Excavator Standby Torque Control for Brake Release Stability
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Solution Overview
Problem
Existing excavator control systems fail to effectively prevent the unintended falling and sagging of working apparatuses like booms, arms, and buckets due to the lack of a valid torque value to maintain their position when the brake is released, and the inability to determine if the saved torque value is sufficient for the changing state of these apparatuses.
Innovation Solution
A method and device that determine whether a saved torque value is valid by considering weight, position, and torque information, using a standby torque value table to calculate an appropriate torque value for maintaining the current position, and controlling the working apparatuses based on this value when the brake is released.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a torque value is saved at the time the brake is applied to the working apparatus, then the torque information is available for later use, but it cannot be determined whether the saved torque value is sufficient to support the self-weight of the working apparatus when the position or state changes
Solution Approach 1:
The control unit continuously monitors working apparatus state information (position, weight, torque) and compares it with the saved torque value to determine validity. This feedback mechanism ensures the system can assess whether the saved torque value remains sufficient to support the working apparatus after position or state changes, thereby maintaining brake release safety while managing torque information有效性.
Solution Approach 2:
The system saves the torque value in advance when the brake is applied, and performs preliminary validation by comparing this saved value with current working apparatus state before brake release. This preliminary action allows the system to determine torque value validity proactively, ensuring safety decisions are made with accurate information.
2Productivity
If the brake is released without determining torque value validity, then the working apparatus can be operated quickly, but unintended falling and sagging cannot be effectively prevented
Solution Approach 1:
The control unit automatically performs the torque value validity determination and standby torque value determination processes without requiring manual intervention. This self-service mechanism maintains quick brake release operation (productivity) while ensuring position stability through automated safety checks that prevent falling and sagging.
3Device complexity
If the torque value is not saved when the brake is applied, then the system operation is simpler, but the working apparatus position cannot be maintained when the brake is released
Solution Approach 1:
The control unit saves the torque value in advance when the brake is applied to the working apparatus. This preliminary action of storing torque information enables the system to maintain working apparatus position after brake release without significantly increasing control system complexity, as the saving operation is integrated into the existing brake control流程.
Data Source
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AI summary
According to an embodiment, disclosed are obtaining apparatus status information including at least one of weight information, position information, and torque value information according to movement for one or more working apparatuses including at least one of a boom, an arm, and a bucket included in an excavator; indicating a torque value corresponding to a time when a brake is applied to the one or more working apparatuses and determining whether a final saved torque value obtained based on the torque value information according to the movement is valid; determining, if the final saved torque value is valid, the final saved torque value as a standby torque value required for the one or more working apparatuses to maintain current position states; and a method for controlling the one or more working apparatuses based on the standby torque value at a time when the brake is released, which is a time after the time when the brake is applied, and a device and a recording medium for practicing the method.