Smooth braking control of excavator hydraulic load based on command reshaping
Wenbo Fu1, Wenjuan Lu2, Haitao Liu3
1School of Mechanical Engineering, Dongguan University of Technology, Dongguan 523015, China; School of Mechanical Engineering, Tianjin University, Tianjin 300072, China.
ISA Transactions
|January 14, 2025
Summary
This study introduces a command reshaping algorithm to improve excavator hydraulic load braking stability. The method reduces oscillations, enhancing operator comfort and machine performance with minimal cost.
Area of Science:
- Mechanical Engineering
- Control Systems Engineering
- Construction Machinery
Background:
- Excavators experience poor hydraulic load braking stability, negatively impacting operator comfort.
- This instability is a significant challenge in construction machinery operation.
Purpose of the Study:
- To investigate load braking laws and develop a control algorithm for enhancing excavator braking stability.
- To reduce braking oscillations and improve operator comfort through active parameter adjustment.
Main Methods:
- Model analysis to understand load braking dynamics.
- Design of an open-loop control algorithm termed 'command reshaping'.
- Segmental adjustment of joystick commands to control main valve opening time.
Main Results:
- The command reshaping algorithm significantly improved braking stability in a 1.5-ton excavator.
- Reduced maximum amplitude of boom cylinder working pressure by at least 40%.
- Reduced maximum amplitude of swing motor speed by at least 54%.
Conclusions:
- The proposed algorithm effectively suppresses braking oscillations, enhancing excavator performance.
- The algorithm is easily implemented, cost-free, and adaptable for excavator performance tuning.
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