An analysis model is presented in this paper to simulate the dynamics of the swing system of crawler-type medium hydraulic excavator. It is found from experiments that the static friction model cannot simulate actual friction phenomena such as the Stribeck effect which can be observed in real swing system. A dynamic friction model, i.e., the simplified LuGre model, has been implemented for more accurate simulation in the theoretical analysis. The validity of the simulation model adopting the dynamic friction model has been verified by comparing in time domain the simulated swing angle with that from actual swing test. Cross-correlation between the simulated and measured swing angles turned out to be 0.92. It can be concluded, therefore, that the proposed dynamic friction model considerably improves the simulation accuracy.
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ASME/BATH 2014 Symposium on Fluid Power and Motion Control
September 10–12, 2014
Bath, United Kingdom
Conference Sponsors:
- Fluid Power Systems and Technology Division
ISBN:
978-0-7918-4597-4
PROCEEDINGS PAPER
Modeling and Simulation of the Swing System of Crawler-Type Medium Hydraulic Excavator Using Dynamic Friction Model Available to Purchase
Ji-Min Lee,
Ji-Min Lee
Hyundai Heavy Industries, Ulsan, Korea
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Jae-Hong Cho,
Jae-Hong Cho
Hyundai Heavy Industries, Ulsan, Korea
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Jae-Hyeong Yoo
Jae-Hyeong Yoo
Hyundai Heavy Industries, Ulsan, Korea
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Ji-Min Lee
Hyundai Heavy Industries, Ulsan, Korea
Jae-Hong Cho
Hyundai Heavy Industries, Ulsan, Korea
Jae-Hyeong Yoo
Hyundai Heavy Industries, Ulsan, Korea
Paper No:
FPMC2014-7819, V001T01A013; 7 pages
Published Online:
November 20, 2014
Citation
Lee, J, Cho, J, & Yoo, J. "Modeling and Simulation of the Swing System of Crawler-Type Medium Hydraulic Excavator Using Dynamic Friction Model." Proceedings of the ASME/BATH 2014 Symposium on Fluid Power and Motion Control. ASME/BATH 2014 Symposium on Fluid Power and Motion Control. Bath, United Kingdom. September 10–12, 2014. V001T01A013. ASME. https://doi.org/10.1115/FPMC2014-7819
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