Tilt Bucket Predictive Control for Accurate High-Speed Excavation
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Solution Overview
Problem
Construction machines with tilt buckets face challenges in excavating desired shapes due to high swing speeds of the swing body, which can cause the tilt bucket to dig below the design surface, preventing accurate excavation.
Innovation Solution
A control system for construction machines that includes a design surface acquisition unit, operation data acquisition unit, target value generation unit, prediction unit, and command unit to calculate and output control commands for the tilt bucket and swing body, ensuring the bucket maintains the desired attitude and distance from the design surface, thereby preventing digging below the surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the swing body swings at high speed based on operation device input, then productivity is improved, but the tilt bucket digs below the design surface causing manufacturing precision to deteriorate
Solution Approach 1:
The control system performs preliminary calculation of the swing body's future position and attitude based on current operation data, then preemptively adjusts the tilt bucket angle before the swing body completes its movement. This predictive control prevents the bucket from digging below the design surface by preparing the correct bucket attitude in advance of the actual swing completion.
Solution Approach 2:
The system continuously monitors the swing body's position, attitude, and speed, along with the tilt bucket's angle, and uses this feedback to dynamically adjust control commands. The control unit compares actual positions with target positions and modifies the tilt bucket angle in real-time to maintain precise excavation along the design surface despite high swing speeds.
2Manufacturing precision
If the tilt bucket approaches the swing body to form slopes, then manufacturing precision is improved, but the swing body must slow down causing productivity to deteriorate
Solution Approach 1:
The control system calculates the required tilt bucket angle in advance based on the desired slope geometry and the swing body's current state. By preemptively setting the bucket angle before the swing body reaches the target position, the system enables precise slope formation without requiring the swing body to decelerate, thereby maintaining high productivity.
Solution Approach 2:
The system dynamically adjusts the tilt bucket angle during the swing motion based on real-time position and speed data. This dynamic control allows the bucket to maintain the optimal angle for slope formation throughout the swing arc, enabling precise excavation at high speeds without requiring speed reduction.
Data Source
AI summary
A control method for a construction machine includes: generating a target value of an amount of control of each of a tilt bucket and a swing body, based on operation data obtained when working equipment and the swing body are operated and a design surface indicating a target shape of a construction target; calculating a predicted value of the amount of control of each of the tilt bucket and the swing body, based on the target values and a prediction model for the construction machine; calculating amounts of drive to control the working equipment and the swing body, based on the predicted values and the design surface to maintain a distance from the tilt bucket to the design surface and an attitude of the tilt bucket; and outputting control commands to control the working equipment and the swing body based on the amounts of drive.