Excavator Brake Release Timing for Boom and Arm Sag Prevention
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Solution Overview
Problem
Existing brake control systems in excavators do not adequately consider the torque due to the self-weight of working apparatuses, leading to unintended falling and sagging when brakes are released.
Innovation Solution
A method and device for controlling excavator brakes by determining a specific brake release timing through comparison of the motor torque value with a standby torque value required to maintain the current position of the working apparatus, using apparatus status information and joystick intensity signals to precisely control the brake release.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the brake is released before the motor torque value reaches the standby torque value, then the brake release timing is early and operation speed is improved, but the working apparatus falls and sags due to insufficient torque to support self-weight
Solution Approach 1:
The system performs preliminary action by determining the standby torque value in advance based on working apparatus weight and position information before brake release. The control unit compares the current motor torque value with the pre-determined standby torque value to determine the precise brake release timing, ensuring the motor is ready to immediately support the apparatus weight when the brake releases, thus preventing falling and sagging while enabling timely brake release.
2Stability of the object's composition
If the brake release timing is delayed until motor torque exceeds standby torque value, then working apparatus stability is improved, but operation response time increases
Solution Approach 1:
The system implements feedback by continuously monitoring the motor torque value and comparing it with the standby torque value. The control unit receives real-time torque information from the motor controller and uses this feedback to determine the precise moment when brake release is safe, balancing stability requirements with timely operation response.
3Measurement precision
If torque control precision is increased to accurately determine brake release timing, then working apparatus control precision is improved, but system complexity increases
Solution Approach 1:
The control unit acts as an intermediary that receives torque information from the motor controller and working apparatus status information from sensors, processes this information by comparing current torque with standby torque, and determines brake release timing. This intermediary approach enables precise torque-based control without requiring direct complex integration of all system components.
Data Source
AI summary
According to an embodiment, disclosed are obtaining apparatus status information including weight information and position information for one or more working apparatuses including at least one of a boom, an arm, and a bucket included in the excavator; obtaining a demand for controlling an electric motor that provides power to movement of one or more working apparatuses; determining a motor torque value for the electric motor as the demand is obtained; determining a standby torque value required for the one or more working apparatuses to maintain current position state by using the apparatus status information; determining a brake release timing for releasing the brake that restricts the movement of the one or more working apparatuses based on a comparison result of the motor torque value and the standby torque value.