JP2673683B2 - Actuator drive control device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fail safe.
Due to self-diagnosis by method
For a drive control device for an actuated body that stops machine abnormality early
It is about. In recent years, electronic control has also been used in the field of construction machinery.
With the progress of control, working machines are driven by a micro computer.
It is designed to be controlled dynamically. For this kind of construction machine
And the displacement of the operating lever is controlled by a potentiometer.
It is converted into a signal and input to the control circuit. In the control circuit
Actuator applied to each servo valve based on these input signals
-Calculate the drive signals and send these drive signals to the current amplifier.
Via the solenoid of each servo valve via
You. In addition, in this control circuit, various electric circuits in the device are usually used.
We also perform failure diagnosis of the above, and if a failure is detected,
Set the actuator drive signal to "zero"
To stop. However, in the above structure, for example,
If the current amplification unit fails due to a short circuit, etc., the actuator
Even if the drive signal is set to "zero", the current will flow to the solenoid.
It will continue to be supplied and the actuator will not stop. And
As a result, such as vehicle runaway or abnormal operation of work equipment
A shortage occurs. In such cases, the normal operation
The engine stopped by turning off the fuel supply lever
And turn off the key switch.
Prevents vehicle runaway by shutting off power supply to the air circuit
It is thought to stop and stop. By the way, in a construction machine, a vehicle-mounted bag is used.
Provide a relay on the power line from the terri to each electric circuit,
The engine is perfected by the output of the alternator
It shuts off when it stops. Where the operation
Engine after the fuel supply lever is cut off by the rater
Took some time to completely stop
Therefore, the above relay is turned on immediately after the fuel supply lever is cut off.
It is not turned off, some time until it is turned off
There is a delay. Therefore, during this time
-Power will be supplied to the solenoid of the valve.
In the event of a short circuit in the current amplification section, etc., the fuel supply lever and key
-To stop the machine immediately even if the switch is turned off.
I can't do that. [0005] As described above, the conventional device is
If you turn off the fuel supply lever and key switch,
However, power is supplied to the circuit inside the device for a while.
Depending on the above operation, the work implement and vehicle may be
It cannot be stopped immediately, so it is possible to
Is a serious accident due to vehicle runaway or abnormal operation of work equipment.
There is a risk that Electricity like this
Circuit failure is an electrical component due to the huge electronic control system
It is inevitable that the frequency will increase as the score increases.
it is conceivable that. The present invention has been made in view of the above circumstances.
If a failure occurs in the electric circuit inside the work machine,
Driven object that can automatically stop the machine early
It is intended to provide a dynamic control device. In the present invention, the operation lever is
And an operation signal according to the operation amount of this operation lever.
Command input device having an output means for generating
Actuator and moving signal of the command input device
Is input and the actuating device is operated in response to the input operation signal.
Control calculation unit for calculating control signal of data and said control
Generate an electric drive signal according to the signal and send it to the actuator.
And a control means having an output section for outputting to a chute
In the drive control device for the operated body, the command input device
And at least one abnormality in the control calculation unit
Abnormality detection means to detect and abnormality detection of this abnormality detection means
Prohibition to drive the actuator by signal
It is equipped with means. According to the invention, the abnormality detecting means is used.
Command command input device or control calculation unit
When the normal condition is detected, the actuator drive is prohibited.
You. As a result, the operated body stops immediately. Further, according to the present invention, the operating lever and the operating lever
An output hand that generates an operation signal according to the operation amount of the operation lever.
A command input device having a step and an actuation for driving an actuated body
And the operation signal of the command input device is input.
Control of the actuator according to the input operation signal
A control calculation unit for calculating a signal and a control signal according to the control signal
Generate a current drive signal and output it to the actuator
Of an actuated body having a control means having an output section for
In the control device, current drive generated from the output section
Around the actuator and the output unit by a signal
Abnormality detecting means for detecting the abnormality of
Prohibit the drive of the actuator by the abnormality detection signal
It has a prohibition measure. According to this invention, the output signal is generated from the output section.
The current drive signal is applied to the actuator and the front
If an abnormality around the output section is detected and an abnormality is detected,
If the actuator is not driven,
Stop the moving body. In this case, monitor the current signal
It always detects that the resistance value has changed due to temperature changes.
It is possible to detect abnormalities with good accuracy and accuracy. Further, according to the present invention, the operating lever and the operating lever
An output hand that generates an operation signal according to the operation amount of the operation lever.
A command input device having a step and an actuation for driving an actuated body
And the operation signal of the command input device is input.
Control of the actuator according to the input operation signal
A control calculation unit for calculating a signal and a control signal according to the control signal
Generates an electrical drive signal to the actuator
And a control means having an output section for outputting
In the drive control device, the command input device and the control device
Around the calculation unit, the actuator and the output unit
Anomaly detection hand for detecting at least one of
And the abnormality detection signal is output from this abnormality detection means.
Then, the power supply to the output part of the control means is cut off.
By prohibiting the drive of the actuator,
And a stop means. According to this invention, the command input device and the control
Between the calculation unit and the actuator and the output unit
When any of the abnormalities is detected, the control means
By cutting off the power supply to the output part of
Prohibit actuator drive. As a result,
Will stop immediately. Further, according to the present invention, the operating lever and the operating lever
An output hand that generates an operation signal according to the operation amount of the operation lever.
A command input device having a step and an actuation for driving an actuated body
And the operation signal of the command input device is input.
Control of the actuator according to the input operation signal
A control calculation unit for calculating a signal and a control signal according to the control signal
Generates an electrical drive signal to the actuator
And a control means having an output section for outputting
In the drive control device, the command input device and the control device
Around the calculation unit, the actuator and the output unit
Anomaly detection hand for detecting at least one of
And an abnormality detection signal is output from this abnormality detection means.
And the actuator does not operate at the output section
By outputting a drive signal of a degree,
And a prohibiting means for prohibiting the driving of the motor.
I do. According to this invention, the command input device and the control
Between the calculation unit and the actuator and the output unit
If any of these abnormalities are detected, the output section
Apply a drive signal that does not cause the actuator to operate.
Prohibits the drive of the actuator by outputting
I do. As a result, the operated body stops immediately. Embodiments of the present invention will now be described with reference to the accompanying drawings.
Will be described in detail. The present invention will now be described with reference to the embodiments shown in the accompanying drawings.
An embodiment of the invention will be described. FIG. 1 is a circuit structure of an electronic control unit for construction machinery.
It shows an example, and the electronic control unit
Controls a number of electric actuators 1-1, ..., 1-n
I will. These electric actuators 1-1, ..., 1
-N indicates, for example, a solenoid.
By operating the noid, the flow path of the solenoid valve (not shown)
The direction and flow rate can be changed. And these solenoid valve operation
The hydraulic cylinder (not shown) is expanded and
As a result, buckets, booms, blades, etc.
The work equipment such as the revolving structure and traveling motor will not be driven.
You. In this case, the electric actuators 1-1 and 1-
2 shall drive the boom up and down respectively,
It is assumed that this is operated by the command input device 2-1. These electric actuators 1-1, ..., 1
A plurality of command input devices 2 for generating command signals for -n
-1, ..., 2-m (m <n) are operation lever 3 and po
Consists of a tensioner 4 and a neutral sensor 5.
Have been. The potentiometer 4 is used for the displacement of the operation lever 3.
Generates corresponding voltage signals VI1, VI2, ..., VIm
Then, this is output to the control calculation unit 9. Neutralsen
The server 5 rotates in response to the displacement of the operation lever 3 and has a concave portion.
Cam 6, driven body 7, electrical contact 8 and the like,
Neutral of operation lever 3 due to these mechanical structures
Detects the status, and when it is neutral, logical value "1", ni
Neutral that has a logical value of "0" when not in neutral
, NSm are output. these
Command signal output from command input device 2-1, ..., 2-m
No. VI1, ..., VIm and neutral signal NS1 ,.
NSm is input to the control calculation unit 9. In addition, the news
The general signals NS1 to NSm are delayed by the delay circuits 13-1 to 13-.
Each of them is input to m, and a delay process of a predetermined time is added here.
After being obtained, the control arithmetic unit 9 and signals ND1 to NDm are obtained.
And Nogate 10 provided for each electric actuator
Input to -1, ..., 10-n. The control calculation unit 9 includes the command input devices 2-1 and 2-1.
..., finger input from 2-m potentiometer 4, ...
Each electric actuator based on the command signal VI1, ..., VIm
Actuator for driving data 1-1, ..., 1-n
Operation to calculate and output drive command signals VO1, ..., VOn
In addition to the abnormality diagnosis of each circuit part and the working machine at the time of abnormality
Perform stop control. At this time, the control operation unit 9 is operated by the operation lever 3.
When displaced from the neutral position to the working machine drive position
The work machine operates with high responsiveness, and the operation lever 3 drives the work machine.
If it is displaced to the neutral position from the side,
Input from each potentiometer 3 so that it works perfectly
The given command signals VI1 to VIm to have a predetermined delay
Based on these delayed command signals.
The dynamic signals VO1 to VOn are output. Further, a neutral detection in the control calculation unit 9 is carried out.
Output is the command signal VI input from the potentiometer 3.
Both 1 to VIm and the detection signal of the neutral sensor 5
Therefore, the delay time is set in the control calculation unit 9 for this reason.
The command signal VI1, ...
-Providing delay circuits 13-1, ... also on the side of the trail sensor 5
Like that. Further, the abnormality detection process in the control calculation unit 9
In the case of, the command signal with two types of signals, undelayed and delayed
Corresponding to No. VI, the neutral signal is not delayed
NS1 to nsm and delayed ones ND1 to NDm
It is supposed to be used. The drive signal output from the control calculation unit 9
The signals VO1 to VOn are, for example, the command signals VI1 to VIm and
It is a deviation signal from the feedback signal (not shown). These drive signals VO1, ...
, 11-n, and an amplifier (output
Part) 12-1, ..., 12-n, and the amplifier
After being amplified, each electric actuator 1-1, ..., 1-
n. These electric actuators 1-1, ..., 1
The power supply to -n is the power line 20l1 to 20l3
Is performed via This power line 20l1 to 20l
3 is connected to an in-vehicle battery (not shown). This
On the source lines 20l to 20l3, the manual switch 14 and the
Is provided and the power supply is provided by these dual structures.
It can be shut off. In addition, this power line
On the battery side (not shown)
The described relay is provided, and this relay is
Disconnects the power line by stopping the Zel engine
It works like that. Power was turned off by the manual switch 14.
Whether or not it is detected by the detection circuit 16
Is a logical value when the manual switch 14 is not turned on (power is connected)
"1", when the manual switch 14 is turned on (power off)
Control operation of the lever lock signal LR that becomes a logical value "0"
Input to part 9. In addition, the relay 15 is of Noaget 16
It is interrupted by the output signal,
When the output is a logical value "0", the contact is turned off and
When the output of the switch 16 is a logical value "1", the contact is turned on.
You. For this Nogate 16, a control calculation is performed.
Relay release signal RE from the unit 9 and the operation unit monitoring circuit 17
The arithmetic unit abnormality signal WDE is input to the gate 16
Is a logical value of one of these signals RE and WDE
When it becomes "1", the output signal becomes "0"
Shut off (turn off) ra-15. What is the relay cutoff signal RE
There is something wrong and the relay 15 is turned off and the power is cut off.
Output from the arithmetic and control unit 9 when it is necessary to
You. The arithmetic unit monitoring circuit 17 is different from the control arithmetic unit 9.
It always monitors, and the arithmetic unit monitoring circuit 17 controls
The monitoring pulse signal WD is input from the unit 9. this
In this case, the control calculation unit 9 repeats diagnosis and abnormality detection.
Each time a processing program such as
One pulse is output to 17 and the monitoring unit
The path 17 has a pulse cycle of the monitoring pulse signal WD.
Whether the arithmetic unit monitoring circuit 17 has an abnormality depends on whether or not it is within a predetermined range.
Determine the presence or absence. That is, the arithmetic unit monitoring circuit 17 is an arithmetic control unit.
The period of the monitoring pulse signal WD input from 9 is preset
When the calculated control unit 9 is out of the predetermined range,
It is determined that there is a logical value for Nogate 16 at this time
The arithmetic unit abnormal signal WDE of "1" is output. Also, the relay
-15 abnormalities, the power line 2 after passing through the relay-15
The voltage signal Vp of 013 is input to the control calculation unit 9 and
It is detected by monitoring the pressure Vp by the control calculation unit 9.
You. Further, it is provided for each electric actuator.
Nogates 10-1, ..., 10-n are switch circuits
Switching of 11-1, ..., 11-n is performed.
The output of the corresponding NOR gate 10 is a logical value in the latch circuit 11.
The drive signal VO applied to the input side when "1" is amplified
12 and the output of Nogate 10 is a logical value "0".
The contact is switched so as to disconnect the output line VO.
However, in the disconnection state, zero voltage is applied to the amplifier.
Can be obtained. These Nogates 10-1, ..., 10-n
Is the operation unit abnormality signal W from the operation unit monitoring circuit 17.
Actuator stop signal DF from DE and arithmetic control unit 9
1, DF2, ..., DFn and the neutral sensor 5
These neutral signals ND1 to NDm are input respectively.
ing. The actuator stop signals DF1, ..., DFn are
Forced output lines VO1 to VOm due to some abnormality
Calculate when it is necessary to stop the work machine as a disconnection
It is output from the control unit 9. Each electric actuator 1-1, ..., 1-n
Is the voltage that detects the current value flowing through these actuators.
Flow detectors 18-1, ..., 18-n are provided respectively
, These current detectors 18-1, ..., 18-n
The detected values VF1, ...
It is input to the calculation unit 9. In addition, 30 is an indicator or buzzer
-An alarm device that alerts the operator of equipment malfunctions
It is. In other words, in this embodiment, the working machine is urgent.
Force the command voltage output line as a configuration to stop
Switch circuits 11-1, ..., 11-n that are electrically disconnected
And an automatic interrupting relay 15 that shuts off the power, and an operator
A manual switch 14 for cutting off the power supply by operation is provided.
I did it. The operation of the above structure will be described below. The control calculation unit 9 has five types of flag signals L.
ERFj, RERF, AERFi, INHFi and OE
Nj, and these flag signal and neutral signal NS
1 to NSm, its delay signal ND1 to NDm, lever
-For lock signal LR and current detection signals VF1 to VFn, etc.
Based on relay cutoff signal RE and actuator stop signal
The output control of DF1 to DFn is performed. The flag signal LERFj (j = 1 to m) is a finger
This flag signal indicates an abnormality of the command input device 2-j.
Are provided for each of the m command input devices.
You. The flag signal RERF indicates that the relay 15 is abnormal.
If the relay 15 is abnormal, this flag signal RERF
It becomes “1”. The flag signal AERFi (i = 1 to n) is
Electric actuator section 1-i, amplifier 12-i, and power supply
This indicates an abnormality in the flow detector 18-i and other parts.
The lag signal also corresponds to n electric actuators and separately
Is provided. Flag signal INHFFi is the same as RERF
This flag indicates that the relay 15 is abnormal.
When HFi becomes "1", all actuator stops
Drive signals can be generated by sending stop signals DF1 to DFn.
The power supply is shut off by shutting off the supply of VO1 to VOn.
Activating from both sides of disconnection and disconnection of drive signals VO1 to VOn
Improve the fail-safety by stopping the computer
I try to make it. The flag signal OENj is
The corresponding operation lever becomes "1" when it breaks down.
Therefore, in the control calculation unit 9, this flag signal is not "1".
The corresponding actuator stop signal DFi
Set to "1" and output. The control arithmetic unit 9 uses these flag signals and signals.
Using ND1 to NDm and the lever lock signal LR,
Relay release signal RE and actuator
Output the stop signals DF1 to DFn. RE = LR + RERF (1) DFi = NDj + AERFi + INHFi + OENj (2) FIG.
Control performance with reference to this flowchart.
The operation of the calculation unit 9 will be described. This flow chart
Fault diagnosis of relay, fault diagnosis of relay and amplifier
It is roughly divided into three parts, which consist of alternative fault diagnosis. The control calculation unit 9 is required to execute the abnormality detection processing.
Then, the flag signals LERFj, RERF, AER described above are set.
Fi, OENj, relay release signal RE, actuator
-Initialize the stop signals DF1 to DFn etc.
100). In addition, in this initialization,
Signal is "0", signals RE and DF1 to DFn are working
It is initialized to the machine stop side, that is, "1". Diagnosis of Failure of Operation Lever First, the control calculation unit 9 operates the command input device 2, that is, the operation lever.
-Perform a failure diagnosis on the part. The command input devices 2-1, ..., 2-m have been described above.
As you can see, it is a half-duplex system.
Command signal VIj (j = 1 to m) from the controller 4
Neutral signal NSj from the neutral sensor 5
(J = 1 to m) are input respectively, and the control calculation unit 9
Based on these input signals, the operation lever failure judgment is performed.
U. That is, the control calculation unit 9 is provided with a failure judgment of the command input device 2.
As shown in FIG. 3 for regular use, three different set values V
1, V2 and V3 (V2 <V1 <V3) are positive and negative values
And the control calculation unit 9 sets these set values V
Using 1 to V3, first, for the command input device with j = 1,
A failure diagnosis is performed (step 110). The control calculation unit 9 is input from the potentiometer 4.
The absolute value of the applied command signal VI1 to full operation lever 3
Compare with the command value V3 at the time of stroke (step 12
0), | VI1 |> V3, for example, lever harness
Flag signal LER
F1 is set to "1" (step 130). When | VI1 | ≤V3, the control operation unit
9 indicates that the neutral signal NS1 is from "1" to "0"
Is the command signal V at the time of switching from "0" to "1".
Potency when I1 does not satisfy V2 <VI1 <V1
Judged as a malfunction of the operation lever due to displacement of the camera
I do. That is, the control calculation unit 9 uses the neutral signal.
It is determined whether NS1 is "0" or "1" (step 140),
When the signal NS1 is "0", the command signal VI1 is set.
It is compared with the value V2 (step 150), and the comparison result is |
If VI1 │ ≤ V2, it is determined that the operation lever has failed and the
Signal LERF1 is set to "1" (step 130).
When | VI1 |> V2, it is determined to be normal. In the judgment at step 140, the news
When the control signal NS1 is "1", the control calculation unit 9 sends the command signal.
No. VI1 is compared with the set value V1 (step 160).
If the comparison result of | VI1 | ≧ V1 is due to the operation lever,
The flag signal LERF1 is determined to be "1" (step
130), and when | VI1 | <V1 is judged to be normal.
I do. The flag signal LERF1 is
When the value becomes "1", the control calculation unit 9 indicates the command input device.
Command signal VI1 input from
Outputs drive signal VO1 ... after assuming neutral or zero
In addition to performing internal processing such as control, flag signal OEN1
Is set to "1" (step 170). This flag signal OEN1 becomes "1".
And in the subsequent step 380, this command input device
Actuator stop signal corresponding to (2-1 in this case)
(DF1 and DF2 in this case) becomes "1",
As a result, each contact of the switch circuits 11-1 and 11-2 has zero voltage.
It is switched to the side and is supplied to each amplifier 12-1, 12-2.
Drive signal becomes zero and the corresponding electric actuator 1-
1 and 1-2 are deactivated. Thereafter, the control calculation unit 9 inputs a command of j = 2 to m.
The same failure diagnosis is performed on the
Flag signal LERF2 to LERFm is set to "1"
And the drive signal related to the command input device that is determined to be abnormal.
Corresponding electric actuation by disconnecting the output line
Deactivate the user (step 180, step 19)
0, step 110, ...). Fault diagnosis of relay Next, the abnormality detection processing of the power shutoff relay 15 will be described.
Will be explained. First, in step 200, a flag signal
INHF1 to INHFn are initialized. Next, the control calculation section 9 causes the relay cutoff signal RE.
"0" and "1" are determined (step 210). this
The signal RE is "1" in the initial state, and the manual switch 14
Lever lock signal L associated with the connection (power line connection)
Input "1" of R to "0" and connect the power line
After that, when the flag signal RERF becomes “1”,
Becomes "1" and the power line is cut off (step 38).
0). The control calculation unit 9 determines the determination in step 210.
And the signal RE is "1", the power supply line 20
The voltage value Vp of 13 is determined (step 220), and this voltage is calculated.
When the pressure value Vp is zero or a value close to zero, the power source
It is judged that the shutoff relay 15 is normal, and then the flag signal is sent.
No. INHF1 to INHFn are all set to "1" (step
250). As a result, in step 380, all
Actuator stop signals DF1 to DFn become "1"
Is output as a result, all switch circuits 11-1 to
The contact point 11-n is switched to the zero voltage side, and the control calculation unit 9
The drive signals VO1 to VOn are used for each electric actuator 1-1.
~ 1-n is no longer supplied. In step 220, the voltage value V
If it is determined that p is not zero or a value near zero,
For example, the control calculation unit 9 may check for relay failure such as relay welding.
It is judged that it has occurred, and the flag signal RERF is set to "1".
(Step 240). As a result, in step 380
The relay cut-off signal RE becomes "1" and relay 15 turns off.
Is In this state, the power cutoff relay 15 is cut off.
Despite this, voltage is generated on the power line 20l3
The condition is high and the risk is high. Therefore, the control calculation unit 9
The alarm device 30 is operated to notify the operator of the abnormality.
Go ahead. Due to this abnormality report, the operator manually switches
14 is put into each electric actuator 1-1 to 1-n
Cut off the power supply to stop the work equipment in an emergency.
Can be. Even in this case, the flag signal INHF
1 to INHFn are also set to "1", and as a result,
Up 380, actuator stop signals DF1 to D
Fn is output and each electric actuator 1-1 to 1-n
Drive signals VO1 to VOn are not supplied to
ing. In the judgment at step 210,
When the ray cutoff signal RE is “0”, the control calculation unit 9
The voltage value Vp of the power line 20l3 is the predetermined set voltage value V
It is determined whether or not it is larger than c (step 230).
If Vp ≦ Vc in this determination, the control calculation unit 9
Judges that the relay operation failure has occurred, and the flag signal RE
Turn on RF and INHF1 to INHFn (step
240, step 250). By turning on these flags
After that, the power cutoff relay 15 is cut off and the switch
Switch circuits 11-1 to 11-n are switched to the zero voltage side. Before
If it is determined in step 210 that Vp> Vc,
If the relay 15 is normal, the procedure is immediately
Chi Electric actuator around 1-i electrical circuit abnormality judgment
Move on to processing. Fault Diagnosis Around Amplifier First, the control arithmetic unit 9 operates the electric actuator for i = 1.
Ethernet 1, switch circuit 11, amplifier 12 and current detector
The failure determination of the output device 18 is performed (step 260). In this failure judgment, the control arithmetic unit 9
Without judging the actuator stop signal DF1 "0", "1"
Set. Then, in this determination, the signal DF1 is "1".
If it is, the detection value VF1 of the current detector 18-1 is judged.
(Step 280), when VF1 is near zero
Is determined to be normal, and the procedure is transferred to the processing for i = 2.
(Step 350). Further, in the determination of step 280, VF
If 1 is not near zero, for example, the solenoid driver
Short circuit between eve harness and power line or amplifier 12-1
A short circuit or the like is considered, and the control calculation unit 9 causes the flag signal AERF to
1 is set to "1" (step 290), and the flag signal R
The ERF is set to "1" (step 300). As a result,
In step 380, the relay cutoff signal RE and the actuation are activated.
Both of the user stop signals DF1 become "1", and relay 1
5 is turned off and the drive signal of actuator 1-1
No. output line is disconnected. Further, in the judgment of step 270, the signal
When DF1 is "0", the control calculation unit 9 is
The drive signal VO1 and the detected current value VF1
Is it the relationship between the drive signal VOi and the detected current value VFi shown in the figure?
The abnormality judgment is performed from. In Figure 4, the entire area is a straight line
VFi-VOi = VtH and the straight line VOi-VFi = VtL
It is divided into three areas A, B, and C at the boundary, and control is performed.
In the arithmetic unit 9, the current state is one of these three areas.
It is determined whether it belongs to, and the different processing is performed for each determined area.
I will follow you. That is, according to the determination in step 310,
If it is the region C and whether or not the region C is determined,
Solenoid drive harness disconnection, ground fault, etc.
However, in this case, determination of the cause of failure is ambiguous in general.
Therefore, the control calculation unit 9 uses the flag signals AERF1 and RER.
Both F are set to "1" (steps 290 and 300). This
As a result, relay 15 was turned off and actuated.
The drive signal supplied to the controller 1-1 is cut off. If the determination in step 310 is "NO",
If so, it is next determined whether the area A or the area B (step S
320). If it is determined to be area B, these devices
Part is judged to be normal, and the procedure is moved to the processing for i = 2.
(Step 350). If it is determined to be area A
Failure due to short circuit of solenoid drive harness
In this case, the control calculation unit 9 outputs the flag signal AERF1.
Set to “1” (step 330) and increase the number of failures.
Electric actuator driven by part of width box
Command input device (in this case 1-1)
2-1) Input the command signal VI1 input from
Performs subsequent internal processing as neutral regardless
(Step 340). In this case, the flag signal AERF1 is "1".
Therefore, in the subsequent step 380,
Data stop signal DF1 becomes "1", and as a result
The drive signal VO1 supplied to the user 1-1 is cut off.
You. In this state, the processing procedure of the control calculation unit 9 is
Returned from step 380 and again from step 110
The process of is repeated, but at the time of this next process,
Since the determination at 270 is YES, the current detection value VF is next calculated.
i is examined (step 280). At the time of judgment in this step 280, current detection
If the value VF1 is near zero, then the error flag is turned on.
Not lit (step 350 ...). However, this step
The current detection value VF1 is a value near zero in the judgment of 280
If not, then the flag signal RERF is turned on (see
(Steps 290, 300). That is, when a failure occurs in the area A,
Actuator stop signal (in this case
By outputting DF1) the electric actuator
Only demagnetize (1-1 in this case), then
Check the current value flowing through the electric actuator of
If the current value is near zero, then this electric actuator
Only the output of the actuator is stopped, and the other electric actuators
Supply a drive signal. However, the current value at the time of checking is near zero.
If the value is not, the relay cutoff signal RE
To turn off the power supply to all electric actuators.
Cut. Hereinafter, the control calculation unit 9 is an amplifier for i = 2 to n.
The same failure diagnosis is performed for the surrounding parts as well.
350, 360, 270, ...). And control calculation
The part 9 is a finger input from each command input device 2-1 to 2-m.
Based on the command signals VI1 to VIm, each electric actuator 1-
Drive signals VO1 to VOn for 1 to 1-n are calculated and output.
Power. At this time, stop the command by the above-mentioned failure diagnosis.
As for the command signal determined to be defective, as described above,
Treated as neutral or zero. Finally, the control calculation section 9 uses the above (1) and
According to the logical expression shown in the equation (2), the relay cutoff signal RE and
And the actuator stop signal DFi are logically calculated and
The calculation result is output (step 180). Such a system
Control is repeatedly executed while the work machine is driven. The operation of the control calculation unit 9 described above is summarized.
Then, it becomes as follows.
Will be described together with the overall operation of. (1) The failure detection of the command input device 2 is performed by the command signal.
Control VI for signal VI and neutral signals NS and ND
9 is used for monitoring.
The failure is generated by outputting the quota stop signal DF.
Actuator drive signal V related to the command input device 2
Forcibly disconnect the output line of O
Degauss the data. In this configuration, the neutral signal
ND1 to NDm directly enter Noaget 10-1 to 10-n
Command input device 2, calculation unit 9, calculation unit
Of the monitoring circuit 17, the nogate 16 and the relay 15
Even if at least one of them fails, the operation
Operation to return the operating lever to the neutral position.
For example, the work equipment related to the operated lever should be stopped urgently.
Can be (2) When the control arithmetic unit 9 fails, the arithmetic unit
The monitoring circuit 17 detects this and shuts off the power supply by the signal WDE.
Turn off relay 15 As a result, each work machine is completely stopped.
Stop. Due to the failure of the control arithmetic unit 9, nogate
If 16 or relay 15 has a double failure, the operator
As before, return each operation lever to the neutral position.
For example, as long as the Noaget 10 and the amplifier 12 are working properly,
Can be stopped. (3) Nogate 10, amplifier 12, electric motor
Failure detection of the part of the current detector 1 and the current detector 18
The control calculation unit 9 controls the current detection value VF and the drive signal VO.
This is done by monitoring (see FIG. 4). When a failure occurs in the area A in FIG. 4, the control arithmetic unit 9
To output the corresponding actuator stop signal DF
The drive signal V related to the defective amplifier 12 or the like
The output line of O is forcibly cut off, and the corresponding electric actuation
Degauss only the player. By this demagnetization, this electric actuator
The detected current value VF flowing through the tuner is an appropriate value near zero.
If this happens, keep this state
Stop only the work implement output. However, in the demagnetization
Therefore, when the detected current value VF does not become zero, the control calculation unit
9 outputs a relay cutoff signal RE to supply power
Cut and stop all work machines. When a failure occurs in the C area, the failure state can be determined.
Since it is ambiguous, the control calculation unit 9 causes the relay cutoff signal R
The power supply is cut by outputting E, and all work machines
To stop. (4) Power shutoff relay 15 is shut off
In the case of failure as it is, the work machine does not operate, so
This is an obstacle, and in this case, the control calculation unit 9 does not perform special processing.
I don't know. Nogate 16 or power shutoff relay 15
The relay 15 remains conductive due to a physical failure.
When a failure occurs, the control calculation unit 9 usually determines this.
Can not do it. But in this case the other components
For example, the simultaneous failure of the Nogate 10 and the amplifier 12 occurs.
When it occurs, it can be determined by the control calculation unit 9. Immediately
If the Nogate 10 and the amplifier 12 fail,
As a result, the relay cutoff signal that turns off the power cutoff relay 15
RE is output from the control calculation unit 9, and at this time, the relay 15
Since the voltage VP on the output side of the
9 is capable of detecting abnormalities in relay 15 or noaget 16.
Can be. In this case, the control calculation unit 9 activates the alarm device 30.
Notify the operator by operating. This report
If the operator shuts off the manual switch 14 by
The aircraft stops completely. In such a case, the operator is
If you feel any abnormality from the operation, the operator
If the manual switch 14 is cut off, the working machine is immediately stopped.
Can be (5) Potentiometer 4 and neutral
Simultaneous double failure with switch 5 or amplifier 12 and current detector
A simultaneous double failure with 18 occurs only with a very small probability.
There is no such thing, but in this case an abnormality due to the operator
The operator shuts off the manual switch 14 depending on the judgment.
You can do it. In the above embodiment, the fail-safe property is
Considering that, to some extent in its logic form and signal connection form
I try to make it redundant, but on this point
It goes without saying that appropriate modifications can be made. As described above, according to the present invention,
Providing prohibition means to prohibit the drive of the actuator,
Diagnosis of the prohibition means with respect to the command input device and the control calculation unit
Since it is designed to operate according to the result,
You can dynamically stop early, which results in vehicle runaway,
Prevent serious accidents due to abnormal motion of the actuated body
Can be Further, according to the present invention, it is generated from the output section.
Depending on the current drive signal
If an abnormality is detected, and if an abnormality is detected, the actuator
Stop the driven body by prohibiting the drive of the motor.
Since it is made possible to change the resistance value due to temperature change etc.
It is possible to detect abnormalities with good accuracy due to fluctuations.
You. Further, according to the present invention, the command input device and the control
Between the calculation unit and the actuator and the output unit
When any of the abnormalities is detected, the control means
Shut off the power supply to the output section of the
Output a drive signal that does not cause the actuator to operate.
Force prohibits the drive of the actuator.
You. This will automatically stop the actuated body early.
As a result, in case of vehicle runaway, abnormal operation of the operated body, etc.
To prevent serious accidents caused by
You.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a circuit block diagram showing an embodiment of the present invention. FIG. 2 is a flow chart showing a specific operation example of a control calculation unit of the apparatus of this embodiment. FIG. 3 is a diagram for explaining abnormality detection processing of a command input device. FIG. 4 is a diagram for explaining abnormality detection processing of a portion such as an amplifier. [Explanation of Codes] 1 ... Electric actuator 2 ... Command input device 3 ... Operation lever 4 ... Potentiometer 5 ... Neutral sensor 6 ... Cam 7 ... Driven object 8 ... Electrical contact 9 ... Control computing unit 10, 16 ... Nogate 11 ... Switch circuit 12 ... Amplifier, 13 ... Delay circuit 14 ... Manual switch 15 ... Relay 17 ... Calculator monitoring circuit 18 ... Current detectors 2011 to 2013 ... Power line 30 ... Alarm device.

Claims (1)

(57) [Claims] A command input device having an operation lever and an output means for generating an operation signal according to an operation amount of the operation lever;
An actuator for driving an actuated body, a control calculation unit for inputting an operation signal of the command input device, and calculating a control signal for the actuator according to the input operation signal, and an electric drive according to the control signal A drive control apparatus for an actuated body, comprising: a control unit having an output unit for generating a signal and outputting the signal to the actuator; an abnormality detecting at least one of the command input unit and the control calculation unit. A drive control device for an actuated body, comprising: detection means; and prohibition means for prohibiting driving of the actuator by an abnormality detection signal of the abnormality detection means. 2. A command input device having an operation lever and an output means for generating an operation signal according to an operation amount of the operation lever;
An actuator for driving the actuated body, a control calculation unit for inputting an operation signal of the command input device, and calculating a control signal of the actuator according to the input operation signal, and a current driving signal according to the control signal. A drive control device for an actuated body, comprising: a control unit having an output unit for generating and outputting the generated actuator to the actuator, wherein an abnormality around the actuator and the output unit is detected by a current drive signal generated from the output unit. A drive control device for an actuated body, comprising: an abnormality detecting unit for controlling the operation of the actuator according to an abnormality detection signal of the abnormality detecting unit; 3. A command input device having an operation lever and an output means for generating an operation signal according to an operation amount of the operation lever;
An actuator for driving an actuated body, a control calculation unit for inputting an operation signal of the command input device, and calculating a control signal for the actuator according to the input operation signal, and an electric drive according to the control signal In a drive control device for an actuated body, which comprises a control means having an output part for generating a signal and outputting the signal to the actuator, the command input device, the control calculation part, the actuator and the output part surroundings, Of at least one of the above, and when an abnormality detection signal is output from this abnormality detection means, the drive of the actuator is prohibited by cutting off the power supply to the output section of the control means. A drive control device for an actuated body, comprising: 4. 4. The drive control device 5 for an actuated body according to claim 3, wherein the prohibiting means has means for detecting an abnormality of the power supply cutoff means by monitoring a power supply voltage to the output part of the control means. ． A command input device having an operation lever and an output means for generating an operation signal according to an operation amount of the operation lever;
An actuator for driving an actuated body, a control calculation unit for inputting an operation signal of the command input device, and calculating a control signal for the actuator according to the input operation signal, and an electric drive according to the control signal In a drive control device for an actuated body, which comprises a control means having an output part for generating a signal and outputting the signal to the actuator, the command input device, the control calculation part, the actuator and the output part surroundings, An abnormality detecting means for detecting at least one of the abnormalities, and when the abnormality detecting signal is output from the abnormality detecting means, by outputting a drive signal to the output portion to the extent that the actuator does not operate, A drive control device for an actuated body, comprising: a prohibiting unit that prohibits driving of the actuator.