JP2018124183A - Fluid pressure drive device - Google Patents
Fluid pressure drive device Download PDFInfo
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- JP2018124183A JP2018124183A JP2017017014A JP2017017014A JP2018124183A JP 2018124183 A JP2018124183 A JP 2018124183A JP 2017017014 A JP2017017014 A JP 2017017014A JP 2017017014 A JP2017017014 A JP 2017017014A JP 2018124183 A JP2018124183 A JP 2018124183A
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- 239000012530 fluid Substances 0.000 title claims abstract description 49
- 230000005856 abnormality Effects 0.000 claims abstract description 77
- 238000006073 displacement reaction Methods 0.000 claims abstract description 41
- 230000002159 abnormal effect Effects 0.000 claims abstract description 16
- 238000005314 correlation function Methods 0.000 claims description 54
- 238000001514 detection method Methods 0.000 claims description 11
- 239000010720 hydraulic oil Substances 0.000 abstract description 45
- 238000007599 discharging Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 27
- 230000007935 neutral effect Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 4
- 239000000446 fuel Substances 0.000 description 3
- 239000006185 dispersion Substances 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/005—Fault detection or monitoring
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
- F15B20/008—Valve failure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/857—Monitoring of fluid pressure systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/86—Control during or prevention of abnormal conditions
- F15B2211/863—Control during or prevention of abnormal conditions the abnormal condition being a hydraulic or pneumatic failure
- F15B2211/8636—Circuit failure, e.g. valve or hose failure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/87—Detection of failures
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Examining Or Testing Airtightness (AREA)
- Indication Of The Valve Opening Or Closing Status (AREA)
- Details Of Valves (AREA)
Abstract
Description
本発明は、流量制御弁を備えた流体圧駆動装置に関する。 The present invention relates to a fluid pressure drive device including a flow control valve.
特許文献１には、圧延機の油圧圧下装置を制御する油圧圧下サーボ弁の故障を自動的に診断する方法が開示されている。特許文献１では、サーボ弁のスプール位置の指令値と実際のスプール位置との偏差が閾値を超えたか否かにより、サーボ弁が故障したか否かを判断している。 Patent Document 1 discloses a method for automatically diagnosing a failure of a hydraulic pressure reduction servo valve that controls a hydraulic pressure reduction device of a rolling mill. In Patent Document 1, it is determined whether or not the servo valve has failed based on whether or not the deviation between the command value of the spool position of the servo valve and the actual spool position exceeds a threshold value.
また、特許文献２には、燃焼装置に供給される燃料量を制御する比例弁の開度設定用の電流検出値に基づいて、比例弁の駆動回路の異常判定を行う方法が開示されている。 Further, Patent Document 2 discloses a method for determining abnormality of a drive circuit of a proportional valve based on a current detection value for setting the opening of a proportional valve that controls the amount of fuel supplied to the combustion device. .
特許文献１は、スプールとサーボ弁の間に異物が詰まることを要因としたサーボ弁の故障を判断するものである。特許文献２は、比例弁の駆動回路内の回路構成素子の故障を判断するものである。 Japanese Patent Application Laid-Open No. 2004-133620 determines whether or not a servo valve has failed due to a foreign object clogged between the spool and the servo valve. Japanese Patent Application Laid-Open No. H10-228867 determines whether a circuit component in a proportional valve drive circuit is faulty.
作動油の吐出量を制御する流量制御弁の故障の一態様として、流量制御弁の作動油漏れがある。流量制御弁内で移動する可動部（例えばスプール）は、中立位置では確実に作動油をシールし、可動部が中立位置からずれると作動油を吐出しなければならない。 As one aspect of the failure of the flow control valve that controls the discharge amount of the hydraulic oil, there is hydraulic oil leakage of the flow control valve. A movable part (for example, a spool) that moves in the flow rate control valve must reliably seal the hydraulic oil in the neutral position, and discharge the hydraulic oil when the movable part deviates from the neutral position.
ところが、流量制御弁内の作動油中に異物が混入している場合、異物によって可動部が削れるなどして、中立位置でも作動油が漏れ出すおそれがある。流量制御弁内で作動油漏れがあると、作動油の吐出量と吐出圧を意図通りに制御できなくなり、流量制御弁によって駆動される駆動部や、駆動部によって制御されるアクチュエータを誤動作させるおそれがある。また、油漏れ量が過大になると、作動油の供給が不足し、十分な作動油圧が得られなくなる恐れがある。 However, when foreign matter is mixed in the hydraulic fluid in the flow control valve, the movable portion may be scraped off by the foreign matter and the hydraulic fluid may leak out even at the neutral position. If hydraulic oil leaks in the flow control valve, the hydraulic oil discharge amount and pressure cannot be controlled as intended, and the drive unit driven by the flow control valve and the actuator controlled by the drive unit may malfunction. There is. Further, if the amount of oil leakage is excessive, the supply of hydraulic oil is insufficient and there is a risk that sufficient hydraulic pressure cannot be obtained.
本発明は、上述した課題を解決するためになされたものであり、その目的は、流量制御弁が作動油漏れによる状態異常を起こしたか否かを正しく判断できる流体圧駆動装置を提供するものである。 The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a fluid pressure drive device that can correctly determine whether or not the flow control valve has caused a state abnormality due to hydraulic oil leakage. is there.
上記の課題を解決するために、本発明の一態様では、第１可動部を有し、前記第１可動部の位置に応じて作動油の吐出量を制御する流量制御弁と、
前記流量制御弁からの作動油の吐出量に応じて位置を変化可能な第２可動部を有するアクチュエータと、
前記作動流体を吐出する前記第１可動部の実位置と前記第２可動部の変位速度との相関関係に基づいて、前記流量制御弁の状態異常の有無を判断する異常判断部と、を備える流体圧駆動装置が提供される。
In order to solve the above problems, in one aspect of the present invention, a flow rate control valve that includes a first movable portion and controls a discharge amount of hydraulic oil according to a position of the first movable portion;
An actuator having a second movable portion whose position can be changed according to the amount of hydraulic oil discharged from the flow control valve;
An abnormality determination unit that determines whether there is an abnormal state of the flow control valve based on a correlation between an actual position of the first movable unit that discharges the working fluid and a displacement speed of the second movable unit. A fluid pressure drive is provided.
前記流量制御弁および前記アクチュエータを所定期間動作させている間での前記第１可動部の実位置および前記第２可動部の変位速度に基づいて、前記相関関係を表す相関関数を求める相関関係検出部をさらに備えていてもよく、
前記異常判断部は、前記相関関数と、前記所定期間内での前記第１可動部の実位置および前記第２可動部の変位速度と、に基づいて、前記流量制御弁の状態異常の有無を判断してもよい。
Correlation detection for obtaining a correlation function representing the correlation based on an actual position of the first movable part and a displacement speed of the second movable part while the flow rate control valve and the actuator are operated for a predetermined period. Part may be provided,
The abnormality determination unit determines whether the flow control valve is abnormal based on the correlation function, the actual position of the first movable unit and the displacement speed of the second movable unit within the predetermined period. You may judge.
前記異常判断部は、
前記所定期間内に、前記相関関数とのずれが所定の閾値以上になった頻度が所定の値以上あるか否かを判定する頻度判定部と、
前記頻度判定部にて前記頻度が前記所定の値以上あると判定されると、前記流量制御弁に状態異常があると推測する異常推測部と、を有してもよい。
The abnormality determination unit
A frequency determination unit that determines whether or not the frequency with which the deviation from the correlation function is equal to or greater than a predetermined threshold within a predetermined period is equal to or greater than a predetermined value;
If the frequency determination unit determines that the frequency is greater than or equal to the predetermined value, the frequency determination unit may include an abnormality estimation unit that estimates that the flow control valve has a state abnormality.
前記異常判断部は、
前記所定期間内における前記第１可動部の実位置および前記第２可動部の変位速度の前記相関関数からのばらつき度合を検出するばらつき度合検出部と、
前記ばらつき度合もしくはばらつき度合の変化が所定の閾値以上か否かを判定するばらつき度合判定部と、
前記ばらつき度合判定部にて前記閾値以上と判定されると、前記流量制御弁に状態異常があると推測する異常推測部と、を有してもよい。
The abnormality determination unit
A variation degree detection unit for detecting a variation degree from the correlation function of the actual position of the first movable part and the displacement speed of the second movable part within the predetermined period;
A variation degree determination unit that determines whether the variation degree or a variation in the variation degree is equal to or greater than a predetermined threshold;
And an abnormality estimation unit that estimates that the flow rate control valve has a state abnormality when it is determined that the variation degree determination unit is equal to or greater than the threshold value.
前記異常判断部は、
前記所定期間内において前記相関関数の傾きもしくは傾きの変化が所定の閾値以上になったか否かを判定する傾き判定部と、
前記傾き判定部にて前記閾値以上になったと判定されると、前記流量制御弁に状態異常があると推測する異常推測部と、を有してもよい。
The abnormality determination unit
A slope determination unit that determines whether the slope of the correlation function or a change in the slope is equal to or greater than a predetermined threshold within the predetermined period;
And an abnormality estimation unit that estimates that the flow rate control valve has a state abnormality when it is determined by the inclination determination unit that the threshold value is exceeded.
前記異常判断部は、
前記所定期間内において、前記第１可動部の実位置が基準位置の場合の前記相関関数上の前記第２可動部の変位速度と、前記第２可動部の変位速度がゼロの場合の前記相関関数上の前記第１可動部の実位置と、の少なくとも一方が所定の閾値を超えたか、もしくは所定の閾値以上変化したか否かを判定する相関関数判定部と、
前記相関関数判定部にて前記箇所があると判定されると、前記流量制御弁に状態異常があると推測する異常推測部と、を有してもよい。
The abnormality determination unit
Within the predetermined period, the correlation between the displacement speed of the second movable part on the correlation function when the actual position of the first movable part is a reference position and the correlation when the displacement speed of the second movable part is zero. A correlation function determination unit that determines whether at least one of the actual position of the first movable unit on the function exceeds a predetermined threshold or has changed by a predetermined threshold or more;
If the correlation function determination unit determines that the location is present, the correlation function determination unit may include an abnormality estimation unit that estimates that the flow control valve has a state abnormality.
前記異常判断部は、前記第１可動部が移動を開始してから前記第２可動部の変位速度が変化し始めるまでの時間遅れを考慮に入れて、前記流量制御弁の状態異常の有無を判断してもよい。 The abnormality determination unit takes into account a time delay from when the first movable part starts to move until the displacement speed of the second movable part starts to change, and determines whether or not there is an abnormal state of the flow control valve. You may judge.
前記異常判断部は、前記時間遅れが予め定めた制限時間を超えていた場合には、前記流量制御弁に状態異常があると判断してもよい。 The abnormality determination unit may determine that the flow control valve has a state abnormality when the time delay exceeds a predetermined time limit.
前記アクチュエータは、前記第２可動部は位置に応じて、他のアクチュエータに対する作動油の供給量を制御する弁であってもよい。 The actuator may be a valve that controls the amount of hydraulic oil supplied to another actuator in accordance with the position of the second movable portion.
前記第１可動部は、スプールであり、
前記流量制御弁は、スプール弁であってもよい。
The first movable part is a spool;
The flow control valve may be a spool valve.
本発明によれば、流量制御弁が作動油漏れによる状態異常を起こしたか否かを正しく判断できる。 According to the present invention, it is possible to correctly determine whether or not the flow control valve has caused a state abnormality due to hydraulic oil leakage.
以下、本発明の実施の形態について、詳細に説明する。
図１は本発明の一実施形態による流体圧駆動装置１の概略構成を示すブロック図である。図１の流体圧駆動装置１は、流量制御スプール弁（以下、ＦＶ）２と、アクチュエータ（以下、ＡＣＴＶ）３と、コントローラ４とを備えている。ＦＶ２は流量制御弁の一例である。
Hereinafter, embodiments of the present invention will be described in detail.
FIG. 1 is a block diagram showing a schematic configuration of a fluid pressure driving apparatus 1 according to an embodiment of the present invention. The fluid pressure drive device 1 in FIG. 1 includes a flow rate control spool valve (hereinafter referred to as FV) 2, an actuator (hereinafter referred to as ACTV) 3, and a controller 4. FV2 is an example of a flow control valve.
ＦＶ２は、中空のスリーブ内を移動可能なスプール（第１可動部、以下、ＦＶスプール）２ａを有する。ＦＶ２は、ＦＶスプール２ａの位置に応じて作動油の吐出量を制御する。ＡＣＴＶ３は、中空のスリーブ内を移動可能なピストン（第２可動部、以下、ＡＣＴＶピストン）３ａを有する。ＡＣＴＶ３は、ＦＶ２からの作動油の吐出量に応じてＡＣＴＶピストン３ａの位置を可変させる。 The FV2 has a spool (first movable portion, hereinafter referred to as FV spool) 2a that can move in a hollow sleeve. The FV2 controls the discharge amount of the hydraulic oil according to the position of the FV spool 2a. The ACTV 3 has a piston (second movable part, hereinafter referred to as ACTV piston) 3a that can move in a hollow sleeve. The ACTV 3 varies the position of the ACTV piston 3a according to the discharge amount of the hydraulic oil from the FV2.
ＦＶ２は、ＦＶスプール２ａの位置を検出するスプールセンサ（以下、ＦＶスプールセンサ）２ｂを備えていてもよい。ＦＶスプールセンサ２ｂは、例えばＦＶ２の長手方向の一端部に取り付けられ、ＦＶスプール２ａとの距離を非接触で検出する。ＦＶスプールセンサ２ｂで検出したＦＶスプール２ａの位置は、コントローラ４に伝達される。 The FV2 may include a spool sensor (hereinafter, FV spool sensor) 2b that detects the position of the FV spool 2a. The FV spool sensor 2b is attached to, for example, one end of the FV 2 in the longitudinal direction, and detects the distance from the FV spool 2a in a non-contact manner. The position of the FV spool 2a detected by the FV spool sensor 2b is transmitted to the controller 4.
ＡＣＴＶ３は、ＡＣＴＶピストン３ａの位置を検出するピストンセンサ（以下、ＡＣＴＶピストンセンサ）３ｂを備えていてもよい。ＡＣＴＶピストンセンサ３ｂは、例えばＡＣＴＶ３の長手方向の一端部に取り付けられ、ＡＣＴＶピストン３ａとの距離を非接触で検出する。ＡＣＴＶピストンセンサ３ｂで検出したＡＣＴＶピストン３ａの位置は、コントローラ４に伝達される。 The ACTV 3 may include a piston sensor (hereinafter referred to as ACTV piston sensor) 3b that detects the position of the ACTV piston 3a. The ACTV piston sensor 3b is attached to, for example, one end of the ACTV 3 in the longitudinal direction, and detects the distance from the ACTV piston 3a in a non-contact manner. The position of the ACTV piston 3a detected by the ACTV piston sensor 3b is transmitted to the controller 4.
コントローラ４は、ＦＶスプール２ａの位置を指令する信号をＦＶ２に送る。ＦＶ２は、例えば電磁弁であり、コントローラ４からの指令信号に応じた位置にＦＶスプール２ａを移動させる。コントローラ４は、異常判断部４ａを有する。異常判断部４ａは、ＦＶスプール２ａが移動している最中のＦＶスプール２ａの実位置とＡＣＴＶピストン３ａの変位速度との相関関係に基づいて、ＦＶ２やＡＣＴＶ３等の状態異常の有無を判断する。 The controller 4 sends a signal for instructing the position of the FV spool 2a to the FV2. FV2 is a solenoid valve, for example, and moves the FV spool 2a to a position corresponding to a command signal from the controller 4. The controller 4 has an abnormality determination unit 4a. The abnormality determination unit 4a determines whether there is an abnormality in the state of the FV2, ACTV3, etc. based on the correlation between the actual position of the FV spool 2a while the FV spool 2a is moving and the displacement speed of the ACTV piston 3a. .
ＦＶスプール２ａが中立位置のときは、本来的にはＦＶ２から作動油は吐出されず、ＡＣＴＶピストン３ａは停止状態である。すなわち、ＡＣＴＶピストン３ａは、ＦＶスプール２ａが中立位置になる直前にＡＣＴＶピストン３ａが存在した位置に停止し続ける。 When the FV spool 2a is in the neutral position, the hydraulic oil is not normally discharged from the FV 2, and the ACTV piston 3a is in a stopped state. In other words, the ACTV piston 3a continues to stop at the position where the ACTV piston 3a exists immediately before the FV spool 2a becomes the neutral position.
ＦＶスプール２ａを中立位置から第１方向にずらすと、ＡＣＴＶ３の下端部に作動油が供給され、ＡＣＴＶピストン３ａは上方に移動する。これにより、例えばＡＣＴＶ３のアクチュエータ軸５が上方に変位される。一方、ＦＶスプール２ａを中立位置から第１方向とは逆方向の第２方向にずらすと、ＡＣＴＶ３の上端部に作動油が供給され、ＡＣＴＶピストン３ａは下方に移動する。これにより、ＡＣＴＶ３のアクチュエータ軸５が下方に変位される。 When the FV spool 2a is shifted from the neutral position in the first direction, hydraulic oil is supplied to the lower end portion of the ACTV 3, and the ACTV piston 3a moves upward. Thereby, for example, the actuator shaft 5 of the ACTV 3 is displaced upward. On the other hand, when the FV spool 2a is shifted from the neutral position in the second direction opposite to the first direction, hydraulic oil is supplied to the upper end of the ACTV 3, and the ACTV piston 3a moves downward. Thereby, the actuator shaft 5 of the ACTV 3 is displaced downward.
なお、ＡＣＴＶ３は直接アクチュエータ軸５を動かすのではなく、別置きのアクチュエータへ作動油を供給する制御弁であっても良い。このとき、ＡＣＴＶ３によって作動油の供給を受けるアクチュエータは１つとは限らず、ＡＣＴＶピストン３ａの位置に応じて複数のアクチュエータを駆動してもよい。例えば、複数のアクチュエータは、燃料噴射ポンプと排気弁アクチュエータであってもよい。ＡＣＴＶピストン３ａの移動位置を複数箇所に順繰りに切り替えることで、ＡＣＴＶ３は燃料噴射ポンプと排気弁アクチュエータを交互に駆動することができる。 The ACTV 3 may be a control valve that supplies hydraulic oil to a separate actuator instead of directly moving the actuator shaft 5. At this time, the number of actuators that are supplied with hydraulic oil by the ACTV 3 is not limited to one, and a plurality of actuators may be driven according to the position of the ACTV piston 3a. For example, the plurality of actuators may be a fuel injection pump and an exhaust valve actuator. The ACTV 3 can alternately drive the fuel injection pump and the exhaust valve actuator by switching the moving position of the ACTV piston 3a to a plurality of positions in order.
ＦＶスプール２ａが中立位置にいる場合は、ＦＶ２からＡＣＴＶ３に作動油が吐出されないように、確実に作動油をシールできていなければならない。また、ＦＶスプール２ａが中立位置から少しでもずれると、作動油が流れなければならない。ＦＶ２内に供給される作動油に混入した異物によって、ＦＶスプール２ａが削れたり、ＦＶスプール２ａとともに作動油流路を形成するＦＶ２のスリーブが削れるおそれがある。ＦＶスプール２ａやスリーブが削れると、ＦＶ２内で作動油漏れが生じてしまう。ＦＶ２内で作動油漏れが生じると、ＦＶスプール２ａが中立位置であっても、ＡＣＴＶピストン３ａが移動してしまったり、ＦＶスプール２ａを中立位置から所定の位置まで移動させてもＦＶ２から吐出される作動油量が減り、ＡＣＴＶピストン３ａの変位速度が遅くなるおそれがある。また、油漏れ量が過大になると、作動油の供給が不足して十分な作動油圧が得られなくなり、同じ系統の作動油を使用する他の機器にまで影響する恐れがある。 When the FV spool 2a is in the neutral position, the hydraulic oil must be surely sealed so that the hydraulic oil is not discharged from the FV2 to the ACTV 3. Further, when the FV spool 2a is slightly deviated from the neutral position, the hydraulic oil must flow. There is a possibility that the FV spool 2a is scraped due to foreign matter mixed in the hydraulic oil supplied into the FV2, or the sleeve of the FV2 that forms the hydraulic fluid flow path together with the FV spool 2a. If the FV spool 2a or the sleeve is scraped, hydraulic fluid leaks in the FV2. If hydraulic fluid leaks in the FV2, even if the FV spool 2a is in the neutral position, the ACTV piston 3a moves, or even if the FV spool 2a is moved from the neutral position to a predetermined position, the fluid is discharged from the FV2. Therefore, there is a risk that the amount of hydraulic oil to be reduced will decrease the displacement speed of the ACTV piston 3a. Also, if the amount of oil leakage is excessive, the supply of hydraulic oil is insufficient and sufficient hydraulic pressure cannot be obtained, which may affect other equipment that uses hydraulic oil of the same system.
このように、ＦＶ２内で作動油漏れが生じると、ＡＣＴＶ３を正常に駆動させることができなり、最悪の場合は他の機器の作動にも不具合が生じるため、ＦＶ２内での作動油漏れの状況を随時検出・監視する必要がある。 As described above, when hydraulic fluid leaks in FV2, ACTV 3 can be driven normally, and in the worst case, malfunction also occurs in the operation of other devices. Need to be detected and monitored from time to time.
ＦＶ２内の作動油漏れを検出する一手段として、ＦＶ２内に作動油を供給する供給ポート周辺に流量計を接続することが考えられる。ＦＶスプール２ａを中立位置に設定したときは、本来的には供給ポートには作動油は流れないはずであるため、流量計にて作動油の流れが確認できれば、作動油漏れがあると判断できる。しかしながら、流量計をＦＶ２に接続すると、ＦＶ２のコストが高くなってしまう。 As one means for detecting hydraulic oil leakage in the FV2, it is conceivable to connect a flow meter around the supply port that supplies the hydraulic oil into the FV2. When the FV spool 2a is set to the neutral position, the hydraulic oil should not flow through the supply port. Therefore, if the flow of the hydraulic oil can be confirmed with the flow meter, it can be determined that there is hydraulic oil leakage. . However, connecting the flow meter to FV2 increases the cost of FV2.
本発明者は、ＦＶスプール２ａが移動している最中のＦＶスプール２ａの実際の位置（実位置）とＡＣＴＶピストン３ａの変位速度との間には、相関関係があることを見出した。図２はＦＶスプール２ａの実位置とＡＣＴＶピストン３ａの変位速度との相関関係を示すグラフである。図２の横線はＦＶスプール２ａの実位置である。横線の中心は基準点０であり、基準点０よりも右側は例えばＦＶスプール２ａを上方に移動させ、基準点０よりも左側は例えばＦＶスプール２ａを下方に移動させた場合を示している。基準点０では、ＦＶ２に流出入する作動油流量はゼロである。基準点０から右側または左側に離れるほど、ＦＶ２に流出入する作動油流量は増大する。図２では、基準点０から右側を「大」、左側を「小」と表記しているが、いずれか一方はＡＣＴＶ３に作動油を供給してＡＣＴＶピストン３ａを押す方向の力を発生し、他方はＡＣＴＶ３から作動油を引き込んでＡＣＴＶピストン３ａを引く方向の力を発生する。このように、ＦＶスプール２ａを基準点０から右側と左側のどちらに移動させたときに、ＦＶ２から作動油が吐出され、あるいはＦＶ２に作動油が供給されるかは、任意であり、アプリケーションごとに設定可能である。
図２のグラフは、ＦＶスプール２ａの実位置を複数通りに変化させたときのＡＣＴＶピストン３ａの変位速度をプロットして、各プロットを線で結んだものである。多少のばらつきはあるものの、ＦＶスプール２ａの実位置とＡＣＴＶピストン３ａの変位速度との相関関係は、図２の実線直線に近似することができる。本明細書では、この実線直線を相関関数と呼ぶ。
The inventor has found that there is a correlation between the actual position (actual position) of the FV spool 2a while the FV spool 2a is moving and the displacement speed of the ACTV piston 3a. FIG. 2 is a graph showing the correlation between the actual position of the FV spool 2a and the displacement speed of the ACTV piston 3a. The horizontal line in FIG. 2 is the actual position of the FV spool 2a. The center of the horizontal line is the reference point 0, the right side of the reference point 0 shows, for example, the FV spool 2a is moved upward, and the left side of the reference point 0 shows, for example, the case where the FV spool 2a is moved downward. At the reference point 0, the flow rate of hydraulic oil flowing into and out of FV2 is zero. The further away from the reference point 0 to the right side or the left side, the flow rate of hydraulic oil flowing into and out of the FV 2 increases. In FIG. 2, the right side from the reference point 0 is represented as “large” and the left side is represented as “small”, but either one generates a force in the direction of supplying hydraulic oil to the ACTV 3 and pushing the ACTV piston 3a, The other generates a force in the direction of pulling the ACTV piston 3a by drawing the hydraulic oil from the ACTV 3. Thus, whether the hydraulic fluid is discharged from the FV2 or supplied to the FV2 when the FV spool 2a is moved from the reference point 0 to the right side or the left side is arbitrary. Can be set.
The graph of FIG. 2 plots the displacement speed of the ACTV piston 3a when the actual position of the FV spool 2a is changed in a plurality of ways, and connects the plots with lines. Although there is some variation, the correlation between the actual position of the FV spool 2a and the displacement speed of the ACTV piston 3a can be approximated to the solid line in FIG. In this specification, this solid straight line is called a correlation function.
本発明者の検討によると、ＦＶ２に作動油漏れが増大する場合に、ＦＶスプール２ａの実位置とＡＣＴＶピストン３ａの変位速度との相関関係を求めると、相関関数に変化が現れることがわかった。 According to the study of the present inventor, when the hydraulic oil leakage increases in the FV2, when the correlation between the actual position of the FV spool 2a and the displacement speed of the ACTV piston 3a is obtained, a change appears in the correlation function. .
そこで、コントローラ４内に異常判断部４ａを設けて、以下の第１例〜第４例の少なくとも１つに基づいて、ＦＶ２およびＡＣＴＶ３の状態異常の有無を判断することにした。 Accordingly, the abnormality determination unit 4a is provided in the controller 4 to determine whether there is an abnormality in the state of the FV 2 and the ACTV 3 based on at least one of the following first to fourth examples.
後述するように、第１例〜第４例のコントローラ４は、異常判断部４ａの他に、相関関係検出部４ｂを有する。相関関係検出部４ｂは、ＦＶ２とＡＣＴＶ３を所定期間動作させている間でのＦＶスプール２ａの実位置とＡＣＴＶピストン３ａの変位速度とに基づいて、両者の相関関係を検出する。 As will be described later, the controllers 4 of the first to fourth examples include a correlation detection unit 4b in addition to the abnormality determination unit 4a. The correlation detection unit 4b detects the correlation between the FV 2 and the ACTV 3 based on the actual position of the FV spool 2a and the displacement speed of the ACTV piston 3a during the predetermined period of operation.
第１例は、所定期間内に相関関数とのずれが所定の閾値以上になった頻度によって、ＦＶ２およびＡＣＴＶ３に状態異常が生じたか否かを判断するものである。より詳細には、第１例による異常判断部４ａは、頻度判定部４ｃと異常推測部４ｄを有する。頻度判定部４ｃは、所定期間内に、相関関数とのずれが所定の閾値以上になった頻度が所定の値以上あるか否かを判定する。異常推測部４ｄは、頻度判定部４ｃにて頻度が所定の値以上あると判定されると、ＦＶ２もしくはＡＣＴＶ３に状態異常があると推測する。 In the first example, it is determined whether or not a state abnormality has occurred in the FV 2 and the ACTV 3 based on the frequency at which the deviation from the correlation function becomes a predetermined threshold value or more within a predetermined period. More specifically, the abnormality determination unit 4a according to the first example includes a frequency determination unit 4c and an abnormality estimation unit 4d. The frequency determination unit 4c determines whether or not the frequency at which the deviation from the correlation function is equal to or greater than a predetermined threshold within a predetermined period is equal to or greater than a predetermined value. If the frequency determination unit 4c determines that the frequency is greater than or equal to a predetermined value, the abnormality estimation unit 4d estimates that there is a state abnormality in the FV2 or ACTV3.
図３は異常判断部４ａの第１例の処理手順を示すフローチャートである。まず、時刻ｔを初期時刻ｔ０に設定する（ステップＳ１）。次に、ＦＶ２とＡＣＴＶ３を動作させて、定期的または非定期にＦＶスプール２ａの実位置ＳＰｔと対応するＡＣＴＶピストン３ａの実位置ＳＭｔとを取り込む（ステップＳ２）。 FIG. 3 is a flowchart showing a processing procedure of the first example of the abnormality determination unit 4a. First, the time t is set to the initial time t0 (step S1). Next, FV2 and ACTV3 are operated to fetch the actual position SPt of the FV spool 2a and the actual position SMt of the ACTV piston 3a corresponding to the FV spool 2a regularly or irregularly (step S2).
次に、ＡＣＴＶピストン３ａの変位速度ｄＳＭｔ／ｄｔを演算する（ステップＳ３）。これにより、ＦＶスプール２ａの実位置ＳＰｔとＡＣＴＶピストン３ａの変位速度との相関関係を求めることができる。 Next, the displacement speed dSMt / dt of the ACTV piston 3a is calculated (step S3). Thereby, the correlation between the actual position SPt of the FV spool 2a and the displacement speed of the ACTV piston 3a can be obtained.
次に、ステップＳ２の処理を開始してから所定期間ｄＴが経過したか否かを判定する（ステップＳ４）。所定期間ｄＴがまだ経過していない場合は、ステップＳ２〜Ｓ４の処理を繰り返して、ＦＶスプール２ａの実位置とＡＣＴＶピストン３ａの変位速度に関する相関データの検出数を増やす。 Next, it is determined whether or not a predetermined period dT has elapsed since the process of step S2 was started (step S4). If the predetermined period dT has not yet elapsed, the processes in steps S2 to S4 are repeated to increase the number of detected correlation data regarding the actual position of the FV spool 2a and the displacement speed of the ACTV piston 3a.
所定期間ｄＴを経過した場合、所定期間内のＦＶスプール２ａの実位置とＡＣＴＶピストン３ａの変位速度とに基づいて、相関関数ｆ(ＳＰｔ)を求める（ステップＳ５）。このステップＳ５では、図２に示したように、例えば横軸をＦＶスプール２ａの実位置とし、縦軸をＡＣＴＶピストン３ａの変位速度としたときの所定期間内の各相関データに基づいて、相関近似演算を行って、相関関数ｆ(ＳＰｔ)を求める。相関関数は、理想的には例えば図２の実線直線で表される。 When the predetermined period dT has elapsed, a correlation function f (SPt) is obtained based on the actual position of the FV spool 2a and the displacement speed of the ACTV piston 3a within the predetermined period (step S5). In this step S5, as shown in FIG. 2, for example, based on the correlation data within a predetermined period when the horizontal axis is the actual position of the FV spool 2a and the vertical axis is the displacement speed of the ACTV piston 3a, An approximate calculation is performed to obtain a correlation function f (SPt). The correlation function is ideally represented, for example, by a solid line in FIG.
次に、所定期間（時刻ｔ＝ｔ０〜ｄＴの間）の各相関データが相関関数からどの程度乖離しているかを示す乖離値ΔｄＳＭを演算する（ステップＳ６）。乖離値ΔｄＳＭは、以下の（１）式で計算できる。 Next, a deviation value ΔdSM indicating how much each correlation data for a predetermined period (between times t = t0 and dT) deviates from the correlation function is calculated (step S6). The deviation value ΔdSM can be calculated by the following equation (1).
ΔｄＳＭ＝(ｄＳＭｔ／ｄｔ−ｆ(ＳＰｔ))２ …（１） ΔdSM = (dSMt / dt−f (SPt)) 2 (1)
次に、乖離値ΔｄＳＭが所定の閾値以上である相関データの数が所定個ｎ以上あるか否かを判定する（ステップＳ７）。所定個以上の場合は、所定の警告処理を行う（ステップＳ８）。所定の警告処理とは、ＦＶ２もしくはＡＣＴＶ３が状態異常を起こした可能性が高いことを不図示のコントロールパネル等に表示する。あるいは、アラーム音や音声などによる警告処理を行ってもよい。ステップＳ８の処理が終わった後、あるいはステップＳ７で所定個未満と判定された場合は、ステップＳ１以降の処理を定期的または非定期に繰り返す。 Next, it is determined whether or not the number of correlation data whose deviation value ΔdSM is equal to or greater than a predetermined threshold is equal to or greater than n (step S7). If the number is greater than or equal to a predetermined number, a predetermined warning process is performed (step S8). The predetermined warning process displays on the control panel or the like (not shown) that there is a high possibility that the FV 2 or ACTV 3 has caused an abnormal state. Alternatively, warning processing using alarm sound or voice may be performed. After the process of step S8 is completed, or when it is determined in step S7 that the number is less than the predetermined number, the process after step S1 is repeated periodically or irregularly.
一方、第２例は、相関関数とのばらつき具合によって、ＦＶ２に状態異常が生じたか否かを判断するものである。より詳細には、第２例による異常判断部４ａは、ばらつき度合検出部４ｅと、ばらつき度合判定部４ｆと、異常推測部４ｄとを有する。ばらつき度合検出部４ｅは、所定期間内におけるＦＶスプール２ａの実位置およびＡＣＴＶピストン３ａの変位速度の相関関数からのばらつき度合を検出する。ばらつき度合判定部４ｆは、ばらつき度合もしくはばらつき度合の変化が所定の閾値以上か否かを判定する。異常推測部４ｄは、ばらつき度合判定部４ｆにて閾値以上と判定されると、ＦＶ２もしくはＡＣＴＶ３に状態異常があると推測する。 On the other hand, in the second example, it is determined whether or not a state abnormality has occurred in FV2 based on the degree of variation from the correlation function. More specifically, the abnormality determination unit 4a according to the second example includes a variation degree detection unit 4e, a variation degree determination unit 4f, and an abnormality estimation unit 4d. The variation degree detection unit 4e detects a variation degree from a correlation function between the actual position of the FV spool 2a and the displacement speed of the ACTV piston 3a within a predetermined period. The variation degree determination unit 4f determines whether the variation degree or the variation in the variation degree is equal to or greater than a predetermined threshold value. The abnormality estimation unit 4d estimates that there is a state abnormality in the FV2 or ACTV3 when the variation degree determination unit 4f determines that the threshold value is equal to or greater than the threshold value.
図４は異常判断部４ａの第２例の処理手順を示すフローチャートである。図４のステップＳ１１〜Ｓ１５は、図３のステップＳ１〜Ｓ５と同様である。ステップＳ１５で相関関数が求まると、所定期間内の各相関データについて、相関関数とのばらつき度合を検出する（ステップＳ１６）。ばらつき度合は、決定係数Ｒ２で求めることができる。決定係数Ｒ２は、以下の（２）式で表すことができる。（２）式では、所定期間内の各相関データを（ｘｉ，ｙｉ）、相関関数をｆ(ｘｉ)、ｙｉの平均をμＹとしている。 FIG. 4 is a flowchart showing a processing procedure of the second example of the abnormality determination unit 4a. Steps S11 to S15 in FIG. 4 are the same as steps S1 to S5 in FIG. When the correlation function is obtained in step S15, the degree of variation with the correlation function is detected for each correlation data within a predetermined period (step S16). Degree of variation can be determined by the coefficient of determination R 2. The coefficient of determination R 2 can be expressed by the following equation (2). In equation (2), each correlation data within a predetermined period is (x i , y i ), the correlation function is f (x i ), and the average of y i is μY.
次に、ばらつき度合（例えば決定係数Ｒ２）が所定の閾値以上か否かを判定する（ステップＳ１７）。ばらつき度合が閾値以上の場合は、所定の警告処理を行う（ステップＳ１８）。ステップＳ１８の処理が終わった後、あるいは閾値未満の場合は、ステップＳ１１以降の処理を繰り返す。 Next, it is determined whether or not the degree of variation (for example, the determination coefficient R 2 ) is equal to or greater than a predetermined threshold (step S17). If the degree of variation is greater than or equal to the threshold value, a predetermined warning process is performed (step S18). After the process of step S18 is completed, or if it is less than the threshold value, the processes after step S11 are repeated.
図５は所定期間内の各相関データのばらつき度合の一例を示す図である。図５の横軸は内部漏れ量［Ｌ／分］、縦軸はばらつき度合すなわち決定係数Ｒ２である。縦軸は下の方ほどばらつきが大きく、上の方ほどばらつきが小さい。図５の例では、相関データｐ１がばらつき度合が閾値以上と判定される。 FIG. 5 is a diagram showing an example of the degree of variation of each correlation data within a predetermined period. The horizontal axis of FIG. 5 is an internal leak amount [L / min], and the vertical axis represents the degree of variation i.e. the coefficient of determination R 2. On the vertical axis, the lower the variation is, the higher the variation is. In the example of FIG. 5, it is determined that the degree of variation of the correlation data p1 is greater than or equal to a threshold value.
一方、第３例は、相関関数の傾き変化によって、ＦＶ２に状態異常が生じたか否かを判断するものである。より詳細には、第３例による異常判断部４ａは、傾き判定部４ｇと異常推測部４ｄとを有する。傾き判定部４ｇは、所定期間内において、相関関数の傾き変化が所定の閾値以上になったを判定する。異常推測部４ｄは、傾き判定部４ｇにて相関関数の傾きもしくは傾き変化が所定の閾値以上になったと判定されると、ＦＶ２もしくはＡＣＴＶ３に状態異常があると推測する。 On the other hand, the third example determines whether or not a state abnormality has occurred in FV2 due to a change in the slope of the correlation function. More specifically, the abnormality determination unit 4a according to the third example includes an inclination determination unit 4g and an abnormality estimation unit 4d. The inclination determination unit 4g determines whether the change in the inclination of the correlation function is equal to or greater than a predetermined threshold within a predetermined period. The abnormality estimation unit 4d estimates that there is a state abnormality in the FV2 or ACTV3 when the inclination determination unit 4g determines that the slope or inclination change of the correlation function has exceeded a predetermined threshold value.
図６は異常判断部４ａの第３例の処理手順を示すフローチャートである。図６のステップＳ２１〜Ｓ２５は、図３のステップＳ１〜Ｓ５と同様である。ステップＳ２５で相関関数が求まると、相関関数の傾きが急激に変化したか否かを判定する（ステップＳ２６）。より具体的には、相関関数の傾きが過去の実績に対し変化があるか否かを判定する。そして、閾値以上に変化した場合は、所定の警告処理を行う（ステップＳ２７）。ステップＳ２７の処理が終わった後、あるいは閾値以上にならなかった場合は、傾きの過去実績を更新する（ステップ２８）。その後、ステップＳ２１以降の処理を繰り返す。 FIG. 6 is a flowchart showing a process procedure of the third example of the abnormality determination unit 4a. Steps S21 to S25 in FIG. 6 are the same as steps S1 to S5 in FIG. When the correlation function is obtained in step S25, it is determined whether or not the slope of the correlation function has changed abruptly (step S26). More specifically, it is determined whether or not the slope of the correlation function has changed with respect to past results. And when it changes more than a threshold value, a predetermined warning process is performed (step S27). After the process of step S27 is completed, or when the threshold value is not exceeded, the past result of the slope is updated (step 28). Then, the process after step S21 is repeated.
一方、第４例は、相関関数のＸ切片とＹ切片の少なくとも一方が急激に変化したか否かによって、ＦＶ２に状態異常が生じたか否かを判断するものである。より詳細には、第４例による異常判断部４ａは、相関関数判定部４ｈと異常推測部４ｄとを有する。相関関数判定部４ｈは、所定期間内において、ＦＶスプール２ａの実位置が基準位置の場合の相関関数上のＡＣＴＶピストン３ａの変位速度と、ＡＣＴＶピストン３ａの変位速度がゼロの場合の相関関数上のＦＶスプール２ａの実位置との少なくとも一方が所定の閾値を超えたか、もしくは所定の閾値以上変化したか否かを判定する。異常推測部４ｄは、相関関数判定部４ｈにて閾値以上変化したと判定されると、ＦＶ２もしくはＡＣＴＶ３に状態異常があると推測する。 On the other hand, in the fourth example, whether or not a state abnormality has occurred in FV2 is determined based on whether or not at least one of the X-intercept and the Y-intercept of the correlation function has changed abruptly. More specifically, the abnormality determination unit 4a according to the fourth example includes a correlation function determination unit 4h and an abnormality estimation unit 4d. The correlation function determination unit 4h is configured to calculate the displacement speed of the ACTV piston 3a on the correlation function when the actual position of the FV spool 2a is the reference position and the correlation function when the displacement speed of the ACTV piston 3a is zero within a predetermined period. It is determined whether at least one of the actual position of the FV spool 2a exceeds a predetermined threshold value or has changed by a predetermined threshold value or more. If it is determined that the correlation function determination unit 4h has changed the threshold value or more, the abnormality estimation unit 4d estimates that there is a state abnormality in the FV2 or ACTV3.
図７は異常判断部４ａの第４例の処理手順を示すフローチャートである。図７のステップＳ３１〜Ｓ３５は、図３のステップＳ１〜Ｓ５と同様である。ステップＳ３５で相関関数が求まると、次に、相関関数のＸ切片とＹ切片の少なくとも一方が急激に変化したか否かを判定する（ステップＳ３６）。Ｘ切片は、ＡＣＴＶピストン３ａの変位速度がゼロの場合の相関関数上のＦＶスプール２ａの実位置である。Ｙ切片は、ＦＶスプール２ａの実位置が基準位置の場合の相関関数上のＡＣＴＶピストン３ａの変位速度である。Ｘ切片とＹ切片の少なくとも一方が、過去の実績値と比較して、閾値以上変化すれば、所定の警告処理を行う（ステップＳ３７）。ステップＳ３７の処理が終わった後、あるいは閾値以上のＸ切片とＹ切片の変化がない場合は、Ｘ切片とＹ切片の過去実績を更新する（ステップ３８）。その後、ステップＳ３１以降の処理を繰り返す。 FIG. 7 is a flowchart showing a processing procedure of the fourth example of the abnormality determination unit 4a. Steps S31 to S35 in FIG. 7 are the same as steps S1 to S5 in FIG. When the correlation function is obtained in step S35, it is next determined whether or not at least one of the X intercept and the Y intercept of the correlation function has changed abruptly (step S36). The X-intercept is the actual position of the FV spool 2a on the correlation function when the displacement speed of the ACTV piston 3a is zero. The Y intercept is the displacement speed of the ACTV piston 3a on the correlation function when the actual position of the FV spool 2a is the reference position. If at least one of the X-intercept and the Y-intercept changes by more than a threshold value compared with the past actual value, a predetermined warning process is performed (step S37). After the processing of step S37 is completed, or when there is no change in the X intercept and Y intercept that are equal to or greater than the threshold, the past results of the X intercept and Y intercept are updated (step 38). Then, the process after step S31 is repeated.
上述した第１例〜第４例は、ＦＶ２内の作動油漏れによる状態異常を判断する一例にすぎず、その他の手法にてＦＶ２の状態異常を判断してもよい。第３例および第４例では、過去の実績に対する変化を監視し状態異常を検知したが、単純に閾値を超えた場合に状態異常を検知するようにしても良い。また、相関関数を求める際には、ＦＶスプール２ａの位置が変化してからＡＣＴＶピストン３ａの変位速度が変化するまでに時間遅れが生じるため、時間遅れを考慮に入れて、最適な時間遅れを見込んで、相関関数を求めてもよい。 The first to fourth examples described above are merely examples of determining a state abnormality due to hydraulic fluid leakage in the FV2, and the state abnormality of the FV2 may be determined by other methods. In the third example and the fourth example, a change in the past performance is monitored and a state abnormality is detected. However, a state abnormality may be detected when the threshold value is simply exceeded. Further, when obtaining the correlation function, a time delay occurs from the change of the position of the FV spool 2a to the change of the displacement speed of the ACTV piston 3a. The correlation function may be obtained in anticipation.
図８はＦＶスプール２ａの位置が変化してからＡＣＴＶピストン３ａの変位速度が変化するまでの時間遅れと相関関数に対するデータのばらつき度合いの関係を示す図である。図８の横軸は時間遅れの長さ、縦軸はばらつき度合いであり、縦軸の下の方ほどばらつきが大きく、上の方ほどばらつきが小さくなることを示す。図８のプロットのように、各相関データの時間遅れがばらつく場合は、ばらつきが最小になるときの時間遅れを最適な時間遅れとして、この最適な時間遅れを見込んで、相関関数を求めてもよい。 FIG. 8 is a graph showing the relationship between the time delay from the change of the position of the FV spool 2a to the change of the displacement speed of the ACTV piston 3a and the degree of data variation with respect to the correlation function. The horizontal axis in FIG. 8 is the length of time delay, and the vertical axis is the degree of variation. The lower the vertical axis, the larger the variation, and the upper the smaller the variation. As shown in the plot of FIG. 8, when the time delay of each correlation data varies, the time delay when the variation is minimized is regarded as the optimal time delay, and the correlation function can be obtained by taking this optimal time delay into account. Good.
また、ＦＶ２内で作動油漏れが生じると、作動油漏れがない場合と比べて、前記の最適な時間遅れが長くなる。そこで、ＦＶスプール２ａの位置が変化してからＡＣＴＶピストン３ａの変位速度が変化するまでの最適時間遅れが所定の閾値以上か否かを判定し、所定の閾値以上であれば、ＦＶ２の状態異常が生じたと判断してもよい。 Further, when the hydraulic oil leaks in the FV2, the optimum time delay becomes longer than in the case where there is no hydraulic oil leak. Therefore, it is determined whether or not the optimum time delay from when the position of the FV spool 2a changes until the displacement speed of the ACTV piston 3a changes is greater than or equal to a predetermined threshold. It may be determined that has occurred.
図９はＦＶ２の作動油漏れ量と最適時間遅れの長さとの相関関係を示す図である。図９の横軸は作動油漏れ量［Ｌ／分］、縦軸は最適時間遅れである。縦軸の下の方ほど最適時間遅れが長く、上の方ほど最適時間遅れが短い。図９の相関データｐ２は作動油漏れ量が最大で、かつ最適時間遅れも最長であるため、ＦＶ２の状態異常と判断される。 FIG. 9 is a diagram showing a correlation between the amount of hydraulic fluid leakage of FV2 and the length of the optimum time delay. The horizontal axis in FIG. 9 is the hydraulic oil leakage amount [L / min], and the vertical axis is the optimum time delay. The lower the vertical axis, the longer the optimum time delay, and the upper one, the shorter the optimum time delay. Since the correlation data p2 in FIG. 9 has the largest amount of hydraulic oil leakage and the longest optimum time delay, it is determined that the state of the FV2 is abnormal.
上述した第１〜第４例では、ＦＶスプール２ａの実位置とＡＣＴＶピストン３ａの変位速度とに基づいて、両者の相関関係を検出しているが、ＦＶスプール２ａの実位置は、ＡＣＴＶピストン３ａを移動させる場合と、ＦＶ２の不図示のタンクに作動流体を戻す場合とに変化する。このうち、タンクに作動流体を戻す場合の方が、ＡＣＴＶ３側の影響を受けないため、より正確にＦＶスプール２ａの実位置を計測できる。ＦＶ２のタンクに作動流体を戻す場合にＦＶスプール２ａの実位置を計測することで、ＦＶ２の状態異常の有無をより精度よく判断できる。 In the first to fourth examples described above, the correlation between the FV spool 2a and the ACTV piston 3a is detected based on the actual position of the FV spool 2a. And when the working fluid is returned to the tank (not shown) of FV2. Among these, when the working fluid is returned to the tank, the actual position of the FV spool 2a can be measured more accurately because it is not affected by the ACTV 3 side. By measuring the actual position of the FV spool 2a when returning the working fluid to the tank of the FV2, it is possible to more accurately determine whether or not there is an abnormal state of the FV2.
このように、本実施形態では、ＦＶスプール２ａが移動している最中のＦＶスプール２ａの実位置とＡＣＴＶピストン３ａの変位速度との相関関係に基づいて、ＦＶ２の状態異常の有無を判断するため、ＦＶ２内の作動油漏れによるＦＶ２の状態異常を精度よく検出できる。本実施形態は、ＦＶ２内で作動油漏れが生じると、ＦＶスプール２ａの実位置とＡＣＴＶピストン３ａの変位速度との相関関係が変化することに着目したものであり、相関関係の変化を検出する具体的な手法は特に問わない。例えば、上述したように、所定期間内でのＦＶスプール２ａの実位置とＡＣＴＶピストン３ａの変位速度との相関関係から相関関数を求めて、相関関数とのずれやばらつき度合によって、ＦＶ２の状態異常を判断してもよいし、相関関数の傾き、Ｘ切片、Ｙ切片などからＦＶ２の状態異常を判断してもよい。本実施形態によれば、流量計を設けずに、ＦＶ２内の作動油漏れを検出できるため、ＦＶ２に作動油漏れ検出用の流量計を設ける必要がなくなり、ＦＶ２のコストアップを回避できる。 Thus, in this embodiment, the presence or absence of an abnormal state of the FV2 is determined based on the correlation between the actual position of the FV spool 2a while the FV spool 2a is moving and the displacement speed of the ACTV piston 3a. Therefore, it is possible to accurately detect an abnormal state of the FV2 due to hydraulic fluid leakage in the FV2. This embodiment focuses on the fact that the correlation between the actual position of the FV spool 2a and the displacement speed of the ACTV piston 3a changes when hydraulic fluid leakage occurs in the FV2, and detects the change in the correlation. The specific method is not particularly limited. For example, as described above, the correlation function is obtained from the correlation between the actual position of the FV spool 2a and the displacement speed of the ACTV piston 3a within a predetermined period, and the state abnormality of the FV2 is caused by the deviation from the correlation function or the degree of variation. Or an abnormal state of FV2 may be determined from the slope of the correlation function, the X intercept, the Y intercept, or the like. According to the present embodiment, it is possible to detect a hydraulic oil leak in the FV2 without providing a flow meter. Therefore, it is not necessary to provide a flow meter for detecting the hydraulic oil leak in the FV2, and an increase in the cost of the FV2 can be avoided.
上述した実施形態では、ＦＶ２とＡＣＴＶ３を備えた流体圧駆動装置１について説明したが、本実施形態は、流量制御弁と駆動部とを備えた流体圧駆動装置１に幅広く適用可能である。流量制御弁は、第１可動部を有し、第１可動部の位置に応じて作動油の吐出量を制御するものであればよい。流量制御弁の具体例は、上述したＦＶ２等のスプール弁の他に、ポペット弁、ボール弁、ニードル弁などにも適用可能である。駆動部は、流量制御弁からの作動油の吐出量に応じて位置を可変可能な第２可動部を有し、第２可動部の位置に応じてアクチュエータ軸５を直接駆動するもののほか、第２可動部は位置に応じて、別置きのアクチュエータに対する作動油の供給量を制御する弁であってもよい。駆動部の具体例は、上述したピストン式のアクチュエータＡＣＴＶ３の他に、スプール弁やポペット弁でもよいし、油圧モータ等の流体圧駆動モータでもよい。 In the above-described embodiment, the fluid pressure driving device 1 including the FV 2 and the ACTV 3 has been described. However, the present embodiment can be widely applied to the fluid pressure driving device 1 including the flow rate control valve and the driving unit. The flow rate control valve has only to have a first movable part and controls the discharge amount of the hydraulic oil according to the position of the first movable part. Specific examples of the flow control valve can be applied to a poppet valve, a ball valve, a needle valve, and the like in addition to the above-described spool valve such as FV2. The drive unit has a second movable part whose position can be changed according to the discharge amount of hydraulic oil from the flow control valve, and directly drives the actuator shaft 5 according to the position of the second movable part. 2 A movable part may be a valve which controls supply_amount | feed_rate of the hydraulic fluid with respect to another actuator according to a position. A specific example of the drive unit may be a spool valve, a poppet valve, or a fluid pressure drive motor such as a hydraulic motor, in addition to the above-described piston actuator ACTV3.
本発明の態様は、上述した個々の実施形態に限定されるものではなく、当業者が想到しうる種々の変形も含むものであり、本発明の効果も上述した内容に限定されない。すなわち、特許請求の範囲に規定された内容およびその均等物から導き出される本発明の概念的な思想と趣旨を逸脱しない範囲で種々の追加、変更および部分的削除が可能である。 The aspect of the present invention is not limited to the individual embodiments described above, and includes various modifications that can be conceived by those skilled in the art, and the effects of the present invention are not limited to the contents described above. That is, various additions, modifications, and partial deletions can be made without departing from the concept and spirit of the present invention derived from the contents defined in the claims and equivalents thereof.
１ 流体圧駆動装置、２ 流量制御弁（ＦＶ）、２ａ ＦＶスプール、２ｂ ＦＶスプールセンサ、３ アクチュエータ（ＡＣＴＶ）、３ａ ＡＣＴＶピストン、３ｂ ＡＣＴＶピストンセンサ、４ コントローラ、４ａ 異常判断部、４ｂ 相関関係検出部、４ｃ 頻度判定部、４ｄ 異常推測部、４ｅ ばらつき度合検出部、４ｆ ばらつき度合判定部、４ｇ 傾き判定部、４ｈ 相関関数判定部、５ アクチュエータ軸 DESCRIPTION OF SYMBOLS 1 Fluid pressure drive device, 2 Flow control valve (FV), 2a FV spool, 2b FV spool sensor, 3 Actuator (ACTV), 3a ACTV piston, 3b ACTV piston sensor, 4 Controller, 4a Abnormal judgment part, 4b Correlation detection Unit, 4c frequency determination unit, 4d abnormality estimation unit, 4e variation degree detection unit, 4f variation degree determination unit, 4g inclination determination unit, 4h correlation function determination unit, 5 actuator axis
Claims (10)
前記流量制御弁からの作動流体の吐出量に応じて位置を変化可能な第２可動部を有するアクチュエータと、
前記作動流体を吐出する前記第１可動部の実位置と前記第２可動部の変位速度との相関関係に基づいて、前記流量制御弁の状態異常の有無を判断する異常判断部と、を備える流体圧駆動装置。 A flow control valve having a first movable part and controlling a discharge amount of the working fluid according to a position of the first movable part;
An actuator having a second movable portion whose position can be changed according to the discharge amount of the working fluid from the flow control valve;
An abnormality determination unit that determines whether there is an abnormal state of the flow control valve based on a correlation between an actual position of the first movable unit that discharges the working fluid and a displacement speed of the second movable unit. Fluid pressure drive device.
前記異常判断部は、前記相関関数と、前記所定期間内での前記第１可動部の実位置および前記第２可動部の変位速度と、に基づいて、前記流量制御弁の状態異常の有無を判断する、請求項１に記載の流体圧駆動装置。 Correlation detection for obtaining a correlation function representing the correlation based on an actual position of the first movable part and a displacement speed of the second movable part while the flow rate control valve and the actuator are operated for a predetermined period. Part
The abnormality determination unit determines whether the flow control valve is abnormal based on the correlation function, the actual position of the first movable unit and the displacement speed of the second movable unit within the predetermined period. The fluid pressure driving device according to claim 1, wherein the fluid pressure driving device is determined.
前記所定期間内に、前記相関関数とのずれが所定の閾値以上になった頻度が所定の値以上あるか否かを判定する頻度判定部と、
前記頻度判定部にて前記頻度が前記所定の値以上あると判定されると、前記流量制御弁に状態異常があると推測する異常推測部と、を有する、請求項２に記載の流体圧駆動装置。 The abnormality determination unit
A frequency determination unit that determines whether or not the frequency with which the deviation from the correlation function is equal to or greater than a predetermined threshold within a predetermined period is equal to or greater than a predetermined value;
The fluid pressure drive according to claim 2, further comprising: an abnormality estimation unit that estimates that the flow rate control valve has a state abnormality when the frequency determination unit determines that the frequency is equal to or greater than the predetermined value. apparatus.
前記所定期間内における前記第１可動部の実位置および前記第２可動部の変位速度の前記相関関数からのばらつき度合を検出するばらつき度合検出部と、
前記ばらつき度合もしくはばらつき度合いの変化が所定の閾値以上か否かを判定するばらつき度合判定部と、
前記ばらつき度合判定部にて前記閾値以上と判定されると、前記流量制御弁に状態異常があると推測する異常推測部と、を有する、請求項２に記載の流体圧駆動装置。 The abnormality determination unit
A variation degree detection unit for detecting a variation degree from the correlation function of the actual position of the first movable part and the displacement speed of the second movable part within the predetermined period;
A variation degree determination unit for determining whether or not the variation degree or variation degree of variation is equal to or greater than a predetermined threshold;
The fluid pressure drive device according to claim 2, further comprising: an abnormality estimation unit that estimates that the flow rate control valve has an abnormal state when it is determined that the variation degree determination unit is equal to or greater than the threshold value.
前記所定期間内において前記相関関数の傾きもしくは傾きの変化が所定の閾値以上になった否かを判定する傾き判定部と、
前記傾き判定部にて前記閾値以上になったと判定されると、前記流量制御弁に状態異常があると推測する異常推測部と、を有する、請求項２に記載の流体圧駆動装置。 The abnormality determination unit
An inclination determination unit that determines whether the inclination of the correlation function or a change in the inclination is equal to or greater than a predetermined threshold within the predetermined period;
The fluid pressure drive device according to claim 2, further comprising: an abnormality estimation unit that estimates that the flow rate control valve has a state abnormality when the inclination determination unit determines that the threshold value is exceeded.
前記所定期間内において、前記第１可動部の実位置が基準位置の場合の前記相関関数上の前記第２可動部の変位速度と、前記第２可動部の変位速度がゼロの場合の前記相関関数上の前記第１可動部の実位置と、の少なくとも一方が所定の閾値を超えたか、もしくは所定の閾値以上に変化したか否かを判定する相関関数判定部と、
前記相関関数判定部にて閾値と判定されると、前記流量制御弁に状態異常があると推測する異常推測部と、を有する、請求項２に記載の流体圧駆動装置。 The abnormality determination unit
Within the predetermined period, the correlation between the displacement speed of the second movable part on the correlation function when the actual position of the first movable part is a reference position and the correlation when the displacement speed of the second movable part is zero. A correlation function determination unit that determines whether at least one of the actual position of the first movable unit on the function exceeds a predetermined threshold value or changes to a predetermined threshold value or more;
The fluid pressure drive device according to claim 2, further comprising: an abnormality estimation unit that estimates that the flow rate control valve has a state abnormality when the correlation function determination unit determines that the threshold value is a threshold value.
前記流量制御弁は、スプール弁である、請求項１乃至９のいずれか一項に記載の流体圧駆動装置。 The first movable part is a spool;
The fluid pressure drive device according to any one of claims 1 to 9, wherein the flow control valve is a spool valve.
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