드라이브 ㆍ 컨트롤 (Journal of Drive and Control)

  • 제16권4호
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  • Pages.38-47
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  • 2019
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  • 2671-7972(pISSN)
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  • 2671-7980(eISSN)
유공압건설기계학회 (The Korean Society for Fluid Power and Construction Equipment)
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MCV의 기능밸브를 고려한 굴삭기의 실시간 시뮬레이션

Real-Time Simulation of an Excavator Considering the Functional Valves of the MCV

  • Im, Yong-Hyeon (Department of Mechanical Engineering, Sungkyunkwan University) ;
  • Lee, Sang-Wook (Control Software Group, ControlWorks, Inc.) ;
  • Cho, Min-Gi (Construction Equipment Technology R&BD Group, KITECH) ;
  • Shin, Dae-Young (Heat Treatment Technology R&BD Group, KITECH) ;
  • Hwang, Sung-Ho (Department of Mechanical Engineering, Sungkyunkwan University)
  • 투고 : 2019.09.19
  • 심사 : 2019.10.17
  • 발행 : 2019.12.01
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초록

In this paper, a real-time simulation model of an excavator using Amesim was proposed, considered the operation of functional valves with the main control valve (MCV). The hydraulic system models including the pump and MCV have been developed. The kinematic and dynamic models of the manipulator have also been developed, to confirm the behavior of the excavator. The MCV model includes various functional valves such as the regenerative valves, holding valves, swing and boom priority valves, and regen-cut valves so that simulations similar to real excavators can be performed. Additionally, to obtain the real-time calculation performance, the parts with no major influence on the dynamic behavior were simplified, high frequency factors were removed, and parameters were optimized. The models were compared with each other through the numerical analysis with variable time-step and fixed time-step, and the results were verified by comparison with the results of the actual vehicle tests.

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참고문헌

  1. S. K. Kwon, "A Study on the Simulation for an Excavator using the AMESim", Master Thesis, University of Ulsan, 2008.
  2. Q. Feng, Q. Wang, and W. Gong, "Research on Hardware-in-the-loop Simulation System of Hydraulic Excavators", Proceedings of the 8th JFPS International Symposium on Fluid Power, pp.318-323, 2011.
  3. J. J. Kim, Excavators, Golden-Bell Corp., Seoul, 2010.
  4. P. Casoli et al., "Hydraulic Excavator - Mathematical Model Validation and Energy Analysis", Energies, Vol.9, No.12, pp.1-19, 2016.
  5. T. R. Jeon, "Analysis on the Kinematic and Dynamic Behavior of Hydraulic Excavator", Master Thesis, University of Konkuk, 1997.
  6. M. G. Cho et al., "Real-time Simulation Model of Excavator Kinematic Mechanism for Hydraulic HILS", Proceedings of 2018 Autumn Conference on Drive and Control, pp.9-10, 2018.
  7. S. M. Oh et al., "A Study on Real-time Simulation of Excavator MCV with Frequency Analysis", Proceedings of 2017 Spring Conference on Drive and Control, pp.169-174, 2017.
  8. Y. H. Im et al., "Real-time Simulation of Excavator including Detail Model of MCV", Proceedings of 2019 Spring Conference on Drive and Control, pp.250-255, 2019.
  9. M. K. Hyun and J. Y. Huh, "An Analysis of the Dynamic Characteristics of a Spool Type Pressure Control Valve", Journal of Drive and Control, Vol.15, No.4, pp.61-66, 2018. https://doi.org/10.7839/KSFC.2018.15.4.061
  10. K. S. Oh, J. H. Seo and G. H. Lee, "Phase Portrait Analysis-Based Safety Control for Excavator Using Adaptive Sliding Mode Control Algorithm", Journal of Drive and Control, Vol.15, No.3, pp.8-13, 2018. https://doi.org/10.7839/KSFC.2018.15.3.008

피인용 문헌

  1. Independent Metering Valve: A Review of Advances in Hydraulic Machinery vol.17, pp.4, 2019, https://doi.org/10.7839/ksfc.2020.17.4.054