Excavator Swing Speed Limiting Based on Boom Head Pressure
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Solution Overview
Problem
Work vehicles like excavators face challenges in stopping their swing speed within a safe distance and angle due to varying configurations and moments of inertia, necessitating a method to limit the maximum operational swing speed effectively across different configurations while ensuring safety and performance.
Innovation Solution
A method and controller that utilize boom head pressure data to determine the maximum allowable swing speed based on the moment of inertia, using a map to limit the swing speed to ensure safe stopping, regardless of configuration changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the maximum operational swing speed is limited to ensure safe stopping distance, then safety is improved, but operational productivity deteriorates
Solution Approach 1:
The maximum operational swing speed is dynamically adjusted based on real-time moment of inertia measurements. The system continuously monitors the actual moment of inertia and modifies the speed limit accordingly, allowing higher speeds when the moment of inertia is low and lower speeds when it is high, thus resolving the contradiction between safety and productivity
Solution Approach 2:
The system changes the operational parameter (maximum swing speed) based on the measured moment of inertia. By establishing a relationship between moment of inertia and safe stopping distance, the system adjusts the speed parameter to maintain safety while optimizing productivity for each specific configuration
2Reliability
If a fixed maximum swing speed limit is applied to all configurations, then safety is ensured, but operational performance is overly reduced
Solution Approach 1:
Instead of using a fixed speed limit, the system dynamically determines the maximum operational swing speed based on the actual moment of inertia of each configuration. This allows the speed limit to adapt to different tool weights and arm positions, ensuring safety while maintaining optimal performance for each specific setup
Solution Approach 2:
The system applies different speed limits to different configurations based on their specific moment of inertia characteristics. Each configuration receives a tailored speed limit rather than a universal restriction, allowing local optimization of performance while maintaining safety standards
3Productivity
If the swing speed is increased to improve productivity, then operational efficiency is improved, but the ability to stop within safe distance deteriorates
Solution Approach 1:
The system uses feedback from moment of inertia measurements to adjust the maximum operational swing speed. By continuously monitoring the actual moment of inertia and comparing it with pre-determined safe operating parameters, the system determines the appropriate speed limit that ensures safe stopping distance while maximizing productivity
Solution Approach 2:
The system pre-determines the relationship between moment of inertia and safe stopping distance for various configurations before operation. This preliminary analysis allows the system to quickly determine appropriate speed limits during operation without compromising safety
Data Source
AI summary
A method of operating a work vehicle is provided. The work vehicle comprises a swing apparatus rotatable about a swing axis. The swing apparatus comprises an arm arrangement comprising a boom and a stick, a boom actuator for controlling the boom, and at least one boom head pressure sensor for generating boom head pressure data indicative of a boom head pressure of the boom actuator. The method comprises, by a control system, determining a maximum allowable swing speed of the swing apparatus rotating about the swing axis, to account for the moment of inertia of the swing apparatus, based on boom head pressure data and a map linking boom head pressure data with the maximum allowable swing speed. The method further comprises limiting a maximum operational swing speed of the swing apparatus to the maximum allowable swing speed.