Propulsion power control in electrical work machines
A power delivery control apparatus for work machines that derive propulsion power from electrical power sources during a work task includes data processor circuitry and power controller circuitry. The data processor circuitry is constructed to accept a data set indicating a propulsion power requirement for performing the work task and to generate power delivery limit data from the data set. The power delivery limit data defines a propulsion power delivery limit on the propulsion power derived from the electrical power sources during the work task. The power controller circuitry of a distinguishably identifiable work machine is communicatively coupled to the data processor circuitry and constructed to accept the power delivery limit data from the data processor circuitry and to enforce the propulsion power delivery limit during performance of the work task.
1 . A power delivery control apparatus for work machines that derive propulsion power from electrical power sources during a work task, the power delivery control apparatus comprising:
data processor circuitry constructed to:
accept a data set indicating a propulsion power requirement for performing the work task; and
generate power delivery limit data from the data set defining a propulsion power delivery limit on the propulsion power during performance of the work task; and
power controller circuitry of a distinguishably identifiable work machine communicatively coupled to the data processor circuitry and constructed to:
accept the power delivery limit data from the data processor circuitry; and
limit the propulsion power of the distinguishably identifiable work machine to the propulsion power delivery limit during performance of the work task regardless of demand for the propulsion power beyond the propulsion power delivery limit,
wherein the data processor circuitry is constructed to:
accept the data set having, as the propulsion power requirement:
a selected power target specifying a performance level on the work task, and
a power reference against which performance in meeting the selected power target is measured, and
generate the propulsion power delivery limit from a propulsion power level computed based on the selected power target and the power reference,
wherein the selected power target and the power reference represent actual power use.
2 . The power delivery control apparatus of claim 1 , wherein the propulsion power level is computed through proportional-integral control computations taking the selected power target and the power reference as input thereto.
3 . The power delivery control apparatus of claim 2 , wherein the data processor circuitry is located onboard the distinguishably identifiable work machine.
4 . The power delivery control apparatus of claim 1 , wherein the data processor circuitry is constructed to:
accept the data set having, as the propulsion power requirement, a target runtime of the distinguishably identifiable work machine on power derived from an onboard set of the electrical power sources over a charge cycle having an initial battery state of charge; and
generate the propulsion power delivery limit from the propulsion power level also computed through artificial intelligence constructed from a computational model of the distinguishably identifiable work machine, the computational model being trained on data samples including a previously accepted target runtime over the charge cycle having the initial battery state of charge.
5 . The power delivery control apparatus of claim 4 , wherein the data processor circuitry on which the artificial intelligence is implemented is located onboard the distinguishably identifiable work machine.
6 . The power delivery control apparatus of claim 1 , wherein the data processor circuitry is constructed to:
accept the data set having, as the propulsion power requirement, a battery lifetime degradation rate power limit on a distinguishably identifiable electrical power source onboard the distinguishably identifiable work machine; and
generate the propulsion power delivery limit from the propulsion power level also computed through artificial intelligence constructed from a computational model of the distinguishably identifiable work machine, the computational model being trained on data samples including the battery lifetime degradation rate power limit.
7 . The power delivery control apparatus of claim 1 , wherein the data processor circuitry is constructed to:
coordinate propulsion across the work machines through selection of respective performance targets;
accept the data set having, as the propulsion power requirement, a power level associated with a performance target selected from the respective performance targets; and
generate the propulsion power delivery limit from the propulsion power level also computed through artificial intelligence implementing a computational model of the distinguishably identifiable work machine, the computational model being trained on data samples including the propulsion power level selected in accordance with the performance target.
8 . The power delivery control apparatus of claim 7 , wherein:
the performance target is a speed target of the distinguishably identifiable work machine as measured by an onboard sensor; and
the propulsion power level is a power adjustment level computed from a difference between a current speed and the speed target, and a difference between a current measured power and predicted power for a given payload, grade of a course over which the work task is performed and rolling resistance.
9 . The power delivery control apparatus of claim 7 , wherein:
the performance target is a time target for traversal of a course over which the work task is performed by the distinguishably identifiable work machine as measured by an onboard sensor; and
the propulsion power level is computed from a difference between a current speed and a speed target, and a difference between a current measured power and predicted power for a given pay load and grade of a course on which the work task is performed in the target time.
10 . The power delivery control apparatus of claim 7 , wherein:
the performance target is a propulsion power target of the distinguishably identifiable work machine as measured by an onboard sensor; and
the propulsion power level is equal to the propulsion power target.
11 . A system constructed to coordinate machine propulsion across distinguishably identifiable work machines performing respective work tasks at distinguishably identifiable work sites, each deriving propulsion power from distinguishably identifiable electrical power sources onboard each of the distinguishably identifiable work machines, the system comprising:
an enterprise infrastructure communicatively coupled to the work machines and comprising:
non-transitory computer-readable memory circuitry constructed to retain a database therein that associates the electrical power sources with the corresponding work machines and the work machines with the corresponding work sites; and
data processor circuitry constructed to:
execute management process instructions to coordinate propulsion across the work machines associated with the electrical power sources and with the work sites in the database, the propulsion being coordinated across the work machines through selection of respective performance targets; and
accept power levels associated with the respective performance targets; and
power controller circuitry deployed on the respective work machines constructed to:
generate propulsion power delivery limits from propulsion power levels computed through artificial intelligence implementing computational models of the respective work machines, the computational models being trained on data samples including the propulsion power level selected in accordance with the respective performance targets; and
limit the propulsion power of each of the work machines to the propulsion power delivery limits regardless of demand for the propulsion power beyond the propulsion power delivery limit,
wherein the data processor circuitry is constructed to:
accept the data set having, as the propulsion power requirement:
a selected power target specifying a performance level on the work task, and
a power reference against which performance in meeting the selected power target is measured, and
generate the propulsion power delivery limit from a propulsion power level computed based on the selected power target and the power reference,
wherein the selected power target and the power reference represent actual power use.
12 . The system of claim 11 , wherein:
the performance targets include a speed target of a work machine; and
the propulsion power levels include a power adjustment level computed from a difference between a current speed and the speed target, and a difference between a current measured power and predicted power for a given payload and grade of a course over which the propulsion is performed.
13 . The system of claim 11 , wherein:
the performance targets include a time target for traversal of a course over which a work machine is propelled; and
the propulsion power levels are computed from a difference between a current speed of the work machine and a speed target, and a difference between a currently measured power and predicted power for a given payload and grade of a course on which the work machine is propelled in the target time.
14 . The system of claim 11 , wherein:
the performance targets include a propulsion power target of a work machine; and
the propulsion power levels include the propulsion power target.
15 . The system of claim 11 , wherein the electrical power sources are electrical batteries.
16 . A method of power delivery control for work machines that derive propulsion power from electrical power sources during a work task, the method comprising:
accepting a data set indicating a propulsion power requirement for performing the work task;
generating power delivery limit data from the data set defining a propulsion power delivery limit on the propulsion power during performance of the work task;
limiting the propulsion power of the work machine to the propulsion power delivery limit during performance of the work task regardless of demand for the propulsion power beyond the propulsion power delivery limit;
accepting the data set having, as the propulsion power requirement:
a selected power target specifying a performance level on the work task, and
a power reference against which performance in meeting the selected power target is measured; and
generating the propulsion power delivery limit from a propulsion power level computed based on the selected power target and the power reference,
wherein the selected power target and the power reference represent actual power use.
17 . The method of claim 16 , further comprising:
computing the propulsion power level through proportional-integral control computations taking the selected power target and the power reference as inputs.
18 . The method of claim 16 , further comprising:
accepting the data set having, as the propulsion power requirement, a maximum runtime of the work machine on power derived from an onboard set of the electrical power sources over a charge cycle, and a logged power setting; and
generating the propulsion power delivery limit from the propulsion power level also computed through artificial intelligence constructed from a computational model of the work machine, the computational model being trained on data samples including the maximum runtime over the charge cycle and the logged power setting.
19 . The method of claim 16 , further comprising:
accepting the data set having, as the propulsion power requirement, a battery life degradation rate power limit on a distinguishably identifiable electrical power source onboard the work machine; and
generating the propulsion power delivery limit from the propulsion power level also computed through artificial intelligence constructed from a computational model of the work machine, the computational model being trained on data samples including the battery lifetime degradation rate power limit.
20 . The method of claim 19 , further comprising deploying electrical batteries as the electrical power sources.