SYSTEMS AND METHODS OF PERFORMING IMPLEMENT LEVELING OPERATIONS WITH A POWER MACHINE

1 . A system for controlling an electric power machine, the system comprising:

one or more electronic processors in electrical communication with an electric tilt actuator and an electric lift actuator that manipulate a workgroup of the electric power machine and configured to:

receive operational data for the electric power machine;

determine, based on the operational data, a current lift position of the electric lift actuator;

determine, based on the current lift position, a target tilt position for the electric tilt actuator; and

control the electric tilt actuator based on the target tilt position.

2 . The system of claim 1 , wherein the one or more electronic processors are configured to:

determine a current tilt position of the electric tilt actuator;

determine a difference between the current tilt position of the electric tilt actuator and the target tilt position for the electric tilt actuator;

when the difference exceeds a threshold, adjust the current tilt position of the electric tilt actuator based on the difference; and

when the difference does not exceed the threshold, prevent adjustment of the current tilt position of the electric tilt actuator based on the difference.

3 . The system of claim 1 , wherein the one or more electronic processors are configured to:

after controlling the electric tilt actuator based on the target tilt position,

determine an adjusted tilt position for the electric tilt actuator, wherein the adjusted tilt position is a tilt position of the electric tilt actuator after the electric tilt actuator is controlled based on the target tilt position;

determine an error term between the target tilt position and the adjusted tilt position; and

when the error term satisfies an error threshold, detect a fault condition.

4 . The system of claim 3 , wherein the one or more electronic processors are configured to:

when the fault condition is detected, generate and transmit a fault warning to an operator of the electric power machine.

5 . The system of claim 3 , wherein the one or more electronic processors are configured to:

when the fault condition is detected, prevent adjustment of the electric tilt actuator based on the target tilt position.

6 . The system of claim 3 , wherein the one or more electronic processors are configured to determine the error term based on an angular offset value from a default horizontal plane defined by a default orientation of a work element on a distal end of the workgroup.

7 . The system of claim 3 , wherein the one or more electronic processors are configured to determine the error term based on a gravity scalar value.

8 . The system of claim 1 , wherein the one or more electronic processors are configured to:

determine an angular offset value with respect to a default horizontal plane defined by a default orientation of a work element at a distal end of the workgroup,

wherein the electric tilt actuator is controlled based on the angular offset value.

9 . The system of claim 1 , wherein the one or more electronic processors are configured to:

determine an angular deviation of a frame of the electric power machine from a reference orientation;

wherein the target tilt position is determined based on the angular deviation.

10 . The system of claim 1 , wherein the target tilt position is determined relative to gravity.

11 . The system of claim 1 , wherein the one or more electronic processors are configured to:

determine the target tilt position using a predetermined mapping that includes a plurality of lift positions and a plurality of tilt positions, wherein each lift position of the plurality of lift positions is associated with a corresponding tilt position of the plurality of tilt positions.

12 . The system of claim 1 , wherein the target tilt position is further determined based on a reference orientation of the electric power machine.

13 . The system of claim 12 , wherein the one or more electronic processors are configured to:

determine an angular deviation of a frame of the electric power machine from the reference orientation of the electric power machine;

wherein the target tilt position is determined based on the angular deviation.

14 . The system of claim 1 , wherein the operational data includes position data from at least one of the electric lift actuator or the electric tilt actuator.

15 . A method for controlling an electric power machine, the method comprising, with one or more electronic processors:

receiving operational data for the electric power machine;

determining, based on the operational data, a current lift position of a lift arm assembly of the electric power machine;

determining, based on the current lift position, a target tilt position of a tilt assembly of the electric power machine, the tilt assembly including an electric tilt actuator that is configured to adjust a tilt position of the tilt assembly; and

controlling the electric tilt actuator, based on the target tilt position, to adjust a current tilt position of the tilt assembly.

16 . The method of claim 15 , wherein determining the current lift position of the lift arm assembly includes determining a current lift position of an electric lift actuator included in the lift arm assembly.

17 . The method of claim 15 , wherein determining the target tilt position of the tilt assembly includes determining a target tilt position of the electric tilt actuator.

18 . An electric power machine, the electric power machine comprising:

a power machine frame;

a plurality of electric actuators supported by the power machine frame, wherein the plurality of electric actuators includes an electric lift actuator and an electric tilt actuator;

a lift arm structure that includes:

a lift arm coupled to the power machine frame and configured to be moved relative to the power machine frame by the electric lift actuator; and

a work element supported by the lift arm and configured to be moved relative to the lift arm by the electric tilt actuator;

an electric power source configured to power the plurality of electric actuators; and

one or more electronic processors in communication with the plurality of electric actuators, the one or more electronic processors configured to, during operation of the electric power machine in a work element leveling mode:

monitor a current lift position of the electric lift actuator;

determine, based on the current lift position, a target tilt position for the electric tilt actuator;

control the electric tilt actuator based on the target tilt position; and

responsive to a change in the current lift position:

determine, based on the change in the current lift position, an adjusted target tilt position for the electric tilt actuator; and

control the electric tilt actuator based on the adjusted target tilt position.

19 . The electric power machine of claim 18 , wherein the work element leveling mode is activated responsive to receipt of an operator input.