Control of Virtual Excavating System Base on Real-time Simulation

Quang Hoan Le,Young-man Jeong,Chi Thanh Nguyen,Soon-Yong Yang 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

Excavator is used in general versatile construction operations such as digging, carrying loads, grounding and dumping loads. However, it is not safe for the worker to operate the excavator on the risk environments. Consequently, excavator’s unmanned research focused on a few universities and companies are being studied. One of the most important things for researching automation of excavator is control of excavator. To find a feasible way to control excavator, firstly the Full Kinematic and dynamic model of the excavator’s manipulator which three degrees of freedom were studied. The inverse kinematic equations are used to determine the joint angles and the actuator lengths corresponding to a specific position and orientation of the bucket, given in the base coordinate system. This paper will present a PID-computed torque control and design of a virtual excavating system base on real-time simulation. Some simulation results are given.

자동 굴삭기 시스템 개발 및 검증에 관한 연구

임태형(T. H. Lim),최정주(J. J. Choi),양순용(S. Y. Yang) 유공압건설기계학회 2011 유공압건설기계학회 학술대회논문집 Vol.2011 No.6

Excavator system is widely used in various industrial field since its end-effect can replaceable according to the purposes. In order improve the perfromance and safety of operator for excavator system, an automatic excavator systems have been developed for last several decade. To develop an automatic excavator system, the stability of each links of excavator should be guaranteed. In this paper, an automatic excavator system was developed with modifying the existing 1.5ton excavator. To control each link of excavator, EPPR valves are used to control the pilot pressure of MCV(Main Control Valve). Also the time-varying sliding mode controller was designed to control each links of excavator. The simulation and experimental results are pressented to show the validity of the control method.

SimMechanics SimHydraulic을 이용한 가상 굴삭기 개발

레광환(Q. H. Le),정영만(Y. M. Jeong),웬치탄(C. T. Nguyen),양순용(S. Y. Yang) 유공압건설기계학회 2013 드라이브·컨트롤 Vol.10 No.1

Excavation is an important work in mining, earth removal and general earthworks. Nowadays, automation in excavator has been studied by several researchers. In the excavator research methods, simulation is one of the low cost methods for applied to test safely. In this paper, designed a virtual hydraulic excavator that with the control and the dynamic. At first, the simulation of hydraulic system for excavator’s attachment such as boom, arm and bucket using Matlab/Simhydraulic is presented. Second, the dynamic model of excavator is distributed to combine with the hydraulic system. For controlling this system, electric joysticks are used to operate the orifice open areas in Main Control Valve. The simulation result is described to analysis the performance of this virtual excavator.

굴삭기의 使用安全에 관한 硏究

임종국 忠州大學校 2009 한국교통대학교 논문집 Vol.44 No.-

Diesel engine was developed in the 1930s and stable power train of high-capacity was begun to supply that time. Instead of machine power transmission of trail handspike or pulley, wire rope by hydraulic PTU that efficiency is good development because begin to be elementary but equips form similar to construction machinery such as nowadays excavator, slaughtering, crane being replaced in various field as well as construction. Excavator is representative heavy equipment that decrease human's labor power epochally and is empled industry generally variously. However, calamity by heavy equipment is approaching to us for cause of new calamity instead of decreasing labor power. The other side, excavator studies is proceeded focusing in development change of system, but safety for using is extremely unprepared at use. Hereupon, this study prevents accident that can be occurred investigates diversified page for use inner place of excavator and establishes safe region category through an experiment. First - searched about structure and kind of excavator connected with the excavator. Second - Analyze excavator connection death accident example that was happened in the past by each field and investigated about death accident cause by field. Third, - excavator driving function four discharge process, grasped problem through investigation of rules about standard before excavator connection rule, industry inside. Fourth - search CFM problem through accidental cause analysis and presented accident preservative through investigation and an experiment.

Optimal design of the front linkage of a hydraulic excavator for multi-objective function

김종원,정성민,김진욱,서태원 대한기계학회 2014 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.28 No.8

The workspace, working velocity, excavating force, and load capacity of a hydraulic excavator play critical roles in the performance ofthe excavator for various tasks. This paper presents an optimal design of the front linkage of an excavator to maximize the performancesof several indices simultaneously. A multi-objective function is defined to increase the excavator’s workspace, working velocity, excavatingforce, and load capacity simultaneously. The workspace is defined by using four geometrical indices and the working velocity isdefined by the amount of time needed to perform one cycle composed of digging and dumping. The excavating force consists of twoforces, and the load capacity is defined by using the minimum values of three types with specific operations. A total of 10 indices defineobjective function with each weight, and pin-points of the front linkage are the design parameters, including joint positions of links andhydraulic actuators. A two-step optimization procedure is considered based on a new method called the hybrid Taguchi-random coordinatesearch algorithm. The results indicate a 3.43% increase in performance relative to the initial design parameters of a commercial excavator. More specifically, the excavator’s workspace, working velocity, excavating force, and load capacity increase by 5.55%, 0.14%,5.46%, and 0.33%, respectively. These improved design parameters can be applied to next generation excavators.

Development of the Flexible Observation System for a Virtual Reality Excavator Using the Head Tracking System

Q. H. Le(레광환),Y. M. Jeong(정영만),C. T. Nguyen(웬치탄),S. Y. Yang(양순용) 유공압건설기계학회 2015 드라이브·컨트롤 Vol.12 No.2

Excavators are versatile earthmoving equipment that are used in civil engineering, hydraulic engineering, grading and landscaping, pipeline construction and mining. Effective operator training is essential to ensure safe and efficient operating of the machine. The virtual reality excavator based on simulation using conventional large size monitors is limited by the inability to provide a realistic real world training experience. We proposed a flexible observation method with a head tracking system to improve user feeling and sensation when operating a virtual reality excavator. First, an excavation simulator is designed by combining an excavator SimMechanics model and the virtual world. Second, a head mounted display (HMD) device is presented to replace the cumbersome large screens. Moreover, an Inertial Measurement Unit (IMU) sensor is mounted to the HMD for tracking the movement of the operator"s head. These signals consequently change the virtual viewpoint of the virtual reality excavator. Simulation results were used to analyze the performance of the proposed system.

Matlab / SimHydraulic를 사용하여 가상 굴삭기의 조작을위한 유압 시스템 시뮬레이션

레광환(Le Quang Hoan),양순용(S. Y. Yang) 유공압건설기계학회 2012 유공압건설기계학회 학술대회논문집 Vol.2012 No.6

Excavation is an importance work in mining, earth removal and general earthworks. Nowadays, automation in excavator has been studied by several researchers and simulation is one of the low cost method can be safety tested. In this paper, the simulation of hydraulic system for excavator’s manipulator such as boom; arm and bucket using Matlab/Simhydraulic will be presented. In addition, the dynamics of excavator was distributed to associate with the hydraulic system. For controlling this system, electric joysticks were used to operate the orifices area open in Main Control Valve. This design is considered as a virtual excavator that includes the control; hydraulic system and dynamics model. The result simulation will be described to analysis the performance of this virtual excavator.

Mechanism optimal design of backhoe hydraulic excavator working device based on digging paths

Jin Chen,Fei Qing,Xiaoping Pang 대한기계학회 2014 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.28 No.1

In order to solve the problem that hydraulic excavator in the real working process cannot meet the design requirements and reveals insufficientdigging force, a new method on mechanism optimal design of backhoe hydraulic excavator working device based on diggingpaths is introduced and discussed in this paper. Considering the characteristics of consecutive digging process of hydraulic excavator, adigging path is composed of bucket digging trajectories and arm digging trajectories. The feasible working region is divided into a seriesof uniform paths according to the working position of boom. The practical digging performance of excavator is evaluated based on thedigging force parameters under combined work condition of the discrete points on the digging paths. It is turned out that the method ismore accurate to analyze excavator's real-world digging performance via the analysis of some practical cases. Based on the new diggingperformance analysis method, the optimization mathematical model is built to ensure the digging force under combined work conditionand the average digging force of every operating path as big as possible. The layout design of hinge position on the working device isoptimized through genetic algorithm. The optimization result shows that a certain model of an excavator's maximum digging force on thecustomary digging paths is improved by 10% and the average digging force is improved by 4% after the optimization on the workingdevice of the excavator with weak digging force.

A Study on An Energy Saving Electro-Hydraulic Excavator

Jong Il Yoon,Ahn Kyoung Kwan,Dinh Quang Truong 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

Nowadays with the high fuel prices, the demands for energy saving and green emission of construction machinery, without sacrifice of working performance, safety and reliability, especially hydraulic excavators, has been highly increased. As a result, electro-hydraulic hybrid system, which are promoted and successfully applied to automobile industry, is recently introduced to hydraulic excavators. The aim of this paper is to propose a new energy saving hybrid excavator using an electro-hydraulic circuit design driven by an electric motor/generator for the generation of potential energy. Consequently, a 5 ton class hybrid excavator is analyzed, developed with the boom arm for the evaluation of the designed system. The hardware implementation is also present in this paper. A control strategy for the hybrid excavator is built to operate the machine with a highest efficiency. The energy saving capacity of the proposed excavator is clearly verified through simulation results in a comparison with a conventional hydraulic excavator.

에코토공을 위한 굴삭기 작업장치 최적 조합 탐색

이홍철,김병수,이동은 대한토목학회 2016 대한토목학회논문집 Vol.36 No.2

Configuring excavator attachments and engine sizes is the prerequisite for appropriate excavator assignment. Existing experience basedconfiguration practice is lack of scientific rational because many variables (e.g., equipment motion data, soil and rock type andcondition, equipment's engineering dimension along with bucket properties, job and management conditions etc.) should be consideredsimultaneously and timely fashion. This paper presents a new excavator configuration searching method that identifies the mostfavorable excavator configuration (i.e., the optimal set of excavator's maximum digging height and bucket size) to complement theseexisting practices. The method coded by using MATLAB identifies an optimal excavator configuration by considering those variablescausing the variability of productivity. A case study is presented to demonstrate and to verify the system. 적합한 굴삭기 부착 작업 장치들과 엔진크기의 구성은 굴삭계획 전에 결정되어야한다. 기존의 경험에 근거하는 굴삭기 구성선택 관습은 다양한변수들을(장비 동작데이터, 토사유형과 상태, 버킷 속성들, 작업조건 등) 동시에 그리고 시기적절하게 고려하지 못하기 때문에 과학적으로 타당한 근거가 부족하다. 따라서 본 논문은 이러한 기존의 방법을 보완하기 위해 가장 합리적인 굴삭기 구성을 판별하는 새로운 굴삭기 구성 탐색 방법을 제안한다. MATLAB을 사용하여 구현 된 본 방법은 생산성의 변동을 일으키는 변수들을 고려하여 최적 굴삭기 구성을 규명한다. 본 방법론을 검증하기 위해 사례연구를 수행하였다.