Title:
METHOD FOR CONTROLLING OPERATION OF CONSTRUCTION MACHINE, OPERATION CONTROL SYSTEM, AND OPERATION CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2022/070553
Kind Code:
A1
Abstract:
Conventional methods suffer from the problem of inadequate control accuracy. The method for controlling the operation of a construction machine according to the present invention comprises performing a control parameter adjustment process in which the control gain is adjusted for each control section that is a unit section for control, and a feedback control process in which a feedback control input value for control of the posture of the construction machine is calculated using the control gain. The control parameter adjustment process includes performing: an overshoot calculation process in which the overshoot amount of the posture detection value with respect to the target position in the previous control section is calculated; an adjusting rate calculation process in which a control gain adjusting rate is calculated on the basis of the overshoot amount, the control gain adjusting rate being the adjusting rate for the control gain in the next control section; an adjusting rate smoothing process in which a smoothed adjusting rate is calculated by smoothing the control gain adjusting rate on the basis of the smoothed adjusting rate calculated in the previous control section and the control gain adjusting rate; and a control gain calculation process in which the control gain in the next control section is calculated from the smoothed adjusting rate.
Inventors:
YOSHIMOTO TATSUYA (JP)
YOSHIDA HIROSHI (JP)
YOSHIDA HIROSHI (JP)
Application Number:
PCT/JP2021/026609
Publication Date:
April 07, 2022
Filing Date:
July 15, 2021
Export Citation:
Assignee:
NEC CORP (JP)
International Classes:
E02F9/20; G05B11/36; G05B13/02
Foreign References:
| JPH0475113A | 1992-03-10 | |||
| JP2011006862A | 2011-01-13 | |||
| JPH02245902A | 1990-10-01 | |||
| JP2003061377A | 2003-02-28 | |||
| US20200024828A1 | 2020-01-23 |
Attorney, Agent or Firm:
IEIRI Takeshi (JP)
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