Force-based control of electrically actuated power machines

Abstract

Force-based control for electrically actuated power machines. One system may include one or more electronic processors in electrical communication with an electric actuator of the electric power machine. The one or more electronic processors may be configured to receive data for an electric power machine while the electric power machine is performing an operation and determine, based on the data, a force of the electric power machine. The one or more electronic processors may be configured to, responsive to the force exceeding a threshold, control the electric power machine to enforce a force limit.

What is claimed is: 
     
         1 . A control system of an electric power machine, the control system comprising: 
 one or more electronic processors in electrical communication with a plurality of electric actuators of the electric power machine and configured to: 
 control a first electric actuator of the plurality of electric actuators to perform an operation according to a set of operator commands; 
 determine a present electric current of the first electric actuator; 
 detect, based on the present electric current, when a force on the first electric actuator exceeds a threshold; and 
 responsive to the force exceeding the threshold, control one or more of the plurality of electric actuators to reduce the force on the first electric actuator resulting from the first electric actuator performing the operation. 
   
     
     
         2 . The control system of  claim 1 , wherein the one or more electronic processors are configured to: 
 in response to the first electric actuator inducing a force on a second electric actuator of the plurality of electric actuators by performing the operation, control the second electric actuator to move in a direction of the force induced on the second electric actuator by the first electric actuator to reduce the force on the first electric actuator resulting from the first electric actuator performing the operation.   
     
     
         3 . The control system of  claim 1 , wherein the one or more electronic processors are configured to update the threshold based on a specification of at least one of the first electric actuator or the second electric actuator. 
     
     
         4 . The control system of  claim 1 , wherein the one or more electronic processors are configured to update the threshold based on a present geometric arrangement of a workgroup of the power machine. 
     
     
         5 . The control system of  claim 1 , wherein the one or more electronic processors are configured to update the threshold based on a work task of the power machine; or an operational sequence of the power machine.  
     
     
         6 . A control system of an electric power machine, the control system comprising: 
 one or more electronic processors in electrical communication with a plurality of electric actuators for a workgroup of the electric power machine and configured to: 
 control a first electric actuator of the plurality of electric actuators to perform an operation according to a set of operator commands; 
 receive data for the electric power machine while the electric power machine is performing the operation, wherein the data includes present electric current data for the plurality of electric actuators and present position data for the workgroup of the electric power machine; 
 determine, based on the data, when a force on the workgroup caused by the electric power machine performing the operation exceeds a threshold; and 
 control the power machine to perform an action responsive to the force exceeding the threshold.  
   
     
     
         7 . The control system of  claim 6 , wherein the one or more electronic processors are configured to control the power machine to perform the action includes controlling the power machine to provide a notification to an operator of the electric power machine, wherein the notification indicates that the force exceeds a threshold. 
     
     
         8 . The control system of  claim 6 , wherein the action includes one or more of: 
 reducing a speed of one or more of the plurality of electric actuators; or   preventing movement of one or more of the plurality of electric actuators.   
     
     
         9 . The control system of  claim 6 , wherein the one or more electronic processors are configured to determine when the force exceeds the threshold based upon detecting one or more of a maximum force on the workgroup or a rate of change of force on the workgroup. 
     
     
         10 . The control system of  claim 6 , wherein performance of the operation includes the electric power machine interfacing with a material, and wherein the threshold is based on a type of the material.  
     
     
         11 . The control system of  claim 6 , wherein the threshold is established based on an operator input. 
     
     
         12 . The control system of  claim 11 , wherein the operator input indicates a type of material for the electric power machine to interface with as part of performing the operation, and wherein the threshold is based on the indicated type of material. 
     
     
         13 . The control system of  claim 6 , wherein the one or more electronic processors are configured to: 
 output the force of the electric power machine via a display device of the electric power machine.   
     
     
         14 . The control system of  claim 6 , wherein the one or more electronic processors are configured to: 
 determine a second force specific to a component of the workgroup of the electric power machine, wherein the component of the workgroup includes at least one of: a boom, a lift arm, or an implement;   determine when the second force exceeds a second threshold, wherein the second threshold is specific to the component of the workgroup; and   control the power machine to perform the action responsive to the second force exceeding the second threshold.    
     
     
         15 . A method for controlling an electric power machine, the method comprising: 
 receiving, with one or more electronic processors in electrical communication with electric actuators of the electric power machine, data for the electric power machine while the electric power machine is operating;   determining, with the one or more electronic processors, based on the data, a force on a first electric actuator of the electric actuators, the force corresponding to a present or commanded operation with at least one of the electric actuators to move a moveable portion of an implement of the electric power machine;   determining, with the one or more electronic processors, when the force exceeds a force threshold; and   responsive to the force exceeding the force threshold, controlling, with the one or more electronic processors, one or more of the electric actuators to provide an updated force on the first electric actuator that does not exceed the force threshold.   
     
     
         16 . The method of  claim 15 , wherein the present or commanded operation causes movement of the moveable portion of the implement of the electric power machine, and wherein controlling, with the one or more electronic processors, the one or more of the electronic actuators includes controlling the at least one of the electric actuators being associated with the moveable portion of the implement of the electric power machine.  
     
     
         17 . The method of  claim 15 , wherein the force threshold is a maximum force. 
     
     
         18 . The method of  claim 15 , wherein the force threshold is a minimum force. 
     
     
         19 . The method of  claim 15 , wherein the method further comprises: 
 determining the force threshold, with the one or more electronic processors, based on a type of material associated with the present or commanded operation.   
     
     
         20 . The method of  claim 19 , wherein the electronic processor is configured to receive an operator input indicative of the type of material and determine the force threshold based on the type of material indicated by the operator input.  
     
     
         21 . The method of  claim 15 , further comprising: 
 monitoring, with the one or more electronic processors, a position of the implement during performance of the present or commanded operation; and   updating the force threshold, with the one or more electronic processors, based on the monitored position to compensate for changes to a mechanical advantage of the at least one of the actuators during the performance of the present or commanded operation.