JP2523262B2 - Automatic winch constant speed controller - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a winch automatic constant speed controller.

[0002]

2. Description of the Related Art When an auger unit is attached to a pile driver or a crane to carry out ground improvement work, it is necessary to match the chemical solution injection speed with the hoisting / lowering speed of the auger unit in a low speed range. is there. In such work, conventionally, an ultra-low speed operation was performed by a hydraulic ultra-low speed control device provided in the machine body.

However, since this conventional ultra-low speed control device does not feed back the loop speed at all,
The changing of the drum winding layer of the hydraulic hoist winch changes the rope speed. For this reason, the operator operates the engine accelerator lever while looking at the speed meter of the separately installed rope to sequentially control the engine rotation speed to increase or decrease the rotation speed of the hydraulic pump, and By controlling the rotation speed of the hoisting winch, constant speed control of the rope is performed. Therefore, the operation is complicated and it is difficult to maintain a constant speed.

Therefore, the constant speed control device shown in FIG. 4 has been conventionally used. In this control device, the construction speed Vo is set by the setting device 51, and the hoisting rope speed V is detected by the speed detector 61. The automatic constant speed control device 50 includes the setting device 5
The deviation Vo-V (= ΔV) between the construction speed Vo set in 1 and the hoisting rope speed V detected by the speed detector 61 is calculated at the addition point 52, and a coefficient unit is added to the deviation ΔV. Coefficient K at 53
Multiply by to get K · ΔV. This K · ΔV is input to the integrator 54 and added to the previous control value P to obtain a new control value P. This control value P is input to the electromagnetic proportional pressure reducing valve 16. The electromagnetic proportional pressure reducing valve 16 adjusts the pressure introduced to the regulator 1a of the hydraulic pump 1, and the pressure according to the input control value P is applied to the regulator 1a. As a result, the discharge volume of the hydraulic pump 1 is controlled, the discharge flow rate of the hydraulic pump 1 is adjusted, and the rotational speed of the hydraulic winch is maintained at a predetermined value.

[0005]

The automatic constant speed control according to this method is performed when a speed fluctuation occurs at the start of control or when a disturbance occurs due to irregular winding of the hoisting loop or fluctuations in the engine speed, etc. Since (the above-mentioned ΔV) is large, the response until it converges to the set construction speed Vo is very slow, and speed hunting is likely to occur.

It is an object of the present invention to provide a winch automatic constant speed control device for improving responsiveness at the start of control and for occurrence of disturbance and for preventing hunting.

[0007]

SUMMARY OF THE INVENTION The present invention is an apparatus for automatically controlling the hoisting / lowering speed of a work attachment suspended on a winch, the hoisting / lowering speed of the work attachment being controlled. A speed setter for setting, a speed detector for detecting a hoisting / lowering speed of the work attachment, and a deviation between a speed set by the operation degree setter and an actual speed detected by the speed detector. A winch automatic constant-speed control device, which is provided with a deviation device for obtaining, and outputs a speed control value for controlling the hoisting / lowering speed to the winch drive means based on the deviation from the deviation device. To be done. Then, an initial control value generating means for generating an initial control value according to the set speed, a feedback gain generating means for generating a feedback gain according to the set speed, and the deviation and the feedback gain are multiplied. And a multiplier that integrates the output of the multiplier, and an adder that adds the initial control value and the output of the integrator to generate the speed control value. Achieve the purpose. According to a second aspect of the present invention, in the control device of the first aspect, the initial control value generating means and the feedback gain generating means generate the initial control value and the feedback gain, respectively, according to the speed set by the speed setter. It is what

[0008]

The initial control value generating means generates the initial control value according to the set speed. This initial control value is added in the adder with the output of the integrator to form the speed control value. Although the integral value is zero at the start of control, the winch is driven at the planned construction speed quickly because the speed control value is formed according to the initial control value. Further, during the work, the deviation between the set speed and the actual speed is taken, and the product is integrated by multiplying the feedback gain corresponding to the set speed and this deviation, and further the initial control value and the integrated value. Since the speed control value is generated by adding, the actual speed quickly converges to the set speed by the feedback gain that takes a value corresponding to the set speed even if the actual speed greatly changes due to disturbance.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. First, the hoisting winch hydraulic circuit will be described with reference to FIG. In FIG. 2, reference numeral 1 denotes a variable displacement hydraulic pump (hereinafter simply referred to as a hydraulic pump) driven by an engine (not shown). On the discharge side of the hydraulic pump 1, a directional switching valve 2 for controlling the discharge oil and a circuit pressure And a relief valve 3 for setting The direction switching valve 2 is connected to the pipelines 5 and 6 communicating with the hoisting hydraulic motor 4, and a counterbalance valve 7 is installed in the pipelines 5 and 6.
At the pilot ports 2a and 2b of the direction switching valve 2, the pilot valve 1 for adjusting the discharge pressure of the pilot hydraulic pump 8 is provided.
The secondary pressure corresponding to the manipulated variable of 1 is supplied through the pipe lines 9 and 10, and the direction of the direction switching valve 2 is switched and controlled by the supplied pressure to control the direction and flow rate of the pressure oil to the hydraulic motor 4. It Further, the output pressure of the pilot valve 11 is guided to the pipe line 13 via the shuttle valve 12, and can be supplied to the regulator 1a of the hydraulic pump 1 via the electromagnetic switching valve 14 provided in the pipe line 13. There is.

Discharge oil from the pilot hydraulic pump 8 can be supplied to the regulator 1a via an electromagnetic proportional pressure reducing valve 15, a conduit 16 and an electromagnetic switching valve 14. This electromagnetic proportional pressure reducing valve 15 is provided with an automatic constant speed control device 30.
Driven by a command signal from the control unit, the output pressure is adjusted. That is, the electromagnetic switching valve 14 is switched to the a position when the switch 17 is turned on and is switched to the b position when the switch 17 is turned off. At the position a, the output pressure of the electromagnetic proportional pressure reducing valve 15 is supplied to the regulator 1a, and at the position b, the output pressure of the pilot valve 11 is supplied to the regulator 1a. The switch 17 is installed between the battery 18 and the solenoid portion of the electromagnetic switching valve 14. Furthermore, in order to detect the operation direction of the pilot valve 11, pressure switches 19a and 19b are provided in the pilot pipe lines 9 and 10.

In FIG. 2, a winch drum 21 is connected to the hydraulic motor 4, and a rope 22 wound around the winch drum 21 supports an auger unit 24 via a sheave 23. The sheave 23 is provided with a speed detector 25 such as a rotary encoder to detect the speed of the rope 22.

Further, in FIG. 2, the automatic constant speed control device 30 includes a speed setter 31, which takes in signals from the speed detector 25 and signals from the pressure switches 19a and 19b and sets them by the speed setter 31. Winding up to speed Vo
In order to control the speed V, a command signal is sent to the electromagnetic proportional pressure reducing valve 15 as described later.

Next, the automatic constant speed controller 30 will be described with reference to FIG. The automatic constant speed controller 30 includes a speed setter 31.
, A function generator 32, an addition point 33, a multiplier 34,
It has an integrator 35, an addition point 36, and a gate circuit 37. The speed setter 31 sets the construction speed Vo. The function generator 32 indicates the construction speed Vo set and input by the speed setter 31 and the standard control value Po which is the input current to the electromagnetic proportional pressure reducing valve 15 as shown by the solid line I in FIG. Generate a function associated with. Also, the construction speed Vo and Fig. 3
A function is generated by associating the inclination of the function indicated by the solid line I in FIG. 3A with the slope indicated by the solid line J in FIG. That is,
The standard control value Po and the feedback gain G are respectively output with respect to the input construction speed Vo.

The addition point 33 is a deviation Vo-V between the hoisting loop speed V output from the speed detector 31 and the construction speed Vo.
= ΔV is obtained. The multiplier 34 has a feedback gain G
And the deviation ΔV are multiplied. The integrator 35 integrates the multiplication result G · ΔV and outputs the control value P. Addition point 36
Is the standard control value Po from the function generator 32 and the integrator 35.
And the control value P from are added to obtain a new control value P. The gate circuit 37 is closed when the pressure switch 19 is turned on,
The control value P which is the output of the addition point 36 is supplied to the electromagnetic proportional pressure reducing valve 15 as a command signal.

Next, the operation will be described. Switch 1
7 is turned on to switch the electromagnetic switching valve 14 to the a position and the automatic constant speed operation is selected. Next, the construction speed Vo of the auger unit 24 is planned and set by the speed setter 31 provided in the automatic constant speed controller 30. The operating lever 11a of the hoisting winch is fully operated to either the upper side or the lower side to lock the operating lever 11a in a detent manner. At this time, since the pressure oil is not supplied to the regulator 1a of the hydraulic pump 1, the pump discharge amount is zero. Lever-11
By operating a, the pilot valve 11 is operated, the pressure switch 19 is closed, and a signal for starting control is input to the automatic constant speed control device 30. When the control start signal is input, the gate circuit 37 is closed. When the control is started by the gate closing operation,
A standard control value Po corresponding to the planned construction speed Vo is output from the function generator 32 and added to the addition point 36. Since one input of the addition point 36 is zero at the start of control, this standard control value (indicating the input current value) Po is sent to the electromagnetic proportional pressure reducing valve 15 via the gate circuit 37. This command signal is converted into a secondary pressure by the electromagnetic proportional pressure reducing valve 15, and this pressure is input to the regulator 1a of the hydraulic pump 1.

As a result, the displacement volume of the hydraulic pump 1 is increased from zero and pressure oil is started to be discharged, guided through the direction switching valve 2 to the hydraulic motor 4, and the winch drum 21 starts rotating. Then, when the speed detector 25 outputs a signal corresponding to the speed of the hoisting loop 22, that is, the hoisting rope speed V, the addition point 33 calculates Vo-V (= ΔV), and this deviation ΔV is multiplied by the feedback gain G output from the function generator 32 according to the construction speed Vo, and the integrator 3
5 is input. The integrator 35 integrates G · ΔV and outputs a control value P. At the addition point 36, the standard control value Po from the function generator 32 and the control value P from the integrator 35 are added, and the command signal (input current value) P as the addition result is passed through the gate circuit 37. And supplies it to the electromagnetic proportional pressure reducing valve 15.
As a result, the secondary pressure corresponding to the command signal is output from the electromagnetic proportional pressure reducing valve 15 and supplied to the regulator 1a via the conduit 16 and the electromagnetic switching valve 14. As a result, the deviation △
Since the displacement volume of the hydraulic pump 1, that is, the discharge flow rate is increased or decreased according to V, the rotation speed of the winch drum 21 is controlled, and the hoisting speed V approaches the construction speed Vo.

As described above, when the control is started, the output of the integrator 35 is zero, but the standard control value Po is output from the function generator 32. Therefore, the addition point 36 changes the control value Po to the electromagnetic proportional pressure reducing valve. Send to 15. Therefore, the rising responsiveness is improved. After startup, the control value P is

[Formula 1] P = Po + ∫G · ΔVdt is corrected.

The feedback gain G mentioned above will now be described. Now, as shown in FIG. 3A, the planned construction speed Vo is V _A and the hoisting and winding speed V is V _B (> V _A ). The control value P for the planned construction speed Vo = V _A is P _A ,
The control value P for the hoisting loop speed V = V _B is P _B.
That is, the control value P may be lowered to P _B → P _A in order to reduce the hoisting and rope speed V to V _B → V _A. The speed deviation ΔV _AB between the speeds V _A and V _B and the control value deviation ΔP _AB between the control values P _A and P _B are

[Formula 2] V _B −V _A = ΔV _AB > 0

## EQU3 ## When represented by P _B -P _A = ΔP _AB > 0, the control value P _A is

(4) P _A = P _B −ΔP _AB = P _B − (ΔV _AB · G) (1) Therefore, this equation (1) is shown in FIG.
In order to determine the feedback gain G so as to be satisfied in the entire region of (a), the feedback gain G is set as shown in FIG.
3B, the feedback gain G can be represented by a function J of the construction speed Vo as shown in FIG. That is, the function J in FIG. 3B represents the slope of the function I shown in FIG. Further, the function I is determined corresponding to the PQ line of the hydraulic pump 1.

Incidentally, for example, when the actual speed is zero for a predetermined time or more, or when the two pressure switches 19a and 19b are both turned on, it is judged to be abnormal and the gate circuit 3 is determined.
You may open 7. This causes the winch to stop.
When the abnormal state is resolved, the winch starts driving again, but in this case as well, the initial control value Po is output, so it is possible to drive at the set speed immediately.

[0020]

As described above, according to the present invention,
Since the initial control value and feedback gain corresponding to the set speed are output, the time to converge to the predetermined set speed at the start of work or speed fluctuation due to disturbance is shortened and the responsiveness is improved. . Hunting is also prevented. That is, according to the present invention, the initial control value and the feedback gain corresponding to the set speed are output, the hoisting / lowering speed of the work attachment is controlled by the initial control value at the start of the work, and the disturbance is generated during the control. If the hoisting / lowering speed of the work attachment fluctuates, the difference between the actual speed and the set speed is multiplied by the feedback gain corresponding to the set speed, and the initial control value is added to the integrated value of these multiplied values. Since the control is performed, the time required to converge to the predetermined set speed can be shortened and the responsiveness can be improved, as compared with the feedback control using only the actual speed and the set speed. As a result, it is not necessary to make the feedback gain larger than in the conventional case, which also contributes to prevention of hunting.

[Brief description of drawings]

FIG. 1 is an overall block diagram of an automatic constant speed control device according to an embodiment of the present invention.

FIG. 2 is an overall configuration diagram including a hydraulic circuit of an automatic constant speed control device according to an embodiment.

FIG. 3 is a diagram illustrating a function of the function generator of FIG.

FIG. 4 is a block diagram showing a conventional automatic constant speed control device.

[Explanation of symbols]

 1 hydraulic pump 1a regulator 2 directional switching valve 4 hydraulic motor 8 hydraulic pump for pilot 11 pilot valve 14 electromagnetic switching valve 15 electromagnetic proportional pressure reducing valve 17 selection switch 19a, 19b pressure switch 21 winch drum 22 rope 23 speed detector 24 auger unit 30 Automatic constant speed controller 31 Speed setter 32 Function generator 33 Addition point 34 Multiplier 35 Integrator 36 Addition point 37 Gate circuit

Claims (2)

(57) [Claims] 1. A device for automatically controlling a hoisting / lowering speed of a work attachment suspended on a winch , comprising: a speed setter for setting a hoisting / lowering speed of the work attachment; test at a speed detector and the speed detector set speed and at the speed setter for detecting a hoisting / lowering speed of the working attachment
Issued and a deviation device asking you to deviation between the actual speed, the speed control value for controlling the hoisting / lowering speed based on the deviation from the deviation device to output to the driving means of the winch In the automatic constant speed control device of the winch, initial control value generating means for generating an initial control value according to the set speed, feedback gain generating means for generating a feedback gain according to the set speed, a multiplier you multiplying the deviation and the feedback gain, the integrator for integrating the output of the multiplier, adder for generating said speed control value by adding the output of the integrator and the initial control value An automatic constant speed control device for winches, comprising: 2. The control device according to claim 1, The initial control value generating means and the feedback gain
The speed generator is a speed set by the speed setter.
Depending on the initial control value and feedback gain, respectively.
A function generator that generates an in
Bench automatic constant speed controller.