• 유공압시스템학회논문집
• /
• 제6권4호
• /
• pp.1-8
• /
• 2009

Nowadays with the high fuel prices, the demands for energy saving and green emission of construction machinery have highly been increased without sacrifice of working performance, safety and reliability. The aim of this paper is to propose a new energy saving hybrid excavator system using an electro-hydraulic actuator driven by an electric motor/generator for the regeneration of potential energy. A 5 ton class excavator is analyzed, developed with the boom for the evaluation of the designed system. The hardware implementation is also presented in this paper. A control strategy for the hybrid excavator is proposed to operate the machine with a highest efficiency. The energy saving ability of the proposed excavator is clearly verified through simulation and experimental results in comparison with a conventional hydraulic excavator.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1999년도 하계학술대회 논문집 G
• /
• pp.3054-3056
• /
• 1999

There have been numerous risks for excavator operator in working space. To overcome these riske, many researchers have been studied automation of excavator system. In these studies, excavator system is introduced by many researchers based on master-slave force feedback system. In this paper, a remote manipulation excavator is introduced based on force feedback. The proposed remote manipulation excavator system can give a feeling that the operator maneuvers the object directly, resulting in improved reality and efficiency. To demonstrate its performance, experiments are carried out on a test bed which is built around a commercial Hyundai HX-60W hydraulic excavator.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.1183-1187
• /
• 1993

The objective of this study is to design a fuzzy logic controller(FLC) which controls the position of excavator's attachment a noble FLC is proposed, which is based on simple control rules while offering easy tuning of control parameters by utilizing real operation characteristics of an operator. The proposed FLC consists of two parts, the proportional controller part and the FLC part. Experiments are carried out on a test bed which is built around a commercial excavator. The controller is applied to bhe leveling of excavator's bucket tip, which is one of the main functions in an excavator's operation.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2003년도 춘계학술대회 논문집
• /
• pp.1755-1759
• /
• 2003

The hydraulic excavator has been a popular research object for automation because of its multi-workings and economic efficiency. The objective of this paper is to design each components and to construct boom, arm, bucket circuit. These models modeled with AMESim show us change of variables and behavior of excavator. Simulation model will be used for simulator of excavator.

• 한국CDE학회논문집
• /
• 제20권3호
• /
• pp.298-311
• /
• 2015

Nowadays, automatic digging operation of an excavator is a big challenge due to the complexity of digging environment, the hardness of soil and buried obstacles into the ground. In order to achieve the maximum soil bucket volume, this paper introduces a novel engineering model that was developed as a virtual excavator in the design phase. Through this model, the designs of mechanical and control systems for autonomous excavator are executed and modified easily before developing in real testbed. Based on a concept of an autonomous excavation, a mechanical system of excavator was first designed in SOLIDWORKS, and a soil model also was modeled by finite-element analysis in ANSYS, both modeled models were then exported to ADAMS environment to investigate the digging behavior through virtual simulation. An intelligent control strategy was generated in MATLAB/Simulink to control the excavator operation. The simulation results were demonstrated by effectiveness of the proposed excavator robot in testing scenarios with many soil types and obstacles.

• 한국공작기계학회논문집
• /
• 제16권3호
• /
• pp.31-36
• /
• 2007

The excavator is complex machinery which has widely used in the construction site, deck of harbor and deep sea. The one of important issue of excavator system in recent is an automation of it in order to improve a working efficiency, a convenience working circumstance and work satisfaction. However, since there are large nonlinearities of control circuit, actuating cylinder, joiners of hydraulic units and changing loads etc., it is difficult to develope an automatic excavator system. Therefore, in this study, toy scale pneumatic excavator system is constructed and the remote control system is installed on it, before developing the automatic excavator system. In order to design the control system of the developed pneumatic excavator system, the transfer function is obtained using signal processing method and the controller gains of PID are decided based on CDM(coefficient diagram method). The obtained transfer function and the performance of the proposed control system is evaluated through experiments and computer simulation.

• 드라이브 ㆍ 컨트롤
• /
• 제10권1호
• /
• pp.29-36
• /
• 2013

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.

• 대한토목학회논문집
• /
• 제36권2호
• /
• pp.325-332
• /
• 2016

적합한 굴삭기 부착 작업 장치들과 엔진크기의 구성은 굴삭계획 전에 결정되어야한다. 기존의 경험에 근거하는 굴삭기 구성선택 관습은 다양한 변수들을(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.

• 드라이브 ㆍ 컨트롤
• /
• 제10권2호
• /
• pp.23-29
• /
• 2013

The excavator is used in a variety of construction environments. There are many kinds of risk like falling rocks or harmful dust. The excavator cabin protects the operator not only from these harmful environments but also provides a comfortable working environment. By the way, the excavator cabin consumes a lot of energy for cabin air conditioner. For this reason, the research is required to reduce energy consumption. This study suggests the air conditioning system for excavator using forced exhaust. First, the forced exhaust system simulated by AMESim tool and surveyed the applicability. Using AMESim simulation, it was investigated the effect of cabin inside temperature by intake flow rate and intake air temperature. The experiment executed using the 1.5 ton excavator and field tested according to the intake flow rate. Finally, verified the applicability on the air conditioning system for excavator using forced exhaust.

• 한국공작기계학회논문집
• /
• 제13권4호
• /
• pp.64-72
• /
• 2004

In this paper, the dynamic stability of a hydraulic excavator using ZMP concept is considered. When a load is moved in an excavator based on automation, an excavator often loses the stability and falls over. This is because a dynamic element is not included in the moment equilibrium equation that is used in order to judge a reversal. Consequently, reversal distinction algorithm including all a static and a dynamic element along a load movement in crane work is necessary. Zero Moment Point(ZMP) is a point on the floor where the resultant moment of the gravity, the inertial force of the manipulator and the external force is zero. This study is going to interpret the reversal stability of the excavator to which is applied ZMP concept through simulation.