Abstract
Load-sensing concept and general control scheme are not new and they have been widely used for many industrial hydraulic systems, including hydraulic excavators. However, when applied to hydraulic excavators, many technical problems still remain to be resolved. For example, vibration due to the load sensing servo loop, acceleration control of the inertia load and maneuverability of simultaneous multi-operation of the actuators, are some of the main problems that need a solution. We have constructed a simulator model of a hydraulic excavator which incorporates all control components, that is, engine-pump speed sensing circuitry, L. S on-off regulator, 6 pressure compensated valves and 6 actuators combinations, namely, boom, arm, bucket cylinders and swing, and travel hydraulic motors.The most difficult problem regarding load sensing is how to overcome instability due to low damping of the load-sensing dynamics.The second most difficult problem is how to obtain smooth operation during inertia load. Of course, there are other many important problems to solve for the realization of load sensing shovel, but the above two are extremely important for an actual system. We studied these problems by simulating the detailed behavior of the load-sensing hydraulic system, with good results being obtained. By combining the above-mentioned simulator study, we could develop an electronically controlled load-sensing hydraulic excavator, which is a first in this area.
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