Construction Machine Work Control Lever Play Compensation
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Solution Overview
Problem
Existing unmanned control systems for construction machines lack accuracy due to the unaccounted play deviation between the manipulation lever and the cylinder operation, leading to insufficient control precision.
Innovation Solution
A work control method and system that generate an initial motion input model by measuring and complementing initial motion values at different positions to determine a control input value that compensates for the play, ensuring accurate posture control of the construction machine.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If existing unmanned control systems are used without accounting for manipulation lever play, then the control system is simple to implement, but the control accuracy is insufficient
Solution Approach 1:
The system performs preliminary measurement of initial motion input values at multiple predetermined positions before actual operation. These measurements are stored and used to determine the appropriate initial motion input value based on the current manipulation lever position, compensating for play effects before the control action is executed
Solution Approach 2:
The system changes the parameter of initial motion input value based on the manipulation lever position. By measuring and storing initial motion input values at different positions (first predetermined position, second predetermined position, etc.), the system selects the appropriate parameter value to compensate for play at each specific position
2Manufacturing precision
If the play in the manipulation lever is not compensated, then the system operation is simple, but the posture control precision deteriorates
Solution Approach 1:
The system incorporates feedback by detecting the manipulation lever position and using this information to select the appropriate initial motion input value from pre-measured values. This closed-loop approach ensures that the control input accounts for the actual lever position and play effects
Solution Approach 2:
The system performs preliminary measurement of initial motion input values at multiple predetermined positions before actual operation. These measurements are stored and used to determine the appropriate initial motion input value based on the current manipulation lever position, compensating for play effects before the control action is executed
Data Source
AI summary
A work control method according to the present invention includes: an initial motion input model generation step; and a feedback control step, in which the initial motion input model generation step includes: a first initial motion input value measurement step of measuring a first initial motion measurement value at which the movable part is caused to start to move in a first state of the movable part; a second initial motion input value measurement step of measuring a second initial motion measurement value at which the movable part is caused to start to move in a second state of the movable part; and a model generation step of generating an initial motion input model that complements between the first initial motion measurement value and the second initial motion measurement value and derives the initial motion input value with respect to a desired posture of the construction machine.