본문 바로가기
HOME> 논문 > 논문 검색상세

논문 상세정보

유압 굴삭기용 시뮬레이터 개발 및 응용
Development and Application of Simulator for Hydraulic Excavator

임태형   (울산대학교 대학원 기계자동차공학과UU0001014  ); 양순용   (울산대학교 기계자동차공학부UU0001014  );
  • 초록

    Hydraulic excavators have been popular devices in construction fields because of their multi-workings and economic efficiency. The mathematical models of excavators have many nonlinearities because of opening characteristics and dead zone of main control valve(MCV), oil temperature variation, etc. The objective of this paper is to develop a simulator for hydraulic excavator using AMESim. Components and their circuits are expressed graphically. Also, parameters and nonlinear characteristics are considered in a text style. From the simulation results, fixed spring stiffness of MCV can not obtain the satisfactory accuracy of spool displacement under whole P-Q diagrams. Closed loop type MCV containing a proportional gain, is proposed in this paper that can reduce displacement error. The ability of closed loop MCV is verified through comparing with normal type MCV using AMESim simulator. The excavator simulator can be used to forecast the attachment behaviors when components, mechanical attachments and hydraulic circuits change, or other control algorithms are applied. The simulator could be a kind of development platform for new excavators.


  • 주제어

    유압 굴삭기 .   시뮬레이터 .   아메심 .   주제어밸브.  

  • 참고문헌 (12)

    1. Tafazoli, S., Salcudean, S. E., Hashtrudi-Zaad, K. and Lawrence, P. D., 'Impedance Control of a Teleoperated Excavator,' IEEE Transactions on control systems technology, Vol. 10, No. 3, pp. 355-367, 2002 
    2. Krishna, M. and Bares, J., 'Hydraulic System Modeling through Memory-based Learning,' Proc. of the 1998 IEEE/RSJ Int. Conf. on intelligent Robots and Systems, pp. 1733-1738, 1998 
    3. Nguyen, Q. H., Ha, Q. H., Rye, D. C. and Durrant-Whyte, H. F., 'Force/Position Tracking for Electrohydraulic Systems of a Robotic Excavator,' Proc. of the IEEE Conf. on Decision and Control, pp. 5224-5229, 2000 
    4. Lee, S. U. and Chang, P. H., 'Control of a heavy-duty robotic excavator using time delay control with integral sliding surface,' Control Engineering Practice, Vol. 10, No. 7, 2002 
    5. Shi, X., Lever, P. J. A. and Wang, F., 'Experimental Robotic Excavation with Fuzzy Logic and Neural Networks,' Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 957-962, 1996 
    6. Choi, J. H., Kim, S. S., Yang, S. Y. and Lee, J. G., 'Robust Control of Trajectory Tracking for Hydraulic Excavator,' ICASE, Vol. 10, No.1, pp. 22-29, 2004     
    7. Salcudean, S. E., Hashtrudi-Zaad, K., Tafazoli, S., Dimaio, S. P. and Reboulet, C., 'Bilateral Matched Impedance Teleoperation with Application to Excavator Control,' Proc. of the IEEE Int. Conf. on Robotics & Automation, pp. 133-139, 1998 
    8. Normey-Rico, J. E., Alcala, J., Gomez-Ortega, J. and Camacho, E. F., 'Mobile robot path tracking using a robust PID controller,' Control Engineering Practice, Vol. 9, No.11, pp. 1209-1214, 2001 
    9. Craig, J. J., 'Introduction to Robotics Mechanics and Control second edition,' Addison-Wesley, 1992 
    10. Kane, T. R., 'Dynamics :Theory and Applications,' McGraw-Hill, 1985 
    11. 'AMESim User's Manual,' IMAGINE, 2000 
    12. Lim, T. H. and Yang, S. Y., 'Closed loop type MCV for Hydraulic Excavator,' KSPE conference, pp. 864-870, 2005 
  • 이 논문을 인용한 문헌 (4)

    1. Han, Moon-Sik ; Cho, Jae-Ung 2011. "Structural Analysis of Excavator Arm and its Connection Pins" 한국생산제조시스템학회지 = Journal of the Korean Society of Manufacturing Technology Engineers, 20(1): 7~12     
    2. Kang, Min-Jae ; Cho, Jae-Ung 2014. "A Study on Structural Durability due to the Configuration of Ripper at Excavator" 한국융합학회논문지 = Journal of the Korea Convergence Society, 5(2): 13~18     
    3. Cho, Jae-Ung 2014. "A Study on Structural Safety and Fatigue Failure of End Mill" 한국융합학회논문지 = Journal of the Korea Convergence Society, 5(3): 17~22     
    4. Han, Moon-Sik ; Cho, Jae-Ung 2016. "Durability Analysis through the Radiation of Heat of a Laptop" 한국기계가공학회지 = Journal of the Korean Society of Manufacturing Process Engineers, 15(1): 89~94     

 저자의 다른 논문

  • 임태형 (4)

    1. 2005 "유압 굴삭기 시뮬레이터 개발" 유공압시스템학회논문집 = Transactions of the Korea Fluid Power Systems Society 2 (1): 9~14    
    2. 2006 "크레인 기능 부착 지능형 유압 굴삭기 시스템 개발" 한국공작기계학회논문집 = Transactions of the Korean society of machine tool engineers 15 (5): 29~36    
    3. 2006 "건설기계의 메카트로닉스 연구개발 동향" 油空壓시스템 = Journal of the Korea Fluid Power Systems Society 3 (1): 9~15    
    4. 2007 "모형 공압굴삭기 시스템 구축" 한국공작기계학회논문집 = Transactions of the Korean society of machine tool engineers 16 (3): 31~36    
  • 양순용 (44)

 활용도 분석

  • 상세보기

    amChart 영역
  • 원문보기

    amChart 영역

원문보기

무료다운로드
  • NDSL :
유료다운로드

유료 다운로드의 경우 해당 사이트의 정책에 따라 신규 회원가입, 로그인, 유료 구매 등이 필요할 수 있습니다. 해당 사이트에서 발생하는 귀하의 모든 정보활동은 NDSL의 서비스 정책과 무관합니다.

원문복사신청을 하시면, 일부 해외 인쇄학술지의 경우 외국학술지지원센터(FRIC)에서
무료 원문복사 서비스를 제공합니다.

NDSL에서는 해당 원문을 복사서비스하고 있습니다. 위의 원문복사신청 또는 장바구니 담기를 통하여 원문복사서비스 이용이 가능합니다.

이 논문과 함께 출판된 논문 + 더보기