CN102071717A - Adaptive control method for excavator - Google Patents
Adaptive control method for excavator Download PDFInfo
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- CN102071717A CN102071717A CN 201010591379 CN201010591379A CN102071717A CN 102071717 A CN102071717 A CN 102071717A CN 201010591379 CN201010591379 CN 201010591379 CN 201010591379 A CN201010591379 A CN 201010591379A CN 102071717 A CN102071717 A CN 102071717A
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Abstract
The invention provides an adaptive control method for an excavator, which is characterized by comprising the following steps of: A, arranging an adaptive control system on the excavator; B, performing parameter acquisition; and C, controlling a priority electromagnetic valve by using a controller, wherein the step C comprises the following sub-steps that: C1, the controller calculates the proportions of movable arm action, shovel loader action, loader bar action and rotation action in the whole operation process respectively; and C2, the controller compares the proportion of the movable arm action, the shovel loader action, the loader bar action and the rotation action in the whole operation process with a set value respectively, and opens the priority electromagnetic valve according to comparison results. In the method, a movable arm pressure sensor, a loader bar pressure sensor, a shovel loader pressure sensor and a rotation pressure sensor sense current working conditions to automatically adjust the working state of the excavator.
Description
Technical field
The present invention relates to control method, be specifically related to the excavator self-adaptation control method.
Background technology
Excavator with its be widely used, the creation of value is high and in engineering machinery in occupation of space of top prominence, it is the main construction machinery of earthwork evacuation, in the energy, traffic, irrigation and water conservancy, city-building, and field such as modernized military engineering plays an important role.
At present, aspect the excavator electric-control system, generally adopt the control engine operation both at home and abroad in the excavator manufacturer on a certain steady job point, promptly stationary engine is to the power output of oil pump, by the mode of operation of excavator is set, adapt to different job requirements thereby control excavator.But above-mentioned control mode is to finish by manually-operated substantially, by operating personnel's manual operation, substantially go to discern load by experience, there is operating personnel's individual difference, be unfavorable for the abundant adaptation of excavator to load, operating personnel must change mode of operation in real time according to load simultaneously, have increased the complexity of excavator operating personnel work.
Summary of the invention
Technical problem to be solved by this invention is to provide the excavator self-adaptation control method.
In order to solve the problems of the technologies described above, according to technical scheme of the present invention, provide the excavator self-adaptation control method, it is characterized in that: comprise the steps:
A., the step of adaptive control system is installed on excavator:
Described adaptive control system comprises controller, swing arm pressure sensor, dipper pressure sensor, scraper bowl pressure sensor, rotation pressure sensor, the preferential electromagnetic valve of swing arm, turns round the preferential electromagnetic valve of preferential electromagnetic valve, dipper and scraper bowl, wherein, the swing arm pressure sensor is contained on the excavator swing arm oil cylinder, the dipper pressure sensor is contained on the excavator bucket rod oil cylinder, the scraper bowl pressure sensor is contained on the power shovel oil cylinder, and the rotation pressure sensor is contained on the digger revolving oil cylinder;
B, carry out the step of parameter acquisition:
B1. the swing arm pressure sensor is gathered swing arm pressure
, obtain the swing arm mean effective pressure
: in the unit interval, the swing arm pressure sensor carries out continuous acquisition to swing arm pressure, and give controller with the transfer of data of gathering, controller is at first rejected non-virtual value, utilize the Dixon criterion that singular value is rejected then, at last this batch data is carried out medium filtering and handle, obtain the swing arm mean effective pressure
, and the swing arm pressure of record acquisition
The number of data
B2. the dipper pressure sensor is gathered dipper pressure
, obtain the dipper mean effective pressure
: in the unit interval, the dipper pressure sensor carries out continuous acquisition to dipper pressure, and give controller with the transfer of data of gathering, controller is at first rejected non-virtual value, utilize the Dixon criterion that singular value is rejected then, at last this batch data is carried out medium filtering and handle, obtain the dipper mean effective pressure
, and the dipper pressure of record acquisition
The data number
B3. the scraper bowl pressure sensor is gathered scraper bowl pressure
, obtain the scraper bowl mean effective pressure
: in the unit interval, the scraper bowl pressure sensor carries out continuous acquisition to scraper bowl pressure, and give controller with the transfer of data of gathering, controller is at first rejected non-virtual value, utilize the Dixon criterion that singular value is rejected then, at last this batch data is carried out medium filtering and handle, obtain the scraper bowl mean effective pressure
, and the scraper bowl pressure of record acquisition
The data number
B4. rotation pressure sensor acquisition rotation pressure
, obtain turning round mean effective pressure
: in the unit interval, the rotation pressure sensor carries out continuous acquisition to rotation pressure, and give controller with the transfer of data of gathering, controller is at first rejected non-virtual value, utilize the Dixon criterion that singular value is rejected then, at last this batch data is carried out medium filtering and handle, obtain turning round mean effective pressure
, and the rotation pressure of record acquisition
The data number
C. controller step that preferential electromagnetic valve is controlled:
C1. controller calculates the swing arm action respectively at entire job process proportion
, scraper bowl moves at entire job process proportion
, dipper moves at entire job process proportion
The revolution action is at entire job process proportion
Wherein:
C2. controller moves swing arm at entire job process proportion
, scraper bowl moves at entire job process proportion
, dipper moves at entire job process proportion
Move at entire job process proportion with revolution
Compare with setting value respectively, open the preferential electromagnetic valve of setting according to comparative result.
The check of single exceptional value has several different methods in one group observations, Dixon (Dixon) method is most widely used a kind of, because so this method is easy and be applicable to the check of small sample observation, become the recommend method of International Organization for Standardization and American Society for Testing Materials (ASTM). Dixon's test method is applicable to the consistency check of a group observations and rejects one group of exceptional value in observing.
Medium filtering is based on a kind of nonlinear signal processing technology that can effectively suppress noise of sequencing statistical theory, the basic principle of medium filtering is that the value of any in the Serial No. is replaced with the Mesophyticum of each point value in the neighborhood of this point, the approaching actual value of pixel value around allowing, thus isolated noise spot eliminated.
According to a preferred version of excavator self-adaptation control method of the present invention, this control method is further comprising the steps of:
D. the automatic step of identification of excavator operating mode:
Controller calculates average pressure
, wherein:
With average pressure
Result of calculation and setting value compare, and according to comparative result, regulate the throttle gear automatically to the gear of setting.
It is the throttle gear that the automatic identifying method of excavator operating mode can be regulated accelerator open degree automatically according to condition of loading, motor is matched on the best operating point, to realize lower fuel consume and simpler, comfortable operation.
According to a preferred version of excavator self-adaptation control method of the present invention, step C2 middle controller moves swing arm at entire job process proportion
, scraper bowl moves at entire job process proportion
, dipper moves at entire job process proportion
Move at entire job process proportion with revolution
Compare with setting value respectively,, open the preferential electromagnetic valve of setting according to comparative result, specifically:
When
During more than or equal to setting value a, it is more frequent to illustrate that current working promotes the swing arm action, and controller is opened the preferential electromagnetic valve of swing arm; After starting the swing arm pressure-gradient control valve, hydraulic system can strengthen the assignment of traffic to boom cylinder, and the translational speed of swing arm will be accelerated; Meanwhile, hydraulic system also can reduce the assignment of traffic of other oil cylinders, slows down the action of revolution, flexible dipper and scraper bowl;
When
More than or equal to setting value during b, illustrate that the current working back rotation makes comparisons frequently, controller will be opened the preferential electromagnetic valve of revolution automatically, start the preferential electromagnetic valve of revolution after, hydraulic system can strengthen the assignment of traffic to angling cylinder, turns round and moves and will accelerate; Meanwhile, hydraulic system also can reduce the assignment of traffic of other oil cylinders, slows down the action of swing arm, flexible dipper and scraper bowl;
When
During more than or equal to setting value c, illustrate that the action of current working dipper and scraper bowl is more frequent, controller will be opened dipper and the preferential electromagnetic valve of scraper bowl automatically, after starting dipper and the preferential electromagnetic valve of scraper bowl, hydraulic system can strengthen the assignment of traffic to bucket arm cylinder and bucket cylinder, and the action of dipper and scraper bowl will be accelerated; Meanwhile, hydraulic system also can reduce the assignment of traffic of other oil cylinders, slows down swing arm and rotating action;
Other situations will be considered as normal mode of operation.
According to a preferred version of excavator self-adaptation control method of the present invention, step D middle controller calculates average pressure
, with average pressure
Result of calculation and setting value compare, and according to comparative result, regulate the throttle gear automatically to the gear of setting;
Wherein:
Work as average pressure
During more than or equal to setting value d, judge that then excavator is in heavily loaded mode of operation, controller is regulated engine throttle opening to heavy duty work gear by throttle executing agency;
Work as average pressure
When being less than or equal to setting value e, judge that then excavator is in the underloading mode of operation, controller is regulated motor by throttle executing agency, and (accelerator open degree is to underloading work gear; Wherein, setting value e is less than setting value d;
Work as average pressure
During greater than setting value e and less than setting value d, judge that then excavator is in the economic work pattern, controller is regulated engine throttle opening to the economic work gear by throttle executing agency.
The beneficial effect of excavator self-adaptation control method of the present invention is, controller is by swing arm pressure sensor, dipper pressure sensor, scraper bowl pressure sensor and the current operation operating mode of rotation pressure sensor senses, simultaneously select each pressure-gradient control valve automatically, to adapt to the requirement of work at present pattern according to different operating modes; Can be according to the real work requirement, automatically regulate the excavator duty, can adapt to various working condition requirements automatically, under the prerequisite that guarantees engine operation stability, further improve the operating efficiency of excavator, reduced excavator operating personnel's workload, reached purpose energy-conservation, that reduce discharging, can be widely used in the automatic control of various engineering machinery.。
Description of drawings
Below in conjunction with accompanying drawing the present invention is elaborated.
Fig. 1 is an excavator adaptive control system block diagram of the present invention.
Fig. 2 is an excavator adaptive control system flow chart.
Each oil cylinder working-pressure change curve when Fig. 3 is the excavator zero load.
Fig. 4 is excavator band each oil cylinder working-pressure change curve when carrying.
The specific embodiment
Referring to Fig. 1 and Fig. 2, the excavator self-adaptation control method, carry out as follows:
A, adaptive control system is installed on excavator:
Described adaptive control system comprises controller 19, speed probe 14, swing arm pressure sensor 4, dipper pressure sensor 3, scraper bowl pressure sensor 2, rotation pressure sensor 1, the preferential electromagnetic valve 7 of swing arm, revolution preferential electromagnetic valve 5, dipper and the preferential electromagnetic valve 6 of scraper bowl, wherein, swing arm pressure sensor 4 is contained on the excavator swing arm oil cylinder 10, dipper pressure sensor 3 is contained on the excavator bucket rod oil cylinder 11, scraper bowl pressure sensor 2 is contained on the power shovel oil cylinder 9, and rotation pressure sensor 1 is contained on the digger revolving oil cylinder 8;
B, carry out parameter acquisition:
B1. swing arm pressure sensor 4 is gathered swing arm pressure
, obtain the swing arm mean effective pressure
: in the unit interval, in 10min, 4 pairs of swing arm pressure of swing arm pressure sensor carry out continuous acquisition, and give controller 19 with the transfer of data of gathering, controller 19 is at first rejected non-virtual value, utilize the Dixon criterion that singular value is rejected then, at last this batch data is carried out medium filtering and handle, obtain the swing arm mean effective pressure
, and the swing arm pressure of record acquisition
The number of data
B2. dipper pressure sensor 3 is gathered dipper pressure
, obtain the dipper mean effective pressure
: in the unit interval, in 10min, 3 pairs of dipper pressure of dipper pressure sensor carry out continuous acquisition, and give controller 19 with the transfer of data of gathering, controller 19 is at first rejected non-virtual value, utilize the Dixon criterion that singular value is rejected then, at last this batch data is carried out medium filtering and handle, obtain the dipper mean effective pressure
, the dipper pressure of record acquisition
The data number
B3. scraper bowl pressure sensor 2 is gathered scraper bowl pressure
, obtain the scraper bowl mean effective pressure
: in the unit interval, in 10min, 2 pairs of scraper bowl pressure of scraper bowl pressure sensor carry out continuous acquisition, and give controller 19 with the transfer of data of gathering, controller 19 is at first rejected non-virtual value, utilize the Dixon criterion that singular value is rejected then, at last this batch data is carried out medium filtering and handle, obtain the scraper bowl mean effective pressure
, the scraper bowl pressure of record acquisition
The data number
B4. rotation pressure sensor 1 is gathered rotation pressure
, obtain turning round mean effective pressure
: in the unit interval, in 10min, 1 pair of rotation pressure of rotation pressure sensor carries out continuous acquisition, and give controller 19 with the transfer of data of gathering, controller 19 is at first rejected non-virtual value, utilize the Dixon criterion that singular value is rejected then, at last this batch data is carried out medium filtering and handle, obtain turning round mean effective pressure
, and the rotation pressure of record acquisition
The data number
B5. speed probe 14 is gathered engine speed, obtain the average effective rotating speed: in the unit interval, in 10min, the rotating speed of 14 pairs of motors 13 of speed probe carries out continuous acquisition, and give controller 19 with the transfer of data of gathering, controller 19 is at first rejected non-virtual value, utilizes the Dixon criterion that singular value is rejected then, at last this batch data is carried out medium filtering and handle, obtain the average effective rotating speed;
Wherein, by Fig. 3 and Fig. 4 as can be known, the effective pressure value should be the above force value of 10Mpa.
C. the step controlled of 19 pairs of preferential electromagnetic valves of controller:
C1. controller 19 calculates the swing arm action respectively at entire job process proportion
, scraper bowl moves at entire job process proportion
, dipper moves at entire job process proportion
The revolution action is at entire job process proportion
Wherein:
C2. controller 19 moves swing arm at entire job process proportion
, scraper bowl moves at entire job process proportion
, dipper moves at entire job process proportion
Move at entire job process proportion with revolution
Compare with setting value respectively,, open the preferential electromagnetic valve of setting according to comparative result,
Specifically:
When
During more than or equal to setting value a, it is more frequent to illustrate that current working promotes the swing arm action, and controller is opened the preferential electromagnetic valve of swing arm; After starting the swing arm pressure-gradient control valve, hydraulic system can strengthen the assignment of traffic to boom cylinder, and the translational speed of swing arm will be accelerated; Meanwhile, hydraulic system also can reduce the assignment of traffic of other oil cylinders, slows down the action of revolution, flexible dipper and scraper bowl;
When
More than or equal to setting value during b, illustrate that the current working back rotation makes comparisons frequently, controller 19 will be opened the preferential electromagnetic valve 5 of revolution automatically, start the preferential electromagnetic valve 5 of revolution after, hydraulic system can strengthen the assignment of traffic to angling cylinder, turns round and moves and will accelerate; Meanwhile, hydraulic system also can reduce the assignment of traffic of other oil cylinders, slows down the action of swing arm, flexible dipper and scraper bowl;
When
During more than or equal to setting value c, illustrate that the action of current working dipper and scraper bowl is more frequent, controller 19 will be opened dipper and the preferential electromagnetic valve 6 of scraper bowl automatically, after starting dipper and the preferential electromagnetic valve 6 of scraper bowl, hydraulic system can strengthen the assignment of traffic to bucket arm cylinder and bucket cylinder, and the action of dipper and scraper bowl will be accelerated; Meanwhile, hydraulic system also can reduce the assignment of traffic of other oil cylinders, slows down swing arm and rotating action;
Other situations will be considered as normal mode of operation.
In specific embodiment, getting setting value a is 0.5, and setting value b is 0.5, setting value c position 0.7, and setting value a, b, c can adjust as required.
D. the automatic identification step of excavator operating mode: controller 19 calculates average pressure P
Flat, wherein:
With average pressure
Result of calculation and setting value compare, and according to comparative result, regulate the throttle gear automatically to the gear of setting; Specifically:
Work as average pressure
During more than or equal to setting value d, judge that then excavator is in heavily loaded mode of operation, regulate the throttle gear automatically to heavy duty work gear;
Work as average pressure
When being less than or equal to setting value e, judge that then excavator is in the underloading mode of operation, regulate the throttle gear automatically to underloading work gear; Wherein, setting value e is less than setting value d;
Work as average pressure
During greater than setting value e and less than setting value d, judge that then excavator is in the economic work pattern, regulate throttle automatically to the economic work gear.
The big I of excavator load can be judged by many parameters such as pressure, rotating speed, responsivenesses, but judges it is the simplest and intuitively by pressure, by the swing arm mean effective pressure
, the revolution mean effective pressure
, the dipper mean effective pressure
With the scraper bowl mean effective pressure
Judge current boom cylinder 10, angling cylinder 8, bucket arm cylinder 11 and bucket cylinder 9 suffered load sizes, and to the swing arm mean effective pressure
, the revolution mean effective pressure
, the dipper mean effective pressure
With the scraper bowl mean effective pressure
Do average, i.e. an average pressure obtaining suffered load pressure in the excavator unit interval after the weighted average
, work as average pressure
When big, judge that then excavator is in heavily loaded mode of operation, promptly motor 13 is in the high power output state, and controller 19 is regulated motor 13 accelerator open degrees to heavy duty work gear by throttle executing agency 16; Work as average pressure
Hour, judge that then excavator is in the underloading mode of operation, be that motor 13 is in the low-power output state, controller 19 is regulated motor 13 accelerator open degrees to underloading work gear by throttle executing agency 16, be in the economic work pattern otherwise look excavator, controller 19 is regulated motor 13 accelerator open degrees to the economic work gear by throttle executing agency 16.
The excavator operating mode is discerned automatically, and controller 19 can be provided with the throttle gear automatically according to condition of loading, motor 13 is matched on the best operating point, to realize lower fuel consume and simpler, comfortable operation.
In specific embodiment, setting value d is 20Mpa, and setting value e is 15Mpa, and setting value d, e can adjust as required.
E, controller 19 compare mean speed data and setting value according to the mean speed data, according to comparative result, output a control signal to electro-hydraulic proportional valve 17, regulate the operating current of electro-hydraulic proportional valve 17 in real time.
The operating principle of excavator adaptive control system is:
Controller 19 is gathered swing arm pressure by swing arm pressure sensor 4
, obtain the swing arm mean effective pressure
, gather dipper pressure by dipper pressure sensor 3
, obtain the dipper mean effective pressure
, gather scraper bowl pressure by scraper bowl pressure sensor 2
, obtain the scraper bowl mean effective pressure
, gather rotation pressure by rotation pressure sensor 1
, obtain turning round mean effective pressure
, calculate the swing arm action more respectively at entire job process proportion
, scraper bowl moves at entire job process proportion
, dipper moves at entire job process proportion
Move at entire job process proportion with revolution
,, start preferential electromagnetic valve automatically according to result of calculation; And controller also calculates average pressure
, pass through average pressure
The current operation operating mode of perception according to different operating modes, is regulated motor 13 accelerator open degrees by throttle executing agency 16, thus the power output of control motor 13 and output torque; The rotating speed that collects by speed probe 14 of controller 19 meanwhile, regulate the operating current of electro-hydraulic proportional valve 17 in real time, to realize the power match of motor 13 and main oil pump 12, adapt to the requirement of different working modes, avoid motor 13 to work in overload condition, avoid fuel oil not to be fully burned and increase fuel consume.
Claims (4)
1. the excavator self-adaptation control method is characterized in that: comprise the steps:
A., the step of adaptive control system is installed on excavator, described adaptive control system comprises controller (19), speed probe (14), swing arm pressure sensor (4), dipper pressure sensor (3), scraper bowl pressure sensor (2), rotation pressure sensor (1), the preferential electromagnetic valve of swing arm (7), turn round preferential electromagnetic valve (5), the preferential electromagnetic valve of dipper and scraper bowl (6), wherein, swing arm pressure sensor (4) is contained on the excavator swing arm oil cylinder (10), dipper pressure sensor (3) is contained on the excavator bucket rod oil cylinder (11), scraper bowl pressure sensor (2) is contained on the power shovel oil cylinder (9), and rotation pressure sensor (1) is contained on the digger revolving oil cylinder (8);
B. carry out the step of parameter acquisition
B1. swing arm pressure sensor (4) is gathered swing arm pressure
, obtain the swing arm mean effective pressure
: in the unit interval, swing arm pressure sensor (4) carries out continuous acquisition to swing arm pressure, and give controller (19) with the transfer of data of gathering, controller (19) is at first rejected non-virtual value, utilize the Dixon criterion that singular value is rejected then, at last this batch data is carried out medium filtering and handle, obtain the swing arm mean effective pressure
, and the swing arm pressure of record acquisition
The number of data
B2. dipper pressure sensor (3) is gathered dipper pressure
, obtain the dipper mean effective pressure
: in the unit interval, dipper pressure sensor (3) carries out continuous acquisition to dipper pressure, and give controller (19) with the transfer of data of gathering, controller (19) is at first rejected non-virtual value, utilize the Dixon criterion that singular value is rejected then, at last this batch data is carried out medium filtering and handle, obtain the dipper mean effective pressure
, and the dipper pressure of record acquisition
The data number
B3. scraper bowl pressure sensor (2) is gathered scraper bowl pressure
, obtain the scraper bowl mean effective pressure
: in the unit interval, scraper bowl pressure sensor (2) carries out continuous acquisition to scraper bowl pressure, and give controller (19) with the transfer of data of gathering, controller (19) is at first rejected non-virtual value, utilize the Dixon criterion that singular value is wherein rejected then, at last this batch data is carried out medium filtering and handle, obtain the scraper bowl mean effective pressure
, and the scraper bowl pressure of record acquisition
The data number
B4. rotation pressure sensor (1) is gathered rotation pressure
, obtain turning round mean effective pressure
: in the unit interval, rotation pressure sensor (1) carries out continuous acquisition to rotation pressure, and give controller (19) with the transfer of data of gathering, controller (19) is at first rejected non-virtual value, utilize the Dixon criterion that singular value is wherein rejected then, at last this batch data is carried out medium filtering and handle, obtain turning round mean effective pressure
, the rotation pressure of record acquisition
The data number
C. controller (19) step that preferential electromagnetic valve is controlled
C1. controller (19) calculates the swing arm action respectively at entire job process proportion
, scraper bowl moves at entire job process proportion
, dipper moves at entire job process proportion
Move at entire job process proportion with revolution
Wherein:
C2. controller (19) moves swing arm at entire job process proportion
, scraper bowl moves at entire job process proportion
, dipper moves at entire job process proportion
Move at entire job process proportion with revolution
Compare with setting value respectively, open the preferential electromagnetic valve of setting according to comparative result.
2. excavator self-adaptation control method according to claim 1 is characterized in that: further comprising the steps of:
D. the automatic identification step of excavator operating mode:
Controller (19) calculates average pressure
, wherein:
And with average pressure
Result of calculation and setting value compare, and according to comparative result, regulate the throttle gear automatically to the gear of setting.
3. excavator self-adaptation control method according to claim 1 and 2 is characterized in that: step C2 middle controller (19) moves swing arm at entire job process proportion
, scraper bowl moves at entire job process proportion
, dipper moves at entire job process proportion
Move at entire job process proportion with revolution
Compare with setting value respectively, open the preferential electromagnetic valve of setting according to comparative result, specifically:
When
During more than or equal to setting value a, controller (19) is opened the preferential electromagnetic valve of swing arm (7);
When
During more than or equal to setting value b, controller (19) will be opened revolution preferential electromagnetic valve (5) automatically;
When
During more than or equal to setting value c, controller (19) will be opened dipper and the preferential electromagnetic valve of scraper bowl (6) automatically.
4. excavator self-adaptation control method according to claim 3 is characterized in that: step D middle controller (19) calculates average pressure
, with average pressure
Result of calculation and setting value compare, and according to comparative result, regulate the throttle gear automatically to the gear of setting;
Wherein:
Work as average pressure
During more than or equal to setting value d, judge that then excavator is in heavily loaded mode of operation, controller (19) is regulated motor (13) accelerator open degree to heavy duty work gear by throttle executing agency (16);
Work as average pressure
When being less than or equal to setting value e, judge that then excavator is in the underloading mode of operation, controller (19) is regulated motor (13) accelerator open degree to underloading work gear by throttle executing agency (16); Wherein, setting value e is less than setting value d;
Work as average pressure
During greater than setting value e and less than setting value d, judge that then excavator is in the economic work pattern, controller (19) is regulated motor (13) accelerator open degree to the economic work gear by throttle executing agency (16).
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| CN102677736A (en) * | 2012-06-11 | 2012-09-19 | 上海三一重机有限公司 | Overload protective system and method of excavator working devices and excavator |
| CN102877500A (en) * | 2012-09-29 | 2013-01-16 | 浙江大学 | Automatic identification method for operating cycle stages of excavator |
| CN103422527A (en) * | 2013-07-24 | 2013-12-04 | 三一重机有限公司 | Self-adaptive control method and device |
| CN103958782A (en) * | 2013-12-06 | 2014-07-30 | 株式会社小松制作所 | Hydraulic excavator |
| CN105297821A (en) * | 2015-12-02 | 2016-02-03 | 上海华兴数字科技有限公司 | Control method and control system of excavator |
| CN105317071A (en) * | 2014-07-02 | 2016-02-10 | J.C.班福德挖掘机有限公司 | material processor |
| CN106096593A (en) * | 2016-07-22 | 2016-11-09 | 厦门大学 | A kind of recognition methods of the effective operation section loading mechanical shovel process of assembling |
| CN106638739A (en) * | 2017-02-10 | 2017-05-10 | 柳州柳工挖掘机有限公司 | Excavator provided with auxiliary electronic control system for flat ground |
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| CN108104191A (en) * | 2017-12-21 | 2018-06-01 | 柳州柳工挖掘机有限公司 | Excavator work gear intelligent control method |
| CN108999228A (en) * | 2018-08-08 | 2018-12-14 | 太原科技大学 | A kind of excavator control system of double-layer structure |
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