yet another example, such as, for example, when the commanded speed does not exceed (e.g., is less than or equal to) a preset speed value (e.g., 2.0% of the maximum command from the operator input device), the electronic processor 700 may determine that the commanded direction of travel of the power machine 600 is an unexpected commanded direction of travel.

[0124] In some configurations, the electronic processor 700 can determine a lift position associated with the lift actuator 675 based on operational data. The electronic processor 700 can determine the lift position based on sensed operational data (e.g., data received from the group position sensor 667). Alternatively or additionally, the electronic processor 700 can determine the lift position based on operator input (e.g., via an operator input device).

[0125] The electronic processor 700 may determine the orientation of the working element 130 relative to the lift arm 670 (at block 815) or otherwise based on the operational data. The orientation may refer to the tilt of the working element 130 relative to the lift arm 670. The electronic processor 700 may determine the orientation of the working element 130 based on orientation or tilt data collected by the working group tilt sensor(s) 669. Alternatively or additionally, the electronic processor 700 may determine the orientation of the working element 130 based on a commanded tilt of the working element 130 (e.g., operator input provided via an operator input device of the power machine 600).

[0126] The electronic processor 700 may perform a comparison of the orientation with the orientation criteria (at block 820). In some configurations, the orientation criteria may be included as one of the criteria in the control criteria 750. The orientation criteria may define a tilt position value of the working element 130, including a tilt position value relative to the lift arm 670. In some configurations, the orientation criteria may be a preset or predetermined tilt position (e.g., within a specific range). The preset tilt position may represent a tilt position in which the tilt actuator 680 is extended to a position such that an external load applied to the tilt actuator 680 may apply a relatively large stress or strain to the tilt actuator 680. As an example, the preset tilt position may be about 9.5 inches (or, for example, 45 degrees tilt relative to the lift arm). As another example, the preset tilt range may be about 9.5 inches to about 13.5 inches (or, for example, 45 degrees to 90 degrees tilt relative to the lift arm).

[0127] In some configurations, the electronic processor 700 can determine that the orientation meets the orientation criteria when the orientation exceeds a preset tilt position. As an example, when the orientation is an extension of 10.5 inches and the orientation criteria define an extension threshold of 9.5 inches, the electronic processor 700 can determine that the orientation meets the orientation criteria because 10.5 inches is greater than 9.5 inches. Alternatively or additionally, the electronic processor 700 can determine that the orientation meets the orientation criteria when the orientation falls within an orientation range defined by the orientation criteria.

[0128] In some configurations, the orientation criteria may be a preset or predetermined lift position (e.g., within a particular range). The preset lift position may represent a lift position where the lift actuator 675 is extended to a position that may result in a relatively large stress or strain being applied to the tilt actuator 680. As one example, the preset lift position may be about 11.0 inches (or, for example, about 45% of the maximum extension of the lift actuator 675). As another example, the preset lift range may be about 11.0 inches to about 8.5 inches (or, for example, between about 45% and about 30% of the maximum extension of the lift actuator).

[0129] The electronic processor 700 may determine a modified operating parameter of the power machine 600 (at block 825). The modified operating parameter may include: a modified current parameter, a modified speed parameter (e.g., a modified drive speed parameter, a modified hoist speed parameter, etc.), a modified torque parameter, etc. In some configurations, the modified operating parameter may be an operating parameter limit (also referred to herein as an operating limit), such as, for example, a current limit, a speed limit (e.g., a drive speed limit, a hoist speed limit, etc.), a torque limit, etc. As an example, the modified operating parameter (or operating parameter limit) may include: a current limit of the lift actuator 675, a drive torque limit of the traction motor 640, a drive speed limit of the traction motor 640, a current limit of the traction motor 640, a hoist speed limit of the lift actuator 675, or another limit of another electric actuator of the power machine 600.

[0130] In some configurations, at block 825, the electronic processor 700 determines a modified operating parameter of the power machine 600 in response to determining the forward commanded direction of travel, based on a comparison of the associated orientation to the orientation criteria, or a combination thereof. As an example, the electronic processor 700 may determine the modified operating parameter of the power machine 600 in response to determining that the commanded direction of travel of the power machine 600 is the forward commanded direction of travel (as described in more detail above), and in response to determining that the associated orientation satisfies the associated orientation criteria. As used herein, the term "forward" is used as a term of convenience, and generally, travel may be in any direction in which a lift arm may extend relative to a frame (e.g., travel in the direction of a working element or lift arm).

[0131] In some cases, the electronic processor 700 can determine whether a forward traction motion has been commanded and whether the tilt position meets certain criteria (e.g., as described above or in detail below). If these threshold conditions are met, the electronic processor 700 can then control the lift speed limit of the lift actuator based on the position of the lift arm (e.g., as indicated by the amount of extension of the lift actuator). For example, the electronic processor 700 can implement a reduction in the lift speed limit based on a reduced lift arm position, including through a linear or other extrapolation between endpoints within the lift position range (e.g., as described with respect to FIG. 1 ). Fig. 9 further discussed, and can be implemented via a lookup table of linear or non-linear values).

[0132] In some cases, other conditions may also (or alternatively) be implemented. For example, threshold criteria may be used to determine whether or how to modify a particular operating parameter. For example, before applying a lift speed limit as described above (or otherwise), the electronic processor 700 may evaluate whether the traction motor speed is sufficiently high (e.g., 30% or more of the maximum), and if so, the modified operating parameter may be determined accordingly. For example, the electronic processor 700 may, based on detecting a sufficiently high traction motor speed, apply a further reduced minimum lift speed limit, including a relatively slow or stopped movement of the lift arm at a particular lift arm height (e.g., as described with respect to FIG. 1 ). Fig. 9 for further discussion).

[0133] In some cases, the electronic processor 700 can determine whether a positive traction motion has been commanded, and whether the raised position or the tilted position (or both) meets certain respective criteria (e.g., as also described above or in detail below). If these threshold conditions are met, the electronic processor 700 can then control the traction speed or torque limit of the traction actuator (e.g., the (one or more) traction electric actuators 630) based on the tilt position (e.g., as indicated by the amount of extension of the tilt actuator). For example, the electronic processor 700 can implement a reduction in the drive speed or drive torque limit based on the raised tilt arm position, including by linear or other extrapolation between endpoints within the range of tilt positions (e.g., as indicated with respect to Fig.10 and Fig.11 further discussed, and can be implemented via a lookup table of linear or non-linear values).

[0134] In some configurations, the electronic processor 700 determines a modified operating parameter of the power machine 600 based on one or more relationships (e.g., direct or indirect functional relationships or other relationships) between two or more operating parameters. In some configurations, the electronic processor 700 determines a plurality of modified operating parameters of the power machine 600 (e.g., modified current, modified drive speed, modified hoist speed, modified drive torque, or a combination thereof).

[0135] Fig. 9 9 is a graph 900 showing the relationship between lift speed and lift position. In particular, graph 900 shows the maximum lift speed limit (ie, the maximum allowable lift speed) (y-axis) based on the lift actuator position (x-axis). Fig. 9As shown, the allowed lifting speed can have a direct relationship with the lifting actuator position, including a linear relationship as shown. Therefore, in some configurations, the electronic processor 700 can determine the modified operating parameter as the lifting speed limit (e.g., the maximum allowed lifting speed) based on the modified curve shown on the graph 900. As an example, the electronic processor 700 can determine the lifting speed limit based on the lifting actuator position.

[0136] In some cases, depending on certain operating conditions, the lift speed limit can be reduced to zero at a non-zero lift height. For example, if the current speed of the traction motor is high enough (e.g., greater than 30% of the maximum possible speed), the controller can reduce the maximum lift speed limit to zero at a non-zero lift height. Thus, for example, when the power machine is traveling at a relatively high speed, the controller can not only slow down the movement of the lift arm when lowering the lift arm, but can also stop the downward movement of the lift arm at a raised position (e.g., 8.5 inches as shown).

[0137] Fig.10 1 is a graph 1000 showing the relationship between drive speed and tilt position (e.g., relative to the traction motor 640 and the tilt actuator 680, respectively). In particular, the graph 1000 shows the maximum drive speed limit (i.e., the maximum allowable drive speed) (y-axis) based on the tilt actuator position (x-axis). Fig.10 As shown, the allowed drive speed can have an indirect relationship with the tilt actuator position, including a substantially linear indirect relationship as shown. Therefore, in some configurations, the electronic processor 700 can determine the modified operating parameters as the allowed drive speed (e.g., the drive speed limit) based on the graph 1000. As an example, the electronic processor 700 can determine the drive speed limit based on the tilt actuator position.

[0138] Fig.11 1 is a graph 1100 showing the relationship between drive torque and tilt position (eg, relative to traction motor 640 and tilt actuator 680, respectively). In particular, graph 1100 shows the allowable drive torque (y-axis) based on the tilt actuator position (x-axis). Fig.11 As shown in , the allowed drive torque can have an indirect relationship with the tilt actuator position, including a linear indirect relationship as shown. Therefore, in some configurations, the electronic processor 700 can determine the modified operating parameters as the allowed drive torque (e.g., the drive torque limit) based on the curve chart 1100. As an example, the electronic processor 700 can determine the drive torque limit based on the tilt actuator position.

[0139] Also as mentioned above, sometimes the reduction in the lifting speed limit can only be implemented after the lifting arm has been appropriately lowered. Fig. 9 As shown, when the lift actuator is at about 45% of maximum extension, or about 11 inches of extension, a reduced lifting speed limit may be applied. Fig. 9 An example lower boundary of the lift actuator range for which the lift speed limit is reduced is shown, corresponding in the illustrated example to about 30% of the maximum extension of the lift actuator or about 8.5 inches of extension. Similarly, some criteria may be related to the height of the working element relative to a reference height. For example, a reduced lift speed limit (or other adjustment) may be implemented based on whether the lift position of the lift arm measured at a reference position (e.g., an implement pivot point) is greater than or less than a predetermined height relative to the ground surface.

[0140] In some configurations, the electronic processor 700 communicates with Figures 9 to 11 One of the graphs shown performs a lookup function to determine the modified operating parameter. As an example, the electronic processor 700 can determine the modified lifting speed as the value of the y-axis data point included in the graph 900 corresponding to the current lift actuator position (x-axis data point). As another example, the electronic processor 700 can determine the modified driving speed as the value of the y-axis data point included in the graph 1000 corresponding to the current tilt actuator position (x-axis data point). As yet another example, the electronic processor 700 can determine the modified driving torque as the value of the y-axis data point included in the graph 1100 corresponding to the current tilt actuator position (x-axis data point).

[0141] As described above, in some configurations, the electronic processor 700 may determine the modified operating parameter (or operating parameter limit) as a modified current (or current limit).

[0142] Fig.12 1 is a graph 1200 illustrating the relationship between actuator current (y-axis) and lift position (x-axis) for lift actuator 675 according to some configurations. Fig.12 As shown in , graph 1200 includes three lift position ranges: an interrupted range 1205 , a discrete center range 1210 , and a fully extended range 1215 .

[0143] The lift position of the interruption range 1205 can be associated with performing an interruption operation or maneuver. The electronic processor 700 can detect an interruption condition based on the lift position and an interruption condition criterion (e.g., as one of the criteria in the control criteria 750). The interruption condition criterion can include criteria indicating a set of conditions representative of an interruption condition. As an example, a condition representative of an interruption condition can be that a lifting operation is performed at a low lift position (e.g., as Fig.12 In other words, the interruption condition criteria may correspond to a lift position within the interruption range. In response to detecting the interruption condition, the electronic processor 700 may determine the current limit based on a comparison of the lift position with the interruption condition criteria.

[0144] The lifting position of the central range 1210 can be associated with performing a lifting operation or maneuvering at a normal lifting position. The lifting position of the fully extended range 1215 can be associated with performing a lifting operation or maneuvering at a high lifting position, and for example, associated with performing a lifting operation involving fully extending the lift actuator 675.

[0145] like Fig.12 As shown in , the graph 1200 also includes a current limit line 1230. The current limit line 1230 represents the current limit associated with each lift position. In some configurations, the electronic processor 700 can use the current limit line 1230 of the graph 1200 to determine the current limit based on the current linear lift position of the lift actuator 675. For example, the current limit within the interruption range 1205 can be used to perform an interruption operation using the power machine 600. The current limit within the central range 1210 is associated with performing a lift operation using the power machine 600. Fig.12 As shown in FIG. 1 , the current limit associated with the interruption range 1205 is different from the current limit associated with the center range 1210. The current limit within the full extension range 1215 is associated with performing a full extension operation or maneuver with the power machine 600. Fig.12 As shown in , the current limit associated with the fully extended range 1215 is different from the current limit associated with the interrupted range 1205 and the current limit associated with the central range 1210 .

[0146] like Fig.12 As shown in , the current limit associated with the interruption range 1205 generally represents an increase in current, and the current limit associated with the full extension range 1215 generally represents a decrease in current, compared to the current limit of the adjacent central range 1210. For example, when the lift position is within the interruption range 1205 of the lift position, the current limit corresponds to a dynamically increased load rating, wherein the lift position of the interruption range 1205 is lower than the lift position of the central range 1210.

[0147] In some configurations, the current limit may correspond to a load rating implemented for a lift arm of the power machine 600. In this regard, the current limit line 1230 may correspond to a substantially constant load rating (i.e., a load rating that varies by less than 5%) for an exemplary lift arm within the central range 1210, as also indicated by the current limit line 1230 for the actuator 3-1 (at Fig.121235 in the figure), actuator 4-1 (in Fig.12 1240 in the figure) and the actuator 3-2 (in Fig.12 1245 in the drawing). Conversely, it can also be seen by comparing the trace of actual current consumption that current limit line 1230 can correspond to an increased load rating in the interruption range 1205, which can allow for more reliable performance of the power machine with the lift arm at low lift heights. Further, as similarly shown by comparison with the trace of actual current consumption, current limit line 1230 can correspond to a reduced load rating in the full extension range 1215, which can allow for safer operation at high lift heights and a reduced risk of excessive current consumption at the lift actuator.

[0148] In some cases, this arrangement can be customized to correspond to the load characteristics of a particular lift arm. Fig.12 The current limit line 1230 shown in FIG. 1 may specifically correspond to a current limit line 1230 that exhibits Fig.13 The static holding characteristics of the lifting arm are shown. In particular, Fig.13 1 is a graph 1300 showing the relationship between static holding force (y-axis) and lift actuator linear position (x-axis) according to some configurations. Fig.13 As shown, graph 1300 includes a first plotted line 1310 for a first power machine and a second plotted line 1320 for a second power machine, wherein first plotted line 1310 represents the relationship between the static holding force and the linear position of the lift actuator for the first power machine, and second plotted line 1320 represents the relationship between the static holding force and the linear position of the lift actuator for the second power machine. Figure 12 to Figure 13 As shown, when the boost position is within the interruption range 1205, the current limit can be dynamically increased to provide improved performance at a lower boost position. Figure 12 to Figure 13 As further shown in FIG. 1 , when the lift position is within the full extension range 1215, the current limit can be dynamically reduced to avoid excessive current without risking poor performance at high lift heights. Thus, in some configurations, the electronic processor 700 can be based on Figure 12 to Figure 13 The graph of FIG. 1 identifies the modified operating parameter as the current limit.

[0149] Return to Figure 8, the electronic processor 700 may control the power machine 600 using the modified operating parameter (at block 830). The electronic processor 700 may control the power machine 600 using the modified operating parameter by controlling one or more electrical actuators (such as traction motor 640, lift actuator 675, etc.) associated with the modified operating parameter. Thus, in some configurations, the electronic processor 700 controls the power machine 600 by applying an operating parameter limit (as the modified operating parameter) such that the corresponding operating parameter is limited based on the operating parameter limit.

[0150] As an example, when the modified operating parameter is a driving torque limit, the electronic processor 700 may control the traction motor 640 so that the driving torque of the traction motor 640 complies with the modified operating parameter (e.g., the driving torque limit). As another example, when the modified operating parameter is a driving speed limit, the electronic processor 700 may control the traction motor 640 so that the driving speed of the traction motor 640 complies with the modified operating parameter (e.g., the driving speed limit). As yet another example, when the modified operating parameter is a lifting speed limit, the electronic processor 700 may control the lifting actuator 675 so that the lifting speed of the lifting actuator 675 complies with the modified operating parameter (e.g., the lifting speed limit).

[0151] In some embodiments, various aspects of the technology of the present disclosure (including computerized implementations of methods according to the technology of the present disclosure) can be implemented as systems, methods, devices or articles of manufacture using the following methods: using standard programming or engineering techniques to generate software, firmware, hardware or any combination thereof to control a processor device (e.g., a serial or parallel general-purpose or special-purpose processor chip, a single-core chip or a multi-core chip, a microprocessor, a field programmable gate array, any combination of control units, arithmetic logic units and processor registers, etc.), a computer (e.g., a processor device operably connected to a memory) or another electronically operated controller to implement the aspects detailed herein. Thus, for example, embodiments of the technology of the present disclosure can be implemented as a set of instructions embodied on a non-transitory computer-readable medium so that the processor device can implement the instructions based on reading the instructions from the computer-readable medium. Some embodiments of the technology of the present disclosure may include (or utilize) a control device, such as an automation device, a special-purpose or general-purpose computer (including various computer hardware, software, firmware, etc.), consistent with the following discussion. As specific examples, the control device may include a processor, a microcontroller, a field programmable gate array, a programmable logic controller, logic gates, etc., as well as other typical components known in the art for implementing appropriate functions (e.g., memory, communication system, power source, user interface and other input devices, etc.).

[0152] As used herein, the term "article of manufacture" is intended to encompass a computer program accessible from any computer-readable device, carrier (e.g., non-transitory signal), or medium (e.g., non-transitory medium). For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, magnetic strips, etc.), optical disks (e.g., compact disks (CDs), digital versatile disks (DVDs), etc.), smart cards, and flash memory devices (e.g., cards, sticks, etc.). In addition, it should be understood that the carrier may be used to carry computer-readable electronic data, such as data for sending and receiving e-mail or accessing a network such as the Internet or a local area network (LAN). Those skilled in the art will recognize that many modifications may be made to these configurations without departing from the scope or spirit of the claimed subject matter.

[0153] Certain operations according to the methods of the disclosed technology or the systems for performing these methods may be schematically represented in the figures, or discussed in other ways herein. Unless otherwise specified or limited, specific operations represented in a specific spatial order in the figures do not necessarily require that these operations be performed in a specific sequence corresponding to the specific spatial order. Accordingly, certain operations represented in the figures or otherwise disclosed herein may be performed in an order different from the order explicitly shown or described, to suit a specific embodiment of the disclosed technology. In addition, in some embodiments, certain operations may be performed in parallel, including by dedicated parallel processing devices or separate computing devices configured to interoperate as part of a large system.

[0154] As used herein in the context of computer implementations, unless otherwise specified or limited, the terms "component", "system", "module", "block / frame", etc. are intended to cover part or all of a computer-related system, including hardware, software, a combination of hardware and software, or software being executed. For example, a component can be, but is not limited to: a processor device, a process being executed (or executable) by a processor device, an object, an executable file, an execution thread, a computer program, or a computer. For example, both an application running on a computer and the computer can be components. One or more components (or systems, modules, etc.) can reside within a process or execution thread, can be located on one computer, can be distributed between two or more computers or other processor devices, or can be contained within another component (or system, module, etc.).

[0155] Also as used herein, unless otherwise limited or qualified, "or" represents a non-exclusive list of components or operations that can be presented in any various combinations, rather than an exclusive list of components that can be presented only as alternatives to each other. For example, a list of "A, B, or C" represents the following options: A; B; C; A and B; A and C; B and C; and A, B, and C. Accordingly, the term "or" as used herein is intended to represent exclusive alternatives only when it is preceded by an exclusive term (e.g., "any one," "one of," "only one of," or "exactly one of"). In addition, a list that begins with "one or more" (and variations thereof) and includes "or" to separate the listed elements represents the option of one or more of any or all of the listed elements. For example, the phrases "one or more of A, B, or C" and "at least one of A, B, or C" represent the following options: one or more A; one or more B; one or more C; one or more A and one or more B; one or more B and one or more C; one or more A and one or more C; and one or more of each of A, B, and C. Similarly, a list beginning with "a plurality of ..." (and variations thereof) and including "or" to separate the listed elements represents the option of multiple instances of any or all of the listed elements. For example, the phrases "a plurality of A, B, or C" and "two or more of A, B, or C" represent the following options: A and B; B and C; A and C; and A, B, and C. In general, the term "or" as used herein represents exclusive alternatives (e.g., "one or the other, but not both") only when it is preceded by an exclusive term (e.g., "either," "one of ...", "only one of ...", or "exactly one of ...").

[0156] Also as used herein, unless otherwise specified or limited, the terms "about" and "approximately" used herein with respect to a reference value refer to a change of ±20% or less (e.g., ±15, ±10%, ±5%, etc.) relative to the reference value, including the end points of the range, unless otherwise specified or limited. Similarly, as used herein with respect to a reference value, the term "substantially equal" (and similar terms) refers to a change of less than ±5% (e.g., ±2%, ±1%, ±0.5%) relative to the reference value, including the end points. In the case of special designation, "substantially" can indicate a change in a numerical direction relative to the reference value. For example, the term "substantially less than" a reference value (and similar terms) indicates a value that is reduced by 30% or more (e.g., 35%, 40%, 50%, 65%, 80%) from the reference value, and the term "substantially greater than" a reference value (and similar terms) indicates a value that is increased by 30% or more (e.g., 35%, 40%, 50%, 65%, 80%) from the reference value.

[0157] Also as used herein, unless otherwise limited or qualified, "current" is generally used as a measure of time, i.e., to indicate a present value (e.g., present position, load, lift position, etc.). In contrast, "current" is used to refer to the flow of charge in an electrical system.

[0158] Although the present invention has been described with reference to preferred embodiments, workers skilled in the art will recognize that changes may be made in form and detail without departing from the scope of the discussion.

Claims

1. An electric power machine (600), the electric power machine (600) comprising: Power machinery rack (110); A plurality of electric actuators (660), the plurality of electric actuators being supported by the power machine frame (110), wherein the plurality of electric actuators (660) include a traction motor (640), a lifting actuator (675), and a tilt actuator (680); A lifting arm structure (620), the lifting arm structure comprising: a lift arm (670) coupled to the power machine frame (110) and configured to move relative to the power machine frame (110) via the lift actuator (675); and a working element (655) supported by the lifting arm (670) and configured to move relative to the lifting arm (670) via the tilt actuator (680); an electric power source (682) configured to power the plurality of electric actuators (660); and One or more electronic processors (700), the one or more electronic processors communicating with the plurality of electric actuators (660), the one or more electronic processors (700) being configured to: receiving operational data for a current operation of the electric power machine (805), determining a commanded direction of travel for the electric power machine based on the operating data (810), determining (815) an orientation of the working element (655) relative to the lifting arm (670) based on the operating data, comparing the orientation to an orientation criterion (820), and In response to determining that the commanded direction of travel is for a first direction of travel and based on the comparison, determining modified operating parameters (825) for the electric power machine (600), and controlling at least one of the electric actuators (660) (830) based on the modified operating parameters.

2. The electric power machine (600) according to claim 1, wherein: The first travel direction is a forward travel direction; and Wherein, the one or more electronic processors (700) are configured to: determining the commanded direction of travel for the electric power machine (600) by detecting a commanded speed, and Based on the commanded speed being a positive speed value that exceeds a preset positive speed value, determining that the commanded direction of travel for the electric power machine (600) is for the forward direction of travel.

3. The electric power machine (600) according to claim 1, wherein: In response to a given command input, the modified operating parameter corresponds to a reduced power or speed for one or more of the traction motor (640) or the hoist actuator (675).

4. The electric power machine (600) according to claim 3, wherein: The orientation includes a tilt position, and the orientation criteria include a tilt criteria; wherein the one or more electronic processors (700) are further configured to determine whether the tilted position satisfies the tilt criterion based on the comparison; and Wherein, when the tilted position is within a predetermined extension range, the tilted position satisfies the tilt standard.

5. The electric power machine (600) of claim 1, wherein: The orientation includes a lift position of the lift arm (670), and the orientation criteria include a lift position criteria; and Wherein, the one or more electronic processors (700) are further configured to: comparing the lift position of the lift arm (670) to the lift position standard, and The modified operating parameter is determined based on a comparison of the lift position to the lift position criterion.

6. The electric power machine (600) according to claim 5, wherein: The one or more electronic processors (700) are configured to determine the modified operating parameter in response to determining that the raised position of the lift arm (670) is less than a predetermined distance above a reference height.

7. The electric power machine (600) according to claim 6, wherein: The reference altitude corresponds to the ground surface.

8. The electric power machine (600) of claim 1, wherein: The orientation includes a lift position of the lift arm (670), and the orientation criteria include a lift position criteria; and wherein the modified operating parameters define a linear or otherwise reduced maximum velocity of the lift actuator (675) in response to the lowering of the lift position.

9. The electric power machine (600) of claim 8, wherein: The one or more electronic processors (700) are also configured to: Determining the travel speed of the electric power machine (600); comparing the travel speed of the electric power machine (600) with a travel speed standard; as well as In response to the travel speed of the electric power machine (600) satisfying the travel speed criterion, the hoist speed is limited to zero for a non-zero hoist height.

10. The electric power machine (600) of claim 1, wherein: The orientation includes a tilt position, and the orientation criteria include a tilt criteria; and Wherein the modified operating parameter is a speed limit for the lift actuator (675).

11. The electric power machine (600) of claim 1, wherein: The orientation includes a tilt position, and the orientation criteria include a tilt criteria; and Wherein the modified operating parameter is a speed limit for the traction motor (640), the speed limit defining a linear or otherwise reduced maximum drive speed in response to the extension of the tilt position.

12. The electric power machine (600) of claim 1, wherein: The orientation includes a tilt position, and the orientation criteria include a tilt criteria; and Wherein the modified operating parameter is a drive torque limit for the traction motor (640), the drive torque limit defining a linear or otherwise reduced reduction in traction torque in response to extension of the lift position.

13. An electric power machine (600), the electric power machine (600) comprising: Power machinery rack (110); A plurality of electric actuators (660), the plurality of electric actuators being supported by the power machine frame (110), wherein the plurality of electric actuators (660) include a traction motor (640), a lifting actuator (675), and a tilt actuator (680); A lifting arm structure (620), the lifting arm structure comprising: a lift arm (670) coupled to the power machine frame (110) and configured to move relative to the power machine frame (110) via the lift actuator (675); and a working element (655) supported by the lifting arm (670) and configured to move relative to the lifting arm (670) via the tilt actuator (680); an electric power source (120, 420) configured to supply power to the plurality of electric actuators (660); and One or more electronic processors (700), the one or more electronic processors communicating with the plurality of electric actuators (660), the one or more electronic processors (700) being configured to: receiving operational data (805) for current operation of the electric power machine (600), determining a commanded direction of travel (810) for the electric power machine (600) based on the operating data, determining (815) an orientation of the working element (655) relative to the lifting arm (670) based on the operating data, performing a comparison of the orientation with an orientation criterion (820), and In response to determining that the commanded direction of travel is for a first direction of travel and based on the comparison, an operating limit (825) for the traction motor (640) is determined, and the traction motor (640) is controlled (830) based on the operating limit.

14. The electric power machine according to claim 13, wherein: The operating limit for the traction motor (640) is a drive torque limit, and wherein the one or more electronic processors (700) control the traction motor (640) based on the drive torque limit.

15. The electric power machine (600) of claim 13, wherein: The operating limit for the traction motor (640) is a drive speed limit, and wherein the one or more electronic processors (700) control the traction motor (640) based on the drive speed limit.

16. An electric power machine (600), the electric power machine (600) comprising: Power machinery rack (110); a plurality of electric actuators (406, 408, 660), the plurality of electric actuators being supported by the power machine frame (110); A lifting arm structure (620), the lifting arm structure comprising: a lift arm (670) coupled to the power machine frame (110) and configured to move relative to the power machine frame (110) via a lift actuator (675) of the plurality of electric actuators (660); and A working element (655), the working element being supported by the lifting arm (670); an electric power source (682) configured to power the plurality of electric actuators (660); and One or more electronic processors (700), the one or more electronic processors communicating with the plurality of electric actuators (660), the one or more electronic processors (700) being configured to: receiving operational data (805) for current operation of the electric power machine (600), determining a lift position (815) associated with the lift actuator (675) based on the operational data, determining a current limit (825) for the lift actuator (675) based on the lift position, and The current (830) provided to the lift actuator (675) is controlled based on the current limit.

17. The electric power machine (600) of claim 16, wherein: The one or more electronic processors (700) are also configured to: detecting an interruption condition based on the lift position and the interruption condition criteria, wherein, in response to detecting the interrupt condition, the one or more electronic processors (700) determine the current limit based on a comparison of the lift position to the interrupt condition criteria.

18. The electric power machine (600) of claim 16, wherein: The current limit is within a first current range for performing an interrupting operation using the electric power machine.

19. The electric power machine (600) of claim 18, wherein: The current limit is within a second current range for performing a lifting operation using the electric power machine (600), the second current range being different from the first current range.

20. The electric power machine (600) of claim 19, wherein: The current limit is within a third current range for performing a full extension operation with the electric power machine (600), the third current range being different from the second current range and the first current range.

21. The electric power machine (600) of claim 16, wherein: The current limit corresponds to a constant load rating when the lift position is within a discrete range of lift positions.

22. The electric power machine (600) of claim 21, wherein: The current limit corresponds to a dynamically increased load rating when the lift position is within an interruption range of lift positions, wherein the lift position of the interruption range is lower than the lift position of the discrete range.

23. The electric power machine (600) of claim 22, wherein: When the lift position is within the interruption range, the one or more electronic processors (700) cause the current limit to dynamically increase to correspond to the dynamically increased load rating associated with the interruption range of the lift position.

24. The electric power machine (600) of claim 21, wherein: The current limit corresponds to a dynamically reduced load rating when the lift position is within a fully extended range of lift positions, wherein the fully extended range of lift positions is higher than the discrete range of lift positions.

25. The electric power machine (600) of claim 24, wherein: When the lift position is within the fully extended range, the one or more electronic processors (700) cause the current limit to be dynamically reduced to correspond to the dynamically reduced load rating associated with the fully extended range of the lift position.

26. A method of operating an electric power machine (600), the method comprising: Receiving, with one or more electronic processors (700), one or more input parameters (805) corresponding to one or more of operator inputs for operating the electric power machine (600) or sensed operational data for the electric power machine (600); determining, using the one or more electronic processors (700), a lift position (815) of an electric lift actuator (675) for the electric power machine (600) based on the one or more input parameters; determining, using the one or more electronic processors (700), a dynamic current limit (825) for the electric lift actuator (675) based on the lift position; and The one or more electronic processors (700) are used to control, using the one or more electronic processors (700), current (830) provided to the electric lift actuator (675) based on the dynamic current limit.

27. The method according to claim 26, wherein: Determining the dynamic current limit includes determining the dynamic current limit to be within a first current range for performing an interruption operation with the electric power machine (600).

28. The method according to claim 27, wherein: Determining the dynamic current limit includes determining the dynamic current limit to be within a second current range for performing a lifting operation using the electric power machine (600), the second current range being different from the first current range.

29. The method according to claim 26, wherein: Determining the dynamic current limit includes determining the dynamic current limit to correspond to a constant load rating when the lift position is within a discrete range of lift positions.

30. The method of claim 29, wherein: Determining the dynamic current limit includes determining the dynamic current limit to correspond to a dynamically increased load rating when the lift position is within an interruption range of lift positions, wherein the lift position of the interruption range is lower than the lift position of the discrete range.

Images