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굴삭기에서 가공편차가 버켓의 움직임에 미치는 영향에 관한 연구
신대영(D. Y. Shin) 유공압건설기계학회 2018 유공압건설기계학회 학술대회논문집 Vol.2018 No.6
세계 건설기계 산업의 패러다임은 지속적으로 변화하고 있다. 2010년도 초반에는 고유가의 영향으로 하이브리드 또는 전기식 건설기계가 이슈가 되더니 2015년 이후에는 스마트기술이 채택한 반자율/자율건설기계가 개발 중심에 서있다. 건설기계의 대표 기종인 굴삭기도 특정 작업에 대해 반자동화와 완전자동화가 가능한 MC(machine control)기술을 개발하고 있다. 일반적으로 굴삭 작업은 붐 실린더와 암 실린더와 버켓 실린더의 변위와 힘이 붐과 암 그리고 버켓을 통하여 최종적으로 버켓 끝단에서 특정 작업을 하게 된다. 문제는 붐과 암 그리고 버켓을 가공한 후에 가공치수를 측정하면 항상 가공편차 편차가 존재한다. 각 실린더의 변위가 동일하더라도 붐과 암 그리고 버켓의 가공편차는 버켓 끝단의 자세가 상이하며 최악의 경우에는 특정 작업을 할 수 없을 정도로 버켓 끝단의 자세가 불량할 수 있다. 본 연구에서는 도랑 작업에서 붐과 암 그리고 버켓의 가공편차에 따른 버켓 끝단의 자세를 통계적으로 분석하였다. 향후에 정밀작업이 가능한 굴삭기에서 통계적 분석을 바탕으로 설계인자의 공차를 결정하는데 도움이 될 수 있다.
심규현(K. H. Sim),이화영(H. Y. Lee),황성호(S. H. Hwang) 유공압건설기계학회 2015 유공압건설기계학회 학술대회논문집 Vol.2015 No.6
This paper presents a control algorithm for semi-active suspension of utility vehicle to improve its ride comfort. Linear Quadratic Regulator (LQR) is a full state feedback control algorithm, but the state variables of real system are not fully measured by sensors. Using Kalman filter as an estimator, the state variables are estimated and the LQR control algorithm is adapted to the system, which is Linear Quadratic Gaussian (LQG) control algorithm. It can be applied to the real vehicle system for improvement of the ride comfort. Two rear suspensions are independently developed with the control algorithm. Hydraulic system of the suspension is designed using SimulationX and the full vehicle model with control algorithms is constructed using MATLAB/Simulink. Finally, the simulation is conducted by combining the vehicle model and the hydraulic suspension model.
조천익(Chun-Yk. Cho),정헌술(Heon-Sul. Jeong),신슬기(Seul-Ki. Shin),한성민(Song-Min, Han) 유공압건설기계학회 2009 유공압건설기계학회 학술대회논문집 Vol.2009 No.11
Because of the increasing demand on the high precision and high response of a machinery, electronic control valves are widely adopted at various application fields. This paper studies on the static characteristic of a first-stage proportional pressure control valve. At first, a simulation program is developed by using AMESim environment. And then it was utilized for the characteristic study of the pressure relief valve. In order to optimize the valve specifications, various parameter studies affecting of the characteristics are carried out and as the result important design parameters of each characteristic curve are identified.
임용현(Y. H. Im),이상욱(S. W. Lee),전소연(S. Y. Jeon),황성호(S. H. Hwang) 유공압건설기계학회 2018 유공압건설기계학회 학술대회논문집 Vol.2018 No.6
Performance analysis of the hydraulic actuators is widely used through various experiments or simulations with modeling. In the case of modeling of hydraulic components, various parameters are required and precise measurements or complex experiments are often necessary to get these parameters. Especially, a lot of trial and errorare required to obtain the modeling parameters of a hydraulic motor which is combined with hydraulic components and mechanical elements because of the nonlinear characteristics. To solve this problem, various modeling methods were proposed using statistical techniques instead of analytical techniques. In this paper, a modeling method for a swing motor of an excavator is proposed using artificial neural network, which is composed of a hydraulic motor and various functional valves such as relief valves, makeup valves and antirotation valve, etc. The model for a target swing motor was constructed using artificial neural network, in which the simulation results using commercial software were used as training data. The constructed model was verified by comparing with the computer simulation results through the known Amesim model.
정규홍(G. H. Jung) 유공압건설기계학회 2018 유공압건설기계학회 학술대회논문집 Vol.2018 No.6
Recently as the environmental regulation for earth moving equipment has been tightened up, advanced systems such as electronic control are introduced for energy savings. An IMV(Independent Metering Valve), which consists of four 2-way valves, is one of the electro-hydraulic control system to provide more flexible controllability and potential for energy savings in excavators when compared to the conventional 4-way spool valve system. In order to fully realize an IMV, bi-directional flow control valve which can regulate the large amount of flow in both direction should be adopted. The hydraulic circuit of IMV applied to excavator from overseas construction equipment company shows the flow control valve with the compound of proportional solenoid valve for first stage and 2-way spool valve for second stage. Moreover, the two spools are interconnected by feedback spring that is presumed to compensate for the flow force acting on second stage spool. This paper deals with the static analysis of flow control valve in IMV to investigate the imporvement of robustness against flow force by the feedback spring. From the steady-state analysis of flow control valve model, It can be concluded that feedback spring helps to maintain the linearity of spool displacement for control input and relatively constant flow for load disturbance.
엑시얼 피스톤 펌프의 압력/유량 맥동 시뮬레이션에 관한 기초적 연구
최세령(S. R. Choi),신상균(S. S. Shin),이일영(I. Y. Lee),장동혁(D. H. Jang),권정호(J. H. Kwon) 유공압건설기계학회 2010 유공압건설기계학회 학술대회논문집 Vol.2010 No.10
This study suggests the numerical model of an axial piston pump focusing on pressure and flow ripple analysis. using the numerical model, simulation programs for analysing pressure and flow ripple in the pump are shown. the effectiveness of the simulation programs are verified by comparative considerations of the simulation results and experimented results. Effects of several physical parameters on simulation accuracy are investigated.