Today's excavators are highly complex but powerfull and robust systems with broad use in the construction industries. Being offered multiple degrees of freedom, the experienced driver is able to use the modern excavator for the most complex and versatile purposes. At the same time, the tip-over stability is a critical issue and often only depending on the experience of the machine operator. During operation the driver will have no feedback on the current safety margin. The aim of this work is to find means capable to increase tip-over safety without limiting the machine performance. This work develops a first approach for a model-based observer to constantly monitor the stability during the operation of the excavtor. The observer calculates the center of gravity using kinematical inputs of the machine and determines the stability by calculating the current wheel loads. Furthermore, the same approach is used to determine the static stability for upcoming positions of the load and the kinematical position of the excavator to for see possibly dangerous situations. The observer model is designed to run in real-time onboard an excavator using sensory data as input. The focus of the work lies on the development of a robust system with minimal sensory requirements. The developed observer model is tested using a detailed multi-body-simulation model.
Model-based observation of the stability of excavators during operation
2012
12 Seiten, 12 Bilder, 10 Quellen
Aufsatz (Konferenz)
Englisch
Automated Grading Operation for Hydraulic Excavators
SAE Technical Papers | 2014
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