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WORK CONTROL METHOD, WORK CONTROL SYSTEM, AND WORK CONTROL APPARATUS OF CONSTRUCTION MACHINE
In a related method, there is a problem that an accuracy of control is not sufficiently high. A work control method of a construction machine according to the present invention includes: control parameter adjustment processing for adjusting a control gain for each control section, which is a unit section of control; and feedback control processing for computing a feedback control input value for controlling the posture of a construction machine using the control gain, in which the control parameter adjustment processing includes: overshoot computation processing for computing an amount of overshoot of a posture detection value with respect to a target position in a previous control section; addition/subtraction rate computation processing for computing a control gain addition/subtraction rate, which is an addition/subtraction rate of the control gain in the next control section, based on the amount of overshoot; addition/subtraction rate smoothing processing for computing a post-smoothing addition/subtraction rate in which the control gain addition/subtraction rate is smoothed based on a post-smoothing addition-subtraction rate computed in the previous control section and the control gain addition/subtraction rate; and control gain computation processing for computing the control gain in the next control section from the post-smoothing addition/subtraction rate.
WORK CONTROL METHOD, WORK CONTROL SYSTEM, AND WORK CONTROL APPARATUS OF CONSTRUCTION MACHINE
In a related method, there is a problem that an accuracy of control is not sufficiently high. A work control method of a construction machine according to the present invention includes: control parameter adjustment processing for adjusting a control gain for each control section, which is a unit section of control; and feedback control processing for computing a feedback control input value for controlling the posture of a construction machine using the control gain, in which the control parameter adjustment processing includes: overshoot computation processing for computing an amount of overshoot of a posture detection value with respect to a target position in a previous control section; addition/subtraction rate computation processing for computing a control gain addition/subtraction rate, which is an addition/subtraction rate of the control gain in the next control section, based on the amount of overshoot; addition/subtraction rate smoothing processing for computing a post-smoothing addition/subtraction rate in which the control gain addition/subtraction rate is smoothed based on a post-smoothing addition-subtraction rate computed in the previous control section and the control gain addition/subtraction rate; and control gain computation processing for computing the control gain in the next control section from the post-smoothing addition/subtraction rate.
WORK CONTROL METHOD, WORK CONTROL SYSTEM, AND WORK CONTROL APPARATUS OF CONSTRUCTION MACHINE
YOSHIMOTO TATSUYA (author) / YOSHIDA HIROSHI (author)
2024-01-25
Patent
Electronic Resource
English
WORK CONTROL METHOD OF CONSTRUCTION MACHINE, WORK CONTROL SYSTEM, AND WORK CONTROL APPARATUS
| European Patent Office | 2024
Work control method, work control system, and work control apparatus of construction machine
| European Patent Office | 2025
| European Patent Office | 2025
| European Patent Office | 2024
| European Patent Office | 2024