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지능형 굴삭기의 궤적 추종 오차 개선을 위한 중력 보상 제어기에 대한 연구
이창섭(C. S. Lee),홍대희(D. H. Hong),김태호(T. Kim),김기용(K. Kim),조용락(Y. Cho),장윤석(Y. Jang),장달식(D. Jang),장준현(J. Jang) 유공압건설기계학회 2009 유공압건설기계학회 학술대회논문집 Vol.2009 No.11
One of the most important factors in Intelligent Excavator is to locate the bucket fast and accurate to the right position. To locate the bucket accurately, the Arm and the hydraulic cyliner of the Boom should be exactly controlled. But as voltage and the force that should be controlled can be different by the positioning of the excavator, exact controlling is a difficult task. Only if we could control the gravity and the load, which is the main part in controlling the excavator in a slow system, it can be controlled more accurately. In this paper, we looked on how much the excavator could be controlled with gravity compensation.
김기용(K. Y. Kim),장달식(D. S. Jang),안현식(H. S. Ahn) 유공압건설기계학회 2008 드라이브·컨트롤 Vol.5 No.4
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 Mev 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.
부하감응 시스템 MCV 제어용 EPPR 밸브 개발 및 센서리스 고장진단에 관한 연구
윤진호(J. H. Yun),장달식(D. S. Jang),구준태(J. T. Koo),신상우(S. W. Shin),차상봉(S. B. Cha),이준엽(J. Y. Lee),유승진(S. J. Yoo) 유공압건설기계학회 2023 유공압건설기계학회 학술대회논문집 Vol.2023 No.5
Over the years, the number of agricultural workers as a percentage of the total population has been declining. As a result, the agricultural market is faced with the challenge of meeting the same food demand as before with fewer people. As a solution to these problems, automation of agricultural machinery is emerging. In this study, we develop Electric Proportional Pressure Reducing(EPPR) valve, which is a key part of agricultural machinery automation. The EPPR valve is a component that can vary the discharge pressure by using the suction force generated according to the signal input to the coil. It can be used for various purposes in agricultural machinery, and it used here is to control the Main Control Valve(MCV) spool of the Load Sensing system. The Load Sensing system is a circuit that reduces wasted energy by varying the pump according to the work load. The reliability of the EPPR valve is secured through the sensorless fault diagnosis system. After obtaining the Magnetic Flux Linkage Diagram using the current and voltage input to the coil, various failure analyzes can be performed by comparing it with a normal product. We check hysteresis and repeatability to evaluate EPPR valve performance. A total of 6 failure types are selected: Coil Failure, Spring Failure, Part Omission, Electromagnetic Top Pollution, Sliding Part Adhesion and Excessive Sliding Friction. In addition, machine learning techniques are used to ensure higher reliability as the test is repeated.
오준호(J. Oh),김기용(K. Kim),조용락(Y. Cho),장윤석(Y. Jang),장달식(D. Jang),장준현(J. Jang) 유공압건설기계학회 2009 유공압건설기계학회 학술대회논문집 Vol.2009 No.11
A research on the improvent of working convenience and performance of excavator has been performed by many researchers and manufacturers. Leading companies have researched and applied their electro-controlled pump technology into excavator products early in 2000"s. Concerning the performance of an excavator, moreover, development of high-efficiency excavator system in various working patterns is becoming one of their main interests. In this research we obtained experimental results of an excavator in various working patterns. Also, those results were utilized to analyze energy loss distribution of a working pattern and finally to improve the convenience and performance of an excavator.