EP1580333A1 - Verfahren zur Einstellung der Reaktionsarten des Steuerhebels einer Erdbewegungsmaschine - Google Patents

Verfahren zur Einstellung der Reaktionsarten des Steuerhebels einer Erdbewegungsmaschine Download PDF

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Publication number
EP1580333A1
EP1580333A1 EP04016423A EP04016423A EP1580333A1 EP 1580333 A1 EP1580333 A1 EP 1580333A1 EP 04016423 A EP04016423 A EP 04016423A EP 04016423 A EP04016423 A EP 04016423A EP 1580333 A1 EP1580333 A1 EP 1580333A1
Authority
EP
European Patent Office
Prior art keywords
operation lever
mode
signal
response
filter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP04016423A
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English (en)
French (fr)
Inventor
Dong Soo Kim
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Volvo Construction Equipment AB
Original Assignee
Volvo Construction Equipment AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Volvo Construction Equipment AB filed Critical Volvo Construction Equipment AB
Publication of EP1580333A1 publication Critical patent/EP1580333A1/de
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2062—Control of propulsion units

Definitions

  • the present invention relates in general to an operation lever of a construction vehicle, and more particularly, to a method for freely setting response modes of the operation lever of a construction vehicle according to the skills or proficiency of a driver and work characteristics.
  • construction vehicle including an excavator has an operational lever like a joystick, which operates working apparatus such as a boom, arm, bucket, and swing unit.
  • Hydraulic pressure from an engine-driven hydraulic pump is a driving power source of operations of the working apparatus.
  • the construction vehicle also have a controller that controls a control valve according to the control signal of the operation lever and thus, controls the pressure, direction and flow of hydraulic fluid supplied to working apparatus.
  • One of generally used techniques for relieving shocks generated from a sudden operation of the operation lever is a delay circuit technique in which a pressure sensor is used to sense the sudden operation state of the operation lever, and if the operation lever makes a sudden operation, a pressure compensation valve delayed the flow of hydraulic fluid.
  • an object of the present invention to provide a method for setting response modes of an operation lever in construction vehicle, allowing a driver to freely set a response mode of the operation lever according to the driver's skills and work characteristics.
  • Another object of the present invention is to reduce driver's fatigue by relieving vibration and shocks on working apparatus caused by the sudden operation of an operation lever, and to secure an initial response of the operation lever, whereby improving work efficiency.
  • One aspect of the invention provides a method for setting response modes of an operation lever for construction vehicle comprising an actuator for driving a working apparatus using hydraulic fluid supplied from a hydraulic pump, a control valve for supplying the hydraulic fluid from the hydraulic pump to the actuator, an operation lever for generating an operation signal to drive the actuator, and a controller for changing the operation signal and generating a control signal therefrom to control the control valve, the method including the steps of: receiving a mode signal from a mode selection means, and selecting one of a plurality of selection modes; receiving the operation signal from the operation lever; filtering the operation signal through a filter which is operating in response to the selected response mode; and outputting a filtered control signal.
  • the filter used for the filtering step is a low pass filter.
  • parameters applied to the filter for the filtering step are predetermined appropriate for the actuator which is driven by the operation lever and the respective response mode characteristics, and are stored in the controller.
  • Fig. 1 is a schematic diagram of a hydraulic system to which a method for setting response modes of an operation lever according to one embodiment of the present invention is applied.
  • the hydraulic system to which a method for setting response modes according to one embodiment of the present invention is applied includes hydraulic pump 11 driven by an engine 10, an actuator 13 for driving a working apparatus (not shown) using hydraulic fluid supplied from the hydraulic pump 11, a control valve 14 for supplying the hydraulic fluid in the hydraulic pump 11 to the actuator 13, an operation lever 16 for generating an operation signal to drive the actuator 13, a controller 18 for changing the operation signal and generating a control signal therefrom, and valve drivers 20, 21 for receiving the control signal from the controller 18 and controlling the control valve 14.
  • valve drivers 20, 21 are connected to a pilot pump 12 and form a pilot pressure in response to the control signal from the controller 18 and supply the pilot pressure to the control valve 14 to control the operation of the control valve 14.
  • reference numeral 35 denotes an equipment ECU(Electronic control unit)
  • 10a denotes an engine ECU(Electronic control unit)
  • 17 denotes a pump regulator
  • 19 denotes an EPPRV(Electro proportional pressure reducing valve).
  • An operation lever control system 1 to which the method for setting response modes of an operation lever according to one embodiment of the present invention is applied, includes an operation lever 16, a mode selection means 15, and a controller 18.
  • the controller 18 includes a data receiving unit 30, a filtering unit 32, and a valve driving unit 34.
  • a driver can select one of a plurality of response modes according to his skills and work characteristics.
  • a mode signal is inputted to a mode signal receiving part 31 b in the data receiving unit of the controller 18.
  • the available response modes which can be selected through the mode selection means 15 are active mode, normal mode, and soft mode. Consequently, more response modes can be added as desired.
  • the operation lever 16 is a device for generating an operation signal to drive the actuator 13.
  • the operation signal of the operation lever 16 is inputted to an operation signal receiving part 31 a in the data receiving unit of the controller 18.
  • the operation signal and the mode signal inputted to the data receiving unit 30 are then transferred to the filtering unit 32.
  • a filter 33a of the filtering unit 32 filters the operation signal in response to the response mode that the driver selected through the mode selection means 15.
  • the filtering process of the filter 33a is realized through a 1 st -order Bessel low pass filter.
  • the cutoff frequency of the filter 33a varies in each mode, i.e. in active mode, normal mode, and soft mode. Parameters for changing the cutoff frequency of the filter are preset in a memory 33b according to each mode and actuator. Therefore, the filter 33a performs the filtering process on the basis of the parameters corresponding to each mode and actuator.
  • the valve driving unit 34 of the controller 18 changes the filtered operation signal from the filtering unit 32 to a control signal, and provides the control signal to the valve drivers 20, 21 to control the operation of the control valve 14.
  • Fig. 2 is a flow chart describing a control flow of the method for setting response modes of the operation lever according to one embodiment of the present invention.
  • the method for setting response modes of the operation lever includes mode selection step (S200), operation signal receiving step (S300), filtering step (S400, S500, S600 and S700), and output step (S800).
  • the control system 1 receives a response mode selection signal from the response mode selection signal 15, and allows the driver to select one of a plurality of response modes.
  • the driver can select one of available modes including active mode, normal mode and soft mode.
  • the response speed to the operational signal from the operation lever 16 is fastest in active mode, then in normal mode and in soft mode (active mode > normal mode > soft mode). Therefore, an experience driver usually selects the active mode and a beginner selects the soft mode for driving the construction vehicle.
  • the operation signal receiving step (S300) the operation signal from the operation lever 16 is received.
  • the filtering step (S400, S500, S600 and S700) the operation signal is filtered by a filter 33a corresponding to the response mode that is selected in the mode selection step (S200).
  • the filtering step is divided into three sub-steps: a first filtering step (S500) through filter 'A' of active mode, a second filtering step (S600) through filter 'B' of normal mode, and a third filtering step (S700) through filter 'C' of soft mode.
  • the 1 st -order Bessel low pass filter is employed for the filter 33a in the filtering step.
  • the filter 33a for the filtering step applies the above equations for each sampling time of the controller 18, the preceding y(k) and x(k) are respectively substituted for y(k-1) and x(k-1) whenever one sampling time passes.
  • the y(k) value becomes a final output value of the filter 33a, and is outputted to the valve driving unit 34 in every sampling time.
  • the parameters a, b expressed in the above equations for the filtering step are predetermined appropriate for the actuator 13 which is driven by the operation lever 16 and for the characteristics of each response mode.
  • the parameters a, b are stored in a memory 33b.
  • what the filters 'A', 'B', and 'C' for the filtering step (S500, S600 and S700) means is that the filter 33a performs filtering function in each mode corresponding to the values of parameters a, b.
  • the filtered control signal through the filtering step is outputted. More specifically, the valve driving unit 34 of the controller 18 changes a filtered operation signal to a control signal and outputs the control signal to the valve driving units 20, 21.
  • Fig. 3 is a graph illustrating different outputs of filtered control signals in each response mode, where the method for setting response modes of an operation lever according to one embodiment of the present invention is applied.
  • trajectory 'r' shows the operation signal of the operation lever 16
  • trajectory 'I' shows the control signal in active mode
  • trajectory 'II' shows the control signal in normal mode
  • trajectory ' III ' shows the control signal in soft mode.
  • the response speed to the operation signal is fastest in order of active mode, normal mode, and soft mode (active mode > normal mode > soft mode). Therefore, the active mode where the movement of working apparatus becomes sensitive is suitable for the skilled driver.
  • the soft mode which is safe mode because the working apparatus does not move rapidly, is suitable for the beginner.
  • the method for setting the response modes of the operation lever of the present invention allows the driver to freely choose the response mode of the operation lever according to his skills and work characteristics. Moreover, by relieving vibration and shocks on working apparatus caused by a sudden manipulation of an operation lever, driver's fatigue from work is much reduced, and the initial response of the operation lever can be secured, thereby improving work efficiency.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
EP04016423A 2004-03-22 2004-07-13 Verfahren zur Einstellung der Reaktionsarten des Steuerhebels einer Erdbewegungsmaschine Withdrawn EP1580333A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020040019261A KR20050094129A (ko) 2004-03-22 2004-03-22 조작레버 응답모드의 설정방법
KR2004019261 2004-03-22

Publications (1)

Publication Number Publication Date
EP1580333A1 true EP1580333A1 (de) 2005-09-28

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EP04016423A Withdrawn EP1580333A1 (de) 2004-03-22 2004-07-13 Verfahren zur Einstellung der Reaktionsarten des Steuerhebels einer Erdbewegungsmaschine

Country Status (5)

Country Link
US (1) US20050207897A1 (de)
EP (1) EP1580333A1 (de)
JP (1) JP2005273442A (de)
KR (1) KR20050094129A (de)
CN (1) CN1673916A (de)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105386482B (zh) * 2006-01-26 2019-04-09 沃尔沃建筑设备公司 用于控制车辆部件移动的方法
KR20110071907A (ko) 2009-12-22 2011-06-29 두산인프라코어 주식회사 가변적 거동 특성을 이용한 전자식 유압 제어 장치 및 그 방법
US9108675B2 (en) * 2012-11-30 2015-08-18 Deere & Company Single pedal propulsion system for straight travel of work vehicle
KR102046178B1 (ko) * 2013-01-24 2019-11-18 두산인프라코어 주식회사 전동기를 구비한 건설기계의 직류단 전압 제어 장치 및 그 방법
JP6163082B2 (ja) * 2013-11-08 2017-07-12 株式会社Kcm ホイールローダ
US11001988B2 (en) * 2018-06-18 2021-05-11 Caterpillar Inc. Controlling interlocks based on an interlock configuration
JP7232622B2 (ja) * 2018-11-16 2023-03-03 コベルコ建機株式会社 作業機械
US11414835B2 (en) * 2019-10-28 2022-08-16 Kubota Corporation Working machine

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5029067A (en) * 1987-01-30 1991-07-02 Kabushiki Kaisha Komatsu Seisakusho Operation control device
JPH0754806A (ja) * 1993-08-19 1995-02-28 Yutani Heavy Ind Ltd 油圧作業機械のアクチュエータ制御装置
EP0783057A1 (de) * 1996-01-08 1997-07-09 Hitachi Construction Machinery Co., Ltd. Hydraulisches Betätigungssystem für Baumaschinen
WO2003072420A1 (en) * 2002-02-07 2003-09-04 Clark Equipment Company Selectable control parameters on a power machine with four-wheel steering

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2152452B (en) * 1983-12-23 1987-04-29 Honda Motor Co Ltd Steering system for vehicles
JP3112814B2 (ja) * 1995-08-11 2000-11-27 日立建機株式会社 建設機械の領域制限掘削制御装置
CN1077187C (zh) * 1996-12-12 2002-01-02 新卡特彼勒三菱株式会社 用于建工机械的控制装置
JP2001152921A (ja) * 1999-11-19 2001-06-05 Komatsu Ltd 積込作業車両
JP4747436B2 (ja) * 2000-07-31 2011-08-17 日立オートモティブシステムズ株式会社 サスペンション制御装置
JP4294389B2 (ja) * 2003-06-18 2009-07-08 本田技研工業株式会社 車両用操舵装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5029067A (en) * 1987-01-30 1991-07-02 Kabushiki Kaisha Komatsu Seisakusho Operation control device
JPH0754806A (ja) * 1993-08-19 1995-02-28 Yutani Heavy Ind Ltd 油圧作業機械のアクチュエータ制御装置
EP0783057A1 (de) * 1996-01-08 1997-07-09 Hitachi Construction Machinery Co., Ltd. Hydraulisches Betätigungssystem für Baumaschinen
WO2003072420A1 (en) * 2002-02-07 2003-09-04 Clark Equipment Company Selectable control parameters on a power machine with four-wheel steering

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 1995, no. 05 30 June 1995 (1995-06-30) *

Also Published As

Publication number Publication date
JP2005273442A (ja) 2005-10-06
CN1673916A (zh) 2005-09-28
KR20050094129A (ko) 2005-09-27
US20050207897A1 (en) 2005-09-22

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