Systems and methods of preventing a run-away state in an industrial machine
A system and method for preventing a run-away state of an industrial machine. Joints of the industrial machine are monitored in order to determine if the industrial machine is in danger of entering a run-away state. If a joint parameter exceeds a threshold value, which is indicative of the potential to enter a run-away state, then a force or torque limit is increased so that the industrial machine has additional force or torque to slow down the industrial machine when decelerating. This additional torque prevents the industrial machine from entering the run-away state.
1. A computer-implemented method of preventing a run-away state of an industrial machine, the industrial machine including a processor, a sensor, a motor driver, and a motor, the method comprising:
setting, using the processor, a torque limit for a joint of the industrial machine to a first torque limit value;
obtaining, using the processor, a joint parameter for the joint of the industrial machine based on an output signal from the sensor;
comparing, using the processor, the joint parameter for the joint to a joint parameter threshold value;
increasing, using the processor, the torque limit for the joint of the industrial machine to a second torque limit value based on the comparison of the joint parameter for the joint to the joint parameter threshold value when the joint parameter is greater than or equal to the joint parameter threshold value; and
applying, using the motor drive and the motor, torque to the joint of the industrial machine,
wherein the torque applied to the joint of the industrial machine is limited to the second torque limit value.
2. The computer-implemented method of claim 1 , wherein the joint of the industrial machine is selected from the group consisting of a crowd joint, a hoist joint, and a swing joint.
3. The computer-implemented method of claim 1 , further comprising obtaining, using the processor, a pose for the joint of the industrial machine.
4. The computer-implemented method of claim 3 , wherein the pose corresponds to a position of an attachment of the industrial machine during a digging operation.
5. The computer-implemented method of claim 4 , further comprising:
determining, using the processor, a weight associated with the attachment of the industrial machine;
determining, using the processor, a trajectory of the attachment of the industrial machine; and
determining, using the processor, static joint forces for the joint of the industrial machine.
6. The computer-implemented method of claim 5 , wherein the static joint forces correspond to the joint parameter for the joint of the industrial machine.
7. The computer-implemented method of claim 3 , further comprising:
determining, using the processor, an acceleration threshold for the joint of the industrial machine;
applying, using the motor drive and the motor, torque to the joint of the industrial machine, wherein the torque applied to the joint of the industrial machine is limited to the first torque limit value; and
determining, after applying torque to the joint of the industrial machine, an acceleration of the joint of the industrial machine.
8. The computer-implemented method of claim 7 , wherein the acceleration of the joint of the industrial machine corresponds to the joint parameter for the joint of the industrial machine.
9. An industrial machine comprising: a joint; a joint sensor; a motor driver associated with the joint; a motor associated with the motor driver and the joint; and a controller coupled to the joint sensor and the motor driver, the controller including a non-transitory computer readable medium and a processor, the controller comprising computer executable instructions stored in the non-transitory computer readable medium for controlling operation of the industrial machine to: set a torque limit for a joint to a first torque limit value; obtain a joint parameter for the joint based on an output signal from the joint sensor; compare the joint parameter for the joint to a joint parameter threshold value; and increase the torque limit for the joint to a second torque limit value based on the comparison of the joint parameter for the joint to the joint parameter threshold value when the joint parameter is greater than or equal to the joint parameter threshold value, wherein the motor driver is configured to drive the motor to apply torque to the joint, the torque limited to the second torque limit value.
10. The industrial machine of claim 9 , wherein the joint is selected from the group consisting of a crowd joint, a hoist joint, and a swing joint.
11. The industrial machine of claim 9 , the controller further comprising computer executable instructions stored in the non-transitory computer readable medium for controlling operation of the industrial machine to: obtain a pose for the joint.
12. The industrial machine of claim 11 , wherein the pose corresponds to a position of an attachment of the industrial machine during a digging operation.
13. The industrial machine of claim 12 , the controller further comprising computer executable instructions stored in the non-transitory computer readable medium for controlling operation of the industrial machine to: determine a weight associated with the attachment of the industrial machine; determine a trajectory of the attachment of the industrial machine; and determine static joint forces for the joint.
14. The industrial machine of claim 13 , wherein the static joint forces correspond to the joint parameter for the joint.
15. The industrial machine of claim 11 , the controller further comprising computer executable instructions stored in the non-transitory computer readable medium for controlling operation of the industrial machine to: determine an acceleration threshold for the joint; apply torque to the joint, wherein the torque applied to the joint is limited to the first torque limit value; and determine, after applying torque to the joint, an acceleration of the joint.
16. The industrial machine of claim 15 , wherein the acceleration of the joint corresponds to the joint parameter for the joint.
17. A controller for preventing a run-away state of an industrial machine, the controller including a non-transitory computer readable medium and a processor, the controller comprising computer executable instructions stored in the non-transitory computer readable medium for controlling operation of the industrial machine to: set a torque limit for a joint of the industrial machine to a first torque limit value; obtain a joint parameter for the joint of the industrial machine based on an output signal from a sensor; compare the joint parameter for the joint to a joint parameter threshold value; increase the torque limit for the joint of the industrial machine to a second torque limit value based on the comparison of the joint parameter for the joint to the joint parameter threshold value when the joint parameter is greater than or equal to the joint parameter threshold value; and apply torque to the joint of the industrial machine, the torque limited to the second torque limit value.
18. The controller of claim 17 , wherein the joint is selected from the group consisting of a crowd joint, a hoist joint, and a swing joint.
19. The controller of claim 17 , the controller further comprising computer executable instructions stored in the non-transitory computer readable medium for controlling operation of the industrial machine to: obtain a pose for the joint of the industrial machine.
20. The controller of claim 19 , wherein the pose corresponds to a position of an attachment of the industrial machine during a digging operation.
21. The controller of claim 20 , the controller further comprising computer executable instructions stored in the non-transitory computer readable medium for controlling operation of the industrial machine to: determine a weight associated with the attachment of the industrial machine; determine a trajectory of the attachment of the industrial machine; and determine static joint forces for the joint of the industrial machine.
22. The controller of claim 21 , wherein the static joint forces correspond to the joint parameter for the joint of the industrial machine.
23. The controller of claim 19 , the controller further comprising computer executable instructions stored in the non-transitory computer readable medium for controlling operation of the industrial machine to: determine an acceleration threshold for the joint of the industrial machine; apply torque to the joint of the industrial machine, wherein the torque applied to the joint of the industrial machine is limited to the first torque limit value; and determine, after applying torque to the joint of the industrial machine, an acceleration of the joint of the industrial machine.
24. The controller of claim 23 , wherein the acceleration of the joint of the industrial machine corresponds to the joint parameter for the joint of the industrial machine.