굴착기 버킷의 진동 제어를 위한 기초 설계

정황훈(H. H. Jeong),김갑태(K. T. Kim) 유공압건설기계학회 2020 유공압건설기계학회 학술대회논문집 Vol.2020 No.7

A hydraulic cylinder system usually has characteristics of 1st order system because it was driven by hydraulic oil that fills an internal volume of actuator. But hydraulic cylinder in excavator system also has an undamped system’s characteristics due to relatively huge mass and spring constant. Input shaper is a command generation method that can remove the residual vibration by cancellation. So this command generation method can not be used in damped system such as hydraulic system. But, in this case, input shaper can be used in excavator’s hydraulic system to reduce a vibration. This paper deals with an input shaper’s utility on hydraulic excavator system. For this purpose, firstly, kinematics of excavator and inverse kinematics of this system was induced. This analysis was used to confirm that a problem of bucket position control is same as hydraulic cylinder control. And then input shaper was designed to reduce the residual vibration. Boom cylinder has residual vibration when bucket cylinder was moved even if this system has a damping effect. A residual vibration can be assumed a 2nd order system and it can be cancelled by input shaper command. Finally, utility of suggested controller was vitrified by simulation result’s analysis.

A Study on the Excavator Cockpit Usability Analysis Method Using Virtual Human Simulation

박찬송,최인욱 한국인더스트리얼디자인학회 2022 산업디자인학연구 Vol.16 No.4

Background The layout of operating devices based on scientific principles improves usability by reducing the time & effort required to operate and lowers the stress & human errors experienced in repetitive work, which has a great impact on the safety of operators. Therefore, this study intends to present a new usability analysis method using a more effective and efficient virtual human required in the process of developing a 30-ton excavator cockpit layout. Methods After realizing the excavator cockpits of three global manufacturers as 3D models in virtual space, the usability of each product was compared and evaluated by measuring and analyzing the operation distance generated by a virtual human seated in each cockpit performing main operations based on the usage scenario derived via the 4-step analysis process. Results As comparative analysis results of the operating distance for each excavator cockpit main operation, Volvo had the highest operating efficiency in the Excavating. Volvo and Hyundai had the same high operating efficiency in the Driving. The operating efficiency of the Convenience Function was the highest in Volvo. Conclusion The usability analysis method using virtual human simulation is easy to control the experimental environment compared to the physical laboratory and has accurate measurement values. And it is very practical since it can reduce the time and cost of expensive mock-up production and test subject recruitment. This analysis method can be useful in developing cockpits of various construction equipment such as excavators, wheel loaders, and forklifts, which require the operation of complex operating devices and prioritize safety. 연구배경 과학적인 원리에 근거한 조작장치의 배치는 운용에 필요한 시간과 노력을 줄여 사용성을 향상하며 반복 작업에서 경험되는 스트레스 및 인적 오류를 감소시켜 작업자의 안전에 큰 영향을 미친다. 이에 본 연구에서는 30톤급 굴착기 조종실 레이아웃 디자인 개발 과정에서 필요한 보다 효과적이고 효율적인 가상 휴먼을 활용한 새로운 사용성 분석 방법을 제시하고자 한다. 연구방법 글로벌 메이커 3사의 굴착기 조종실을 가상 공간에 3차원으로 구현한 후, 각 조종실에 착석된 가상 휴먼으로 하여금 4단계 분석과정을 통해 도출된 사용 시나리오 기반의 주요 작업을 수행하게 하여 발생되는 조작거리를 정밀히 측정, 분석함으로써 각 제품의 사용성을 비교 평가하였다. 연구결과 굴착기 조종실의 주요 작업 별 조작거리 비교 분석 결과, 굴착 부분에서는 볼보가 가장 조작 효율이 높았으며, 주행 부분은 볼보와 현대가 대등하게 조작 효율이 높은 것으로 나타났다. 편의기능 부분의 조작 효율은 볼보가 가장 높은 것으로 나타났다. 결론 가상 휴먼 시뮬레이션을 이용한 사용성 분석 방법은 물리적 실험실보다 실험 환경의 통제가 용이하며, 실험 측정값이 정확하다. 또한 고가의 목업 제작 및 피험자 모집을 위한 시간과 비용을 절감할 수 있어 매우 실용적이다. 이러한 분석 방법은 복잡한 조작장치의 운용이 요구되며 안전을 우선시하는 굴착기, 휠로더, 지게차와 같은 각종 건설기계의 조종실 개발에도 유용하게 사용될 수 있겠다.

굴착기의 음향파워레벨 회귀분석

구진회(Gu, Jin-Hoi),이재원(Lee, Jae-Won),서충열(Seo, Chung-Youl),장성기(Jang, Seong-Ki),최경희(Choi, Kyung-Hee),한진석(Han, Jin-Seok) 한국소음진동공학회 2012 한국소음진동공학회 논문집 Vol.22 No.3

The noise emitted from an excavator has long been a cause of environmental disputes, while causing displeasure to the nearby residents. So, the ministry of environment adopted the construction machinery noise labeling system to encourage the construction machinery manufacturing companies to develop the low noise construction machinery voluntarily. But, as the quality of life improves, a growing number of people desire the comfortable and quite environment to live in. Under the situation, noise from the construction machinery has been a major cause for stress and complaints. When the noise dispute happened in the construction site, the sound pressure level of the construction machinery like a excavator was measured at the lot boundary of the noise victim's residence to judge how much noise damage occur. But the sound pressure level of the construction machinery is measured differently according to the acoustic environment of construction site and the measuring position, respectively, which makes it difficulty to judge whether the noise damage occur or not. As the sound power level of noise source is not affected by the acoustic environment of construction site and the measuring position, if we use the information of the sound power level, it will be easy to judge whether the noise damage occur and to establish the soundproofing measures. Therefore, we derive the sound power level regression model of the excavator to judge whether the noise emitted from the excavator damages to residents near the construction site. Also, the sound power level regression model of the excavator drawn in this paper will help construction companies to plan the noise reduction program in the construction sites.

굴착기 전자제어 컨트롤 밸브 신뢰성 평가 장비 구축

김영빈(Young Bin Kim),강대영(Dae Young Kang),유형민(Hyung Min Yu),한승오(Seung Oh Han),김수인(Su In Kim),권지운(Ji Woon Kwon),조용근(Yong Geun Cho) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.4

본 논문은 굴착기용 전자제어 컨트롤 밸브의 신뢰성 평가를 위한 장비개발 방안을 기술하였다. 현재 개발 중인 굴착기 전자제어 컨트롤 밸브 신뢰성 평가 장비는 100 톤 급 이하 굴착기에 장착되는 컨트롤 밸브에서 발생되는 고장을 파악하기 위해 내구수명 시험과 압력 손실, 내·외부 누유, 스풀 습동, EPPR Valve 응답성, Relief Valve 특성 및 미터링 특성의 성능시험 등이 가능하다. 본 신뢰성 평가 장비 개발 연구를 통해 국산 컨트롤 밸브의 신뢰성 확보를 위한 기초 자료로 활용할 예정이다. This paper describes an equipment development plan for the reliability evaluation of electronic control valves for excavators. Excavator electronic control valve reliability evaluation equipment currently under development is a durability test and pressure loss, internal/external oil leakage, spool sliding, EPPR valve responsiveness, and relief to identify failures occurring in control valves mounted on excavators below 100ton class. It is possible to perform performance tests of valve characteristics and metering characteristics. This reliability evaluation equipment development study will be used as basic data for securing the reliability of domestic control valves.

무인 굴착기의 자동화 굴착 작업을 위한 유압실린더 제어 시스템 개발

김세모,이민수,조기용,강래형 대한기계학회 2024 大韓機械學會論文集A Vol.48 No.6

본 연구에서는 무인 굴착기의 자동화 굴착 작업을 위한 유압실린더 제어 시스템 개발을 진행하였다. 무인 굴착기의 제어를 위하여 붐, 암, 버킷 축 유압실린더 힌지에 각도 센서를 장착하여 실제 각도를 측정하였고, 실제 각도와 명령 각도의 오차를 기반으로 한 PI 제어 알고리즘을 사용하였다. 굴착 작업에 적합하도록 붐과 버킷 축은 회전 방향에 따라 분할하여 제어가 되도록 알고리즘을 구축하였고, 안정적인 굴착 작업을 위하여 P와 I값에 대하여 최적화를 진행하였다. 최적화 결과 붐 축의 P는 상승 방향은 9, 하강 방향으로는 3.5로 설정하였으며, 버킷 축의 P값은 안쪽 방향은 2.5, 바깥쪽 방향은 2.0, I값은 1.0으로 최적화하였다. 최적화를 통하여 안정적인 굴착 작업이 가능한 것을 확인하였다. In this study, we focused on developing a hydraulic cylinder control system for the automated excavation operations of an unmanned excavator. The control system implemented a proportional–integral (PI) control algorithm. To align with the specific requirements of excavation tasks, control was individually applied to the boom and bucket axes according to their respective directions. After optimization, the P gain for the boom axis was configured at 9 for upward movement and 3.5 for downward movement. Additionally, the P gain for the bucket axis was optimized to 2.5 for inward movement and 2.0 for outward movement. The I gain value was fine-tuned to 1.0. This optimization process successfully confirmed the feasibility of stable excavation work.

실차의 거동한계를 고려한 굴착기의 굴착 경로설계 연구

신대영(Dae Young Shin) 유공압건설기계학회 2021 드라이브·컨트롤 Vol.18 No.2

An excavator is a construction machine that can perform various tasks such as trenching, piping, excavating, slope cutting, grading, and rock demolishing. In the 2010s, unmanned construction equipment using ICT technology was continuously developed. In this paper, the path design process was studied to implement the output data of the decision stage, and the path design algorithm was developed. For example, the output data of the decision stage were terrain data around the excavator, excavator mechanism information, excavator hydraulic information, the position and posture of the bucket at key points, the speed of the desired bucket path, and the required excavation volume. The result of the path design was the movement of the hydraulic cylinder, boom arm, bucket, and bucket edge. The core functions of the path design algorithm are the function of avoiding impact during the excavation process, the function to calculate the excavation depth that satisfies the required excavation volume, and the function that allows the bucket to pass through the main points of the excavation process while maintaining the speed of the desired path. In particular, in the process of developing the last function, the node tracking method expressed in the path design table was newly developed. The path design algorithm was verified as this path design satisfied the JCMAS H02 requirement.

무인 굴착기 자율 제어 시스템 개발

박민철(Mincheol Park),정우용(Wooyong Jung),양승만(Seungman Yang),홍희승(Heeseung Hong),홍성훈(Seonghun Hong),이희진(Heejin Lee),김창묵(Changmook Kim),문지현(Jihyun Moon),강민성(Minsung Kang),김영준(Youngjoon Kim),유근수(Geunsu You),김 한국자동차공학회 2020 한국자동차공학회 부문종합 학술대회 Vol.2020 No.7

The global construction industry is becoming smart as it moves away from the traditional labor-intensive. Doosan Infracore presented a business model that maximizes efficiency and productivity via Concept-x demonstration. This paper introduces the autonomous excavator control system, which was developed by Doosan Infracore Corporation to participate in the Concept-X Project. The unmanned excavator has perception, planning, and control system. In perception system, the unmanned excavator recognizes the surrounding environment and classify the obstacle using various sensors installed on the excavator. In planning system, the excavator estimates work sequence plans, operation trajectory and driving routes. In control system, the unmanned excavator performs work safely and accurately. The performance of the control system is verified with experimental data obtained from Concept-X demonstration scenario.

버킷의 운동 방정식을 이용한 굴착기 작업량의 추정

정황훈(Hwang Hun Jeong),이민수(Min Su Lee),신영일(Young Il Shin),조기용(Gi Yong Cho) 유공압건설기계학회 2021 유공압건설기계학회 학술대회논문집 Vol.2021 No.11

It is important to measure the excavator’s work productivity that estimates bucket’s payloads on a process. If bucket wasn’t filled at every working cycles, excavator’s operator has to drive the machine more to achieve his work quota. If bucket was filled over with load, the other way around, transferred object has to spread out on workplace. That causes another work to clean the site. This paper concerns about a method that can estimates bucket’s payload to improve the excavator’s work productivity. This method assumes that excavator is lumped mass system and 3 points angle(boom link, arm link, swing) and 2 points pressure(boom cylinder’s input port and output port) are measurable. Depending on assumptions, bucket’s payload can be calculated by payload’s motion equation.

EPPRV를 사용한 전자 MCV의 작동 지연 시간 분석

정황훈(Hwang Hun Jeong),이민수(Min Su Lee) 한국자동차공학회 2021 한국자동차공학회 부문종합 학술대회 Vol.2021 No.6

건설기계의 자동화는 인구의 노령화 및 숙련공 감소에 따른 생산량 감소 대응 및 위험한 장소에서의 작업자 안전 확보를 목적으로 활용되고 있다. 건설 현장에서 가장 많이 사용되고 있는 굴착기 또한 전자 MCV를 활용하여 자동화가 이루어지고 있다. 기존 유압 굴착기는 엔진에 의해 구동되는 유압펌프와 MCV, 액추에이터(붐, 암, 버킷 실린더, 스윙 모터, 주행 모터 및 어테치먼트용 유압 서비스 라인)로 구성되어지며, 이 액추에이터의 속도와 방향은 조이스틱의 동작에 따라 조절되는 파일럿 압력에 의해 동작하는 MCV에 의해 제어되어진다. 전자 MCV는 MCV에 공급되는 파일럿 압력을 EPPRV를 활용하여 공급하는 밸브 시스템으로 전기적인 신호를 통해 유압 굴착기를 자동화할 수 있도록 한다. 전자 MCV를 유압 굴착기에 활용할 경우 기존 시스템에 비하여 액추에이터의 응답 지연이 늘어나게 된다. 기존 유압 굴착기에서는 파일럿 압력을 on-off 밸브로 제어함으로써 밸브가 열릴 때 MCV의 스풀에 공급되는 유량이 EPPRV에 비해 크기 때문에 액추에이터는 EPPRV를 사용한 시스템보다 빠른 반응을 보인다. 하지만 EPPRV를 사용한 시스템은 기존 시스템의 지연시간에 EPPRV가 설정된 압력에 이르기까지의 지연 시간이 추가되기 때문에 운전자가 느낄 수 있을 만큼 액추에이터의 동작 지연이 발생한다. 본 발표는 굴착기 자동화를 위한 기초 연구로, 전자 MCV가 설치된 굴착기의 동작으로부터 시스템의 응답 지연을 분석하는 것을 목적으로 한다.

1.7톤급 소형 굴착기용 주행 감속기의 복합 유성기어류에대한 강도 평가

남석주,배명호,조연상 한국트라이볼로지학회 2022 한국트라이볼로지학회지 (Tribol. Lubr.) Vol.38 No.1

A 1.7-ton grade small excavator is a construction equipment that can perform various functions in limited spaces where heavy equipment cannot enter easily. Owing to the recent acceleration of urbanization, it has been used increasingly in drainage and gas pipes, as well as for road repair works in urban areas. The power train of a traveling reducer for a 1.7-ton grade small excavator utilizes a complex planetary gear system. Complex planetary gears are vital to the power train of a traveling reducer as it mitigates the fatigue strength problem. In the present study, the specifications of a complex planetary gear train are calculated; furthermore, the gear bending and compressive stresses of the complex planetary gears are analyzed to achieve an optimal design of the latter in terms of cost and reliability. In this study, the actual gear bending and compressive stresses of a planetary gear system are analyzed using a self-developed gear design program based on the Lewes and Hertz equation. Subsequently, the calculated specifications of the complex planetary gears are verified by evaluating the results with the data of allowable bending and compressive stress based on curves of stress vs. number of cycles of the gears.