드라이브 ㆍ 컨트롤 (Journal of Drive and Control)

  • 제19권2호
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  • Pages.11-16
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  • 2022
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  • 2671-7972(pISSN)
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  • 2671-7980(eISSN)
유공압건설기계학회 (The Korean Society for Fluid Power and Construction Equipment)
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유압 굴착기 실험을 통한 작업량 추정법 확인에 관한 연구

A Study of a Hydraulic Excavator's Test to Verify of Payload Estimation by Bucket's Motion Equation

  • Jeong, Hwang Hun (Smart Engineering Lab, Korea Construction Equipment Technology Institute) ;
  • Lee, Min Su (Smart Engineering Lab, Korea Construction Equipment Technology Institute) ;
  • Shin, Young Il (Smart Engineering Lab, Korea Construction Equipment Technology Institute)
  • 투고 : 2021.12.31
  • 심사 : 2022.03.13
  • 발행 : 2022.06.01
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초록

It is important to measure the excavator's work productivity that estimates the bucket's payloads on a process. If the bucket isn't filled at every working cycle, the excavator's operator has to drive the machine more to achieve his work quota. If bucket is filled over with the load, the other way around, the transferred object has to spread out on the workplace. That causes additional work to clean the site. This paper proposes a method that can estimate the bucket's payload to improve the excavator's work productivity. This method assumes that the excavator is a lumped mass system. And it uses a 3 points angle (boom link, arm link, swing) and 2 points pressure (boom cylinder's input port and output port) of measurable data. Depending on assumptions, the bucket's payload can be calculated by the payload's motion equation. And this suggested method can be verified by simple experiments.

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과제정보

본 연구는 산업통상자원부의 "기계산업핵심기술개발사업"의 지원을 받아 수행된 연구결과임. (20010776)

참고문헌

  1. A. Walawalkar et al., "A Method for Payload Estimation in Excavator", Proc. of the 4th Commercial Vehicle Symposium, 2016.
  2. A. Gawlik and P. Kucybala, "Dynamic Weighing System uesd in Excavator", Journal of KONES Powertrain and Transport, Vol.24, No.4, pp.31-38, 2017.
  3. A. R. Rasuli, "Dynamic Modeling, Paramter Identification, Payload Estimation, and Non-contact Arm Geometry Sensing of Cable Shovels", Ph.D Thesis, The University of British Columbia, Canada, pp.13-32, 2012.
  4. W. Khalil et al., "Identification of the Payload Inertial Parameters of Industrial Manipulators", 2007 IEEE International Conference on Robotics and Automation, pp.4943-4948, 2007.
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  6. H. H. Jeong et al., "A Method of Hydraulic Excavator's Payload Estimation by Bucket's Motion Equation", 2021 Autumn Conference on Drive and Control, pp.77-81, 2021.
  7. J. T. Kim et al., "Control Strategy and Verification of Dual-Arm Manipulator for Disaster-Responding Special Purpose Machinery", Journal of Drive and Control, Vol.17, No.4, pp.31-37, 2020. https://doi.org/10.7839/KSFC.2020.17.4.031