JP2677815B2 - Hydraulic shovel controller - Google Patents

Description

The present invention relates to a control device for a hydraulic shovel having a motion reproducing function.

<Prior Art> As a control device of this kind, a hydraulic pump, a directional control valve, and a swivel which are conventionally provided in a hydraulic shovel having an operating body including a swinging body, a boom, an arm, and a bucket are provided. Motor, boom cylinder, arm cylinder,
Drive means such as a bucket cylinder, operation command means such as an operation lever that outputs a signal for instructing the operation of each of these drive means, and a rotation angle for detecting the operation position of any one of the above-mentioned actuating bodies The position detection means such as a sensor, the storage command means for outputting a command signal for storing the operation form of the actuating body, the reproduction command means for instructing the reproducing operation of the actuating body, and the storage command means are outputted. A storage unit that stores the operation mode of the corresponding operating body based on the signal and the signal output from the position detection unit, and reproduces the signal stored in the storage unit according to the signal output from the reproduction instruction unit. However, there is a device provided with a control means for outputting the reproduction signal to the driving means as a target value of the feedback control, thereby enabling reproduction of the operation of the operating body, that is, play back. As a known technique, for example, there is one disclosed in Japanese Utility Model Publication No. 57-66055.

<Problems to be Solved by the Invention> However, in the above-described conventional hydraulic shovel control device, when the control gain is increased with the intention of increasing the speed and accuracy of the regenerating operation of the operating body, the control value will be around the target value. Is greatly deviated to cause hunting, and the stability of control is impaired. Therefore, the magnitude of control gain is limited. For this reason, conventionally, it is difficult to achieve both high speed and high accuracy of the regenerating operation of the operating body, the regenerating operation is slow, and it is difficult to expect the efficiency of various operations performed by the operating body to be improved.

The present invention has been made in view of the above-mentioned conventional circumstances, and an object thereof is to provide a hydraulic shovel control device that can realize both high speed and high accuracy when performing a regenerating operation of an operating body. To provide.

<Means for Solving the Problems> In order to achieve this object, the present invention is provided in a hydraulic shovel having an operating body including a swing body, a boom, an arm, and a bucket, and a driving means for driving the operating body. An operation commanding means for outputting a signal instructing an operation of each of these driving means, a position detecting means for detecting an operation position of at least one of the operating bodies, and a command signal for storing an operating form of the operating body. Storage instruction means for outputting, reproduction instruction means for outputting a signal for instructing a reproduction operation of the operating body, and a storage section for storing the operation form of the corresponding operating body based on the signal output from the storing instruction means, And a control means for reproducing the signal stored in the storage section according to the signal output from the reproduction command means and outputting the reproduced signal to the drive means as a target value for the feedback control. In a control device for a hydraulic shovel capable of regenerating a body, the control means described above includes another storage section for storing a signal output from the operation commanding means, and responds to the signal output from the storing commanding means. Depending on the signal output from the position detecting means and the signal output from the operation instructing means at the same time, the operation means for storing the signal output from the operation instructing means in the above-mentioned other storage section, and another storage in accordance with the signal output from the reproduction instructing means. It is configured to include means for reproducing the signal stored in the unit and adding the reproduced signal to the target value of the feedback control.

<Operation> Since the present invention is configured as described above, when the operation of the operating body is to be stored when the operation of the operating body is reproduced, by operating the storage command means, The operation form is stored in one storage unit of the control unit according to the signal output from the position detection unit, and at the same time, the signal output from the operation command unit is stored in another storage unit of the control unit, and at the time of reproduction. By operating the reproduction instruction means, the signal output from the position detection means indicating the operation form stored in the above-mentioned two storage sections by the addition means and the signal output from the operation instruction means at that time are added. Is
As a result, the feedback control can be carried out in accordance with the signal output from the position detecting means while the signal output from the operation commanding means is kept in the vicinity of the target value. It is not necessary to change the gain particularly significantly, and it is possible to realize both high speed and high accuracy of the reproducing operation of the operating body.

<Example> Hereinafter, the control device of the hydraulic shovel of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing the overall construction of an embodiment of the present invention, FIG. 2 is a block diagram showing the control means provided in this embodiment, and FIG. 3 is a processing means in the control means provided in this embodiment. Is a flow chart.

This embodiment is provided in a hydraulic shovel having an operating body including a swing body 1, a boom 2, an arm 3 and a bucket 4. In this embodiment provided in such a hydraulic shovel, the driving means for driving the above-mentioned actuating body, that is, the revolving structure 1, the boom 2, the arm 3, the bucket 4 is used.
Drive means 5 such as a hydraulic pump, a directional control valve, a swing motor, a boom cylinder, an arm cylinder, a bucket cylinder, etc. for driving the like, and a swing body 1, a boom 2, an arm 3, and a bucket 4 are provided corresponding to each. Position detection of operation command means 6, 7, 8, 9 such as an operation lever for outputting a signal instructing each operation of the drive means 5 and a rotation angle sensor for detecting a turning position of an operating body, for example, the revolving superstructure 1. Means 10
And a storage command means 11 for outputting a command signal for storing the operation form of the operating body, for example, the revolving structure 1, and the operating body, for example, the revolving structure 1.
Reproduction command means 12 for instructing the reproduction operation of, the above-mentioned operation command means 6 to 9, position detection means 10, storage command means 11,
The drive means 5 according to the signal output from the reproduction command means 12
And a control means 13 for outputting a signal for driving.

The control means 13 described above, for example, as shown in FIG.
A switching element 14 connected to the position detecting means 10 and switched according to a signal output from the storage commanding means 11,
It is connected to the switching element 14 and operates on the basis of a signal output from the position detecting means 10, that is, the revolving structure 1
A first storage unit 15 for storing the operation mode of No. 1 and a signal output from the storage instruction unit 11 and a signal output from the reproduction instruction unit 12 while being connected to the first storage unit 15. Switching element that can be selectively switched according to
16, an adder 17 for adding the signal output through the switching element 16 and the signal output from the position detecting means 10, and a gain setter for adjusting the gain of the signal output from the adder 17. 18, a switching element 19 connected to the gain setting device 18 and switched according to a signal output from the reproduction command means 12, and a switching element 19 connected to the operation command means 6 according to a signal output from the storage command means 11. Switching element 20 that can be switched by
And a second storage unit 21 connected to the second storage unit 21 for storing the signal output from the operation commanding means 6, and the second storage unit 21.
A switching element 22 that is connected to the storage unit 21 and the operation commanding means 6 and is selectively switched according to either the signal output from the storage commanding means 11 or the signal output from the reproduction commanding means 12; The adder 23 for adding the signal output from the switching element 19 and the signal output from the switching element 22 and the drive means 5 shown in FIG. 1 by converting the signal output from the adder 23 into a drive signal. And a drive signal converting means 24 for outputting to.

The switching element 20 described above is a position detecting means.
An operating means for performing an operation of storing the signal output from the operation command means 6 at the same time as the signal output from 10 in the second storage unit 21 is configured. In addition, the switching element 22
And the adder 23 reproduce the operation command signal stored in the second storage unit 21 according to the reproduction command signal output from the reproduction command means, and the reproduced operation command signal is the target of the feedback control. Means are added to add to the value.

In the embodiment thus configured, the operation command means 6 is operated with the intention of driving the revolving structure 1, and the storage command means 11 is operated.
When neither the reproduction command means 12 is operated, the respective switching elements 14, 16, 19, 20, 22 are kept in the connected state shown by the solid line in FIG. At this time, the switching element 22
Since the operation command means 6 is connected to the adder 23, the signal output from the operation command means 6 is input to the drive signal conversion means 24 via the adder 23, and the operation is performed from this drive signal conversion means 24. A drive signal corresponding to the operation amount of the command means 6 is output to the drive means 5 shown in FIG.
Turns.

Further, in the state in which the revolving unit 1 is operated as described above, when the operation of the revolving unit 1, that is, the turning position is stored, the storage command means 11 is operated. As a result, the switching elements 14 and 20 shown in FIG. 2 are switched to the positions indicated by broken lines in FIG.
The signal is detected by 10, and the signal is input to the first storage unit 15 via the switching element 14 and stored in the first storage unit 15. At the same time, the operation amount of the operation command means 6 at that time is input as a signal to the second storage unit 21 via the switching element 20, and is stored in the first storage unit 15 in the second storage unit 21. It is stored as an operation command signal corresponding to the revolving position (form) of the revolving superstructure 1.

Then, as described above, the first storage unit 15 and the second storage unit
When the reproduction command means 12 is operated in order to perform the reproduction operation in the state stored in 21, the switching elements 16, 19, 22 shown in FIG. 2 are switched to the broken line positions. As a result, the signal stored in the first storage section 15 is input to the adder 17 via the switching element 16, and the adder 17
At 17, the signal is added to the signal output from the position detecting means 10, and so-called feedback control is performed. The signal output from the adder 17 is adjusted in gain by the gain setting unit 18, and is input to the adder 23 via the switching element 19. At the same time, the operation command signal stored in the second storage unit 21 passes through the switching element 22 and the adder 23.
And is added to the signal input from the switching element 19 in the adder 23. In this way, the adder 23
The signal added by is input to the drive signal conversion means 24, the drive signal converted here is output to the drive means 5 shown in FIG. 1, the drive means 5 is driven, and the first storage unit 15, Second
Revolving structure 1 so that the revolving state stored in the storage unit 21 of
Is performed, that is, the reproducing operation is performed.

FIG. 3 shows a processing procedure in the control means 13 for the above-mentioned operation. First, as shown in step 101, the operation command signal output from the operation command means 6, the position detection signal output from the position detection means 10, the storage command signal output from the storage command means 11, and the reproduction command means 12 are output. The reproduction command signal to be read is read. Next, the procedure proceeds to step 102, where it is judged whether or not it is a storage command, that is, whether or not the storage command signal is read from the storage command means 11. If this determination is not satisfied, the procedure moves to step 103. This step 103
Then, it is judged whether it is a reproduction command, that is, whether the reproduction command signal is read from the reproduction command means 12.
If this determination is not satisfied, the procedure moves to step 105. This step 1
In 05, as described above, the switching element 2 shown in FIG.
2, the operation command signal is passed through the adder 23 and the drive signal conversion means 24
Is output to Next, in step 107, the drive signal converting means 24 outputs a drive signal corresponding to the operation command signal to the drive means 5 as described above.

If the determination in step 102 described above is satisfied,
It is when the memory command signal is being read, and the procedure proceeds to step 104. In this step 104, as described above, the first storage unit 1
The position detection signal is stored in 5 and the operation command signal is stored in the second storage unit 21. Then, steps 105 and 107 described above are performed.

In addition, if the determination in step 103 described above is satisfied,
This is when the reproduction command signal is being read, and the procedure moves to step 106. In this step 106, as described above, the first storage unit 15
The signal based on the position detection signal stored in the second storage section 21 and the operation command signal stored in the second storage section 21 are reproduced to add the signal to the adder 23.
Is added, and then the procedure proceeds to step 107, and the above-described regenerating operation of the revolving unit 1 is performed.

In the embodiment configured as described above, in a state in which the revolving unit 1 is preliminarily brought to the vicinity of the revolving position where the revolving unit 1 is regenerated in advance by the operation command signal stored in the second storage unit 21 during the regenerating operation of the revolving unit 1. Since the feed back control based on the position detection signal stored in the first storage unit 15 is performed, the deviation from the feed back target value is small, and therefore, the high speed, high speed control without increasing the control gain.
It is possible to perform a highly accurate regenerating operation of the swinging body 1.

In the above embodiment, the reproduction of the operation of the revolving structure 1 has been described, but the operation command signals of the operation command means 7, 8 and 9 are read into the control means which is configured similarly to the control means shown in FIG. At the same time, by providing position detecting means for detecting the rotation angle of the boom 2, the arm 3 and the bucket 4,
A reproducing operation including the boom 2, the arm 3 and the bucket 4 can be performed.

<Effects of the Invention> Since the hydraulic shovel control device of the present invention is configured as described above, when performing the regenerating operation of the operating body, the operating body is preliminarily operated by the operation command signal stored in another storage unit. By actively moving to an operation mode for reproduction, that is, a mode similar to the reproduction operation mode, in the approximation mode, feedback control can be realized based on the position detection signal stored in the storage unit different from the above, and the operating body is described above. The speed can be increased by positively operating in the approximate form, the reproducing operation can be performed in a short time, and the deviation between the reproducing operation form and the approximate operating form can be basically suppressed. Therefore, it is not necessary to set the control gain to a particularly large value, and the precision of the playback operation can be improved accordingly. In other words, high-speed and high-precision operation is possible. The moving body can be regenerated, and the efficiency of the work performed via the actuating body can be improved as compared with the related art.

[Brief description of the drawings]

FIG. 1 is a block diagram showing the overall construction of an embodiment of the present invention, FIG. 2 is a block diagram showing the control means provided in this embodiment, and FIG. 3 is a processing procedure in the control means provided in this embodiment. Is a flow chart. 1 ... Revolving structure, 2 ... Boom, 3 ... Arm, 4 ... Bucket, 5 ... Drive means, 6, 7, 8, 9 ... Operation command means, 10 ... Position detection means, 11 ... Memory command means, 12 ...
… Reproduction command means, 13 …… Control means, 14, 16, 19, 20, 22
...... Switching element, 15 …… First storage unit, 17, 23…
… Adder, 18 …… Gain setter, 21 …… Second memory,
24: Drive signal conversion means.

Claims (1)

(57) [Claims] 1. A hydraulic shovel having an operating body including a swing body, a boom, an arm, and a bucket, and driving means for driving the operating body, and a signal for instructing the operation of each of these driving means. Operation commanding means, position detecting means for detecting an operation position of at least one of the actuating bodies, storage commanding means for outputting a command signal for storing the operation form of the actuating body, and regenerating operation of the actuating body. Reproduction command means for outputting a signal for instructing, and a storage section for storing the operation mode of the corresponding operating body based on the signal output from the storage command means, in accordance with the signal output from the reproduction command means. And a control unit for reproducing the signal stored in the storage unit and outputting the reproduced signal to the drive unit as a target value for the feedback control, and a hydraulic pressure capable of reproducing the operating body. In the control device of the YOVEL, the control means includes another storage section for storing the signal output from the operation command means, and the position detection means outputs the signal in accordance with the signal output from the storage command means. And a signal output from the operation commanding means at the same time as the signal that is output from the operation commanding means, and the signal output from the reproduction commanding means. And a means for adding the reproduced signal to the target value for the feedback control, and a control device for the hydraulic shovel.