Automated control of dipper swing for a shovel

Systems and methods for compensating dipper swing control. One method includes, with at least one processor, determining a direction of compensation opposite a current swing direction of the dipper and applying the maximum available swing torque in the direction of compensation when an acceleration of the dipper is greater than a predetermined acceleration value. The method can also include determining a current state of the shovel and performing the above steps when the current state of the shovel is a swing-to-truck state or a return-to-tuck state. When the current state of the shovel is a dig-state, the method can include limiting the maximum available swing torque and allowing, with the at least one processor, swing torque to ramp up to the maximum available swing torque over a predetermined period of time when dipper is retracted to a predetermined crowd position. 10281642_1 (GHMatters) P97960.AU.1 WO 2013/138801 PCT/US2013/032769 500 510 524 Swing-To Return-To D ig? N--- N O +---Truck? Tuck? YES 502 NO NO 52 YES YES 512512 Limit Torque SwingSpeed > Swing Speed % of Max? %of Max? Record Crowd 514 514 YES Resolver Counts 504 Determine Swing Determine Swing Direction Direction Retract Calculate Actual No Calculate Actual NO % from YES Acceleration Acceleration Max Crowd? 516 516 Actual Actual 506 Accel > a? Accel >a YES Ramp up Torque Over Increase Torque Increase Torque Time T Limit and Apply Limit and Apply TorqueOpposite Torque Opposite Current Direction Current Direction Speed: Y Speed 5Y rpm? rpm? Option #1