• 드라이브 ㆍ 컨트롤
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• 제17권3호
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• pp.58-63
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• 2020

• 드라이브 ㆍ 컨트롤
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• 제12권1호
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• pp.45-52
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• 2015

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.708-713
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• 2004

This research develops a sensorless hydraulic servo system of Parallel-Typed robot for harbour construction. Purpose of the robot is to mechanize the construction, which is accomplished through a joystick's operating by a stoneworker (or diver). The robot is attached on the end of an excavator as its attachment or transported by a crane to reach the desired place. The embedded compact controller is installed on the robot body and controlled by wireless telecommunication. For underwater work, it is necessary to waterproof the robot and its sensors. Especially, a sensor waterproof is a main drawback for the underwater robot. This leads us to develop a hydraulic robot position controller using an observer which gives the position information without any position sensor. We design a neural network to identify the displacement change according to the command voltage to servo valve. To verify the sensorless controller, this paper presents the performance of the sensorless control for which the position is given by the observer comparing with that of the sensor control for which the position is measured by LVDT sensors.

• 디자인학연구
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• 제13권4호
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• pp.233-242
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• 2000

1990년대는 유압굴삭기의 전통적 조형이 새롭게 모색 및 재해석되는 시기로 판단되었으며, 이는 2가지 방향으로 정리될 수 있다. 하나는 유압굴삭기의 전통적 이미지에 관한 부정적 해석에서 기인한 '탈(post-heavy equipment)중기적' 경향이며, 다른 하나는 고유성 유지와 개선이라는 긍정적 해석에서 기인한 '후기(late-)중기적' 경향이다. 이는 동일한 현상을 다양하게 바라볼 수 있는 패러다임과 관련하는 것으로 사료된다. 이 시기에 개발 및 시판된 8개 연구대상 모델 중 유압굴삭기의 조형 경향은, 일본 색채디자인연구소에서 개발한 이미지스케일 3상한에서 2상한으로 변화였으며, 예외적으로 코벨코는 1상한까지 이동하는 경향이 있었다. 이는 탈중기적 이미지를 디자인 전략으로 채택하고 있는 코벨코만의 경우였다. 아울러, 인적(入的)공간으로서의 캐빈의 변화는 장비 전체의 변화에서보다 좀더 1상한으로 이동하고 있는데, 이는 물적(物的)공간과 시각적 차별화를 위한 것으로 사료되었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.62.1-62
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• 2002

$\textbullet$ INTRODUCTION $\textbullet$ MATHEMATICAL MODEL OF EXCAVATOR $\textbullet$ H_INF CONTROLLER BASED ON DISTURBANCE OBSERVER $\textbullet$ SIMULATION RESULTS $\textbullet$ CONCLUSION

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.951-956
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• 1991

굴삭기 엔진 펌프시스템을 실험결과에 근거해서 모델링하여 수치적으로 시뮬레이션을 행하였다. 엔진.펌프시스템은 그 구성이 복잡할 뿐만 아니라 시스템자체의 비선형성,작업에 따라 시스템에 가해지는 불확실한 외란, 파라미터의 변동으로 인하여 정확한 모델링을 행하기는 다소 어려움이 있었다. 비례제어만을 사용시는 정상상태오차의 발생,초기의 회전수저하등으로 인하여 적합하지 않았다. 이를 개선하기 위하여 PID제어를 사용하였을 경우 정상상태오차는 제거할 수 있으나 정착시간이 길어지는 것을 볼 수 있었다. 슬라이딩모우드에 의한 제어법을 적용하였을 경우 정상상태오차,정착시간,최대회전수저하량을 모두 만족하였으나 과도상태에서 오실레이션이 발생하는 현상을 볼 수 있었다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2001년도 추계학술대회논문집 I
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• pp.229-234
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• 2001

A practical and effective semi-active on-off control law is developed for vibration attenuation of a natural, multi-degree-of-freedom suspension system, when its operational response mode is available. It does not need the accurate system parameters and dynamics of semi-active actuator. It reduces the total vibratory energy of the system including the work done by external disturbances and the maximum energy dissipation direction of the semi-active control device is tuned to the operational response mode of the structure. The effectiveness of the control law is illustrated with a three degree-of-freedom excavator cabin model.

• 드라이브 ㆍ 컨트롤
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• 제18권1호
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• pp.24-30
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• 2021

There is an increasing interest in condition-based maintenance for the prevention of economic loss due to failure. Moreover, immense research is being carried out in related technologies in the field of construction machinery. In particular, data-based failure diagnosis methods that employ AI (machine & deep learning) algorithms are in the spotlight. In this study, we have focused on the failure diagnosis and mode classification of reduction gear of excavator's travel device by using the AI algorithm. In addition, a remote monitoring system has been developed that can monitor the status of the reduction gear by using the developed diagnosis algorithm. The failure diagnosis algorithm was performed in the process of data acquisition of normal and abnormal under various operating conditions, data processing and analysis by the wavelet transformation, and learning. The developed algorithm was verified based on three-evaluation conditions. Finally, we have built a system that can check the status of the reduction gear of travel devices on the web using the Edge platform, which is embedded with the failure diagnosis algorithm and cloud.

• Design & Manufacturing
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• 제12권2호
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• pp.40-45
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• 2018

Recently, in construction equipment machinery production, development has focused on environmentally-friendly functions to improve existing production capacity. For excavators as well, emphasis has been placed on response to environmental regulations, miniaturization, and noise reduction, while technology is being developed considering cost reduction and safety.Accordingly, the front support, an inner reinforcement part of the excavator, as well as high-strength steel plates to improve safety and reduce weight, are being applied.However, in the case of high-strength materials, Springback occurs in the final formed part due to high residual stress during product forming. Derivation of a forming or product shaping process to reduce springback is needed. Accordingly, regarding the front support, an inner reinforcement part of the excavator, this study derived a method to improve springback and secure shape stiffness through analysis of the springback occurrence rate and springback causes through a forming analysis.As for the results of analyzing the springback occurrence rate of existing products through forming analysis, springback of -22.6 mm < z < 27.35 mm occurred on the z-axis, and it was confirmed that springback occurred due to the stiffness reinforcing bead of the upper and middle parts of the product.To control product residual stress and springback, we confirmed a tendency of springback reduction through local pre-cutting and stiffness reinforcement bead relocation.In the local pre-cutting model, springback was slightly reduced by 5.3% compared with the existing model, an insignificant reduction effect. In the stiffness reinforcement bead relocation model, when an X-shaped stiffness reinforcement bead was added to each corner portion of the product, springback was reduced by at least 80%.The X-shaped bead addition model was selected as the springback reduction model, and the level of stiffness compared to the existing model was confirmed through a structural analysis.The X-shaped bead additional model showed a stress springback of 90% and springback reduction of 7.4% compared with the existing model, indicating that springback and stiffness will be reinforced.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 추계학술대회 논문집
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• pp.375-380
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• 1993

We developed a part of stroke sensing cylinder and its measurement system for system for automatic excavator. In this paper, for development of stroke sensing sylinder, we consist of 2-axis control instrument system with magnetic sensor. A Performence of cylinder rod with magnetic scales is evaluated by its system. Furthmore, the position control for good performance of instrument system is achieved by a sliding mode control which is a new method diminishing the chattering in that control by setting 2-dead band along the swtching line. The unknown parameters for sliding mode control are estimated by the signal compression method.