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유압 굴삭기용 시뮬레이터 개발 및 응용

Development and Application of Simulator for Hydraulic Excavator


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.

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참고문헌 (12)

  1. Tafazoli, S., Salcudean, S. E., Hashtrudi-Zaad, K. and Lawrence, P. D., 'Impedance Control of a Teleoperated Excavator,' IEEE Transactions on control systems technology, Vol. 10, No. 3, pp. 355-367, 2002 
  2. Krishna, M. and Bares, J., 'Hydraulic System Modeling through Memory-based Learning,' Proc. of the 1998 IEEE/RSJ Int. Conf. on intelligent Robots and Systems, pp. 1733-1738, 1998 
  3. Nguyen, Q. H., Ha, Q. H., Rye, D. C. and Durrant-Whyte, H. F., 'Force/Position Tracking for Electrohydraulic Systems of a Robotic Excavator,' Proc. of the IEEE Conf. on Decision and Control, pp. 5224-5229, 2000 
  4. Lee, S. U. and Chang, P. H., 'Control of a heavy-duty robotic excavator using time delay control with integral sliding surface,' Control Engineering Practice, Vol. 10, No. 7, 2002 
  5. Shi, X., Lever, P. J. A. and Wang, F., 'Experimental Robotic Excavation with Fuzzy Logic and Neural Networks,' Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 957-962, 1996 
  6. Choi, J. H., Kim, S. S., Yang, S. Y. and Lee, J. G., 'Robust Control of Trajectory Tracking for Hydraulic Excavator,' ICASE, Vol. 10, No.1, pp. 22-29, 2004 
  7. Salcudean, S. E., Hashtrudi-Zaad, K., Tafazoli, S., Dimaio, S. P. and Reboulet, C., 'Bilateral Matched Impedance Teleoperation with Application to Excavator Control,' Proc. of the IEEE Int. Conf. on Robotics & Automation, pp. 133-139, 1998 
  8. Normey-Rico, J. E., Alcala, J., Gomez-Ortega, J. and Camacho, E. F., 'Mobile robot path tracking using a robust PID controller,' Control Engineering Practice, Vol. 9, No.11, pp. 1209-1214, 2001 
  9. Craig, J. J., 'Introduction to Robotics Mechanics and Control second edition,' Addison-Wesley, 1992 
  10. Kane, T. R., 'Dynamics :Theory and Applications,' McGraw-Hill, 1985 
  11. 'AMESim User's Manual,' IMAGINE, 2000 
  12. Lim, T. H. and Yang, S. Y., 'Closed loop type MCV for Hydraulic Excavator,' KSPE conference, pp. 864-870, 2005 

이 논문을 인용한 문헌 (3)

  1. Han, Moon-Sik ; Cho, Jae-Ung 2011. "Structural Analysis of Excavator Arm and its Connection Pins" 한국생산제조시스템학회지 = Journal of the Korean Society of Manufacturing Technology Engineers, 20(1): 7~12 
  2. Kang, Min-Jae ; Cho, Jae-Ung 2014. "A Study on Structural Durability due to the Configuration of Ripper at Excavator" 한국융합학회논문지 = Journal of the Korea Convergence Society, 5(2): 13~18 
  3. Cho, Jae-Ung 2014. "A Study on Structural Safety and Fatigue Failure of End Mill" 한국융합학회논문지 = Journal of the Korea Convergence Society, 5(3): 17~22 


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