US Patent 9361270 Dynamic control of an industrial machine

A method of controlling a digging operation of an industrial machine. The industrial machine includes a dipper, a hoist rope attached to the dipper, a hoist motor moving the hoist rope and the dipper, and a computer having a controller. The method includes monitoring a speed of the hoist motor, determining an acceleration rate of the hoist motor, comparing the acceleration rate of the hoist motor to a threshold reverse factor, determining an impact situation when the acceleration rate is less than the threshold reverse factor, and sending a reverse torque control command signal to the hoist motor.