Digging Attachment Control via Target Vector Updates
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Solution Overview
Problem
Industrial machines, such as electric mining shovels, face challenges in accurately and precisely controlling the motion of their digging attachments due to large inertia, position creep, and speed and torque limitations of their actuation devices, making it difficult for operators to achieve specific paths or trajectories without oversized motors.
Innovation Solution
A control system that converts operator inputs into target vectors, updating them to maintain precise position and velocity control, compensating for position creep and resistance, and translating these into control signals for actuators to manage the motion of the digging attachment along calculated paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional control schemes are used with standard motor sizes, then device complexity is reduced, but manufacturing precision and position control accuracy deteriorate due to large inertia and position creep
Solution Approach 1:
The control system continuously monitors the actual position and velocity of the digging attachment and compares it with the target values. The controller adjusts the actuator commands in real-time based on the position error and velocity error, enabling accurate path following despite large inertia and position creep. This closed-loop feedback mechanism resolves the contradiction by achieving high precision without requiring oversized motors.
Solution Approach 2:
The system uses the existing actuators and sensors to achieve precise control through intelligent control algorithms. Rather than adding oversized motors, the control system itself provides the necessary compensation for inertia and position creep through continuous calculation and adjustment of control signals based on real-time system state.
2Manufacturing precision
If oversized motors are used to achieve precise control, then manufacturing precision improves, but device complexity and cost increase
Solution Approach 1:
The patent replaces the mechanical solution of using oversized motors with a control-theoretic solution. The control system uses mathematical models and real-time calculations to compensate for the limitations of standard-sized actuators, achieving the same positioning accuracy that would otherwise require larger, more complex mechanical systems.
Solution Approach 2:
The control system dynamically adjusts control parameters such as target velocity, acceleration profiles, and control gains based on the current system state and desired trajectory. This allows standard actuators to achieve precise control by optimizing their operational parameters rather than relying on increased motor size.
3Manufacturing precision
If standard actuators are used, then device complexity is reduced, but manufacturing precision deteriorates due to speed and torque limitations
Solution Approach 1:
The control system dynamically adjusts velocity and acceleration commands based on the current state of the system and the desired trajectory. By continuously optimizing the velocity profile and accounting for the actuator's speed and torque limitations, the system achieves accurate velocity control without requiring actuators with excessive power capacity.
Data Source
AI summary
A industrial machine including a component, one or more actuators configured to control the component, an input device configured to generate a first signal corresponding to a first desired motion and a second signal corresponding to a second desired motion, and a controller. The controller is configured to receive the first signal, determine a first target vector, determine a first set of control signals, the first set of control signals related to the first desired motion, and provide the first set of control signals to the one or more actuators. The controller is also configured to receive the second signal, determine a second target vector, determine a second set of control signals based on the first target vector and the second target vector, the second set of control signals related to the second desired motion, and provide the second set of control signals to the one or more actuators.