Paired Electric Actuator Current Balancing for Force Synchronization

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Solution Overview

Problem

Conventional control systems for electric actuators in power machines fail to achieve balanced forces between paired actuators, leading to premature wear, increased maintenance, and underperformance due to imbalanced forces.

Innovation Solution

Implementing a force balancing control scheme by matching electric currents or adjusting velocities for paired electric actuators, using electronic processors to monitor and compensate for current differences, ensuring balanced forces on a common load.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If conventional control systems are used for electric actuators, then the system is simple to implement, but the forces between paired actuators become imbalanced leading to premature wear and increased maintenance

Engineering Contradiction:

Improveactuator force balanceVSAvoidcontrol system complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The control system continuously monitors electric current in each actuator and uses this feedback to adjust velocity commands, ensuring force balance between paired actuators while maintaining system reliability

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system automatically detects current imbalances and adjusts velocities without external intervention, allowing the actuators to self-regulate their force output and maintain balance during operation

Inventive Principle:

Principle #25Self-service

2Reliability

If force balancing control is implemented by monitoring and adjusting electric currents, then actuator force balance is improved, but the control scheme becomes more complex

Engineering Contradiction:

Improveactuator force balanceVSAvoidcontrol scheme complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The system changes the control parameter from direct force control to velocity control based on current monitoring, achieving force balance through parameter transformation rather than direct force measurement

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The system replaces direct mechanical force measurement and control with electrical current monitoring and velocity adjustment, substituting a simpler electrical control approach for complex mechanical force balancing

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Reliability

If velocity adjustments are made to compensate for current differences, then force balance between actuators is achieved, but control precision requirements increase

Engineering Contradiction:

Improveactuator force balanceVSAvoidcurrent monitoring precision

Core Design Contradiction:

ReliabilityVSMeasurement precision

Solution Approach 1:

The system monitors electric current with high precision but only uses adjustments sufficient to achieve force balance, applying partial action rather than maximum control authority

Inventive Principle:

Principle #16Partial or excessive action

Data Source

PatentUS20250270785A1Systems and methods of force balancing for actuators of a power machine

Publication Date: 2025.08.28 DOOSAN BOBCAT NORTH AMERICA INC

AI summary

Force balancing can be implemented for actuators of an electric power machine. A method may include receiving a command for movement of a work element using a first electric actuator and a second electric actuator of the electric power machine and determining a target electric current based on the command for movement. The method may also include controlling the movement of the work element based on the target electric current, including providing substantially equal electric current to each of the first and second electric actuators to substantially balance forces exerted by the first and second electric actuators on the work element.