• 제목/요약/키워드: Hydraulic excavator

검색결과 163건 처리시간 0.021초

지능형 굴삭 시스템의 버킷 끝단 위치제어에 관한 연구 (A Study on the Bucket Tip's Position Control for the Intelligent Excavation System)

  • 김기용;장달식;안현식
    • 유공압시스템학회논문집
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    • 제5권4호
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    • pp.32-37
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    • 2008
  • For the bucket tip position control of the excavator, a traditional hydraulic excavator system was exchanged into an electro-hydraulic one. EPPR valves are attached to the traditional MCV and hydraulic joysticks are replaced by electronic ones to develop the electro-hydraulic system. To control the electronic pump with a good performance, the control logic for the pump is deduced from the AMESim simulation and the experimental method on the test bench. To get a good position control performance of the excavator bucket tip, PI+AntiWindup controller is selected as a position controller. The experimental results showed the good controllability for the electro-hydraulic excavator system on the test bench.

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전기-유압 액추에이터를 이용한 굴삭기 에너지 절감에 관한 기초 연구 (A study on Energy Saving of the Excavator using Electro-Hydraulic Actuator)

  • 윤홍수;안경관;이병룡;강종민;김재홍
    • 대한기계학회:학술대회논문집
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    • 대한기계학회 2008년도 추계학술대회A
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    • pp.801-805
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    • 2008
  • Today, hydraulic systems play an important role in modern industry for the reasons that hydraulic actuator systems take many advantages over other technologies with high durability and the ability to produce large forces at high speeds. In recent years, electro-hydraulic actuator systems, which combine electric and hydraulic technology into a compact unit, have been adapted to a wide variety of force, speed and torque requirements. Moreover these systems resolve energy consumption and noise problems characteristic existed in the conventional hydraulic systems. Therefore, these systems have a wide range application fields especially in an excavator. So the purpose of this paper is to demonstrate efficiency of the energy saving and present some control algorithms which apply to electro-hydraulic actuator system in the bucket of the excavator. Experiments are carried out to verify the effectiveness of the proposed system with various external loads as in real working conditions.

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유압식 굴삭기 효율 향상을 위한 HPM 시스템 개발 (Development of the HPM System to Improve Efficiency of the Hydraulic Excavator)

  • 권용철;이경섭;김성훈;구병국
    • 드라이브 ㆍ 컨트롤
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    • 제16권4호
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    • pp.1-8
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    • 2019
  • The HPM (High-speed Power Matching) system is an electro-hydraulic control system. It directly controls the swash plate of the pump by selecting four-loop logic based on joystick signals, pump flow, and pressure signal to improve the efficiency and controllability of construction machines. In the NFC (Negative Flow Control) system, a typical pump control system using conventional open center type MCV, the loss is continuously generated by flow through the center bypass line even when the excavator is not in operation. Also, due to the slow response of the pump that indirectly controls the flow rate using the pressure regulator, peak pressure occurs at the start or stop of the operation. Conversely, the HPM system uses an MCV without center-by-pass flow path and the swash plate of a pump for the HPM is controlled by a high-speed proportional flow control valve. As a result, the HPM system minimizes energy loss in standby state of the excavator and enables peak pressure control through rapid electro-hydraulic control of a pump. In this paper, the concept of the HPM system algorithm is introduced and the hydraulic system efficiency is compared with the NFC system using the excavator SAT (System Analysis Tool).

시험자료를 이용한 굴삭기의 동역학 해석 (Dynamic analysis of an excavator using experimental data)

  • 유완석;김외조;이만형;윤경화
    • 대한기계학회논문집
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    • 제18권5호
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    • pp.1150-1157
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    • 1994
  • This paper presents dynamic analysis of a hydraulic excavator based on experimental data. A three dimensional multibody model of a hydraulic excavator is modeled for the computer simulation. The hydraulic pressures acting on the cylinders are measured from experiments, and the forces exerting on the cylinders are calculated from the measured pressures. Using these forces, the dynamic analysis of the excavator is carried out to regenerate the motion in the computer simulation. A proper operation scheme is assumed to match the computational result and the experiment. The DADS program is used for the dynamic analysis.

소형 굴삭기용 브리드 오프 센터형 유압 제어 시스템의 특성 (The Characteristic of the Hydraulic Control System with Bleed-off Center Type of a Compact Excavator)

  • 김준식;이승현;이재원
    • 대한기계학회논문집A
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    • 제32권2호
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    • pp.119-126
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    • 2008
  • In this study, the characteristics of the hydraulic control system with bleed-off center type of a compact excavator were analyzed using developed analysis program. From the parametric analysis, the effects of each factor were revealed. Through the simulation with varying parameters, the system parameter effects on the controllable region and the pump pressure and load pressure variations were studied. The results were compared with the experimental ones. The results and discussions of the present paper could aid in the performance improvement of a hydraulic control system of a compact excavator.

유압 굴삭기용 시뮬레이터 개발 및 응용 (Development and Application of Simulator for Hydraulic Excavator)

  • 임태형;양순용
    • 한국정밀공학회지
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    • 제23권9호
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    • pp.142-148
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    • 2006
  • Hydraulic excavators have been popular devices in construction fields because of their multi-workings and economic efficiency. The mathematical models of excavators have many nonlinearities because of opening characteristics and dead zone of main control valve(MCV), oil temperature variation, etc. The objective of this paper is to develop a simulator for hydraulic excavator using AMESim. Components and their circuits are expressed graphically. Also, parameters and nonlinear characteristics are considered in a text style. From the simulation results, fixed spring stiffness of MCV can not obtain the satisfactory accuracy of spool displacement under whole P-Q diagrams. Closed loop type MCV containing a proportional gain, is proposed in this paper that can reduce displacement error. The ability of closed loop MCV is verified through comparing with normal type MCV using AMESim simulator. The excavator simulator can be used to forecast the attachment behaviors when components, mechanical attachments and hydraulic circuits change, or other control algorithms are applied. The simulator could be a kind of development platform for new excavators.

외란관측기를 이용한 유압굴삭기 붐.아암 시스템의 궤적추적제어 (Trajectory Tracking Control of a Boom.Arm System of Hydraulic Excavator Using Disturbance Observer)

  • 조승호;안건형
    • 유공압시스템학회논문집
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    • 제1권1호
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    • pp.23-30
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    • 2004
  • This paper deals with the issue of trajectory tracking control of a hydraulic excavator using disturbance observer in order to compensate external disturbances occuring from coupling between attachment, asymmetry of a single rod cylinder, and deadzone of main control valve. Disturbance compensation control system with disturbance observer has been constructed for the boom and arm respectively. Simulation results were compared with experimental results to validate the computer simulation system of hydraulic excavator itself. Computer simulation shows that disturbance compensation control is effective for compensating system nonlinearity and thus improves positioning accuracy and trajectory tracking performance. Steady state error has been decreased by adding PI controller to this control scheme.

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$H_\infty$구조의 외란 관측기를 이용한 유압 굴삭기의 강인한 궤적 제어 (Robust Trajectory Control of a Hydraulic Excavator using Disturbance Observer in $H_\infty$Framework)

  • 최종환;김승수;양순용;이진걸
    • 한국정밀공학회지
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    • 제20권10호
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    • pp.130-140
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    • 2003
  • This paper presents an $H_\infty$controller synthesis based on disturbance observer for the trajectory control of a hydraulic excavator. Compared to conventional robot manipulators driven by electrical motors, hydraulic excavator have more nonlinear and coupled dynamics. In particular, the interactions between an excavation tool and the materials being excavated are unstructured and complex. In addition, its operating modes depend on working conditions, which make it difficult to not only derive the exact mathematical model but also design a controller systematically. In this study, the approximated linear model obtained through off-line system identification is used as nominal plant model for a disturbance observer. A disturbance observer based tracking controller which considers the effect of disturbance and model uncertainty is synthesized in $H_\infty$frameworks. Simulation results are used to demonstrate the applicability of the proposed control scheme.

AMESim를 이용한 유압 굴삭기용 Main Control Valve의 해석에 관한 연구 (Characteristics Evaluation of Spindle Thermal Displacement with kinds of Lubrication Oil)

  • 임태형;최종환;양순용;이병룡;안경관
    • 한국공작기계학회:학술대회논문집
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    • 한국공작기계학회 2003년도 춘계학술대회 논문집
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    • pp.105-110
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    • 2003
  • The hydraulic excavator has been a popular research object for automation because of its multi-workings and economic efficiency. When it works crane tasks, most of disasters happen. The objective of this paper is to design each components and to construct boom, arm, bucket circuit. These models modeled with AMESim show us change of variables and behavior of excavator. Simulation model will be used for simulator of excavator.

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부하 감응형 유압 펌프 제어 시스템에 관한 연구 (A Stuyd on the Load-sensitive Hydraulic Pump Control System)

  • 송창섭;이용주
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 1995년도 추계학술대회 논문집
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    • pp.585-588
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    • 1995
  • In this study, the analysis of the static and dynamic characteristics of the load-sensitive hydraulic pump control system used in the hydraulic excavator was performed by hydraulic circuit ananlysis program. Thess results was verified by the experimental data of the hydraulic excavtor system. The responses on effective parameters of system at the controllable region and the pressure variation of the pump used in hydraulic excavator system was studied to enhance the static performace of the system. the parameter enhance dynamic sharacteristics was considerd.

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