전기굴삭기 선회 관성 모멘트 추정 방안 연구

Abstract

The electric excavator has a electric motor as a swing motor which is the actuator of the swing control system, while conventional excavators have hydraulic motor. The swing control system of the electric excavator is a swing motor speed control system using the control lever signal as a speed command. The equivalent inertia moment of the swing system varies as the postures, grade of the field and bucket loads. Therefore, it is necessary that the equivalent inertia moment of swing system is estimated. In this paper, the equivalent inertia moment estimation is presented and the computer simulation is conducted with the swing experiment data. The simulation results show that the estimated value is converged.