「運動と振動の制御」シンポジウム講演論文集
Online ISSN : 2424-3000
セッションID: B103
会議情報
B103 閉ループデータを用いた油圧パワーショベルのデータ指向型トルクPID制御系の設計(OS1 適応学習制御とその応用1)
芦田 洋一郎木下 拓矢山本 透遠藤 一臣鹿児島 昌之
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会議録・要旨集 フリー

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Recently, highly energy efficient products have become more and more valuable. However, in hydraulic excavators, saving energy sometimes causes hunting. Here, excavators have Pressure-Displacement Capacity Control (P-Q Control). The purpose of this study is designing a control system to suppress hunting with highly efficient. In this paper, the hydraulic system is first modeled to clarify the reason of hunting, and P-Q Control is changed for PID control which can compensate delay time. Furthermore, PID parameters are determined based on closed loop data. To calculate PID parameters without simulator, modeling error is excluded.
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© 2015 一般社団法人 日本機械学会
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