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Strategy for Motor Grader Blade Rotation considering Soil Distribution
이진규(Jinkyu Lee),배장호(Jangho Bae),권오영(Oyoung Kwon),김한얼(Hanul Kim),채솔(Chai Sol),홍대희(Daehie Hong) Korean Society for Precision Engineering 2022 한국정밀공학회지 Vol.39 No.2
Research on the automation of many types of construction equipment, including motor graders, is being actively conducted. In a motor grader cabin, the operator has difficulty observing the working environment because of a constructed field of view. Thus, workers rely on their experience and senses. Further, the working environment of the blade must be observed, and a control algorithm should be created to enable autonomous operation. In this study, a blade rotation control strategy considering the soil distribution was proposed. First, a co-simulation environment was constructed using RecurDyn for multibody dynamics analysis and EDEM for discrete element method simulation, and simulations were performed to determine the correlation between soil distribution and the blade rotation angle. Work quality and blade load were analyzed according to the simulation results. The optimal blade rotation angle according to soil distribution was obtained to develop the strategy for autonomous flattening and scattering work. The proposed control strategy was implemented in a 1/4 full-scale motor grader experimental setup. An experiment to evaluate work quality was conducted to validate the effectiveness of the proposed methods. The experimental results indicated that the proposed strategy effectively performed scattering work.