Electric Driveline Traction Control for Bucket Loading Slip Detection

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Automated bucket loading in mining and construction work machines faces challenges due to dynamic and unpredictable bucket-rock interactions, leading to wheel slipping and inefficiencies in varying rock pile conditions, which results in wear and tear on tires and loading equipment.

Innovation Solution

A bucket loading specific traction control procedure is implemented using an electric driveline, where driveline information is used to detect wheel slip conditions and adjust speed and torque without the need for physical sensors, optimizing traction control for varying loading conditions.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If traditional traction control systems with physical sensors are used, then wheel slip detection is reliable, but system complexity increases and cost increases

Engineering Contradiction:

Improvewheel slip detection reliabilityVSAvoidtraction control system complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent replaces physical sensors (mechanical detection systems) with a sensorless detection method that uses existing driveline information (current, voltage, speed signals) from the electric driveline components. The control unit calculates wheel slip conditions through signal processing and algorithms rather than physical sensor measurements, thereby reducing system complexity while maintaining detection capability

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The existing driveline components (inverter unit, electric motor, gearbox) provide their own operational data (current, voltage, speed signals) that are reused by the control unit for slip detection. This self-service approach eliminates the need for separate physical sensors, reducing system complexity while maintaining reliable detection through intelligent use of available data

Inventive Principle:

Principle #25Self-service

2Adaptability or versatility

If generic traction control is used, then system is simple to implement, but performance is insufficient for varying rock pile conditions

Engineering Contradiction:

Improveadaptation to varying loading conditionsVSAvoidtraction control procedure complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent implements dynamic traction control parameters that adapt in real-time to varying loading conditions. The control unit continuously monitors driveline information and adjusts torque and speed commands based on detected wheel slip conditions and rock pile characteristics. This dynamic adaptation allows the system to handle varying rock hardness, pile geometry, and particle size distributions effectively

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes traction control parameters (torque limits, speed commands, acceleration rates) based on detected operating conditions. Different parameter sets are applied depending on the severity of wheel slip and the phase of bucket loading, enabling optimal performance across diverse rock pile conditions while maintaining a unified control architecture

Inventive Principle:

Principle #35Parameter changes

3Ease of manufacture

If wheel slip is not controlled, then traction control system is simple, but tire wear and equipment wear increase

Engineering Contradiction:

Improvetraction control system simplicityVSAvoidwheel slip wear

Core Design Contradiction:

Ease of manufactureVSObject-generated harmful factors

Solution Approach 1:

The patent implements a feedback control mechanism where the control unit continuously monitors driveline information, detects wheel slip conditions, and adjusts torque commands in real-time. When slip is detected, the system reduces torque to eliminate slipping, then gradually increases it again, creating a closed-loop control that prevents wear while maintaining productive loading operations

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system uses the electrical characteristics of the electric driveline (current draw, voltage drops, speed variations) that naturally occur during wheel slip as detection signals. Instead of treating these as mere symptoms of problematic slipping, the system converts them into useful feedback information for controlling traction, thereby preventing wear while utilizing naturally occurring signals

Inventive Principle:

Principle #22Blessing in disguise (Convert harm into benefit)

Data Source

PatentEP3907332B1Traction control during loading operations of a mining machine

Publication Date: 2023.03.01 SANDVIK MINING & CONSTR OY

Figure 1
Figure 2
Figure 3

AI summary

According to an example aspect of the present invention, there is provided a method, comprising: detecting (200) the work machine comprising an electric driveline (300), a boom (14), and a bucket (16) connected to the boom to enter a bucket loading mode, and initiating (210) a bucket loading specific traction control procedure in response to detecting the work machine to enter the bucket loading mode. The procedure comprises detecting (230) a wheel slip condition during the bucket loading mode on the basis of driveline information and at least one slip condition threshold value preconfigured for the bucket loading mode, and defining (240) a bucket loading specific traction control parameter set in response to the detected slip condition.