Work Machine Control System for Inertia Compensation
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Solution Overview
Problem
Unmanned mining machines experience a significant drop in traveling speed below the target speed when entering areas with low speed limits due to their large inertia, leading to inefficiencies and productivity losses.
Innovation Solution
A work machine control system that includes an acceleration change amount calculation unit, detection unit, corrected value calculation unit, and addition processing unit to detect speed-limited areas and adjust the accelerating instruction value by adding a corrected value, ensuring the machine maintains the target speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the drive force is reduced to decelerate the mining machine before entering a speed-limited area, then the traveling speed can be controlled to match the target speed, but the traveling speed may drop significantly below the target speed due to the machine's large inertia
Solution Approach 1:
The detection unit identifies speed-limited areas ahead of time, and the control unit calculates a corrected accelerating instruction value that compensates for the machine's inertia before the machine actually enters the limited speed area. This preliminary action ensures the drive force is adjusted in advance, preventing significant speed drops below the target speed while accounting for the time required for the heavy machine to respond to force changes
2Productivity
If the drive force is increased to maintain target speed in a speed-limited area, then productivity is improved, but the machine cannot immediately respond due to its large inertia
Solution Approach 1:
The control unit continuously monitors the actual traveling speed and compares it with the target speed, then adjusts the accelerating instruction value based on the speed deviation and the detected area type. This feedback mechanism allows the system to automatically compensate for inertia effects and maintain optimal productivity without requiring complex manual intervention or overly complicated control logic
Data Source
AI summary
A method for controlling a work machine, includes: detecting an area present ahead in a traveling direction of a work machine, in which a target traveling speed of the work machine is constant and is lower than a traveling speed at a current point of time; when the area is detected, obtaining a corrected value for correcting the accelerating instruction value; adding the corrected value and an accelerating instruction value for controlling a traveling speed of the work machine obtained based on the target traveling speed to obtain a corrected accelerating instruction value; and outputting the corrected accelerating instruction value to a drive device configured to drive a traveling device in the work machine.