JPS6414430A - Control on excavation by oil-pressure shovel - Google Patents

Control on excavation by oil-pressure shovel

Info

Publication number
JPS6414430A
JPS6414430A JP16910687A JP16910687A JPS6414430A JP S6414430 A JPS6414430 A JP S6414430A JP 16910687 A JP16910687 A JP 16910687A JP 16910687 A JP16910687 A JP 16910687A JP S6414430 A JPS6414430 A JP S6414430A
Authority
JP
Japan
Prior art keywords
control
bucket
learning
controlled variable
control block
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP16910687A
Other languages
Japanese (ja)
Other versions
JPH0745742B2 (en
Inventor
Hirokazu Shintani
Makoto Kakuzen
Shinichi Umemura
Koichiro Niwada
Satoshi Hirota
Koji Morita
Norihiko Hayashi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kobe Steel Ltd
Original Assignee
Kobe Steel Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kobe Steel Ltd filed Critical Kobe Steel Ltd
Priority to JP62169106A priority Critical patent/JPH0745742B2/en
Publication of JPS6414430A publication Critical patent/JPS6414430A/en
Publication of JPH0745742B2 publication Critical patent/JPH0745742B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/438—Memorising movements for repetition, e.g. play-back capability

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

PURPOSE:To raise the accuracy of control by a method in which a learning value is obtained on the basis of feedback controlled variables for every times in excavation actions at each time and added to learning values at the same time points of previous times for using them for control of the next operation times. CONSTITUTION:The control amount u31 of bucket cylinder feed forwarding in the direction of matching bucket angle theta3 with a target value theta30 on the basis of the basic controlled variable u14 of boom control block C2 and the basic controlled variable u21 of arm control block C1 is calculated in a bucket cylinder feed toward arithmetic means 30 in a bucket control block C3. A feedback controlled variable u32 is obtained from the deviation between the detected angle theta3 value and the target value in a proportional integrator 31 and put in a learning means 32 to send out a learning controlled variable u33. The controlled variables u31, u32, and u33 are added together to obtain basic controlled variables u34. Corrected amount u35 by a bucket link corrector 33 and by correction by a nonlinear compensator 34 is added to obtain a bucket cylinder control output u3. Furthermore, linear moving control function on the tip of arm by a boom control block C2 is combined.
JP62169106A 1987-07-06 1987-07-06 Excavation control method for hydraulic excavator Expired - Fee Related JPH0745742B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62169106A JPH0745742B2 (en) 1987-07-06 1987-07-06 Excavation control method for hydraulic excavator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62169106A JPH0745742B2 (en) 1987-07-06 1987-07-06 Excavation control method for hydraulic excavator

Publications (2)

Publication Number Publication Date
JPS6414430A true JPS6414430A (en) 1989-01-18
JPH0745742B2 JPH0745742B2 (en) 1995-05-17

Family

ID=15880415

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62169106A Expired - Fee Related JPH0745742B2 (en) 1987-07-06 1987-07-06 Excavation control method for hydraulic excavator

Country Status (1)

Country Link
JP (1) JPH0745742B2 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07102593A (en) * 1993-10-08 1995-04-18 Komatsu Ltd Correction method of vertical position of operation device of operation machine and operation device position detector of operation machine
WO2019093103A1 (en) * 2017-11-10 2019-05-16 住友建機株式会社 Excavator
WO2019123511A1 (en) * 2017-12-18 2019-06-27 住友重機械工業株式会社 Shovel machine
CN115030258A (en) * 2022-05-30 2022-09-09 内蒙古电投能源股份有限公司 Automatic loading method for remotely operating electric shovel
CN115387426A (en) * 2022-08-29 2022-11-25 三一重机有限公司 Method, device and equipment for controlling working machine and working machine

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS55119837A (en) * 1979-03-08 1980-09-13 Komatsu Ltd Straight digging control device for working machine
JPS6033940A (en) * 1983-08-02 1985-02-21 Hitachi Constr Mach Co Ltd Controller for straight excavation by oil-pressure shovel
JPS61225429A (en) * 1985-03-29 1986-10-07 Komatsu Ltd Controller for working machine of power shovel
JPS61270421A (en) * 1985-05-24 1986-11-29 Sumitomo Heavy Ind Ltd Plane excavating and shaping control device of hydraulic shovel

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS55119837A (en) * 1979-03-08 1980-09-13 Komatsu Ltd Straight digging control device for working machine
JPS6033940A (en) * 1983-08-02 1985-02-21 Hitachi Constr Mach Co Ltd Controller for straight excavation by oil-pressure shovel
JPS61225429A (en) * 1985-03-29 1986-10-07 Komatsu Ltd Controller for working machine of power shovel
JPS61270421A (en) * 1985-05-24 1986-11-29 Sumitomo Heavy Ind Ltd Plane excavating and shaping control device of hydraulic shovel

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07102593A (en) * 1993-10-08 1995-04-18 Komatsu Ltd Correction method of vertical position of operation device of operation machine and operation device position detector of operation machine
WO2019093103A1 (en) * 2017-11-10 2019-05-16 住友建機株式会社 Excavator
JPWO2019093103A1 (en) * 2017-11-10 2020-11-12 住友建機株式会社 Excavator
WO2019123511A1 (en) * 2017-12-18 2019-06-27 住友重機械工業株式会社 Shovel machine
CN111492111A (en) * 2017-12-18 2020-08-04 住友重机械工业株式会社 Excavator
JPWO2019123511A1 (en) * 2017-12-18 2020-12-03 住友重機械工業株式会社 Excavator
CN111492111B (en) * 2017-12-18 2022-10-25 住友重机械工业株式会社 Excavator
CN115030258A (en) * 2022-05-30 2022-09-09 内蒙古电投能源股份有限公司 Automatic loading method for remotely operating electric shovel
CN115387426A (en) * 2022-08-29 2022-11-25 三一重机有限公司 Method, device and equipment for controlling working machine and working machine
CN115387426B (en) * 2022-08-29 2023-11-28 三一重机有限公司 Control method, device and equipment of working machine and working machine

Also Published As

Publication number Publication date
JPH0745742B2 (en) 1995-05-17

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Legal Events

Date Code Title Description
LAPS Cancellation because of no payment of annual fees