KR920012678A - Control Method for Impact Prevention of Excavator Actuator - Google Patents

Control Method for Impact Prevention of Excavator Actuator Download PDF

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Publication number
KR920012678A
KR920012678A KR1019900022381A KR900022381A KR920012678A KR 920012678 A KR920012678 A KR 920012678A KR 1019900022381 A KR1019900022381 A KR 1019900022381A KR 900022381 A KR900022381 A KR 900022381A KR 920012678 A KR920012678 A KR 920012678A
Authority
KR
South Korea
Prior art keywords
speed
deceleration
acceleration
output
calculating
Prior art date
Application number
KR1019900022381A
Other languages
Korean (ko)
Other versions
KR950002126B1 (en
Inventor
이진한
조장욱
김진태
Original Assignee
김연수
삼성중공업 주식회사
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 김연수, 삼성중공업 주식회사 filed Critical 김연수
Priority to KR1019900022381A priority Critical patent/KR950002126B1/en
Priority to GB9321159A priority patent/GB2269918B/en
Priority to GB9411159A priority patent/GB2276251B/en
Priority to GB9122059A priority patent/GB2250108B/en
Priority to FR919113224A priority patent/FR2668516B1/en
Priority to US07/783,559 priority patent/US5361211A/en
Priority to DE4136084A priority patent/DE4136084C2/en
Priority to ITMI912890A priority patent/IT1251749B/en
Publication of KR920012678A publication Critical patent/KR920012678A/en
Priority to FR939307005A priority patent/FR2691185B1/en
Priority to FR9307010A priority patent/FR2691186B1/en
Priority to FR9307011A priority patent/FR2691187B1/en
Application granted granted Critical
Publication of KR950002126B1 publication Critical patent/KR950002126B1/en

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices

Abstract

내용 없음No content

Description

굴삭기의 액츄에이터 충격방지를 위한 제어방법Control Method for Impact Prevention of Excavator Actuator

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 본 발명에 따른 제어방법이 적용된 굴삭기의 개략적인 유압회로도, 제2도는 본 발명의 제어방법에 따른 최적제어선도, 제3도는 본 발명에 따른 제어방법을 단계별로 설명한 플로챠트이다.1 is a schematic hydraulic circuit diagram of an excavator to which the control method according to the present invention is applied, FIG. 2 is an optimum control diagram according to the control method of the present invention, and FIG. 3 is a flowchart explaining step by step to the control method according to the present invention.

Claims (1)

전자식 조작수단(16)과 전자비례밸브(14,15a,15b) 및 제어부(17)를 갖춘 굴삭기장치에 있어서, 상기 전자식 조작수단(16)에 의한 조작량을 읽어들이는 단계(ST1)와; 상기 조작량에 따른 설정속도를 연산하는 단계(ST2); 각 액츄에이터의 작동위치를 센서(S1~S6)로부터 읽어들이는 단계(ST3); 작동속도(Vs)를 연산하는 단계(ST4); 조작수단이 가속상태인지 감속상태인지를 판단하는 단계(ST5); 가속시에 표준가속곡선에 따른 최적 가속속도를 계산하는 단계(ST6); 이 단계(ST6)로 부터의 가속속도의 설정속도를 비교하는 단계(ST7); 이 단계(ST7)에서 가속속도가 설정 속도보다 작을 경우, 상기 단계(ST6)로 부터의 가속속도를 출력속도로 하는 단계(ST8); 감속시에 작동속도가 “0”인지를 판단하여 작동속도가 “0”이면 처리를 종료하고, “0”이 아니면 단계(ST10)로 처리를 이행하는 단계(ST9); 감속곡선에따른 최적감속속도를 계산하여 출력하는 단계(ST10);단계(ST10)로 부터의 감속속도가 설정속도보다 큰지를 비교하는 단계(ST11); 상기 단계(ST10)로부터의 감속속도가 설정속도보다 크면 감속속도를 출력속도로 하는 단계(ST13); 상기 단계(ST7)에서 가속속도가 설정속도보다 크거나 같을 경우 또는 상기 단계(ST11)에서 감속속도가 설정속도보다 작거나 같을 경우에 설정속도를 출력속도로 하는 단계(ST12); 상기 각 단계(ST8,ST12,ST13)로부터의 출력속도에 따른 작동압유의 출력량을 계산하는 단계(ST14); 이 단계(ST14)이 단계(ST14)에서 계산된 출력량만큼의 작동유가 출력되도록 제어하는 단계(ST15)로 이루어진 것을 특징으로 하는 굴삭기의 액츄에이터의 충격 방지를 위한 제어방법.An excavator apparatus having an electronic operating means (16), an electromagnetic proportional valve (14, 15a, 15b) and a control unit (17), comprising: reading an operation amount by said electronic operating means (16) (ST1); Calculating a set speed according to the manipulation amount (ST2); Reading operation positions of the respective actuators from the sensors S1 to S6 (ST3); Calculating an operating speed Vs (ST4); Determining whether the operation means is in an acceleration state or a deceleration state (ST5); Calculating an optimum acceleration speed according to a standard acceleration curve at the time of acceleration (ST6); Comparing the set speed of the acceleration speed from this step ST6 (ST7); When the acceleration speed is smaller than the set speed in this step ST7, making the acceleration speed from the step ST6 an output speed (ST8); Judging whether the operation speed is "0" at the time of deceleration and ending the processing if the operating speed is "0", and executing the processing to step ST10 if it is not "0" (ST9); Calculating and outputting the optimum deceleration speed according to the deceleration curve (ST10); comparing whether the deceleration speed from step ST10 is greater than the set speed (ST11); If the deceleration speed from the step ST10 is greater than the set speed, making the deceleration speed an output speed (ST13); Setting the set speed as an output speed when the acceleration speed is greater than or equal to the set speed in the step ST7 or when the deceleration speed is less than or equal to the set speed in the step ST11; Calculating an output amount of the operating pressure oil according to the output speed from each of the steps ST8, ST12, and ST13 (ST14); This step (ST14) is a control method for preventing the impact of the actuator of the excavator, characterized in that it comprises a step (ST15) for controlling the output oil as much as the output amount calculated in the step (ST14). ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019900022381A 1990-10-31 1990-12-29 Shock-absorbing control method for excavator KR950002126B1 (en)

Priority Applications (11)

Application Number Priority Date Filing Date Title
KR1019900022381A KR950002126B1 (en) 1990-12-29 1990-12-29 Shock-absorbing control method for excavator
GB9411159A GB2276251B (en) 1990-10-31 1991-10-17 Control system for automatically controlling actuators of an excavator
GB9122059A GB2250108B (en) 1990-10-31 1991-10-17 Control system for automatically controlling actuators of an excavator
GB9321159A GB2269918B (en) 1990-10-31 1991-10-17 Control system for automatically controlling actuators of an excavator
FR919113224A FR2668516B1 (en) 1990-10-31 1991-10-25 CONTROL SYSTEM FOR AUTOMATICALLY CONTROLLING OPERATING MEANS OF AN EXCAVATOR.
US07/783,559 US5361211A (en) 1990-10-31 1991-10-28 Control system for automatically controlling actuators of an excavator
DE4136084A DE4136084C2 (en) 1990-10-31 1991-10-30 Method and device for controlling an excavator
ITMI912890A IT1251749B (en) 1990-10-31 1991-10-30 ADJUSTMENT SYSTEM FOR AUTOMATIC REGULATION OF EXCAVATOR ACTUATORS
FR939307005A FR2691185B1 (en) 1990-10-31 1993-06-10 Control system to automatically prevent overloading of an excavator.
FR9307010A FR2691186B1 (en) 1990-10-31 1993-06-10 CONTROL SYSTEM FOR AUTOMATICALLY CONTROLLING AN EXCAVATOR ACCORDING TO CONTROL LEVERS OR PEDALS.
FR9307011A FR2691187B1 (en) 1990-10-31 1993-06-10 METHOD FOR AUTOMATICALLY CONTROLLING THE EXCAVATOR ORIENTATION MOTOR.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019900022381A KR950002126B1 (en) 1990-12-29 1990-12-29 Shock-absorbing control method for excavator

Publications (2)

Publication Number Publication Date
KR920012678A true KR920012678A (en) 1992-07-27
KR950002126B1 KR950002126B1 (en) 1995-03-13

Family

ID=19308878

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019900022381A KR950002126B1 (en) 1990-10-31 1990-12-29 Shock-absorbing control method for excavator

Country Status (1)

Country Link
KR (1) KR950002126B1 (en)

Also Published As

Publication number Publication date
KR950002126B1 (en) 1995-03-13

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