Work Machine Stability Control via Inertia Prediction
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Solution Overview
Problem
Existing work machines, such as demolition work machines, face instability issues due to inertia effects during sudden stops, which are not accurately evaluated by existing technologies, leading to potential tipping and reduced working efficiency.
Innovation Solution
A work machine with a control device that predicts stability changes and calculates motion limits to prevent tipping by considering the inertia of the travel base, upperstructure, and work front, using ZMP coordinates and mechanical energy evaluation for real-time stability assessment and correction of actuator commands.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If the control lever is instantaneously brought back to the stop command position during operation, then the response time is reduced and working efficiency is improved, but large inertia acts on the work machine causing stability deterioration and potential tipping
Solution Approach 1:
The control device predicts the change in stability until each movable portion stops and calculates a motion limit needed to keep the work machine stable. This preliminary calculation of stability changes and motion limits prevents tipping by anticipating the inertial effects before they occur, allowing the system to prepare countermeasures in advance while still enabling rapid response.
Solution Approach 2:
The control device corrects command information to actuators based on the calculated motion limit before the actual movement occurs. By pre-calculating the appropriate command corrections that maintain stability within acceptable ranges, the system can execute sudden stops safely without waiting for instability to manifest, thus maintaining both speed and stability.
2Measurement precision
If existing stability evaluation techniques are used, then the device complexity is reduced, but the measurement precision of stability during sudden stops is insufficient leading to inaccurate tipping prediction
Solution Approach 1:
The control device continuously monitors the actual movement of movable portions and compares it with the predicted stability changes. Based on this feedback, the system adjusts command information to actuators in real-time to maintain stability. This closed-loop feedback mechanism achieves high measurement precision without requiring overly complex hardware, using intelligent processing of sensor data instead.
Solution Approach 2:
The patent replaces complex mechanical stability assessment systems with an intelligent control device that performs stability evaluation through calculation and prediction algorithms. Instead of using elaborate mechanical sensors and physical stability mechanisms, the system uses computational methods to predict stability changes and calculate motion limits, reducing mechanical complexity while improving measurement precision.
Data Source
AI summary
To provide a work machine with high stability in which a dynamic balance can be evaluated easily while the influence of a sudden stop of an travel base, an upperstructure and a work front is taken into consideration.A stabilization control calculation unit (60a) and a command value generating unit (60i) are provided in a control device (60) of the work machine. The stabilization control calculation unit (60a) uses a sudden stop model and position information of each movable portion of the travel base and a machine body including the work front (6) to predict a change of stability until reaching a complete stop when a control lever (50) in an operating state is instantaneously brought back to a stop command position, and calculates a motion limit needed to prevent destabilization from occurring at any time instant until reaching the stop. The command value generating unit (60i) corrects the command information to a drive actuator on the basis of the calculation result of the stabilization control calculation unit (60a).