Excavator Drive Control for Upper Structure Vibration
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Solution Overview
Problem
Conventional excavators with hydraulic motors experience operator instability due to vibration during driving, leading to unstable driving operations.
Innovation Solution
An excavator equipped with a lower traveling structure, an upper swing structure, a driving actuator, and a controller that detects vibration using an inertial sensor and adjusts the driving command value to stabilize operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If the excavator uses a hydraulic motor for driving, then the mobility and power of the excavator are improved, but vibration is generated during driving which causes operator's body to shake and driving operations to become unstable
Solution Approach 1:
The controller detects vibration of the upper swing structure during driving and feeds back this information to adjust the command value for the driving actuator. This closed-loop feedback mechanism allows the system to respond to vibration conditions and stabilize the driving operations despite the presence of vibration from the hydraulic motor.
Solution Approach 2:
The controller changes the command value parameter for the driving actuator based on detected vibration levels. By dynamically adjusting this parameter in response to vibration conditions, the system maintains stable driving operations while preserving the power benefits of the hydraulic motor.
2Ease of operation
If vibration control measures are added to stabilize driving operations, then the ease of operation is improved, but the device complexity increases
Solution Approach 1:
The controller performs multiple functions: it controls the driving actuator, detects vibration of the upper swing structure, and adjusts command values based on vibration detection. By consolidating these functions into a single control unit, the system achieves vibration compensation without proportionally increasing overall device complexity.
Solution Approach 2:
The system uses its own controller to detect and compensate for vibration effects on driving operations. The controller self-adjusts the command value based on detected vibration, eliminating the need for separate complex vibration isolation mechanisms and keeping the added complexity minimal.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The controller reduces variation in the driving command value, preventing operator instability and stabilizing driving operations, especially on rough terrain.
Implementation Method 1
detect vibration of the upper swing structure
Data Source
AI summary
An excavator according to an embodiment of the present disclosure includes a lower traveling structure, an upper swing structure mounted on the lower traveling structure, a hydraulic driving motor configured to move the lower traveling structure, and a controller including a memory and a processor coupled to the memory and configured to control the hydraulic driving motor, and detect vibration of the upper swing structure and reduce variation of a command value for driving the hydraulic driving motor based on a mode of the vibration.