한국공작기계학회:학술대회논문집 (Proceedings of the Korean Society of Machine Tool Engineers Conference)

한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
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굴삭기용 Hardware In the Loop System(HILS) 개발

Development of Hardware In the Loop System(HILS) for Hydraulic Excavator

  • 임태형 (울산대학교 대학원 기계자동차공학과) ;
  • 조현철 (울산대 대학원 기계자동차공학과) ;
  • 안태규 (울산대 대학원 기계자동차공학과) ;
  • 양순용 (울산대 기계자동차공학부) ;
  • 이홍선 (현대중공업㈜ 건설기계사업본부)
  • 발행 : 2004.10.01
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초록

This paper deal with basic concept of Hardware In the Loop System(HILS) for hydraulic excavator. Hydraulic excavator has many nonlinearities because of P-Q diagram, dead zone and saturation of valve, single acting cylinder, heavy manipulator. So, actual test is needed when new component or control algorithm is developed but many restrictions exist. Hydraulic circuit of excavator is too complex to model mathematically but dynamic equation of manipulator has made good progress in previous studies. Basic concept of HILS and AMESim model of hydraulic components is contained in this paper.

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