Work control method, work control system, work control apparatus, and non-transitory computer readable medium storing work control program
A work control method according to the present invention includes a construction machine control step (S 1 ) of driving a movable part of a construction machine based on a first input value input for each process cycle that is periodically repeated; a posture detection step of detecting the position of the movable part as a posture detection value; a feedback input value computation step of computing a second input value that reduces an error between a target value of the movable part and the posture detection value; and an input value correction step of correcting a second input value by a correction amount computed based on the first input value and an estimated value of an arrival time for the movable part to reach the target value for each process cycle.
1. A work control method comprising:
a construction machine control step of driving a movable part of a construction machine based on a first input value input for each process cycle that is periodically repeated;
a posture detection step of detecting a position of the movable part as a posture detection value;
a feedback input value computation step of computing a second input value that reduces an error between a target value of the movable part and the posture detection value; and
an input value correction step of correcting the second input value by a correction amount computed based on the first input value and an estimated value of an arrival time for the movable part to reach the target value for each process cycle,
wherein the input value correction step includes:
a driving speed estimation processing step of estimating the driving speed of the movable part based on the first input value and a maximum moving speed of the movable part;
a target arrival time estimation processing step of estimating the arrival time based on an estimated value of the driving speed; and
a correction amount computation step of computing the correction amount that suppresses the second input value based on an estimated value of the arrival time.
2. The work control method according to claim 1 , wherein the correction amount computation step includes:
a drive time rate computation step of computing a drive time rate for computing the rate of the estimated value of the arrival time to a convergence maximum time set for the movable part; and
a correction amount decision step of deciding the correction amount based on the product of the drive time rate, a preset suppression rate, and the magnitude of a range of change in the first input value.
3. The work control method according to claim 1 , wherein
the input value correction step further includes a smoothing processing step of computing an input smooth value in which the first input value up to a pre-process cycle is smoothed, and
the driving speed estimation processing step computes an estimated value of the driving speed using the input smooth value as the first input value.
4. The work control method according to claim 1 , wherein, in the feedback input value computation step,
a minimum value of the second input value is set to be zero and a maximum value thereof is set to be a preset maximum input value, and
a value obtained by adding a preset minimum input value to a value obtained by multiplying the difference between the error and a preset allowable error amount by a preset gain value is computed as the second input value.
5. The work control method according to claim 1 , wherein the construction machine includes a plurality of the movable parts and executes the input value correction step using a parameter optimized for each of the movable parts.
6. A work control system comprising:
a construction machine control unit for driving a movable part of a construction machine based on a first input value input for each process cycle that is periodically repeated;
a posture detection unit for detecting the a position of the movable part as a posture detection value;
a feedback input value computation unit for computing a second input value that reduces an error between a target value of the movable part and the posture detection value; and
an input value correction unit for correcting the second input value by a correction amount computed based on the first input value and an estimated value of an arrival time for the movable part to reach the target value for each process cycle,
wherein the input value correction unit includes:
a driving speed estimation unit for estimating the driving speed of the movable part based on the first input value and a maximum moving speed of the movable part;
a target arrival time estimation unit for estimating the arrival time based on an estimated value of the driving speed; and
a correction amount computation unit for computing the correction amount that suppresses the second input value based on an estimated value of the arrival time.
7. The work control system according to claim 6 , wherein the correction amount computation unit includes:
a drive time rate computation unit for computing a drive time rate for computing the rate of the estimated value of the arrival time to a convergence maximum time set for the movable part; and
a correction amount computation unit for computing the correction amount based on the product of the drive time rate, a preset suppression rate, and the magnitude of a range of change in the first input value.
8. The work control system according to claim 6 , wherein
the input value correction unit further includes smoothing processing unit for computing an input smooth value in which the first input value up to a pre-process cycle is smoothed, and
the driving speed estimation unit computes an estimated value of the driving speed using the input smooth value as the first input value.
9. The work control system according to claim 6 , wherein, in the feedback input value computation unit,
a minimum value of the second input value is set to be zero and a maximum value thereof is set to be a preset maximum input value, and
a value obtained by adding a preset minimum input value to a value obtained by multiplying the difference between the error and a preset allowable error amount by a preset gain value is computed as the second input value.
10. The work control system according to claim 6 , wherein the construction machine includes a plurality of the movable parts, and the input value correction unit computes the correction amount using a parameter optimized for each of the movable parts.
11. A work control apparatus comprising:
a construction machine control unit for driving a movable part of a construction machine based on a first input value input for each process cycle that is periodically repeated;
a posture detection unit for detecting the a position of the movable part as a posture detection value;
a feedback input value computation unit for computing a second input value that reduces an error between a target value of the movable part and the posture detection value; and
an input value correction unit for correcting the second input value by a correction amount computed based on the first input value and an estimated value of an arrival time for the movable part to reach the target value for each process cycle,
wherein the input value correction unit includes:
a driving speed estimation unit for estimating the driving speed of the movable part based on the first input value and a maximum moving speed of the movable part;
a target arrival time estimation unit for estimating the arrival time based on an estimated value of the driving speed; and
a correction amount computation unit for computing the correction amount that suppresses the second input value based on an estimated value of the arrival time.
12. The work control apparatus according to claim 11 , wherein the correction amount computation unit includes:
a drive time rate computation unit for computing a drive time rate for computing the rate of the estimated value of the arrival time to a convergence maximum time set for the movable part; and
a correction amount computation unit for computing the correction amount based on the product of the drive time rate, a preset suppression rate, and the magnitude of a range of change in the first input value.
13. The work control apparatus according to claim 11 , wherein
the input value correction unit further includes smoothing processing unit for computing an input smooth value in which the first input value up to a pre-process cycle is smoothed, and
the driving speed estimation unit computes an estimated value of the driving speed using the input smooth value as the first input value.
14. The work control apparatus according to claim 11 , wherein, in the feedback input value computation unit,
a minimum value of the second input value is set to be zero and a maximum value thereof is set to be a preset maximum input value, and
a value obtained by adding a preset minimum input value to a value obtained by multiplying the difference between the error and a preset allowable error amount by a preset gain value is computed as the second input value.
15. The work control apparatus according to claim 11 , wherein the construction machine includes a plurality of the movable parts, and in the input value correction unit, the correction amount is computed using a parameter optimized for each of the movable parts.