Method and apparatus for controlling swing body of construction equipment
View Patent ↗Exemplary embodiments relate to controlling a swing body of construction equipment. Disclosed methods may include selecting a representative signal vs. speed curve, receiving an operating signal value from the operating input device, obtaining a reference speed value by applying said operating signal value to the selected curve, transmitting a command for rotational speed equivalent to said reference speed to the swing motor making the swing body rotate, obtaining rotational speed of said motor, determining whether a value obtained by subtracting rotational speed from reference speed exceeds the maximum permissible errors, obtaining a new signal vs. speed curve equivalent to rotational speed when a value obtained by subtracting rotational speed from reference speed exceeds the maximum permissible errors, obtaining a new reference speed value from an operating signal value using said new curve, and transmitting a new command for rotational speed equivalent to said new reference speed to said motor.
1. A method for controlling a swing body of construction equipment, comprising:
selecting a pressure vs. speed curve;
receiving an operating signal value from an operating input device;
obtaining a reference speed value by applying said operating signal value to the selected pressure vs. speed curve;
transmitting a command for a rotational speed equivalent to said reference speed to the swing motor making the swing body rotate,
obtaining a rotational speed of said swing motor;
determining on whether a value obtained by subtracting said rotational speed from said reference speed exceeds maximum permissible errors previously set forth;
obtaining a new pressure vs. speed curve corresponding to said rotational speed, when a value obtained by subtracting said rotational speed from said reference speed exceeds the maximum permissible errors previously set forth;
obtaining a new reference speed value from a new operating signal value by using said new pressure vs. speed curve; and
transmitting a new command for a rotational speed equivalent to said new reference speed to said swing motor,
wherein the step of obtaining the new pressure vs. speed curve corresponding to said rotational speed comprises:
selecting a pressure vs. speed curve corresponding to the lowest rotational inertia among pressure vs. speed curves corresponding to higher rotational inertia than the currently selected pressure vs. speed curve, among candidate pressure vs. speed curves previously set forth; and
repeating said step of selecting a pressure vs. speed curve corresponding to the lowest rotational inertia among the pressure vs. speed curves until a value obtained by subtracting said rotational speed of said swing motor from the reference speed obtained by using the currently selected pressure vs. speed curve is less than a threshold previously set forth.
2. The method for controlling a swing body of construction equipment of claim 1 , wherein the step of obtaining a new pressure vs. speed curve corresponding to said rotational speed comprises:
selecting a pressure vs. speed curve corresponding to the highest rotational inertia among pressure vs. speed curves corresponding to lower rotational inertia than the currently selected pressure vs. speed curve, among candidate pressure vs. speed curves previously set forth; and
repeating said step of selecting a pressure vs. speed curve corresponding to the highest rotational inertia until a value obtained by subtracting the reference speed obtained by using the currently selected pressure vs. speed curve from said rotational speed of the swing motor is less than the threshold previously set forth.
3. The method for controlling a swing body of construction equipment of claim 1 , wherein said threshold value previously set forth is lower than said maximum permissible errors.
4. The method for controlling a swing body of construction equipment of claim 1 , further comprising,
storing a final pressure vs. speed curve in the immediate previous rotational motion and using it as an initial value of a pressure vs. speed curve of the next rotational motion.
5. The method for controlling a swing body of construction equipment of claim 1 , wherein the step of obtaining a new pressure vs. speed curve corresponding to said rotational speed comprises:
estimating a rotational inertia load of said swing body by using said rotational speed; and
obtaining a new pressure vs. speed curve corresponding to said estimated rotational inertia load.
6. An apparatus for controlling a swing body of construction equipment, comprising:
an operating input device configured to generate an operating signal value depending on a manipulation;
a controller configured to:
select pressure vs. speed curve;
obtain a reference speed value by applying said operating signal value to the selected pressure vs. speed curve and transmitting a command for a rotational speed equivalent to said reference speed to the swing motor making the swing body rotate;
said swing motor configured to make the swing body rotate in accordance with said command for rotational speed; and
a speed sensor configured to detect a rotational speed of said swing motor,
wherein said controller is further configured to:
determine on whether a value obtained by subtracting said rotational speed from said reference speed exceeds maximum permissible errors previously set forth;
obtain a new pressure vs. speed curve corresponding to said rotational speed, when a value obtained by subtracting said rotational speed from said reference speed exceeds the maximum permissible errors previously set forth;
obtain a new reference speed value from an operating signal value by using said new pressure vs. speed curve;
transmit a new command for a rotational speed equivalent to said new reference speed to said swing motor;
select a pressure vs. speed curve corresponding to the lowest rotational inertia among pressure vs. speed curves corresponding to higher rotational inertia than the currently selected pressure vs. speed curve, among candidate pressure vs. speed curves previously set forth; and
repeat the selection of a pressure vs. speed curve corresponding to the lowest rotational inertia by the controller until a value obtained by subtracting said rotational speed of the swing motor from the reference speed obtained by using the currently selected pressure vs. speed curve is less than a threshold previously set forth.
7. The apparatus for controlling a swing body of construction equipment of claim 6 , wherein said controller is further configured to select and repeat the selection of a pressure vs. speed curve corresponding to the highest rotational inertia among pressure vs. speed curves corresponding to lower rotational inertia than the currently selected pressure vs. speed curve, among said candidate pressure vs. speed curves previously set forth until a value obtained by subtracting the reference speed obtained by using the currently selected pressure vs. speed curve from said rotational speed of the swing motor is less than the threshold previously set forth.
8. The apparatus for controlling a swing body of construction equipment of claim 6 , wherein said threshold previously set forth is lower than said maximum permissible errors.
9. The apparatus for controlling a swing body of construction equipment of claim 6 , wherein said controller is further configured to estimate a rotational inertia load of said swing body and obtain a new pressure vs. speed curve corresponding to the estimated rotational inertia load.