JP2009293428A - Pump torque correcting device for hydraulic working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a hydraulic working machine and a pump torque correcting device, easily making pump torque control with higher accuracy. <P>SOLUTION: A hydraulic circuit joint coupler 18 for detachably mounting a sensor 17 for detecting pump torque control pressure is mounted to a pipeline 16 where pump torque control pressure of a solenoid proportional valve 9 rises. The sensor 17 is detachably mounted to the hydraulic circuit joint coupler 18. The sensor 17 is connected to a portable arithmetic unit 19, and the portable arithmetic unit 19 is connected to a vehicle body controller 13 respectively through signal lines. The portable arithmetic unit 19 computes a deviation between an actual pump torque control pressure signal outputted from the sensor 17, and a target pump torque control pressure signal corresponding to a control signal output from the vehicle body controller 13, and transmits the deviation to the vehicle body controller 13. The vehicle body controller 13 corrects a control signal outputted to the solenoid proportional valve 9, based on the transmitted deviation. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a pump torque correction device that corrects a pump torque characteristic of a variable displacement hydraulic pump provided in a hydraulic working machine such as a hydraulic excavator as necessary.

  Conventionally, as a hydraulic working machine such as a hydraulic excavator, an engine, a variable displacement hydraulic pump (main pump) and a pilot pump driven by the engine, and a tilt called a regulator that controls a tilt angle of the variable displacement hydraulic pump A control actuator, pump torque adjusting means for adjusting the maximum pump torque of the variable displacement hydraulic pump via the tilt control actuator, a boom cylinder driven by pressure oil discharged from the variable displacement hydraulic pump, an arm cylinder, Hydraulic actuators such as bucket cylinders, travel motors and swing motors, operating devices such as operating levers for operating the hydraulic actuators, operating pressure detecting means such as operating pressure sensors for detecting operating states of the operating devices, and operating pressure detecting means Inputs the operation pressure signal according to the operation state of the operating device output from , It is known in which a controller for outputting a control signal of the engine and the pump torque adjusting means in response thereto.

  Conventionally, the pump torque adjusting means is a torque control valve that controls the tilt control actuator so as to keep the maximum pump torque constant regardless of changes in the discharge pressure of the variable displacement hydraulic pump, and is output from the controller. 2. Description of the Related Art An electromagnetic proportional valve that operates in response to a control signal and operates a spool of a torque control valve against the elastic force of a spring is known. The opening degree of the electromagnetic proportional valve is controlled in accordance with a control signal output from the controller, and the pilot pressure discharged from the pilot pump is converted into a pump torque control pressure corresponding to the opening degree and supplied to the torque control valve.

  In the hydraulic working machine having such a configuration, the controller calculates the target maximum pump torque from the discharge pressure of the variable displacement hydraulic pump and the PQ diagram corresponding to the target engine speed indicated by the operating device, and calculates the actual maximum pump torque. A control signal for setting the maximum pump torque to the target maximum pump torque is output to the electromagnetic proportional valve, and the pilot control pressure supplied from the electromagnetic proportional valve to the pressure receiving chamber of the torque control valve is controlled.

  By the way, the actual pump torque of the hydraulic working machine varies depending on various factors even when the target engine speed is constant. For example, if each part is worn for a long time or if engine fuel of poor quality is used, the actual pump torque of the hydraulic work machine will be lower than the target pump torque calculated by the controller. When a new engine is used, the actual pump torque may be larger than the target pump torque. When the actual pump torque is lower than the target pump torque, the required pump torque cannot be obtained during the operation, and engine stall is likely to occur, and the workability is remarkably reduced. On the other hand, when an actual pump torque higher than the target pump torque calculated by the controller can be generated, there arises a disadvantage that the pump torque having a high turning angle cannot be effectively used.

  Further, the pump torque characteristic of the variable displacement hydraulic pump has a non-negligible error depending on the performance of the controller and the performance of the electromagnetic proportional valve even when there is no special factor as described above, and causes the same inconvenience as described above. .

In order to solve such inconvenience, the applicant of the present application firstly includes a controller equipped with an EEPROM as a torque correction value setting function, and a portable input device detachably connected to the EEPROM via a required connector. Therefore, a pump torque correction device for correcting the engine torque characteristics of the base according to the engine speed based on the torque correction value set in the EEPROM by operating the keyboard provided in the portable input device has been proposed. (For example, refer to Patent Document 1). According to this pump torque correction device, when there is a possibility of engine stall, it is possible to prevent occurrence of engine stall by setting the torque correction value to a negative value. Conversely, when the engine torque is large, The engine torque can be fully utilized by setting the torque correction value to a positive value.
JP-A-9-177679

  However, the pump torque correction device previously proposed by the applicant of the present application is a configuration in which a maintenance staff views the state of the engine and inputs a torque correction value that can eliminate inconveniences such as engine stall from experience to a portable input device. Therefore, in order to input the optimal torque correction value, it is necessary to have abundant experience and multiple input work by trial and error. When inexperienced maintenance personnel use it, the hydraulic work machine There is a problem that it is difficult to accurately correct the pump torque characteristics, and that the correction takes a long time.

  The present invention has been made to solve the problems of the prior art, and an object of the present invention is to provide a hydraulic working machine and a pump torque correction device that can more easily realize more accurate pump torque control. It is in.

  In order to achieve this object, the present invention firstly provides a variable displacement hydraulic pump driven by an engine, a tilt control actuator for controlling the tilt angle of the variable displacement hydraulic pump, and the tilt control. A pump torque adjusting means for adjusting a maximum pump torque of the variable displacement hydraulic pump via an actuator; an operating device for a hydraulic actuator driven by pressure oil discharged from the variable displacement hydraulic pump; and Operating pressure detection means for detecting an operating state, rotational speed instruction means for instructing a target rotational speed of the engine, operating pressure signal output from the operating pressure detection means, and rotational speed output from the rotational speed instruction means A controller for calculating a control signal of the engine and a control signal of the pump torque adjusting means based on the signal. A hydraulic circuit joint coupler for detachably mounting a pump torque control pressure detecting means controlled by a control signal output from the controller to the pump torque adjusting means, and a pump torque adjusting means. A pump torque control pressure detecting means that is detachably mounted, a deviation between an actual pump torque control pressure signal output from the detecting means and a target pump torque control pressure signal corresponding to the control signal output from the controller. And calculating the control signal to be output to the pump torque adjusting unit based on the deviation calculated by the calculating unit.

  According to such a configuration, it is not necessary to always provide the pump torque control pressure detecting means in the hydraulic working machine, and if necessary, the pump torque correction device is attached to the hydraulic working machine by attaching the hydraulic circuit joint coupler to the hydraulic working machine. Since it can be attached, the control signal output from the controller can be corrected at a low cost. In addition, since the calculation means calculates a correction signal for the control signal output from the controller based on the actual pump torque control pressure signal output from the detection means, it does not depend on the level of experience of maintenance personnel or the repetition of work. An optimum correction signal can always be calculated.

  Secondly, according to the present invention, in the first pump torque correction device, a portable computing device prepared separately from the controller is used as the computing means, and a signal line is connected to an output port of the portable computing device. And an detachable connection to the input port of the controller, and an actual pump torque control pressure signal output from the detection means is input to the input port of the portable computing device via a signal line.

  According to such a configuration, since the correction signal of the control signal output from the controller is calculated using a portable arithmetic device prepared separately from the controller, it is necessary to modify the controller conventionally used in the hydraulic working machine Therefore, it is possible to reduce the cost of a hydraulic working machine having a control signal correction function.

  Thirdly, according to the present invention, in the first pump torque correction device, a controller in which the calculation unit is incorporated is used as the controller, and the calculation unit in the controller is connected to the detection unit via a signal line. The actual pump torque control pressure signal that is output is input.

  According to such a configuration, the controller calculates the required correction signal and corrects the control signal based on the calculated correction signal, so there is no need to prepare correction signal calculation means other than the controller, and the system configuration Can be simplified.

  According to a fourth aspect of the present invention, in the first pump torque correction device, the calculation unit increases or decreases the control signal for each minimum output unit of the control signal output from the controller to the pump torque adjustment unit. Each time the control signal is output from the controller, the actual pump torque control pressure signal is input from the detection means to the calculation means. The correction signal of the control signal is calculated from the actual pump torque control pressure signal corresponding to the number of outputs of the control signal.

  According to such a configuration, since the correction signal of the control signal is calculated by the calculation means with the resolution of the control signal output from the controller, the most accurate correction signal can be calculated, and the hydraulic work machine can be optimized. The engine torque can be prevented and the work efficiency can be improved.

  According to a fifth aspect of the present invention, in the first pump torque correction device, the calculation means increases the control signal by a magnitude greater than a minimum output unit of a control signal output from the controller to the pump torque adjustment means. Or, repeatedly giving an instruction to the controller to reduce and output, each time the control signal is output from the controller, input the actual pump torque control pressure signal from the detection means to the calculation means, The correction signal for the control signal is calculated from the actual pump torque control pressure signals corresponding to the number of outputs of the obtained control signal.

  According to such a configuration, the correction signal of the control signal is calculated by the calculation means at intervals equal to or greater than the resolution of the control signal output from the controller. Therefore, the correction signal is compared with the case where the correction signal is calculated with the resolution of the control signal. Can be simplified, and correction of the control signal can be facilitated.

  According to the present invention, the pump torque correction device can be mounted on the hydraulic working machine by mounting the hydraulic circuit joint coupler on the hydraulic working machine as necessary, so that the control signal output from the controller can be appropriately corrected. it can. Further, since it is not necessary to always provide the pump torque control pressure detecting means in the hydraulic working machine, the control signal can be corrected at a low cost. In addition, since the control signal output from the controller is corrected based on the actual pump torque control pressure signal output from the pump torque control pressure detection means, it is always optimal regardless of the level of experience of the maintenance staff and repetition of work. The correction signal can be calculated, and the hydraulic working machine can be brought into an optimum state. Thereby, waste of engine stall and pump torque can be prevented, and work efficiency such as excavation can be improved.

  Hereinafter, a hydraulic working machine according to a first embodiment of the present invention and a pump torque correction device applied thereto will be described with reference to the drawings. The first embodiment of the present invention is characterized in that a portable arithmetic device separate from the vehicle body controller is used as the correction signal arithmetic means.

  FIG. 1 is a configuration diagram of a hydraulic working machine and a pump torque correction device according to a first embodiment. The hydraulic working machine includes an engine 1, a variable displacement hydraulic pump (main pump) 2 driven by the engine 1, and A pilot pump 3 and a tank 4 for storing hydraulic oil supplied to the pumps 2 and 3 are provided.

  The hydraulic working machine includes a hydraulic actuator (not shown) such as a boom cylinder and an arm cylinder that is driven by pressure oil discharged from the variable displacement hydraulic pump 2, and an operating device 5 that operates the hydraulic actuator. A tilt control actuator 6 for controlling the tilt angle of the main pump 2 and a pump torque adjusting means 7 for adjusting the maximum pump torque of the main pump 2 are provided.

  The tilt control actuator 6 is also called a main pump regulator, and includes a tilt control increasing torque pressure receiving chamber 6a, a tilt control decreasing torque receiving chamber 6b, and a spool 6c moving between these pressure receiving chambers 6a and 6b. And the tilt direction and the tilt amount of the variable displacement hydraulic pump 2 are controlled in accordance with the position of the spool 6 c controlled by the pump torque adjusting means 7.

  The pump torque adjusting means 7 includes a torque control valve 8 that controls the tilt control actuator 6 so as to keep the maximum pump torque constant regardless of changes in the discharge pressure of the variable displacement hydraulic pump 2, and a vehicle body control that will be described later. The electromagnetic proportional valve 9 is operated according to a control signal output from the controller 13 and operates the spool 8a of the torque control valve 8 against the force of the spring 8b.

  The torque control valve 8 includes a reduced torque control pressure receiving chamber 8a to which the pump torque control pressure generated by the electromagnetic proportional valve 9 is supplied, a PQ control pressure receiving chamber 8b to which the discharge pressure of the variable displacement hydraulic pump 2 is supplied, A torque control spool 8c that is moved according to the pump torque control pressure supplied to the reduced torque control pressure receiving chamber 8a and the discharge pressure of the variable displacement hydraulic pump 2 supplied to the PQ control pressure receiving chamber 8b; It comprises a setting spring 8d for restricting movement, and pump torque control pressure supplied to the reduced torque control pressure receiving chamber 8a, discharge pressure of the variable displacement hydraulic pump 2 supplied to the PQ control pressure receiving chamber 8b, and elasticity of the setting spring 8d. The spool 6c of the tilt control actuator 6 is moved to a position where the force is balanced.

  Further, the hydraulic work machine includes an operation pressure sensor 11 that is a means for detecting an operation pressure that is output in response to an operation of the operation device 5, and a rotation speed indicator 12 that instructs the engine 1 to set a target rotation speed. ing.

  Further, it has a storage function and an arithmetic function including a logic judgment, and inputs signals from the operation pressure sensor 11 and the rotation speed indicator 12 and controls the control signal of the engine 1 and the electromagnetic proportional valve 9 according to these signals. The vehicle body controller 13 that outputs the obtained control signal, and the engine controller that outputs a signal for controlling the fuel injection pump 14 of the engine 1 in accordance with the control signal output from the vehicle body controller 13 15. The fuel injection pump 14 is also provided with a load detection device that detects a load applied to the engine 1 and outputs the load to the engine controller 15.

  As shown in FIG. 2, the vehicle body controller 13 stores the relationship between the operating pressure Pi corresponding to the operation amount of the operating device 5 output from the operating pressure sensor 11 and the displacement volume q of the main pump 2. is there. As is clear from FIG. 2, the displacement volume q of the main pump 2 is in a relationship of gradually increasing as the operating pressure Pi increases. The vehicle body controller 13 obtains the displacement volume q of the main pump 2 from the relationship shown in FIG. 2 and the operation pressure Pi input from the operation pressure sensor 11, and outputs a control signal necessary to realize the displacement volume q. To do.

  Also, a pump torque control pressure detecting means controlled by a control signal output from the vehicle body controller 13 is provided in a pipe line 16 communicating the outlet port 9a of the electromagnetic proportional valve 9 and the pressure receiving chamber 8c of the torque control valve 8. A hydraulic circuit joint coupler 18 for detachably mounting the control pressure sensor 17 is provided, and an output port of the portable arithmetic device 19 is detachably connected to an input port of the vehicle body controller 13. A communication line joint connector 20 is provided. As the portable computing device 19, a notebook personal computer or the like can be used.

  3 to 5 are diagrams showing various basic characteristics possessed by the hydraulic working machine according to the embodiment, and FIG. 3 is a pump discharge pressure-push-off volume characteristic (corresponding to the PQ characteristic) and pump discharge pressure-pump torque. FIG. 4 is a diagram showing a PQ diagram movement characteristic, and FIG. 5 is a diagram showing a target rotational speed-torque characteristic.

  The hydraulic work machine according to the embodiment has, as a basic characteristic, the relationship between the pump discharge pressure P and the displacement volume q shown in FIG. 3A, that is, the discharge flow rate Q corresponding to the pump discharge pressure P and the displacement volume q. It has the characteristic shown by the PQ diagram 30 which is the relationship. This PQ diagram 30 corresponds to the constant pump torque diagram 31. Further, as shown in FIG. 3B, there is a characteristic shown in a pump torque diagram 32 by PQ control which is a relationship of pump discharge pressure P-pump torque.

As described above, if the discharge pressure of the main pump 2 is P, the displacement volume is q, the pump torque is Tp, and the mechanical efficiency is ηm,
Tp = (P × q) / (628 × ηm) (1)
It is known that

  Moreover, this hydraulic working machine has a PQ diagram movement characteristic as a basic characteristic, as shown in FIG. Reference numeral 33 in FIG. 4 is a PQ diagram corresponding to the maximum pump torque based on the target engine speed, and reference numeral 34 corresponds to a pump torque by low torque control lower than the aforementioned maximum pump torque, for example, the minimum pump torque. It is a PQ diagram. By performing a torque control process described later, it is possible to move between a PQ diagram 33 corresponding to the original maximum pump torque and a PQ diagram 34 corresponding to the minimum pump torque.

  Further, this hydraulic working machine has a basic characteristic that does not exceed the characteristics shown in the engine maximum torque diagram 35 shown by the relationship between the target rotational speed and torque of the engine 1 shown in FIG. 5 and the engine maximum torque diagram 35. The maximum pump torque curve that can be suppressed to the value shown in FIG. When the target rotational speed of the engine 1 is relatively small n1, the maximum pump torque becomes the minimum value Tp1 on the maximum pump torque diagram 36, and when the rotational speed of the engine 1 reaches the target rotational speed n2 corresponding to the rated rotational speed. The maximum value Tp2 on the maximum pump torque diagram 36 is obtained.

  The PQ diagram when the maximum value Tp2 is reached on the maximum pump torque diagram 36 shown in FIG. 5 becomes the PQ diagram 33 of FIG. 4, and becomes the minimum value Tp1 on the maximum pump torque diagram 36 shown in FIG. The PQ diagram at that time is, for example, the PQ diagram 34 of FIG.

  6 to 8 are graphs showing engine control characteristics of various engines mounted on the hydraulic working machine according to the embodiment. FIG. 6 shows engine control characteristics of a mechanical type engine that performs fuel injection control with a mechanical mechanism, and it is difficult to perform precise fuel injection control with respect to the engine load. The larger the value, the more drooping the engine will decrease. On the other hand, FIGS. 7 and 8 show engine control characteristics of an electronic engine in which fuel injection control is performed by an engine controller composed of an electronic circuit. Since the fuel injection control is performed, the engine control characteristics shown in FIG. 6 can be realized and the isochronous characteristics and charts shown in FIG. 8 can be realized.

  In the engine 1 having the droop characteristic shown in FIG. 6, as shown in FIG. 9, as the torque applied to the engine 1 increases from T 3 → T 2 → T 1, the engine speed becomes N 3 → N 2 → N 1. descend. Further, the fuel efficiency of the engine 1 is highest when the engine 1 is operated at the rated speed N2 shown in FIG. On the other hand, in the engine 1 having the isochronous characteristic shown in FIG. 7, the engine speed does not decrease even when the torque applied to the engine 1 increases, and the engine having the reverse droop characteristic shown in FIG. In 1, the engine speed increases as the torque applied to the engine 1 increases. The point that the fuel efficiency becomes the highest when the engine 1 is operated at the rated speed is the same as that of the engine having the droop characteristic.

  As a technique for preventing or suppressing lag-down that occurs with an increase in load, there is speed sensing control. In this technique, when a deviation occurs between the target rotational speed of the engine 1 and the actual rotational speed, the pump rotational torque of the variable displacement hydraulic pump 2 is reduced or increased, thereby reducing the actual rotational speed of the engine 1 to the target rotational speed. Control to match the number. The target speed is set to the rated speed N2 of the engine 1 illustrated in FIG. 9 because the fuel efficiency is the highest.

  The speed sensing control will be described with reference to FIG. FIG. 10A is a horsepower control torque diagram (target rotational speed-torque characteristic) shown in FIG. 4, and the horsepower control torque Tb is calculated from the inputted target rotational speed Nr. On the other hand, FIG. 10B is a speed sensing torque diagram shown in FIG. 4, and the speed sensing torque ΔT is calculated from the deviation ΔN between the input target rotational speed Nr and the actual rotational speed Ne. Then, based on the total value (Tb + ΔT) of the horsepower control torque Tb and the speed sensing torque ΔT obtained in this way, the target pump torque T is calculated, and the actual rotational speed Ne is brought close to the target rotational speed Nr.

  That is, when the pump torque is larger than the engine torque, the target rotational speed becomes larger than the actual rotational speed. Therefore, the horsepower control torque Tb is reduced by the speed sensing torque ΔT, and the actual rotational speed Ne is set to the target rotational speed Nr. Move closer to On the other hand, when the pump torque is smaller than the engine torque, the target rotational speed is smaller than the actual rotational speed, so the horsepower control torque Tb is increased by the speed sensing torque ΔT, and the actual rotational speed Ne is set to the target rotational speed Nr. Move closer to

  Hereinafter, operations of the hydraulic working machine and the pump torque correction device according to the first embodiment configured as described above will be described with reference to FIGS. 11 to 13. FIG. 11 is a flowchart showing an algorithm for calculating a pump torque correction value, FIG. 12 is a flowchart showing an algorithm for calculating a target pump torque control pressure by measuring two actual pump torque control pressures, and FIG. 13 is output from the controller. It is a flowchart which shows the algorithm which measures the actual pump torque control pressure of the number of points according to the resolution of a control signal, and calculates target pump torque control pressure.

  As shown in FIG. 11, when calculating the pump torque correction value, first, the count value C of the counter provided in the portable computing device 19 is set to zero (C = 0), and the portable computing device 19 sends the vehicle body controller 13 A pump torque correction value R obtained from the output target pump torque control pressure before correction is set to zero (R = 0) (step S1). Next, an instruction signal for instructing output of an appropriate target pump torque control pressure is transmitted from the portable arithmetic unit 19 to the vehicle body controller 13 (step S2). The vehicle body controller 13 outputs a control signal corresponding to the instruction signal transmitted from the portable computing device 19 to the electromagnetic proportional valve 9 and also sends a completion signal to the portable computing device 19 that the output of the control signal is completed. Send.

  When it is determined that the portable arithmetic unit 19 has received a completion signal from the vehicle body controller 13 until it receives a determination whether or not it has received a completion signal output from the vehicle body controller 13 (step S3). In step S4, after waiting for a predetermined time, for example, 1 second (step S4), "1" is added to the count value C (step S5). The reason for waiting for a predetermined time after moving to step S4 is to wait for the pump torque control pressure generated in the pipe line 16 to stabilize. This enables accurate detection of the pump torque control pressure.

  Subsequently, the process proceeds to step S6, where the actual pump torque control pressure output from the control pressure sensor 17 is read by the portable computing device 19, and the actual pump torque control pressure and the uncorrected target pump torque control value R are added to the uncorrected target pump torque correction value R. A deviation from the target pump torque correction value is added to obtain a corrected target pump torque correction value R (step S7). Next, the portable computing device 19 repeats the steps from step S4 to step S7 four times (step S8), and if it is determined in step S8 that the count value C has reached “4”, the process proceeds to step S9. Then, the average value of the target pump torque correction values for four times is calculated. The reason why the average value of the target pump torque correction values for four times is obtained in step S9 is to obtain a highly accurate target pump torque correction value by removing the influence of noise. Of course, the count value is not limited to “4”, and can be set to an appropriate value of “1” or more.

  Finally, the average value R of the target pump torque correction value is transmitted to the vehicle body controller 13 (step S10). The vehicle body controller 13 stores the average value R of the target pump torque correction value in the memory. After storing the memory, the vehicle body controller 13 generates a control signal corresponding to the average value R and outputs it to the electromagnetic proportional valve 9 during work such as excavation. As a result, the control signal output from the vehicle body controller 13 to the electromagnetic proportional valve 9 becomes an optimum state in accordance with the current state of the hydraulic work machine.

  In FIG. 11, only one target pump torque control pressure output from the portable arithmetic unit 19 to the vehicle body controller 13 is set, and only one target pump torque correction value corresponding thereto is calculated. In order to perform signal correction with higher accuracy, the target pump torque control pressure instructed by the instruction signal transmitted from the portable arithmetic unit 19 to the vehicle body controller 13 in step S2 is changed stepwise. It is desirable to calculate a plurality of target pump torque correction values corresponding to each target pump torque control pressure according to a routine.

  In this case, the portable arithmetic unit 19 repeatedly instructs the vehicle body controller 13 to increase or decrease the control signal for each minimum output unit of the control signal output from the vehicle body controller 13 to the electromagnetic proportional valve 9. Each time a control signal having a value of 1 is output from the vehicle body controller 13, an actual pump torque control pressure signal is input from the control pressure sensor 17 to the portable computing device 19, and the obtained control signal A control signal correction signal can be calculated from the actual pump torque control pressure signal corresponding to the number of outputs, and the control signal output from the vehicle body controller 13 to the electromagnetic proportional valve 9 is greater than the minimum output unit. The vehicle body controller 13 is repeatedly instructed to output the control signal by increasing or decreasing it. Each time a value control signal is output, an actual pump torque control pressure signal is input from the control pressure sensor 17 to the portable arithmetic unit 19, and the number of the actual pumps according to the number of outputs of the obtained control signal. A correction signal for the control signal can also be calculated from the torque control pressure signal. When the control signal is increased or decreased for each minimum output unit of the control signal, the most accurate correction is possible. In addition, when the control signal is increased or decreased with a magnitude equal to or larger than the minimum output unit of the control signal, the correction accuracy of the control signal is lower than this, but the calculation of the target pump torque correction value can be completed in a short time. Therefore, the correction work can be speeded up.

  Hereinafter, correction value processing performed in the vehicle body controller 13 when a plurality of target pump torque correction values are obtained will be described.

  FIG. 12 shows the vehicle body controller 13 having a first target pump torque correction value Y1 corresponding to the minimum target pump torque control pressure X1 and a second target pump torque correction value Y2 corresponding to the maximum target pump torque control pressure X2. Is a correction value processing flow of the vehicle body controller 13 in the case where is stored, first, the target pump torque control pressure Xp before correction is calculated (step S11). Next, the minimum target pump torque control pressure X1, the maximum target pump torque control pressure X2, the first target pump torque correction value Y1, the second target pump torque correction value Y2, and the target pump before correction calculated in step S11 Based on the torque control pressure Xp, a corrected pump torque correction value R is calculated (step S12). Next, the corrected pump torque correction value R calculated in step S12 is added to the target pump torque control pressure X before correction to obtain the corrected target pump torque control pressure X (step S13). Thereafter, the vehicle body controller 13 outputs a control signal corresponding to the corrected target pump torque control pressure X calculated in step S13 to the electromagnetic proportional valve 9.

  FIG. 13 is a correction value processing flow of the vehicle body controller 13 when the vehicle body controller 13 stores the target pump torque correction value calculated for each minimum unit of resolution of the pump torque control pressure. The target pump torque control pressure Xp before correction is calculated (step S21). Next, a pump torque correction value R corresponding to the target pump torque control pressure Xp before correction calculated in step S21 is calculated (step S22). Next, the corrected pump torque correction value R calculated in step S12 is added to the target pump torque control pressure X before correction to obtain the corrected target pump torque control pressure X (step S23). Thereafter, the vehicle body controller 13 outputs a control signal corresponding to the corrected target pump torque control pressure X calculated in step S23 to the electromagnetic proportional valve 9.

  The hydraulic working machine and the pump torque correction device according to the first embodiment are provided with a hydraulic circuit joint coupler 18 for detachably mounting the control pressure sensor 17 on the hydraulic working machine, so that control is performed as necessary. By attaching the pressure sensor 17 to the hydraulic circuit joint coupler 18, the control signal output from the vehicle body controller 13 can be appropriately corrected, and adjustment at the time of shipment of the hydraulic work machine and maintenance at the work site are easy. Can be done. Further, since one control pressure sensor 17 can be used for all of the same type of hydraulic work machines, adjustment at the time of shipment of the hydraulic work machines and maintenance at the work site can be performed at low cost. Further, since the correction value of the control signal output from the vehicle body controller 13 is calculated using the portable arithmetic device 19 prepared separately from the vehicle body controller 13, the controller conventionally used in the hydraulic work machine Therefore, it is possible to reduce the cost of the hydraulic working machine having the control signal correction function.

  Further, since the control signal output from the vehicle body controller 13 is corrected based on the actual pump torque control pressure detected by the control pressure sensor 17, the performance of the vehicle body controller 13 and the electromagnetic proportional valve 9 varies. In addition, the optimum correction can be performed promptly regardless of the level of experience of maintenance personnel and the repetition of work, and highly accurate pump flow rate control can be realized. In addition, the pump torque can be controlled by speed sensing control, the fuel efficiency of the hydraulic work machine can be improved, and the accuracy of torque control by speed sensing control can be improved. Spout and engine rotation lag down can be suppressed.

  Next, a hydraulic working machine and a pump torque correction device according to a second embodiment of the present invention will be described with reference to FIG.

  As is clear from FIG. 14, the hydraulic working machine and the pump torque correction device of this example incorporate a calculation means 19A having the same function as the portable calculation device 19 in the vehicle body controller 13, and provide an external portable calculation. The apparatus 19 is omitted. In this example, the output signal of the control pressure sensor 17 is input to the computing means 19A via the communication line joint connector. Others are the same as those of the hydraulic working machine and the pump torque correction device according to the first embodiment, and therefore, the same reference numerals are given to the corresponding portions and the description thereof is omitted.

  Since the hydraulic work machine and the pump torque correction device according to the second embodiment incorporate the correction signal calculation means 19A in the vehicle body controller 13, it is necessary to prepare a portable calculation device 19 that is separate from the vehicle body controller 13. Therefore, the system configuration can be simplified.

1 is a configuration diagram of a hydraulic working machine and a pump torque correction device according to a first embodiment. It is a graph which shows the relationship between the operating pressure Pi output from the operating pressure sensor, and the displacement volume q of the main pump. It is a figure which shows a pump discharge pressure-push-off volume characteristic (corresponding to PQ characteristic) and a pump discharge pressure-pump torque characteristic. It is a figure which shows a PQ diagram movement characteristic. It is a figure which shows a target rotation speed-torque characteristic. It is a figure which shows the engine control characteristic of a mechanical type engine. It is a figure which shows the isochronous characteristic of an electronic type engine. It is a figure which shows the reverse droop characteristic of an electronic type engine. It is a figure explaining the droop characteristic of an engine. It is explanatory drawing of speed sensing control. It is a flowchart which shows the calculation algorithm of a pump torque correction value. It is a flowchart which shows the algorithm which measures the actual pump torque control pressure of 2 points | pieces, and calculates target pump torque control pressure. It is a flowchart which shows the algorithm which measures the actual pump torque control pressure of the number according to the resolution | decomposability of the control signal output from a controller, and calculates target pump torque control pressure. It is a block diagram of the hydraulic working machine and pump torque correction apparatus which concern on 2nd Embodiment.

Explanation of symbols

1 Engine 2 Variable displacement hydraulic pump (Main pump)
DESCRIPTION OF SYMBOLS 3 Pilot pump 4 Tank 5 Operation apparatus 6 Tilt control actuator 7 Pump torque adjustment means 8 Torque control valve 9 Electromagnetic proportional valve 11 Operation pressure sensor 12 Speed indicator 13 Car body controller 14 Fuel injection pump 15 Engine controller 16 Pump torque control Pressure line 17 Control pressure sensor 18 Hydraulic circuit joint coupler 19 Portable computing device 20 Communication line joint connector

Claims (5)

A variable displacement hydraulic pump driven by an engine, a tilt control actuator for controlling the tilt angle of the variable displacement hydraulic pump, and a maximum pump torque of the variable displacement hydraulic pump via the tilt control actuator A pump torque adjusting means for adjusting; an operating device for a hydraulic actuator driven by pressure oil discharged from the variable displacement hydraulic pump; an operating pressure detecting means for detecting an operating state of the operating device; and a target of the engine A rotation speed instruction means for instructing the rotation speed, an operation pressure signal output from the operation pressure detection means, and a rotation speed signal output from the rotation speed instruction means, the engine control signal and the pump torque adjustment means A pump torque correction device for a hydraulic working machine comprising a controller for calculating a control signal of
A hydraulic circuit joint coupler for detachably mounting a pump torque control pressure detecting means controlled by a control signal output from the controller to the pump torque adjusting means, and detachably attached to the pump torque adjusting means. A pump torque control pressure detection means, and a calculation means for calculating a deviation between an actual pump torque control pressure signal output from the detection means and a target pump torque control pressure signal corresponding to the control signal output from the controller; And the controller corrects a control signal output to the pump torque adjusting means based on the deviation calculated by the calculating means.   A portable computing device prepared separately from the controller is used as the computing means, and the output port of the portable computing device is detachably connected to the input port of the controller via a signal line. 2. The pump torque correction device according to claim 1, wherein an actual pump torque control pressure signal output from the detection means is input to an input port of the type arithmetic unit via a signal line.   As the controller, a controller in which the calculation means is incorporated is used, and an actual pump torque control pressure signal output from the detection means is input to the calculation means in the controller via a signal line. The pump torque correction device according to claim 1.   The calculation means repeatedly gives an instruction to the controller to increase or decrease the control signal for each minimum output unit of the control signal output from the controller to the pump torque adjusting means, and from the controller Each time a control signal is output, the actual pump torque control pressure signal is input from the detection means to the calculation means, and the actual pump torque control pressure is a number corresponding to the number of outputs of the obtained control signal. The pump torque correction device according to claim 1, wherein a correction signal of the control signal is calculated from the signal.   The arithmetic means repeatedly gives an instruction to the controller to output the control signal by increasing or decreasing it with a magnitude equal to or larger than the minimum output unit of the control signal output from the controller to the pump torque adjusting means, and Each time the control signal is output from the controller, the actual pump torque control pressure signal is input from the detection means to the calculation means, and the number of the actual pumps according to the number of outputs of the obtained control signal The pump torque correction device according to claim 1, wherein a correction signal for the control signal is calculated from a torque control pressure signal.

Images