US 12,234,624 B2
Motor control for electrically powered power machine
Christopher Young, Fargo, ND (US)
Assigned to Doosan Bobcat North America, Inc., West Fargo, ND (US)
Filed by Doosan Bobcat North America, Inc., West Fargo, ND (US)
Filed on Jan. 20, 2023, as Appl. No. 18/157,262.
Claims priority of provisional application 63/301,462, filed on Jan. 20, 2022.
Prior Publication US 2023/0228060 A1, Jul. 20, 2023
Int. Cl. E02F 9/20 (2006.01); E02F 3/34 (2006.01); E02F 3/42 (2006.01); E02F 9/26 (2006.01); E02F 3/43 (2006.01)
CPC E02F 9/207 (2013.01) [E02F 9/2095 (2013.01); E02F 9/264 (2013.01); E02F 3/3414 (2013.01); E02F 3/422 (2013.01); E02F 3/431 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A power machine comprising:
a main frame;
an electrical power source supported by the main frame;
a drive system configured to be powered by the electrical power source to provide tractive power to move the main frame over terrain; and
a lift arm structure supported by the main frame, the lift arm structure including a lift arm, an implement carrier supported by the lift arm, and one or more electrical actuators configured to be powered by the electrical power source to one or more of: move the lift arm relative to the main frame, or move the implement carrier relative to the lift arm; and
a control system that includes one or more control devices configured to, during a startup mode of the power machine:
receive an operator input for a movement of at least one electrical actuator of the one or more electrical actuators in a first predetermined direction;
based on the received operator input, command movement of the at least one electrical actuator in the first predetermined direction until at least one of: the at least one electrical actuator reaches a predetermined reference position, or the control system no longer receives the operator input; and
in response to the at least one electrical actuator reaching the predetermined reference position, determine an actual position of the at least one electrical actuator based on the predetermined reference position.
 
8. A method of operating a power machine, the method comprising:
receiving an operator input for a movement of at least one electrical actuator of the power machine;
determining a component of the operator input that corresponds to a homing direction; and
based upon the power machine being in a startup mode, and upon determining that the component is a non-zero component:
while the component remains a non-zero component, commanding movement of the at least one electrical actuator in the homing direction with a homing speed until the at least one electrical actuator reaches a predetermined reference position; and
tracking subsequent commanded movement of the at least one electrical actuator based on relative movement from the predetermined reference position.