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

• 드라이브 ㆍ 컨트롤
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• 제10권1호
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• pp.29-36
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• 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.

• 유공압시스템학회논문집
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• 제6권4호
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• pp.9-15
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• 2009

Hydraulic excavators are the representative of field robot and have been used in various fields of construction. Since the excavator operates in the hazardous working environment, operators of excavator are exposed in harmful environment. Therefore, the hydraulic excavator automation and remote operation system has been investigated to protect from the hazardous working environment. In this paper, remote operation excavator system is developed using the mini hydraulic excavator and the tracking control system of each links of excavator is designed. To apply the tracking control system, the adaptive sliding mode control algorithm is proposed. It is found that the performance of the proposed control system is improved through experimental results of using the remote operation excavator system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.675-680
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• 1990

According to the recent increase of demands for multi-function and economics on hydraulic excavator, it is required that excavator should have simple operation, higher and operational efficiency. However, it is difficulty for current hydraulic system to satisfy demands fully. This study shows that new control system improves power transmission efficiency, work capability of engine and hydraulic system of current excavator.

• 유공압시스템학회:학술대회논문집
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• 유공압시스템학회 2010년도 춘계학술대회
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• pp.44-48
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• 2010

Hydraulic cylinder is one of many part on the hydraulic excavator working. Cushion has the important function of protecting cylinder against the shock when the piston comes at end position. Also, the cushion of cylinder has a great effect on the operator's comfortable. In this study, we have done a comparative analysis through computer simulation and experimental value on pressure that occurs on a cylinder moving excavator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.286-290
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• 2004

This paper deals with tipping over of hydraulic excavator's crane work. If the excavator lifts too heavy weight, the excavator will be tipped up. This is account for 38% of whole excavator accidents. In this paper, tipping-over load which is maximum load of excavator can lift with displacement of excavator links, real load and tipping-over rate are computed with Zero Moment Point theory. ZMP is verified with simulation and experiment.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 춘계학술대회 논문집
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• pp.209-214
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• 2004

This paper deals with tipping over of hydraulic excavator's crane work. If excavator lift too heavy weight, excavator tipped up. This is 38% of whole excavator accidents. In this paper, tipping over load which is maximum load of excavator can lift with displacement of excavator links, real load and tipping over rate are calculated with Zero Moment Point. We designed the tipping-over stability criterion algorithm considering the dynamic characteristics to which ZMP theory is applied and discussed the usefulness of the proposed algorithm compared with the moment equilibrium equation through the simulation and the actual test.

• 한국정밀공학회지
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• 제6권2호
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• pp.65-76
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• 1989

The objective of this paper is to design the variable structure system(VSS) controller for the tracking control of excavator which is driven by electro-hydraulic servomechansim. It is generally agreed that the dynamic characteristics of the robot arm such as excavator are coupled, time varying, and highly nonlinear, and also hydraulic system contains nonlinear characteristics in itself, so performing exact position control and trajectory tracking control need remarkable consideration. To solve this porblem, this system was designed as a variable structure system. The salient feature of VSS is that the sliding mode occur on a switching surface. While in sliding mode, the system remains insensitive to parameter variations and disturbances. This control algorithm was applied to a hydraulic excavator by simulaltion and to a simulator by experiment. And its effectiveness was verified. And the results of VSS for the electro-hydraulic excavator was compared with that of the PID when load disturbances and system parameter variations exist.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 추계학술대회 논문집
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• pp.468-473
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• 2004

This paper deal with basic concept of Hardware In the Loop System(HILS) for hydraulic excavator. Hydraulic excavator has many nonlinearities because of P-Q diagram, dead zone and saturation of valve, single acting cylinder, heavy manipulator. So, actual test is needed when new component or control algorithm is developed but many restrictions exist. Hydraulic circuit of excavator is too complex to model mathematically but dynamic equation of manipulator has made good progress in previous studies. Basic concept of HILS and AMESim model of hydraulic components is contained in this paper.

• 대한기계학회논문집A
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• 제39권2호
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• pp.195-201
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• 2015

전기굴삭기는 배터리에 저장된 에너지로 전동기-유압펌프를 구동해서 유압 에너지를 생성하고 이를 작업에 활용한다. 기존 유압굴삭기의 유압펌프는 디젤 엔진의 운전 효율에 최적화된 레귤레이터에 의해 제어되고, 유압펌프 자체의 효율은 고려되지 않았다. 전기굴삭기는 배터리를 에너지원으로 사용하기 때문에 전동기의 효율뿐 아니라 유압펌프의 효율을 함께 고려한 제어가 요구된다. 통합 제어를 위해서 유압펌프와 전동기의 출력과 효율 특성을 분석하여 효율맵을 작성하였고, 이를 바탕으로 최적동작맵을 구성하고 통합 제어 알고리즘을 개발했다. 알고리즘의 효과를 확인하기 위해 전기굴삭기 MILS 를 구성해서 통합 제어 알고리즘을 적용했다. 굴삭기 작업 시뮬레이션 결과는 통합 제어 알고리즘이 시스템 효율을 향상 시켰음을 보여준다.