JP2010083221A - Spool control device of specially-equipped vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To operate a loading platform from a stopped state and improve safety by performing a moving operation to a position where the loading platform is immediately stopped after power is turned on again, when the power is shut off during the operation of the loading platform. <P>SOLUTION: Immediately after the power is turned on, a control device 30 judges a position of a spool 3 from a stroke voltage outputted from a Hall IC 15. When the spool 3 is above a neutral position, the control device 30 reversely drives a motor 11 of an actuator 10 and moves the spool 3 to the neutral position. When the spool 3 is below the neutral position, the control device 30 normally drives the motor 11 and moves the spool 3 to the neutral position. When the control device 30 detects a voltage V1, at which the stroke voltage from the Hall IC 15 corresponds to the neutral position, the motor 11 is stopped. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a spool control device for a specially equipped vehicle such as a dump truck, a mixer truck, and a garbage collection truck.

  Conventionally, as a spool control device for a specially equipped vehicle, for example, Patent Document 1 shown below can be cited.

JP-A-3-169746 (Patent No. 2765129)

  This Patent Document 1 discloses a spool for controlling PTO (Power Take Off), an actuator for operating the spool, an up switch, a stop switch, a down switch, a PTO switch for detecting the spool position, A stop position switch, a motor included in the actuator, a rotation sensor that detects a rotation pulse signal of the motor, and a control unit for controlling the actuator.

  When the up switch is operated, for example, the control unit receives a signal from the PTO switch, the stop position switch, etc., and for example, the control unit sends an instruction to move the spool from descending to ascending, and the motor rotates to rotate. The pulse is counted by the sensor and stopped at the ascending position.

In Patent Document 1, when the battery is interrupted for some reason while the loading platform is raised, control becomes impossible, so the PTO spool position is held at the “raised position”, and the loading platform is held without being raised. Is done.
Thereafter, when the battery power is supplied, the cargo bed is raised again because it is held at the “upward position”. However, when the battery power is supplied, there is a problem regarding safety because the loading platform suddenly starts moving. The same applies to the case where the lowering switch is operated to lower the loading platform.

In Patent Document 1, a rotation sensor that detects a rotation pulse signal of a motor is used to detect the position of the spool. However, since only the rotation sensor is used to detect the position of the spool, it has the following problems.
In other words, with the control method using the rotation sensor, the absolute position is unknown, so there are cases where correct control is not possible, such as when the pulse count from the rotation sensor is missed, or when the spool is in an indefinite position when the power is turned off and connected. Exists.

  Further, as a method for detecting the position of the spool, when a potentiometer is attached to and controlled by an actuator that drives a hydraulic pump with a cable, there is a problem that the cost increases due to the potentiometer.

The present invention has been provided in view of the above-described problems, and provides a spool control device for a specially equipped vehicle having at least the following objects.
(1) When power is cut off during loading platform operation, after the power is turned on again, it is moved to a position where the loading platform stops immediately so that the loading platform can be operated and the safety can be improved.
(2) In order to detect the position of the spool, both the rotation sensor for detecting the rotation of the motor and the Hall IC are used to cancel the weaknesses of the two, thereby ensuring the position detection and the position detection. Configure inexpensively.
(3) The driving speed is kept constant even when the power supply voltage of the power supplied to the motor fluctuates, and the inertial variation generated when the motor is stopped is suppressed to eliminate the positional deviation.

  Therefore, in the spool control device for a specially equipped vehicle according to the present invention, the spool 3 for controlling the PTO, the actuator 10 for moving the spool 3 to the upper position, the neutral position, and the lower position, the raising operation from the operation switch 1, and the stop. In a specially equipped vehicle spool control device comprising a control device 30 for controlling the actuator 10 to move the spool 3 to an upper position, a neutral position, or a lower position in response to a command such as an operation, a lowering operation, etc. And a control means for stopping the driven member by moving the lever to the neutral position.

In the spool control device for a specially equipped vehicle according to the present invention, the spool 3 for controlling the PTO, the actuator 10 for moving the spool 3 to the upper position, the neutral position, and the lower position, the raising operation from the operation switch 1, and the stop. In a specially equipped vehicle spool control device comprising a control device 30 for controlling the actuator 10 to move the spool 3 to an upper position, a neutral position, and a lower position in response to a command such as an operation or a lowering operation.
The actuator 10 includes a cable driving mechanism 12 that moves the position of the spool 3 and a Hall IC 15 that outputs a voltage corresponding to the position of the spool 3 by moving a magnet 14 provided in the cable driving mechanism 12. And a motor 11 for driving the cable drive mechanism unit 12 and a rotation sensor 16 for outputting a rotation pulse corresponding to the rotation of the motor 11.
The control device 30 includes a stroke voltage detector 33 that detects a voltage from the Hall IC 15 of the actuator 10 and a movement distance calculation that calculates the movement distance of the spool 3 by counting the rotation pulses from the rotation sensor 16. And a processing unit 34,
When the voltage output from the Hall IC 15 is detected by the stroke voltage detection unit 33 as a voltage corresponding to the neutral position of the spool 3 set in advance, the pulse count in the movement distance calculation processing unit 34 is reset, Control means 31 is provided that stops the motor 11 when the number of pulses corresponding to the set movement distance of the spool 3 is output from the movement distance calculation processing unit 34.

  (1) According to the spool control device for a specially equipped vehicle of the present invention, since the spool 3 is moved to the neutral position immediately after the power supply is connected and the driven member is stopped, the spool 3 is immediately after the power supply connection. However, by moving the spool 3 to the neutral position, it is possible to reliably stop, for example, the loading platform, which is a driven member, and improve safety. In particular, when the power is shut off at the raised position, the platform is surely stopped by moving to the neutral immediately after the power is connected, so that safety is improved.

  (2) According to the spool control device for a specially equipped vehicle of the present invention, the motor 11 is stopped when the voltage V1 output from the Hall IC 15 and corresponding to the preset neutral position is detected. With the configuration, the neutral position of the spool 3 can be detected, and the spool control device can be configured at low cost.

  (3) According to the spool control device for a specially equipped vehicle of the present invention, the stroke voltage detection unit 33 can detect the neutral position of the spool 3, that is, the absolute position of the spool 3, and when the neutral position of the spool 3 is detected, The pulse count in the movement distance calculation processing unit 34 is reset, and after this reset, the movement distance calculation processing unit 34 counts the rotation pulses from the rotation sensor 16 to calculate the movement distance, and according to the preset movement distance of the spool 3. Since the motor 11 is stopped when the number of pulses output from the movement distance calculation processing unit 34, the pulse count deviation can be eliminated, and the position detection control of the spool 3 is performed accurately and reliably. be able to. In particular, the position of the spool 3 is detected by the movement distance calculation processing unit 34 by counting pulses from the rotation sensor 16 except for the position near the neutral position, which is a position that cannot be detected by the stroke voltage by the Hall IC 15. 3 is capable of accurately detecting the upper position, neutral position, and lower position. In addition, since the position detection control is performed by the Hall IC 15 and the rotation sensor 16, the position can be detected at low cost.

  (4) According to the spool control device for a specially equipped vehicle of the present invention, the motor 11 is driven by PWM control, and the driving speed of the motor 11 is made constant according to the power supply voltage of the power supplied to the motor 11. Since the motor drive speed calculation unit 35 for controlling the PWM value is provided as much as possible, the drive speed is kept constant even if the power supply voltage of the power supply supplied to the motor 11 fluctuates, and the inertia variation that occurs when the motor is stopped is suppressed. Misalignment can be eliminated.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The spool control apparatus of the present invention controls the position of a hydraulic pump used in a PTO. FIG. 1 shows a system configuration diagram, and FIG. 2 shows a basic specification of a PTO spool.
The system of the present invention includes an actuator 10 that controls the spool position of the PTO, a control device 30 that is called an ECU that controls the actuator 10, and the control device 30 performs “raising operation”, “lowering operation”, and “stop operation”. An operation switch 1 for sending a command and a battery 2 for supplying power to the control device 30, the motor 11 of the actuator 10, and the like are included.

The actuator 10 is driven by the motor 11, the cable drive mechanism 12 driven by the motor 11, and pulled and returned by the cable drive mechanism 12, so that the position of the spool 3 at the tip is “up” and “neutral”. The cable 13 is moved to the “down” position.
Further, the cable drive mechanism 12 is provided with a magnet 14 and moves with the movement of the cable drive mechanism 12. The Hall IC 15 is arranged and fixed on the outer surface side of the cable drive mechanism section 12, and the Hall IC 15 detects the magnetic density from the magnet 14 that moves as the cable drive mechanism section 12 moves, and the detection output thereof. Is output to the control device 30 as a stroke voltage.

The motor 11 of the actuator 10 is provided with a rotation sensor 16 that detects the rotation of the motor 11, and the rotation pulse output from the rotation sensor 16 is counted on the control device 30 side to move the spool 3. The amount is being calculated.
In addition, the control device 30 that has received a command of “raising operation”, “lowering operation”, and “stop operation” from the operation switch 1 controls the motor 11 of the actuator 10 such as forward drive, reverse drive, and stop.

  Here, as shown in FIG. 2, when the operation switch 1 performs “raising operation”, the actuator 10 drives the spool 3 to the “up” position (see FIG. 1), thereby driving the vehicle. The cargo bed as a member continues to rise. Further, when “stop operation” is performed by the operation switch 1, the platform is stopped by driving the position of the spool 3 to the “neutral” position by the actuator 10. Further, when the operation switch 1 performs a “lowering operation”, the position of the spool 3 is driven to the “down” position by the actuator 10, so that the loading platform is continuously lowered.

  FIG. 3 is a block diagram of a control device 30 configured by a computer. The control device 30 is configured to detect a stroke voltage from the Hall IC 15 and a spool 3 based on a rotation pulse from the rotation sensor 16. Distance calculation processing unit 34 for calculating the amount of movement of the motor, and a motor drive speed calculation unit for calculating an optimum PWM (Pulse Width Modulation) value so that the drive speed of the motor 11 becomes constant according to the power supply voltage of the battery 2 35, a motor drive unit 36 that drives the motor 11 with an optimum duty ratio from the motor drive speed calculation unit 35, a control unit 31 that controls the entire control device 30 in accordance with a predetermined program procedure, It is composed of a ROM storing the control program and a memory 32 such as a RAM for temporarily storing various data. It is.

  Here, in this embodiment, the rotation sensor 16 that detects the rotation of the motor 11, the magnet 14, and the Hall IC 15 are used to detect the position of the spool 3. The position of the spool 3 is detected by counting the pulses from the rotation sensor 16 and calculating the amount of movement. Further, in the magnet 14 and the Hall IC 15, the magnetic density of the magnet 14 that moves as the cable drive mechanism 12 moves is detected by the Hall IC 15 to detect the position of the spool 3.

  Originally, the position of the spool 3 may be detected by any one of the rotation sensor 16 or the magnet 14 and the Hall IC 15, but there are conflicting matters. In the control method using the rotation sensor 16, since the absolute position is not known, the position is undefined when the pulse count from the rotation sensor 16 is missed or when the power source (battery 2) is disconnected and connected. There are cases that cannot be done. Further, the entire control position of the spool 3 cannot be detected by the control method using the magnet 14 and the Hall IC 15. Only about 10 mm can be detected with respect to about 30 mm, which is the entire position of the spool 3.

  Therefore, in the present embodiment, the position control of the spool 3 can be completely performed by the control by both the rotation sensor 16, the magnet 14 and the Hall IC 15. Parameters input to the control device 30 are a stroke voltage output from the Hall IC 15, a pulse output from the rotation sensor 16, and a power supply voltage of the battery 2.

  Although details of the position control of the spool 3 in this embodiment will be described later, the outline is as follows. First, immediately after the battery 2 is connected to the power source, the spool 3 is moved to a stroke voltage (absolute position) corresponding to “neutral” (hereinafter referred to as calibration). This is because the position of the spool 3 is indefinite immediately after the power supply is connected. For example, when the power supply is shut off for some reason at the raised position, the spool 3 is moved to neutral immediately after the power supply is connected, and the loading platform is surely stopped. To ensure safety.

Next, when the position of the spool 3 is moved after the calibration is completed, the amount of movement of the spool 3 is calculated by counting pulses from the rotation sensor 16 and moved to the target position. This is because the position of the spool 3 is detected by counting the pulses output from the rotation sensor 16 at a position that cannot be detected by the stroke voltage output from the Hall IC 15.
Further, when a neutral stroke voltage (absolute position) is detected while the spool 3 is moving, the pulse count is reset (pulse count correction) to eliminate the position shift due to the count shift.

  Further, the power supply voltage of the battery 2 is acquired from the battery 2, and the drive speed of the motor 11 is controlled to be constant. Even if the power supply voltage fluctuation of the battery 2 occurs, the driving speed of the motor 11 is made constant so that the inertia variation generated when the motor 11 is stopped is suppressed and the positional deviation of the spool 3 is eliminated. .

  FIG. 4 is a characteristic diagram of the stroke voltage output from the Hall IC 15. The Hall IC 15 detects the movement of the magnet 14 and outputs an analog voltage. The stroke voltage output from the Hall IC 15 can be detected only about ３ centered on the neutrality of the entire range from the raised position to the lowered position of the spool 3. As shown in the figure, the stroke voltage has a change characteristic only in the vicinity of neutrality, and the voltage is fixed at other positions. The pulse count from the rotation sensor 16 is corrected at the neutral position where the characteristics are changing. Note that “disconnected” in FIG. 4 means that the spool 3 is in a disconnected state, and positions other than “disconnected” mean a connected state.

  Next, a method for calculating the movement amount of the spool 3 based on the pulse count from the rotation sensor 16 will be described. As is well known, the rotation sensor 16 such as a rotary encoder outputs A-phase and B-phase pulses. For example, when the phase of the A phase is advanced with respect to the B phase, the motor 11 rotates in the forward rotation direction. Conversely, when the phase of A phase is delayed with respect to the B phase, the motor 11 is rotating in the reverse direction.

In the present embodiment, the movement distance from the neutral position is calculated from the rotation pulse of the motor 11, that is, the pulse of the rotation sensor 16 (see the phase difference 90 ° between the pulses A and B shown in FIGS. 5 and 6). When the position corresponding to “neutral” is detected from the stroke voltage, the movement distance is reset.
FIG. 5 shows a case in which the motor 11 is rotating in the forward direction (in the raised position direction of the spool 3). Here, the stroke voltage detected by the stroke voltage detector 33 of the control device 30 shown in FIG. When the voltage V1 (see FIG. 4) corresponding to the predetermined “neutral” position is detected and monitored, the control unit 31 resets the pulse count in the movement distance calculation processing unit 34 (FIG. 5). (See the pulse count 0 part).

  Then, as shown in FIG. 5, if the pulse B is at the H level when the pulse A rises, the pulse count is incremented by one. If the pulse B is at the L level at the fall of the pulse A, the pulse count is incremented by one. Each time the pulse A rises and falls, the H level and L level of the pulse B are detected, and the pulse count is incremented by one each time. Each time the pulse is counted, the movement distance is calculated assuming that the spool 3 moves by an Xmm distance.

Further, as shown in FIG. 6, the case of the motor 11 in the reverse rotation direction (the direction in which the spool 3 is lowered) is shown. If the pulse B is at the L level at the rising edge of the pulse A, the pulse count is decremented by 1. . If the pulse B is at the H level at the fall of the pulse A, the pulse count is decremented by one. Each time the pulse A rises and falls, the H level and L level of the pulse B are detected, and the pulse count is decremented by 1 each time. Each time the pulse is counted, the movement distance is calculated assuming that the spool 3 moves by an Xmm distance.
The movement distance calculation processing unit 34 shown in FIG. 3 calculates the amount of movement by counting pulses in the raising position direction and the lowering position direction of the spool 3.

  The distances from the “neutral” position (see FIG. 4) of the spool 3 to the “up” position and the “down” position are stored in the memory 32 in advance. If the number of pulse counts corresponding to the distance from the neutral position to the upper position and the neutral position to the lower position is 10, for example, the spool 3 detects the neutral position of the spool 3 by the stroke voltage detection unit 33 by the cable drive mechanism unit 12. In this case, the moving distance is reset, the moving distance calculation processing unit 34 counts the pulses from the rotation sensor 16, and when the moving pulse calculation unit 10 counts 10 pulses, the control unit 31 that receives the count counts the rotation of the motor 11. It is stopped via the drive unit 36.

Next, drive speed control of the motor 11 will be described. This speed control is performed by the motor drive speed calculation unit 35 of the control device 30 shown in FIG. 3. Even if the power supply voltage (power supply voltage of the battery 2) fluctuates according to the following equation (1), the motor 11 The optimum PWM value is calculated so that the driving speed of the motor is constant.
PWM-ON width = (power supply voltage reference value (fixed value) / power supply voltage) x PWM-ON width reference value (fixed value) (1)
Here, the “power supply voltage” is the power supply voltage of the battery 2, the “power supply voltage reference value” is 28 V, for example, and the PWM-ON width reference value is 0.7, for example.

The control device 30 constantly monitors the power supply voltage of the battery 2, and even if the power supply voltage of the battery 2 fluctuates, the duty ratio for driving the motor 11 is varied in the above (1), and the drive speed of the motor 11 is changed. Control is performed by the motor drive speed calculator 35 so as to be always constant.
As a result, it is possible to suppress the inertia variation that occurs when the motor 11 is stopped and to eliminate the positional deviation of the spool 3.

Next, when the power source from the battery 2 is interrupted for some reason when the spool 3 is moved by the actuator 10 to raise or lower the loading platform, the operation immediately after the power source is connected after the power source is shut off, or The operation when the position of the spool 3 is moved to a neutral stroke voltage (absolute position) immediately after the power supply is connected after the power supply is shut off will be described with reference to the flowchart of FIG.
The control operation immediately after the power supply connection is performed by the control unit 31 of the control device 30 that monitors the power supply voltage from the battery 2, and the control operation of each unit is started.

  First, immediately after the power supply from the battery 2 is connected, since the number of pulses output from the rotation sensor 16 is indefinite, the stroke voltage detection unit 33 determines the stroke voltage from the Hall IC 15 as shown in step S1. . That is, in step S1, it is determined whether the value of the stroke voltage from the Hall IC 15 is higher or lower than the voltage V1 at the neutral position, and the detected stroke voltage is higher than the voltage V1 at the neutral position. In the case of voltage, the process proceeds to step S2, and in step S2, it is recognized that the movement start position of the spool 3 is above the neutral position.

  When the detected stroke voltage is lower than the voltage V1 at the neutral position, the process proceeds to step S3. In step S3, the stroke voltage output from the Hall IC 15 is lower than the voltage V1 corresponding to the neutral position. It is determined whether or not the voltage is higher, and if the detected voltage is lower than the voltage V1, the process proceeds to step S4. In step S4, it is recognized that the movement start position of the spool 3 is below the neutral position.

  After recognizing whether the start position of the spool 3 is above or below the neutral position, the process proceeds to step S5, and the motor drive speed calculation unit 35 obtains the optimum PWM value from the above formula (1) from the power supply voltage of the battery 2 at that time. calculate.

Next, the process proceeds to step S6, and if the movement start position of the spool 3 is above the neutral position, the process proceeds to step S7, where the control unit 31 controls the motor drive unit 36 with the PWM value calculated in step S5 to control the motor. 11 is driven in reverse. When the motor 11 is driven in reverse, the cable drive mechanism 12 returns the cable 13 to move the spool 3 toward the neutral position.
If the movement start position of the spool 3 is below the neutral position in step S6, the process proceeds to step S8, and the control unit 31 controls the motor drive unit 36 with the PWM value calculated in step S5 to correct the motor 11. Roll drive. When the motor 11 is driven forward, the cable 13 is pulled by the cable drive mechanism 12 to move the spool 3 toward the neutral position.

When the motor 11 is driven reversely or forwardly and the spool 3 is moved toward the neutral position and the spool 3 comes to a position corresponding to the neutral position as shown in step S9, the Hall IC 15 Since the voltage V1 corresponding to the neutral position is output, the stroke voltage detector 33 detects the stroke voltage V1. When the stroke voltage detection unit 33 detects the voltage V1, the control unit 31 controls the motor drive unit 36 to stop the motor 11 (see step S10). When the spool 3 comes to the neutral position, the lifting / lowering of the cargo bed stops.
In step S9, if the stroke voltage from the Hall IC 15 does not detect the voltage V1 corresponding to the neutral position, the process returns to step S5 and this operation is repeated.

Here, in the state where the spool 3 is moved by the reverse rotation and the normal rotation of the motor 11, the pulse is output as described above from the rotation sensor 16 which detects the rotation of the motor 11, and this pulse is moved. The distance calculation processing unit 34 counts and calculates the moving distance of the spool 3.
After stopping the motor 11 in step S10, the process proceeds to step S11, and the control unit 31 resets the movement amount of the spool 3 which has been calculated by counting the number of pulses in the movement distance calculation processing unit 34 so far (step S11). (See S11).

  In step S1, if the position of the spool 3 is lower than neutral due to the stroke voltage from the Hall IC 15, and if the position of the spool 3 is higher than neutral due to the stroke voltage from the Hall IC 15 in Step S3, the position of the spool 3 In this case, the process proceeds to step S11 to reset the movement amount, that is, reset the pulse count in the movement distance calculation processing unit 34.

  In this way, when the spool 3 comes to the neutral position, the pulse count which has been counted so far is reset (calibration), and the position movement of the spool 3 after the completion of the calibration is performed by the pulse from the rotation sensor 16. Thus, the movement distance calculation processing unit 34 calculates the movement amount and moves the spool 3 to the upper position or the lower position which is the target position.

As described above, the position of the spool 3 is indefinite immediately after the power supply from the battery 2 is connected, but by moving the spool 3 to the neutral position, the loading platform can be stopped reliably and safety can be improved. Can do. In particular, when the power is shut off at the raised position, the platform is surely stopped by moving to the neutral immediately after the power is connected, so that safety is improved.
Further, since the motor 11 is stopped when the voltage V1 output from the Hall IC 15 and corresponding to the preset neutral position is detected, the neutral position of the spool 3 can be detected with a simple configuration, and the spool control device Can be configured at low cost.

  Next, the control operation when the raising operation is performed in the operation after the calibration is completed will be described with reference to FIG. The position of the spool 3 after completion of the calibration is in the “neutral” position, and the loading platform is stopped. When the operator raises the operation switch 1, as shown in step S21, when the movement amount of the spool 3 is not equivalent to the “up” position, that is, the number of pulses counted by the movement distance calculation processing unit 34, The number of pulses corresponding to the amount of movement from the neutral position to the upper position stored in the memory 32 is compared. If the spool 3 has not reached the upper position, the process proceeds to step S22.

In step S22, the optimum PWM is calculated from the power supply voltage of the battery 2 by the motor drive speed calculation unit 35 in the same manner as described above, and after calculating the PWM for driving the motor 11, the calculated PWM value is used. The control unit 31 drives and controls the motor drive unit 36 to drive the motor 11 in the normal direction (see step S23).
When the motor 11 is driven to rotate forward, the cable drive mechanism 12 pulls the cable 13 to start the movement of the spool 3 from the neutral position toward the upper position. Then, the rotation pulse from the rotation sensor 16 that detects the rotation of the motor 11 is input to the movement distance calculation processing unit 34, and the movement distance calculation processing unit 34 counts the pulses and calculates the movement amount of the spool 3. (See step S24).

  As shown in step S25, this is repeated until the movement distance calculation processing unit 34 counts the number of pulses corresponding to the upper position after the spool 3 moves, and the movement distance calculation processing unit 34 calculates the number of pulses corresponding to the upper position. Is counted, the control unit 31 that has received a signal from the movement distance calculation processing unit 34 controls the motor driving unit 36 to stop the motor 11 assuming that the spool 3 has moved to the upper position (see step S26). . Thereby, the raising operation of the loading platform is continued.

  FIG. 9 is a flowchart showing the control operation when the lowering operation is performed after the calibration is completed, contrary to FIG. The position of the spool 3 after completion of the calibration is in the “neutral” position, and the loading platform is stopped. When the operator lowers the operation switch 1, as shown in step S31, when the movement amount of the spool 3 is not equivalent to the “down” position, that is, the number of pulses counted by the movement distance calculation processing unit 34, The number of pulses corresponding to the amount of movement from the neutral position to the lower position stored in the memory 32 is compared. If the spool 3 has not reached the lower position, the process proceeds to step S32.

In step S32, the optimum PWM is calculated from the power supply voltage of the battery 2 by the motor drive speed calculation unit 35 in the same manner as described above, and after calculating the PWM for driving the motor 11, the calculated PWM value is used. The control unit 31 drives and controls the motor driving unit 36 to drive the motor 11 in reverse (see step S33).
When the motor 11 is driven in reverse, the cable 13 is returned by the cable drive mechanism 12 and the spool 3 starts to move from the neutral position toward the lower position. Then, the rotation pulse from the rotation sensor 16 that detects the rotation of the motor 11 is input to the movement distance calculation processing unit 34, and the movement distance calculation processing unit 34 counts the pulses and calculates the movement amount of the spool 3. (See step S34).

  As shown in step S35, this is repeated until the movement distance calculation processing unit 34 counts the number of pulses corresponding to the lower position after the spool 3 moves, and the movement distance calculation processing unit 34 calculates the number of pulses corresponding to the lower position. Is counted, the control unit 31 having received a signal from the movement distance calculation processing unit 34 controls the motor driving unit 36 to stop the motor 11 assuming that the spool 3 has moved to the lower position (see step S36). . Thereby, the operation for lowering the loading platform is continued.

  Next, a control operation when the loading platform is stopped will be described with reference to FIG. When the operator stops the operation switch 1, as shown in step S41, the movement distance calculation processing unit 34 of the control device 30 determines from the number of pulses counted whether the current position of the spool 3 is above or below neutral. To do. If the position of the spool 3 is above the neutral position, the process proceeds to step S42, and the movement start position of the spool 3 is recognized as being above the neutral position.

In step S43, the moving distance calculation processing unit 34 determines from the number of pulses counted whether the current position of the spool 3 is above or below neutral. If the position of the spool 3 is below neutral, the process proceeds to step S44. Then, it is recognized that the movement start position of the spool 3 is below the neutral position.
If it is determined in step S43 that the position of the spool 3 is above the neutral position, it is determined that the spool 3 is currently in the neutral position based on the determination in step S41, and the spool 3 movement control is not performed and the process ends (see step S52). ).

  After recognizing whether the start position of the spool 3 is above or below neutral, the process proceeds to step S45, and the motor drive speed calculation unit 35 obtains the optimum PWM value from the above-mentioned equation (1) from the power supply voltage of the battery 2 at that time. calculate.

Next, the process proceeds to step S46, and if the movement start position of the spool 3 is above the neutral position, the process proceeds to step S47, where the control unit 31 controls the motor drive unit 36 with the PWM value calculated in step S45 to control the motor. 11 is driven in reverse. When the motor 11 is driven in reverse, the cable drive mechanism 12 returns the cable 13 to move the spool 3 toward the neutral position.
If the movement start position of the spool 3 is below the neutral position in step S46, the process proceeds to step S48, and the control unit 31 controls the motor drive unit 36 with the PWM value calculated in step S45 to correct the motor 11. Roll drive. When the motor 11 is driven forward, the cable 13 is pulled by the cable drive mechanism 12 to move the spool 3 toward the neutral position.

In step S49, when the motor 11 is driven reversely or forwardly and the spool 3 moves toward the neutral position, the movement distance calculation processing unit 34 sets the pulse output from the rotation sensor 16 in the +1 direction, or Counting in the -1 direction (see FIGS. 5 and 6), the movement amount of the spool 3 is calculated.
In step S50, when the movement distance calculation processing unit 34 detects that the pulse count from the rotation sensor 16 is “0”, the position of the spool 3 corresponds to neutral, so the signal from the movement distance calculation processing unit 34 is received. The control unit 31 controls the motor driving unit 36 to stop the motor 11 (see step S51). When the spool 3 comes to the neutral position, the lifting / lowering of the cargo bed stops.

As described above, in this embodiment, the neutral position of the spool 3, that is, the absolute position of the spool 3, can be detected by the stroke voltage detection unit 33, and when the neutral position of the spool 3 is detected, the movement distance calculation processing unit 34 The pulse count is reset, and after the reset, the movement distance calculation processing unit 34 counts the rotation pulses from the rotation sensor 16 to calculate the movement distance, and the number of pulses corresponding to the movement distance of the spool 3 set in advance is the movement distance. By stopping the motor 11 when it is output from the arithmetic processing unit 34, the pulse count deviation can be eliminated, and the position detection control of the spool 3 can be performed accurately and reliably.
In particular, the position of the spool 3 is detected by the movement distance calculation processing unit 34 by counting pulses from the rotation sensor 16 except for the position near the neutral position, which is a position that cannot be detected by the stroke voltage by the Hall IC 15. 3 is capable of accurately detecting the upper position, neutral position, and lower position. In addition, since the position detection control is performed by the Hall IC 15 and the rotation sensor 16, the position can be detected at low cost.

  The spool control device of the present invention is applied to a so-called specially equipped vehicle such as a dump truck, a mixer truck, and a garbage collection truck.

It is a system configuration figure of the spool control device in an embodiment of the invention. It is a figure which shows the basic specification of the spool of PTO in embodiment of this invention. It is a block diagram of a control device in an embodiment of the present invention. It is a characteristic figure of the output voltage of Hall IC in an embodiment of the invention. It is a figure which shows calculation of the movement amount of the normal rotation direction of the motor in embodiment of this invention. It is a figure which shows calculation of the movement amount of the reverse rotation direction of the motor in embodiment of this invention. It is a flowchart which shows the control operation (calibration) immediately after the power supply connection in embodiment of this invention. It is a flowchart which shows the control operation | movement when raising operation after the completion of calibration in embodiment of this invention is carried out. 6 is a flowchart showing a control operation when a lowering operation is performed after completion of calibration in the embodiment of the present invention. It is a flowchart which shows the control action when stop operation in embodiment of this invention is carried out.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Operation switch 2 Battery 3 Spool 10 Actuator 11 Motor 12 Cable drive mechanism part 13 Cable 14 Magnet 15 Hall IC
16 Rotation sensor 30 Control device 31 Control unit

Claims (4)

A spool (3) for controlling the PTO, an actuator (10) for moving the spool (3) to an upper position, a neutral position, and a lower position, and a raising operation, a stopping operation, and a lowering operation from the operation switch (1) A spool control device for a specially equipped vehicle comprising a control device (30) for controlling the actuator (10) to move the spool (3) to an upper position, a neutral position, and a lower position in response to a command such as
A spool control device for a specially equipped vehicle, comprising control means for moving the spool (3) to a neutral position and stopping the driven member immediately after the power supply is connected. The actuator (10) includes a cable drive mechanism (12) that moves the position of the spool (3), and a spool (3) that is moved by a magnet (14) provided in the cable drive mechanism (12). ) And a motor (11) for driving the cable drive mechanism (12),
The spool control device for a specially equipped vehicle according to claim 1, wherein the motor (11) is stopped when a voltage V1 output from the Hall IC (15) and corresponding to a preset neutral position is detected. . A spool (3) for controlling the PTO, an actuator (10) for moving the spool (3) to an upper position, a neutral position, and a lower position, and a raising operation, a stopping operation, and a lowering operation from the operation switch (1) A spool control device for a specially equipped vehicle comprising a control device (30) for controlling the actuator (10) to move the spool (3) to an upper position, a neutral position, and a lower position in response to a command such as
The actuator (10) includes a cable drive mechanism (12) that moves the position of the spool (3), and a spool (3) that is moved by a magnet (14) provided in the cable drive mechanism (12). ) That outputs a voltage corresponding to the position of the motor (11), a motor (11) that drives the cable drive mechanism (12), and a rotation that outputs a rotation pulse according to the rotation of the motor (11). A sensor (16),
In the control device (30), the stroke voltage detector (33) for detecting the voltage from the Hall IC (15) of the actuator (10) and the rotation pulse from the rotation sensor (16) are counted and A moving distance calculation processing unit (34) for calculating the moving distance of the spool (3),
When the stroke voltage detector (33) detects the voltage output from the Hall IC (15) as a voltage corresponding to the neutral position of the spool (3) set in advance, the moving distance calculation processor (34) And a control means for stopping the motor (11) when a pulse number corresponding to a preset movement distance of the spool (3) is output from the movement distance calculation processing section (34). 31) A spool control device for a specially equipped vehicle.   The motor (11) is driven by PWM control, and the motor drive speed for controlling the PWM value to keep the drive speed of the motor (11) constant according to the power supply voltage of the power supply supplied to the motor (11). The spool control device for a specially equipped vehicle according to claim 3, further comprising a calculation unit (35).

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