Title:
CONTROL DEVICE AND CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2024/043303
Kind Code:
A1
Abstract:
This control device comprises: an operation command unit that controls cylinders (44-46) for driving an excavator, which is a controlled object; an ideal speed calculation unit that calculates an ideal speed to be generated at a next time step on the basis of a target position and a current position of a bucket tip (43a); a reference speed calculation unit that calculates a reference speed, which is closest to the ideal speed within the range of actuator force that can be generated when PID control is implemented in the cylinders, and a reference generated force for when PID control is implemented at the reference speed, from quasi-static characteristics of the cylinders; and a manipulated variable calculation unit that calculates a manipulated variable on the basis of the quasi-static characteristics of the cylinders, the reference generated force, and the reference speed.
Inventors:
KIKUUWE RYO
YAMAMOTO YUKI
YAMAMOTO YUKI
Application Number:
PCT/JP2023/030465
Publication Date:
February 29, 2024
Filing Date:
August 24, 2023
Export Citation:
Assignee:
KOBELCO CONSTR MACH CO LTD (JP)
UNIV HIROSHIMA (JP)
UNIV HIROSHIMA (JP)
International Classes:
E02F3/43; E02F9/20; E02F9/22
Foreign References:
| JPS62242028A | 1987-10-22 | |||
| JP2002023807A | 2002-01-25 | |||
| JP2017053160A | 2017-03-16 | |||
| JP2015196968A | 2015-11-09 | |||
| JPH09291560A | 1997-11-11 | |||
| JP2015040604A | 2015-03-02 | |||
| JP2017096040A | 2017-06-01 | |||
| US6356829B1 | 2002-03-12 |
Attorney, Agent or Firm:
KOTANI, Masataka et al. (JP)
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