굴착기 버킷의 진동 제어를 위한 기초 설계

다국어 초록 (Multilingual Abstract)

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.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 굴착기의 기구학
• 3. 실린더의 위치제어
• 4. 결론
• 참고문헌