Paired Electric Actuator Current Matching for Force Balance
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Solution Overview
Problem
Existing power machines with electric actuators face challenges in achieving balanced forces, leading to premature wear, increased maintenance, and underperformance due to conventional control schemes that do not inherently balance forces between paired electric actuators.
Innovation Solution
Implementing a force balancing control scheme that matches electric currents for paired electric actuators, where one actuator is controlled via a velocity control scheme and the other via an electric current control scheme, with automatic adjustments to compensate for current differences and ensure balanced forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional control schemes are used for paired electric actuators, then the actuators can operate independently, but force imbalance occurs leading to premature wear and underperformance
Solution Approach 1:
The control system continuously monitors the electric current of a reference actuator and uses this feedback to adjust the control signal for the non-reference actuator. The electronic processor determines a second electric current based on the first electric current measurement, creating a closed-loop feedback mechanism that maintains force balance between paired actuators during operation.
Solution Approach 2:
The system designates one actuator as a reference actuator that operates with standard control, while the other actuator automatically adjusts its operation based on the reference actuator's current measurement. This self-service approach allows the paired actuators to automatically balance their own forces without external intervention, reducing wear and improving reliability.
2Device complexity
If velocity control scheme is used for both actuators, then control simplicity is maintained, but force balancing is not achieved due to current differences
Solution Approach 1:
Instead of applying the same control scheme to both actuators, the system applies different control approaches locally to each actuator. The reference actuator uses standard velocity control, while the non-reference actuator uses a modified control scheme that incorporates current matching. This local differentiation achieves force balance without requiring complete redesign of the control system.
3Reliability
If electric current control is implemented for force balancing, then force balance is achieved, but control complexity increases
Solution Approach 1:
The system implements electric current control selectively rather than universally. Only the non-reference actuator undergoes current-based force balancing control, while the reference actuator continues with standard velocity control. This partial application of the complex control method achieves force balance while minimizing the increase in overall system complexity.
Data Source
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.