JPS6448103A - Work machine position controller for power shovel - Google Patents

Work machine position controller for power shovel

Info

Publication number
JPS6448103A
JPS6448103A JP20590287A JP20590287A JPS6448103A JP S6448103 A JPS6448103 A JP S6448103A JP 20590287 A JP20590287 A JP 20590287A JP 20590287 A JP20590287 A JP 20590287A JP S6448103 A JPS6448103 A JP S6448103A
Authority
JP
Japan
Prior art keywords
work machine
gain
inertia
transfer function
hydraulic volume
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP20590287A
Other languages
Japanese (ja)
Other versions
JP2652167B2 (en
Inventor
Taketo Ariga
Hiroshi Asano
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Komatsu Ltd filed Critical Komatsu Ltd
Priority to JP62205902A priority Critical patent/JP2652167B2/en
Publication of JPS6448103A publication Critical patent/JPS6448103A/en
Application granted granted Critical
Publication of JP2652167B2 publication Critical patent/JP2652167B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Landscapes

  • Operation Control Of Excavators (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

PURPOSE:To perform stable follow-up control by compensating the nonlinearity due to the link mechanism, the movement of inertia, and the hydraulic volume of each work machine. CONSTITUTION:The cylinder ring gain, the moment of inertia, and the cylinder hydraulic volume of each work machine are calculated based on the output of a rotation angle detecting means which detects the rotation angle of the work machine, and the gain in a transfer function is variably controlled in accordance with these calculated values so that the transfer function of each flow rate control system is fixed. That is, a deviation gain K1, an angular speed feedback gain K2, and an angular acceleration feedback gain K3 are successively changed in accordance with the position of the work machine to always fix the transfer function of each flow-rate control system independently of the position of the work machine. Since the nonlinearity due to the cylinder ring gain, the moment of inertia, and the cylinder hydraulic volume is compensated, the follow-up control of each work machine is performed faithfully to commands.
JP62205902A 1987-08-19 1987-08-19 Excavator work equipment position control device Expired - Lifetime JP2652167B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62205902A JP2652167B2 (en) 1987-08-19 1987-08-19 Excavator work equipment position control device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62205902A JP2652167B2 (en) 1987-08-19 1987-08-19 Excavator work equipment position control device

Publications (2)

Publication Number Publication Date
JPS6448103A true JPS6448103A (en) 1989-02-22
JP2652167B2 JP2652167B2 (en) 1997-09-10

Family

ID=16514640

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62205902A Expired - Lifetime JP2652167B2 (en) 1987-08-19 1987-08-19 Excavator work equipment position control device

Country Status (1)

Country Link
JP (1) JP2652167B2 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0348909A (en) * 1989-07-17 1991-03-01 Mitsubishi Electric Corp Space stabilizing device
JPH04149604A (en) * 1990-10-08 1992-05-22 Kobe Steel Ltd Automatic controller for hydraulically-driven machine
JP2003206902A (en) * 2001-12-28 2003-07-25 Caterpillar Inc Method for controlling deadband of fluid system
CN104612194A (en) * 2013-12-30 2015-05-13 柳州柳工挖掘机有限公司 Control method of rotation of excavator working device
JP2020033815A (en) * 2018-08-31 2020-03-05 コベルコ建機株式会社 Construction machine

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60214007A (en) * 1984-04-09 1985-10-26 Hitachi Ltd Driving control method of articulated robot
JPS613212A (en) * 1984-06-15 1986-01-09 Hitachi Ltd Controller of robot
JPS61120214A (en) * 1984-11-16 1986-06-07 Canon Inc Positioning controller
JPS61226804A (en) * 1985-03-30 1986-10-08 Toshiba Corp Control device of multidegree-of-freedom nonlinear machine system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60214007A (en) * 1984-04-09 1985-10-26 Hitachi Ltd Driving control method of articulated robot
JPS613212A (en) * 1984-06-15 1986-01-09 Hitachi Ltd Controller of robot
JPS61120214A (en) * 1984-11-16 1986-06-07 Canon Inc Positioning controller
JPS61226804A (en) * 1985-03-30 1986-10-08 Toshiba Corp Control device of multidegree-of-freedom nonlinear machine system

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0348909A (en) * 1989-07-17 1991-03-01 Mitsubishi Electric Corp Space stabilizing device
JPH04149604A (en) * 1990-10-08 1992-05-22 Kobe Steel Ltd Automatic controller for hydraulically-driven machine
JP2003206902A (en) * 2001-12-28 2003-07-25 Caterpillar Inc Method for controlling deadband of fluid system
CN104612194A (en) * 2013-12-30 2015-05-13 柳州柳工挖掘机有限公司 Control method of rotation of excavator working device
JP2020033815A (en) * 2018-08-31 2020-03-05 コベルコ建機株式会社 Construction machine
WO2020045579A1 (en) * 2018-08-31 2020-03-05 コベルコ建機株式会社 Construction machine
CN112585321A (en) * 2018-08-31 2021-03-30 神钢建机株式会社 Construction machine
EP3828346A4 (en) * 2018-08-31 2021-12-15 Kobelco Construction Machinery Co., Ltd. CONSTRUCTION MACHINE
US11391016B2 (en) 2018-08-31 2022-07-19 Kobelco Construction Machinery Co., Ltd. Construction machine
CN112585321B (en) * 2018-08-31 2023-01-03 神钢建机株式会社 Construction machine

Also Published As

Publication number Publication date
JP2652167B2 (en) 1997-09-10

Similar Documents

Publication Publication Date Title
EP0423357A4 (en) Device for controlling servo motor
JPS5552437A (en) Working instrument controller
JPS57120112A (en) Locus control method of arm
MY104800A (en) Method and system for controlling vibrations in borehole equipment
EP0169390A3 (en) Injection molding machines and methods for controlling the same
JPS6455089A (en) Method of controlling fan motor for air-conditioning machine
ES8401749A1 (en) Method of controlling horizontal motion of a load application point on an articulated crane
CN103345271B (en) A kind of gas flow control set for adjusting based on embedded system
EP0356133A3 (en) Servo control apparatus
JPS6254933B2 (en)
JPS6414430A (en) Control on excavation by oil-pressure shovel
JP2652167B2 (en) Excavator work equipment position control device
JPS5792226A (en) Controller for power shovel
JPS6414432A (en) Excavation controller for oil-pressure shovel
SU1496999A1 (en) Control device for manipulator drive
JPS6433602A (en) Robot controller
SU574319A1 (en) Industrial robot
JP3428188B2 (en) Segment positioning method
SU1414624A1 (en) Apparatus for controlling assembly robot
SU881657A1 (en) Follow-up system
SU583032A1 (en) System for automatic stabilization of stationary ship
JPS54162561A (en) Hydraulic type vibration generator
JPS56150237A (en) Control of speed of front member of hydraulic shovel
CN102582683B (en) Device and method for optimization control of random friction of four-tracked counterweight trolley
JPS6438805A (en) Control method for working device