CA3161958A1 - A method and arrangement for a battery powered mining machine - Google Patents

Abstract

The present disclosure relates to a method and arrangement for power prioritization of a battery powered set of devices in a battery powered mining machine. When the method is initiated a default estimated power difference is obtained. The method comprises the steps of repeatedly obtaining power consumption information for the battery powered set of devices and battery power output; determining an updated estimated power difference based on the obtained battery power output, the obtained power consumption of the battery powered set of devices and a previously determined estimated power difference; calculating a battery power output estimate based on the obtained power consumption of the battery powered set of devices and the estimated power difference; and controlling power prioritization of the battery powered set of devices based on the calculated battery power output estimate.

Description

A method and arrangement for a battery powered mining machine TECHNICAL FIELD
The present disclosure relates to a method and arrangement for power control in a battery powered mining machine and in particular for a battery powered set of devices, i.e., consumers, in the battery powered mining machine. More specifically, the present disclosure relates to a method and arrangement for determining battery power output from a battery in a battery powered mining machine and for controlling power prioritization to a battery powered set of devices in the battery powered mining machine.
BACKGROUND
.. There is ongoing work in adapting mining machines to operate in battery powered mode. Power consumption of battery powered devices in a battery powered mining machine is normally limited by battery power output, i.e., limiting a power feed/power load of the battery powered devices. In order to ensure sufficient safety during the battery powered operation, i.e., a sufficient power margin, a battery power output limit may be predefined, e.g., from a battery management system. The battery power output limit may be determined in relation to a maximum battery power output capability, e.g., the limit being set to 50% of a specified power output capability. Consequently, the battery power output limit may be set significantly lower than the actual power output capability of the battery. The margin is necessitated due to imperfect knowledge of the power consumption in the battery powered devices and of the state of the battery.
The battery power output limit is usually set with a large margin, e.g., setting an output limit at 50% of the specified capability thereby providing for a power margin of up to 50%. However, a large difference between a defined battery power output limit and an actual, current battery power output capability has the drawback that power supply, e.g., to one or more battery powered devices in a mining machine, may be more limited than what is actually necessary from a battery state/power supply perspective. The application of an unduly restrictive battery power limit may in turn result in time delays, e.g., due to re-prioritized power distribution between the devices, and an experience of operating a sluggish mining machine.

2 While there are benefits in setting battery power output limits, overly restrictive limits may in fact result in a battery powered mining machine no longer being able to provide safe and reliable operation, i.e., a result that contradicts the intention when establishing power margins.
When a situation arises that a battery power load from the powered devices exceeds the set battery power output limit, there is a risk that a device may be shut down or disconnected. The shutting down of the device may result in a disruption of operation which in turn may result in a safety risk. In a mining context, shutting down of battery-powered equipment, e.g., in a mining machine during drilling, may result in damages to the equipment.
Consequently, there is a need to enable improvements in battery output power control and power prioritization of devices in a battery operated mining machine, in particular in a mining machine that is subject to one or more battery power output limits.
SUMMARY OF THE INVENTION
It is an object of the present disclosure to improve battery output power control and power prioritization in a battery operated mining machine.
This and other objects are achieved by means of a method, an arrangement, a battery powered mining machine and a computer program product as defined in the appended claims. The term exemplary is in the present context to be understood as serving as an instance, example or illustration.
In accordance with a first aspect of the present disclosure a method for controlling power prioritization of a battery powered set of devices in a battery powered mining machine comprises obtaining a default estimated power difference when the method is initiated. The method further comprises the steps of repeatedly obtaining power consumption information for the battery powered set of devices and battery power output; determining an updated estimated power difference based on the obtained battery power output, the obtained power consumption information for the battery powered set of devices and a previously determined estimated power difference; calculating a battery power output estimate based on the obtained power consumption information for the battery powered set of devices and the updated estimated power difference; and controlling power prioritization of the battery powered set of devices based on the calculated battery power output estimate.

3 The repeated calculating of a battery power output estimate based on power consumption in the set of battery powered devices and an estimated power difference provides for a faster, more up to date knowledge of battery power output; thereby enabling feedback control and safer power prioritization and powering of the battery powered set of devices.
In some examples, obtaining of power consumption information and/or battery power output may comprise obtaining the information from at least one inverter provided in a power conversion interface between the battery and the battery powered set of devices.
In some examples, the obtaining of power consumption information may further comprise obtaining at least one inverter power input and/or output information from an inverter connected to the battery. The updated estimated power difference may be based on said obtained at least one inverter power input and/or output information.
Thus, inverter input power information may be used instead of power consumption information for the respective devices connected to the inverter; inverter input power information representing a frequently updated sample value.
This has the advantage of allowing improved power utilization of the battery power output, which may in turn improve the battery power output margins.
The set of battery powered devices may comprise at least one hydraulic steering pump, and/or at least one hydraulic drill pump, and/or at least one cooling pump, and/or at least one fan, and/or at least one sensor device.
The estimated power difference may be based on at least one time delayed power consumption information for at least a subset of the battery powered set of devices.
According to a second aspect of the present disclosure, the object has been achieved by an arrangement for controlling power prioritization of a battery powered set of devices in a battery powered mining machine, wherein the method is configured to perform the method according to the first aspect.
According to a third aspect of the present disclosure, the object has been achieved by a mining machine comprising an arrangement according to the second aspect, a battery, and a battery powered set of devices.

4 In some examples, the mining machine comprises an inverter powered by the battery and arranged to supply power to a subset of said battery powered set of devices.
According to a fourth aspect of the present disclosure, the object has been achieved by a computer program product comprising a non-transitory computer-readable storage medium having thereon a computer program comprising program instructions, the computer program being loadable into a data processing unit and configured to cause the processing unit to perform the method of the first aspect.
The above reflected advantages and others are provided also by the arrangement, the mining machine and the computer program code.
BRIEF DESCRIPTION OF THE DRAWINGS
The foregoing will be apparent from the following more particular description of the example embodiments, as illustrated in the accompanying drawings in which like reference characters refer to the same parts throughout the different views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the example embodiments.
Fig. 1 shows schematically a method for calculating a battery power output estimate of a battery powered mining machine.
Fig. 2 depicts schematically a system for power prioritization of a battery powered set of devices.
Fig. 3 depicts schematically an arrangement for power prioritization of a battery powered set of devices in a battery powered mining machine.
Fig. 4 depict schematically a battery powered mining machine comprising an arrangement for power prioritization.
Fig. 5 depicts schematically a data processing unit comprising a computer program product for power prioritization of a battery powered set of devices.
DETAILED DESCRIPTION
Aspects of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings. The apparatus and method disclosed herein can, however, be realized in many different forms and should not be construed as being limited to the aspects set forth herein. Like numbers in the drawings refer to like elements throughout.
The terminology used herein is for the purpose of describing particular aspects of the disclosure only, and is not intended to limit the invention. It should be emphasized that the term

5 "comprises/comprising" when used in this specification is taken to specify the presence of stated features, integers, steps, or components, but does not preclude the presence or addition of one or more other features, integers, steps, components, or groups thereof.
As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
Embodiments of the present disclosure will be described and exemplified more fully hereinafter with reference to the accompanying drawings. The solutions disclosed herein can, however, be realized in many different forms and should not be construed as being limited to the embodiments set forth herein.
In some implementations and according to some aspects of the disclosure, the functions or steps noted in the blocks can occur out of the order noted in the operational illustrations. For example, two blocks shown in succession can in fact be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality/acts involved. Also, the functions or steps noted in the blocks can according to some aspects of the disclosure be executed continuously in a loop.
It will be appreciated that when the present disclosure is described in terms of a method, it may also be embodied in one or more processors and one or more memories coupled to the one or more processors, wherein the one or more memories store one or more programs that perform the steps, services and functions disclosed herein when executed by the one or more processors.
Throughout the figures, same reference numerals refer to same parts, concepts, and/or elements. Consequently, what will be said regarding a reference numeral in one figure applies equally well to the same reference numeral in other figures unless not explicitly stated otherwise.

6 Fig. 1 shows schematically a method for calculating a battery power output estimate of a battery powered machine, i.e., battery power output from a battery in a battery powered mining machine comprising a battery powered set of devices. The example method is arranged to calculate a more up to date battery power output estimate, i.e., dynamically determine battery power output. The battery power output estimate is calculated based on power consumption information for the battery powered set of devices, i.e., for at least one device in the set of devices, and output power difference.
The battery-powered mining machine comprises a battery powered set of devices.
Power consumption information may be obtained for the battery powered set of devices, e.g., by retrieving measurement values from the devices.
When the method is initiated one or more default battery power output limits are obtained, e.g., according to the battery configuration or as defined in a battery management system controlling the battery. A default estimated power difference between battery power output and an estimated power consumption of said battery operated set of devices is obtained, e.g., by determining the default estimated power difference based on the default battery power output limit and a default estimated power consumption of said battery powered set of devices.
In one example the default battery power output limit is 100 kW, and default estimated power difference is set to 50% of the default battery power output limit, i.e., to 50 kW.
The battery operated set of devices may comprise at least one hydraulic pump for steering, drill, motor for propulsion, cooling pump, fan, and/or power monitoring device; the devices capable of providing power consumption information relating to itself and/or at least one other battery powered device.
In one example with a mining machine, the battery operated set of devices comprises a drill, a hydraulic pump for steering, a fan, control circuits and a power monitoring sensor for monitoring power supplied to electronics in the control circuits.
The method 100 is performed repeatedly. Upon initiating the method, the default estimated power difference is used as a previously determined estimated power difference. The method comprises the step of obtaining 110 power consumption information for the set of devices and battery power output information, i.e., information reflecting a current state of operation in the

7 mining machine and associated battery power output. The step of obtaining 110 power consumption information may further comprise obtaining the power consumption information from at least one inverter, i.e., obtain inverter power input and/or output information. The inverter may supply power to the battery powered set of devices, and obtain power consumption information at least from a subset of devices lacking the capability to provide such power consumption information themselves.
The method further comprises the step of determining 120 an updated estimated power difference between a current battery power output and a current power consumption of the set of devices. The estimated power difference is determined based on the obtained battery power output, the obtained power consumption information for the set of devices and a previously determined estimated power difference. As a starting point, the default estimated power difference is applied during the determining of the estimated power difference. In some examples, the default estimated power difference may also be applied when the previously determined estimated power difference is older than a predetermined amount of time. As an example, the default estimated power difference may be used when the previously determined estimated power difference was determined more than 900 ms prior to performing the current step of determining an estimated power difference.
Starting with a default estimated power difference of 50%, e.g., 50 kW, the obtained power information for the mining machine may indicate a significantly different power difference. In one example, the obtained current battery power output is 80 kW, and the current power consumption of the set of devices, i.e., a hydraulic pump; a drill; a fan; and a power monitoring sensor, is 20 kW, 30 kW, 10 kW and 1 kW respectively. Consequently, the current actual power difference differs significantly from the default estimated power difference.
The step of determining 120 the updated estimated power difference may be based on a time delayed battery power output and/or power consumption information for a subset of the set of devices. Each time delay may be based on the measurement frequency and/or measurement delay of the battery power output information and/or the power consumption of the battery powered set of devices. In one example the obtained power consumption information of the battery powered set of devices are time delayed by 200 ms relative to the obtained battery power output.

8 The step of determining 120 the updated estimated power difference may comprise forming a cumulative sum of the difference between the obtained battery power output minus the obtained power consumption of the battery powered set of devices and the previously determined estimated power difference.
The step of determining 120 the updated estimated power difference may be based on at least two previously determined estimated power differences. In one example the step of determining the updated power difference is based on the obtained battery power output, the obtained power consumption of the battery powered set of devices, the previously determined estimated power difference, and the difference between the two most recently determined estimated power differences.
The step of determining 120 the updated estimated power difference may further be based on at least one obtained inverter power input and/or output information. In one example, the power inverter provides power to at least part of the battery powered set of devices, and the power inverter provides power consumption information at a higher frequency than the at least part of the battery powered set of devices. Thus, use of the obtained inverter power input and/or output information may improve determining 120 the updated estimated power difference.
The step of determining 120 the updated estimated power difference may further be based on at least one time delayed inverter power input and/or output information. Each time delay may be based on the measurement frequency and/or measurement delay of the obtained battery power output and/or the obtained power consumption of the battery powered set of devices and/or obtained inverter power input and/or output information. In one example, the obtained inverter power input and/or output information is time delayed by 200 ms relative to the obtained battery power output.
The method further comprises the step of calculating 130 battery power output estimate based on the obtained power consumption information for the battery powered set of devices and the updated estimated power difference.
In some examples, the step of calculating 130 the battery power output estimate may further be based on obtained inverter power input and/or output information. In one example the

9 obtained inverter power input information, an obtained power consumption of a DC motor, the obtained battery power output, and the previously determined estimated power difference are utilized to determine 120 the updated estimated power difference, wherein the estimated power difference represents a difference between the obtained battery power output, the obtained power consumption information and input of the DC motor and inverter respectively.
In this example, the battery power output estimate is calculated by adding the updated estimated power difference, the obtained power consumption of the DC motor and the obtained inverter power input information.
The method further comprises the step of controlling 140 power prioritization of the battery powered set of devices based on the calculated battery power output estimate.
The step of controlling 140 power prioritization of the battery powered set of devices may further be based on the updated estimated power difference. In one example the updated estimated power difference, representing a non-measured power consumption, is large in relation to the calculated battery power output estimate, whereby a more restrictive power prioritization of the battery powered set of devices is applied as the large estimated power difference indicates a high degree of uncertainty in the calculated battery power output estimate.
The power prioritization of the battery powered set of devices may further be based on at least one previously calculated battery power output estimate. In one example, large deviations between the last three previously calculated battery power output estimates suggests a more restrictive power prioritization the battery powered set of devices, since large deviations indicates a high degree of uncertainty in the calculated battery power output estimate.
When the calculated battery power output estimate and/or obtained battery power output exceeds the battery power output limits, a limit exceeded warning may be provided or one or more new battery power output limits may be established a new set of battery power output limits.
Fig. 2 schematically illustrates a system 200, e.g., a battery powered mining machine, comprising a control unit 210, i.e., an arrangement, for determining battery power output from a battery in the battery powered mining machine comprising a battery powered set of devices and power prioritizing at least a subset of devices in the battery powered set of devices. The battery powered set of devices may comprise at least one hydraulic steering pump and/or at least one hydraulic drill pump and/or at least one cooling pump and/or at least one fan. The battery powered set of devices may comprise at least one device capable of providing power consumption information relating to itself and/or at least one other battery powered device to the control unit 210.
5 The system 200 comprises a control unit 210, an inverter 220, a battery 230, a DC device 240a and an AC device 240b. The battery 230 is arranged to provide DC power directly to the DC
device 240a and to supply DC power to the inverter 220, whereby the inverter 220 provides AC
power to the AC device 240b. Thus, DC device 240a represents a directly battery operated device while the AC device 240b represents an indirectly battery operated device.

10 The inverter 220, the battery 230, the DC device 240a and the AC device 240b are arranged to measure power consumption and/or power output, and are arranged provide measurement values to the control unit 210. The control unit 210 is arranged to communicate with and control power prioritization of the devices 240 a,b.
The control unit 210 is arranged to obtain power consumption information from the devices 240a,b, e.g., through measurement values, and battery power output, e.g., from the battery 230 or from a battery management system of the battery 230. The control unit 210 is arranged to obtain one or more battery power output limits determined for the system.
The system 200 may comprise at least one sensor device (not shown) arranged to monitor power consumption. The control unit 210 may be arranged to obtain the power consumption information from the at least on sensor device.
The control unit 210 may be further arranged to obtain power input and/or power output of the inverter 220, e.g., measurement values for power input and/or power output determined by the inverter or a sensor device.
The control unit 210 may be a computer device. The control unit 210 may be arranged to telecommunicate with one or more remote systems.
The control unit 210 is arranged to determine an updated estimated power difference, wherein the updated estimated power difference is based on the measurement value for battery power output, the measurement value for power consumption of the devices 240 a,b and a previously

11 determined estimated power difference. A default value estimated power difference may be assigned for the system to set an initial estimated power difference.
The system 200 may comprise an inverter 220 arranged to be powered by the battery 230 and arranged to provide power to at least one device. The inverter 220 may be arranged to provide inverter power input and/or output information, e.g., measurement values, to the control unit 210.
The control unit 210 may be arranged to determine the updated estimated power difference further based on inverter 220 information, e.g., measurement values. In one example, the system 200 determines the updated estimated power difference utilizing the measurement value of the input power of the inverter 220, the measurement value of the power consumption of the DC device 240a, and the previously determined estimated power difference. In the example, the inverter 220 is arranged to provide measurement values at a significantly higher frequency and with lower time delay compared to the AC device 240b, whereby utilizing the measurement values of the inverter 220 allows for more accurately determining the updated estimated power difference.
The control unit 210 may be arranged to determine the updated estimated power difference by calculating a cumulative sum with the measurement value for battery power output minus the measurement value for power consumption of the devices 240a,b and the previously determined estimated power difference. In one example, the previously determined estimated power difference is 10 kW, the measurement value for power consumption of the devices 240a,b is 30 kW, and the measurement value for battery power output is 41 kW, whereby the updated estimated power difference is increased by 1 kW to 11 kW.
The control unit 210 may be arranged to, when the updated estimated power difference is determined the first time, utilize the predetermined default value is used to set the initial estimated power difference.
The control unit 210 may be arranged to determine the updated estimated power difference utilizing the predetermined default value for the previously determined estimated power difference when the previously determined estimated power difference is older than a predetermined amount of time. In one example, the predetermined default value 20 kW is used

12 if the previously determined estimated power difference was determined more than 900 ms ago. The predetermined default value may be based on an upper estimate for the power difference between battery power output and obtained power consumption.
The control unit 210 may be arranged to determine the updated estimated power difference based on the measurement value for battery power output, the previously determined estimated power difference, and a time delayed measurement value for power consumption of the devices 240a,b. In one example, the devices 240a,b provide a measurement value for power consumption of the devices every 50 ms that is 50 ms delayed, the battery provides a measurement value for battery power output that is 200 ms delayed. In this example as the control unit 210 obtains the measurement value for battery power output it may be arranged to use a measurement value for power consumption of the devices 240a,b obtained 150 ms ago to better match the measurement value for battery power output corresponding to the battery's 230 state 200 ms ago. Note that even if a time delayed measurement value for power consumption of the devices 240a,b is used to determine the updated estimated power difference, the most recently obtained measurement value for power consumption of the devices 240a,b may be added together with the updated estimated power difference to calculate the battery power output estimate.
The control unit 210 is arranged to calculate a battery power output estimate based on the measurement value for the power consumption of the devices 240a,b and the updated estimated power difference.
The control unit 210 may be arranged to, when the battery power output estimate and/or obtained battery power output exceeds the battery power output limits, provide a power limits exceeded warning. In one example, the obtained battery power output exceeds the battery power output limits, whereby the control unit provides the power limits exceeded warning to a presentation unit arranged to present a warning to a user upon receiving the power limits exceeded warning.
The control unit 210 may be arranged to, when the battery power output estimate and/or obtained battery power output exceeds the battery power output limits, determine a second set of battery power output limits. In one example, the initial battery output limit is 100 kW and the obtained battery power output is 110 kW, whereby the control unit 210 sets a second

13 battery power output limit of 90 kW. In this example the controlling power prioritization will be based on the second battery power output limit, thus performing a more restrictive power allocation, however, exceeding the battery power output limits may still be based on the initial battery output limit.
.. The control unit 210 is arranged to control power prioritization of the devices 240a,b based on the battery power output estimate and the battery power output limits. In one example, the battery power output limit is 100 kW and the battery power output estimate is 80kW, whereby the control unit 210 is arranged to control power prioritization to fulfil the demands of devices 240a,b without exceeding the battery power output limit. In this example, the control unit 210 may allow the devices 240a,b to each increase power consumption by 7 kW.
The control unit 210 may be arranged to control power prioritization of the devices 240a,b based on the battery power output estimate, the battery power output limits and at least one previously battery power output estimate. In one example a large amount of changes between the last three previously calculated battery power output estimates makes the control unit 210 .. control power prioritization of the devices 240a,b be to be more restrictive, as large changes relate to a large uncertainty in predicting the battery power output.
The control unit 210 may be arranged to control power prioritization of the devices 240a,b further based on the updated estimated power difference. In one example the updated estimated power difference, representing the non-measured power consumption, is large in .. relation to the battery power output estimate, whereby the control unit 210 is arrange to control power prioritization of the devices 240 a,b in a more restrictive manner, as the relatively large updated estimated power difference relates to a large uncertainty in predicting the battery power output.
The control unit 210 may be arranged to control power prioritization of the devices 240 a,b further based on the updated estimated power difference and at least on previously estimated power difference. In one example a large amount of changes between the last three previously calculated battery power output estimates makes the control unit 210 control power prioritization of the devices 240a,b be more restrictive, as large changes relate to a large uncertainty in calculating the battery power output estimate.

14 Application in a mining machine will now be described, e.g., as used in a mining vehicle, tractor, LHD (loader, hauler, dumper), or drill rig. Drilling is typically performed in a stationary mode, wherein a mining vehicle 400 is stabilized with respect to the environment, and requiring high power to break the rock that is being drilled. In other words, the mining machine is configured to perform an at least partly stationary, high power operation driving the one or more electrically powered tools.
The system 200 comprises an inverter 220, a battery 230, a DC device 240a and an AC
device 240b. The system is comprised in the mining vehicle 400. In this example the battery 230 and the AC device 240b provides power consumption information, e.g., measurement values, with a time delay of 200 ms, while the DC device 240a and the inverter 220 provides power consumption information ,e.g., measurement values, more promptly with a time delay of 50 ms.
The system 200 may comprise additional devices (not shown) that receive power from the battery 230 but that do not provide power consumption information, e.g., measurement values for power consumption, to the control unit 210. The power consumption of said unmonitored devices and measurement errors are responsible for at least part of the estimated power difference. At least one of the unmonitored devices is powered by the inverter 220.
As the system/battery operated mining machine 200 is operated, power prioritization is controlled for the DC device and the AC device. When initiated, the control unit 210 starts to obtain power consumption information, e.g., measurement values, from the devices 240 a,b, the inverter 220 and the battery 230. The devices 240 a,b, the inverter 220 and the battery 230 repeatedly provide the power consumption information to the control unit 210.
Once the control unit 210 has obtained power consumption information from each source, an estimated power difference between battery power output and obtained power consumption may be determined. As no previously estimated power difference exists, the previously estimated power difference is set to a predetermined default estimated power difference;
in the disclosed example the default estimated power difference is set to 30 kW. The control unit 210 also obtains battery power limits for the battery, e.g., a maximum battery power limit; in the disclosed example the maximum battery power output limit is set to 100 kW.
At this moment the control unit 210 has obtained its first battery power output value and its first power consumption information value of the AC device 240b. Approximately 150 ms earlier the control unit obtained measurement values from the inverter 220 and the DC
device 240a. The control unit 210 determines a change in the estimated power difference by subtracting the power input of the inverter 220 and the power consumption of the DC device 240a from the battery power output value. Calculation example:
battery 70 kW, 5 inverter input 30 kW and DC device 20 kW results in an estimated power difference of 20 kW.
A difference between the inverter power output and the AC device power consumption may be stored to better predict the input power of the inverter 220 and/or the power consumption of the at least one unmonitored devices powered by the inverter 220. In the above and below explained example, the difference between the inverter power output and the AC
device power 10 consumption will not be used.
The control unit 210 calculates a battery power output estimate by adding the estimated power difference and the most recently obtained power consumption values. As previously mentioned, the time delay of the measurement values from the inverter and DC
device is shorter than information/values relating to the battery consumption. In the above and below

15 explained example, an estimated power difference of 20 kW, inverter input of 36 kW and DC
device consumption of 24 kW, will result in a battery power output estimate of 80 kW.
The control unit 210 controls the power prioritization based on the battery power output estimate, battery power output limits and the estimated power difference. The estimated power difference represent a portion of the battery power output estimate for which information is limited. In the disclosed example, the initial battery power output limit is 100 kW
and power prioritization is controlled so as to accomplish 95 kW battery power output.
The control unit 210 eventually obtains a battery power output value and a power consumption information value of the AC device 240b. Approximately 0 ms and 150 ms earlier the control unit obtained power consumption information values, e.g., measurement values, from the inverter 220 and the DC device 240a.
The control unit 210 determines a change in the estimated power difference by subtracting the power input of the inverter 220 and the power consumption of the DC device 240a from the battery power output value. In the above and below explained example, a battery output of

16 90 kW, inverter input of 35 kW, DC device consumption of 25 kW, will result in an estimated power difference of 30 kW.
The control unit 210 calculates the battery power output estimate by adding the estimated power difference and the most recently obtained power consumption information values. In the disclosed example, an estimated power difference of 30 kW, inverter input of 45 kW and DC
device power consumption of 30 kW, will result in a battery power output estimate of 105 kW.
When the battery power output estimate and/or obtained battery power output exceeds the battery power output limit of 100 kW, the control unit 210 is arranged reduce the battery power limit, e.g., to 95 kW, to ensure control within the battery output power limit.
The control unit 210 controls the power prioritization based on the battery power output estimate, the second set of battery power output limits and the estimated power difference.
Calculation example, change power prioritization to accomplish 85 kW battery power output.
Fig. 3 depicts schematically a control device 300, i.e., an arrangement, for controlling power prioritization for the battery-powered devices. In the illustrated example, the control device 300 is arranged to interface with an inverter 320, a battery 330, a DC device 340a and an AC
device 340b. The battery 330 is arranged to provide DC power to the DC device 340a. The battery 330 is arranged to provide DC power to the inverter 320, whereby the inverter 320 provides AC power to the AC device 340b.
The inverter 320, the battery 330, the DC device 340a and the AC device 340b are arranged to measure power consumption and/or power output and provide measurement values to the control device 300. The control device 300 is arranged communicate with and, optionally, control power prioritization of the devices 340a,b.
The control device 300 is arranged to obtain power consumption information, e.g., measurement values, for the devices 340 a,b and battery power output.
The control device 300 may be arranged to obtain power input and/or power output information of the inverter 320, e.g., measurement values.
The control device 300 may be arranged to obtain power consumption information from at least one sensor device (not shown), e.g., a sensor device associated with one of the devices 340 a,b or the inverter 320.

17 The control device 300 may be arranged to telecommunicate with one or more remote systems.
The control device 300 may be the control unit previously described in the description of Figure 2.
The control device 300 may be a computer device. The control device 300 may be comprised in a mining machine.
The control device 300 is arranged to determine an updated estimated power difference, wherein the updated estimated power difference is based on the measurement value for battery power output, the measurement value for power consumption of the devices 340a,b and a previously determined estimated power difference. When the first estimated power difference is determined, a predetermined default value may be used to set an initial estimated power difference, i.e., a default estimated power difference. In some examples, the default estimated power difference is an estimated power difference between an estimated default battery power output and an estimated default power consumption of the battery powered set of devices.
The control device 300 may be arranged to determine the updated estimated power difference further based on inverter 320 information. In one example, the control device 300 determines the updated estimated power difference utilizing a measurement value of input power to the inverter 320, a measurement value of the power consumption of the DC device 340a, and a previously determined estimated power difference. In the example the inverter 320 is arranged to provide measurement values at a significantly higher frequency and with lower time delay compared to when corresponding input is obtained from the inverter connected entitiesõ e.g., the AC device 340b, whereby utilizing the measurement values of the inverter 320 allows for more accurately determining the updated estimated power difference.
The control device 300 may be arranged to determine the updated estimated power difference .. by calculating a cumulative sum with the measurement value for battery power output minus the measurement value for power consumption of the devices 340 a,b and the previously determined estimated power difference. In one example, the previously determined estimated power difference is 10 kW, the measurement value for power consumption of the devices 340

18 a,b is 30 kW, and the measurement value for battery power output is 41kW, whereby the updated estimated power difference is increased by 1 kW to 11 kW.
The control device 300 may be arranged to, when the updated estimated power difference is determined the first time, obtain a default estimated power difference to set the initial estimated power difference.
The control device 300 may be arranged to determine the updated estimated power difference utilizing the predetermined default value for the previously determined estimated power difference when the previously determined estimated power difference is older than a predetermined amount of time. In one example, the predetermined default value 20 kW is used if the previously determined estimated power difference was determined more than 900 ms ago. The predetermined default value may be based on an upper estimate for the power difference between battery power output and obtained power consumption.
The control device 300 may be arranged to determine the estimated power difference based on the measurement value for battery power output, the previously determined estimated power difference, and a time delayed measurement value for power consumption of the devices 340a,b. In one example, the devices 340 a,b provide a measurement value for power consumption of the devices every 50 ms that is 50 ms delayed, the battery provides a measurement value for battery power output that is 200 ms delayed. In this example as the control device 300 obtains the measurement value for battery power output it may be arranged to use a measurement value for power consumption of the devices 340 a,b obtained 150 ms ago to better match the measurement value for battery power output corresponding to the battery's 330 state 200 ms ago. Note that even if a time delayed measurement value for power consumption of the devices 340 a,b is used to determine the estimated power difference, the most recently obtained measurement value for power consumption of the devices 340a,b may be added together with the estimated power difference to calculate the battery power output estimate.
The control device 300 is arranged to calculate an battery power output estimate based on the obtained for the power consumption information for the devices 340a,b and the updated estimated power difference.

19 The control device 300 may be arranged to store the battery power output limits.
The control device 300 may be arranged to, when the battery power output estimate and/or obtained battery power output exceeds the battery power output limits, provide a power limits exceeded warning. In one example, the obtained battery power output exceeds the battery power output limits, whereby the control unit provides the power limits exceeded warning to a presentation unit arranged to present a warning to a user upon receiving the power limits exceeded warning.
The control device 300 may be arranged to, when the battery power output estimate and/or obtained battery power output exceeds the battery power output limits, determine an updated set of battery power output limits. In one example, an initial battery output limit is set to 100 kW
and the obtained battery power output is 110 kW, whereby the control device 300 sets an updated battery power output limit of 90 kW. In this example the controlling power prioritization will be based on the second battery power output limit, thus performing a more restrictive power allocation.
The control device 300 is arranged to control power prioritization of the devices 340a,b based on the battery power output estimate and the battery power output limits.
The control device 300 is arranged to control power prioritization of the devices 340a,b based on the battery power output estimate, the battery power output limits and at least one previously battery power output estimate.
The control device 300 may be arranged to control power prioritization of the devices 340a,b further based on the updated estimated power difference. In one example the updated estimated power difference, representing the non-measured power consumption, is large in relation to the battery power output estimate, whereby the control unit 210 is arrange to control power prioritization of the devices 240 a,b in a more restrictive manner, as the relatively large updated estimated power difference relates to a large uncertainty in predicting the battery power output.
The control device 300 may be arranged to control power prioritization of the devices 340 a,b further based on the updated estimated power difference and at least on previously estimated power difference.

The battery powered set of devices may comprise at least one hydraulic pump for steering, drill, motor for propulsion, cooling pump, fan, and/or power monitoring device. The battery powered set of devices may comprise any device able to provide power consumption information relating to itself and/or at least one other battery powered device to the control device 300.
5 Fig. 4 depict schematically a battery powered mining machine comprising a control unit 410, i.e., arrangement, for power prioritization of a battery powered set of devices comprised in the machine. The example mining machine 400 comprises a battery powered propulsion device 441, at least one battery powered steering device 442, a drill 443, a control unit 410, an inverter 420 and a battery 430.
10 The at least one battery powered propulsion device 441 may comprise an electric motor and a drivetrain.
The battery powered steering device 442 may comprise an electric hydraulic pump The drill 443 may comprise an electric air compressor.
The mining machine may comprise at least two inverters 420.
15 The inverter 420 is arranged to be powered by the battery 430 and arranged to provide power to at least the propulsion device 441. The battery is further arranged to provide power to at least the steering device 442, and the drill 443.
The control unit 410 is arranged to communicate with the propulsion device 441, the steering device 442, the drill 443, the inverter 410, and the battery 430.

20 The control unit 410 is arranged to control power prioritization of the propulsion device 441, the steering device 442, and the drill 443.
The inverter 420, the battery 430, the propulsion device 441, the steering device 442, and the drill 443 are arranged to measure power consumption and/or power output and/or power input, and are arranged provide measurement values to the control unit 410.
The inverter 420 is arranged to provide measurement values of inverter power input and/or output to the control unit 410.

21 The control unit 410 is arranged to obtain power consumption information, i.e., measurement values for power consumption, from the propulsion device 441, the steering device 442, and the drill 443, and a measurement value of battery power output from the battery 430. The control unit 410 is arranged to obtain measurement values for power input and/or power .. output of the inverter 420. The control unit 410 is arranged to obtain battery power output limits. The control unit 410 may be arranged store battery power output limits, whereby obtaining battery power output limits may consist of retrieving the battery power output limits from a memory storage of the control unit 410.
The mining machine 400 may comprise at least one sensor device (not shown) arranged to .. monitor power consumption. The control unit 410 may be arranged to obtain power consumption information from the at least on sensor device.
The control unit 410 may be arranged for wireless communication with one or more remote systems.
The control unit 410 is arranged to determine an updated estimated power difference, wherein .. the updated estimated power difference is based on the measurement value for battery power output, power input and/or power output information of the inverter 420, the measurement value for power consumption of the propulsion device 441, the steering device 442, and the drill 443, and a previously determined estimated power difference. When the first estimated power difference is determined, a predetermined default value is used to set an initial estimated .. power difference. In one example, the mining machine 400 determines the updated estimated power difference, wherein the inverter 420 is arranged to provide measurement values at a significantly higher frequency and with lower time delay compared to the propulsion device 441, whereby utilizing the measurement values of the inverter 420 allows for more accurately determining the updated estimated power difference.
.. The control unit 410 may be arranged to determine the updated estimated power difference by calculating a cumulative sum with the measurement value for battery power output minus the measurement value for power consumption of the propulsion device 441, the steering device 442, and the drill 443, and the previously determined estimated power difference. In one example, the previously determined estimated power difference is 10 kW, the measurement .. value for power consumption of the propulsion device 441, the steering device 442, and the

22 drill 443 is 30 kW, and the measurement value for battery power output is 41 kW, whereby the updated estimated power difference is increased by 1 kW to 11 kW.
The control unit 410 may be arranged to, when the updated estimated power difference is determined the first time, utilize a predetermined default estimated power difference as an initial estimated power difference or previously determined estimated power difference.
When a previously determined estimated power difference is older than a predetermined amount of time, the default estimated power difference may be used in the determining of an updated estimated power difference. In one example, a predetermined default power difference is used when the previously determined estimated power difference was determined more than 900 ms ago. The default estimated power difference may be based on an upper estimate for the power difference between battery power output and obtained power consumption or on an estimated power difference between a default battery power output limit and an estimated power consumption in the battery powered set of devices.
The control unit 410 may be arranged to determine the updated estimated power difference based on a measurement value for battery power output, a previously determined estimated power difference, and a power consumption information, e.g., a time delayed measurement value. In the example disclosed in Figure 4, said time delayed measurement value could be representative of power consumption of the propulsion device 441, the steering device 442, and the drill 443. In one example, the propulsion device 441, the steering device 442, and the drill 443 provide a measurement value for power consumption every 50 ms with a delay of 50 ms, the battery provides a measurement value for battery power output with a delay of 200ms.
In this example, as the control unit 410 obtains the battery power output, it may be arranged to use measurement values for power consumption of the propulsion device 441, the steering device 442, and the drill 443 obtained 150 ms ago to better match the measurement value for battery power output corresponding to the battery's 430 state 200 ms ago. Note that even if a time delayed measurement value for power consumption of the propulsion device 441, the steering device 442, and the drill 443 is used to determine the updated estimated power difference, the most recently obtained measurement value for power consumption of the propulsion device 441, the steering device 442, and the drill 443 may be added together with the updated estimated power difference to calculate the battery power output estimate.

23 The control unit 410 is arranged to calculate a battery power output estimate based on the measurement value for the power consumption of the propulsion device 441, the steering device 442, and the drill 443, power input and/or power output of the inverter 420, and the updated estimated power difference.
The control unit 410 may be arranged to, when the calculated battery power output estimate and/or obtained battery power output exceeds the battery power output limits, provide a power limits exceeded warning. In one example, the obtained battery power output exceeds the battery power output limits, whereby the control unit provides the power limits exceeded warning to a presentation unit arranged to present a warning to a user upon receiving the power limits exceeded warning.
The control unit 410 may be arranged to, when the calculated battery power output estimate and/or obtained battery power output exceeds the battery power output limits, determine updated battery power output limits. In one example, the initial battery output limit is 100 kW
and the obtained battery power output is 110 kW, whereby the control unit 410 sets a second battery power output limit of 90 kW. In this example the controlling power prioritization will be based on the second battery power output limit, thus performing a more restrictive power allocation, however, exceeding the battery power output limits may still be based on the initial battery output limit.
The control unit 410 is arranged to control power prioritization of the propulsion device 441, the steering device 442, and the drill 443 based on the calculated battery power output estimate and the battery power output limits. In one example, the battery power output limit is 100 kW
and the battery power output estimate is 80kW, whereby the control unit 410 is arranged to control power prioritization to fulfil the demands of the propulsion device 441, the steering device 442, and the drill 443 without exceeding the battery power output limit. In this example, the control unit 410 may allow the propulsion device 441, the steering device 442, and the drill 443 to each increase power consumption by a total of 7 kW.
Fig. 5 schematically depicts a data processing unit comprising a computer program product for estimating battery power output and performing power prioritization for a battery powered set of devices of a battery powered mining machine. The data processing unit 510 may be comprised in a device 500. In one example, the device is the control unit comprised in the

24 system for controlling of power prioritization for battery-powered devices described in fig. 2. In one example, the device is the control device for controlling of power prioritization for battery-powered devices described in fig. 3.

Claims (9)

25

1. A method (100) for controlling power prioritization of a battery powered set of devices of a battery powered mining machine, wherein, when the method is initiated, a default estimated power difference is obtained, the method comprising the steps of repeatedly:
obtaining (110) power consumption information for the battery powered set of devices and battery power output;
determining (120) an updated estimated power difference based on the obtained battery power output, the obtained power consumption information for the battery powered set of devices (and a previously determined estimated power difference;
calculating (130) a battery power output estimate based on the obtained power consumption for the battery powered set of devices (240a,b) and the updated estimated power difference; and controlling (140) power prioritization of the battery powered set of devices (240 a, b) based on the calculated battery power output estimate.

2. The method according to claim 2, wherein controlling (140) power prioritization is further based on the determined updated estimated power difference.

3. The method according to claim 1 or 2, wherein controlling (140) power prioritization is further based on at least one previously calculated battery power output estimate and/or previously determined estimated power difference.

4. The method according to any preceding claim, wherein the step of obtaining (110) power information further comprises obtaining inverter power input and/or output information from an inverter connected to a battery of the battery operated mining machine, wherein the step of determining (120) the updated estimated power difference is based on said at least one obtained inverter power input and/or output information, and wherein the step of calculating (130) an battery power output estimate is based on said obtained inverter power input and/or output information.

5. An arrangement (210; 300) for controlling power prioritization of a battery powered set of devices (240a,b; 340a,b) of a battery powered mining machine (200), wherein the arrangement (210; 300) is configured to initially obtain a default estimated power difference, and wherein the arrangement is further configured to repeatedly obtain power consumption information for the battery powered set of devices (240a,b; 340a,b) and battery power output, determine an updated estimated power difference, wherein the updated estimated power difference is based on the obtained battery power output, the obtained power consumption information for the battery powered set of devices (240a,b;
340a,b) and a previously determined estimated power difference, calculate a battery power output estimate based on the power consumption information for the battery powered set of devices (240a,b; 340a,b) and the updated estimated power difference, and control power prioritization of the battery powered set of devices (240a,b;
340a,b) based on the calculated battery power output estimate.

6. An arrangement (210, 300) according to claim 5, further configured to determine the updated estimated power difference based on at least one time delayed power consumption information for at least a subset of the battery powered set of devices (240a,b; 340a,b).

7. A mining machine (400) comprising a battery (430), a battery operated set of devices (441, 442, 443) and an arrangement (410) according to any of claims 5 or 6.

8. The mining machine (400) according to claim 7, wherein the mining machine (400) further comprises at least one inverter (420) powered by the battery (430) and arranged to provide inverter power output and input information, wherein the arrangement (410) is further configured to determine the updated estimated power difference further based on said inverter power output and input information, and wherein the arrangement (410) is further configured to calculate a battery power output estimate further based on said inverter power output and input information.

9. A computer program product comprising a non-transitory computer-readable storage medium (512) having thereon a computer program comprising program instructions, the computer program being loadable into a data processing unit (510) and configured to cause the data processing unit (510) to carry the method according to any of claims 1-4