Controlling a digging operation of an industrial machine
View Patent ↗Systems, methods, devices, and computer readable media for controlling a digging operation of an industrial machine that includes a dipper and a crowd drive. A method includes determining an acceleration associated with the industrial machine, determining a crowd retract factor based on the acceleration, comparing the crowd retract factor to a threshold crowd retract factor, setting a crowd speed reference and a crowd retract torque for the crowd drive for a period of time based on the comparison of the crowd retract factor to the threshold crowd retract factor.
1. An industrial machine comprising:
a dipper;
a crowd drive configured to provide one or more control signals to a crowd actuation device, the crowd actuation device being operable to provide a force to the dipper to move the dipper toward or away from a bank; and
a controller connected to the crowd drive, the controller configured to
monitor a characteristic of the industrial machine,
determine if a value of the monitored characteristic of the industrial machine is indicative of an impact event associated with the dipper, and
set a crowd drive parameter for the crowd actuation device based on the value of the monitored characteristic of the industrial machine when the value of the monitored characteristic of the industrial machine is indicative of the impact event, wherein the crowd drive parameter for the crowd actuation device is related to a crowd force in response to the impact event.
2. The industrial machine of claim 1 , wherein the controller is configured to set the parameter for the crowd drive outside of a normal operating range for the crowd drive.
3. The industrial machine of claim 1 , wherein the controller is configured to determine whether the monitored characteristic of the industrial machine is indicative of the impact event by determining an acceleration associated with the dipper.
4. The industrial machine of claim 3 , wherein the acceleration associated with the dipper is a negative acceleration.
5. The industrial machine of claim 1 , wherein the crowd actuation device is an electric motor.
6. The industrial machine of claim 5 , wherein the crowd drive parameter is a torque produced by the electric motor.
7. The industrial machine of claim 1 , wherein the impact event creates a tipping moment on the industrial machine.
8. The industrial machine of claim 7 , wherein the monitored characteristic of the industrial machine is the tipping moment of the industrial machine.
9. The industrial machine of claim 8 , wherein the crowd force in response to the impact event is a crowd force for limiting the tipping moment of the industrial machine.
10. The industrial machine of claim 1 , wherein the controller is further configured to determine an angle of a dipper handle.
11. The industrial machine of claim 10 , wherein the controller is configured to set the crowd drive parameter by setting a crowd speed reference for the crowd drive based on the monitored characteristic and based on the angle of the dipper handle.
12. The industrial machine of claim 10 , wherein the controller is further configured to compare the angle of the dipper handle to one or more dipper handle angle limits, the dipper handle angle limits between approximately zero degrees and approximately ninety degrees with respect to a horizontal position of the dipper handle.
13. The industrial machine of claim 1 , wherein the controller is configured to set the crowd drive parameter by setting a crowd speed reference for the crowd drive.
14. The industrial machine of claim 1 , wherein the controller is configured to set the crowd drive parameter by setting a crowd motor torque for the crowd drive.
15. The industrial machine of claim 14 , wherein the controller is configured to set the crowd drive parameter by setting a crowd retract torque for the crowd drive.
16. The industrial machine of claim 15 , wherein the controller is configured to set the crowd retract torque to a value greater than a standard operational value for crowd retract torque.
17. The industrial machine of claim 16 , wherein the controller is configured to set the crowd retract torque to a value of less than approximately 400% of the standard operational value for crowd retract torque.
18. The industrial machine of claim 17 , wherein the controller is configured to set the crowd retract torque to approximately 150% of the standard operational value for crowd retract torque.
19. The industrial machine of claim 1 , wherein the crowd actuation device is a hydraulic cylinder.
20. The industrial machine of claim 1 , wherein the industrial machine includes an AC industrial machine.
21. The industrial machine of claim 1 , wherein the industrial machine includes a DC industrial machine.
22. The industrial machine of claim 1 , wherein the industrial machine includes a rope shovel.
23. The industrial machine of claim 1 , wherein the industrial machine includes a power shovel.