JP2784653B2 - Target value setting control device for control equipment - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a target value setting control device of a control device such as an operation control device of a hydraulic crane vehicle.

(Prior Art) For example, as shown in JP-A-55-21309,
Recently, even in working vehicles such as hydraulic cranes, from the viewpoint of ensuring safety during work and improving work efficiency, an actuator unit such as a hydraulic cylinder to be controlled and an operation control unit for controlling an operation state of the actuator unit are provided. Are separated from each other in a distance, and a configuration that enables remote control by a wireless system (or a wired system), for example, has been adopted.

When such a remote control system is employed, for example, when there are a plurality of target control objects (actuator units) (for example, an up-and-down cylinder, a hoisting motor, a telescopic cylinder, a turning motor, etc.) as in the above-described crane truck, each of them is Operation control means for controlling the operation of each of the controlled objects must also be installed, and the target value setting operation means for setting the control target value of the operation control means must of course be provided for each operation control means. It is the configuration of the conventional operation control system that is installed.

However, such a configuration has disadvantages in that the configuration of the remote control for operation is extremely complicated and large even when the above-described remote control method is employed, and the cost is high. In addition, there is also a problem that the power consumption of the radio control side particularly when a wireless system is employed is so large that the life of the battery is shortened.

Under such circumstances, recently, development efforts to share the devices as much as possible have been continued. For example, even in the prior art invention described in Japanese Patent Application Laid-Open No. In the hydraulic circuit to each hydraulic actuator, which is a kind of multiple controlled objects in the type crane,
An operation selection solenoid valve is provided corresponding to each of the hydraulic actuators, and a single proportional solenoid relief valve is provided in a common hydraulic circuit to each of the operation selection solenoid valves. A configuration is adopted in which the operating speed of each crane operation actuator is controlled by controlling the pressure of the hydraulic oil. Therefore, there is an advantage that a single "trigger" for operating speed control operation is sufficient. .

(Problems to be Solved by the Invention) However, in the case of the configuration of the above-mentioned conventional technology, a single relief valve for operating hydraulic pressure control is sufficient, and a "trigger" as an operation unit for that is also required. However, the trigger and the relief valve are always linked in a fixed relationship. That is, no matter which hydraulic actuator is selected by the operation selection solenoid valve, if the operation amount of the trigger is constant, the supply amount (speed) of the hydraulic oil of the hydraulic actuator is uniquely determined. Between the hydraulic actuator speed and the hydraulic actuator speed cannot be set arbitrarily for each hydraulic actuator.

(Means for Solving the Problems) The present invention has been made for the purpose of solving the above-described problems, and has a plurality of controlled objects. In a target value setting control device for a control device, wherein a desired control target value is given by a common target value setting means, set target value data corresponding to each of the plurality of control targets and corresponding to the operation characteristics thereof. Setting target value storing means for storing the setting target value storage means, control target selecting means for selecting setting target value data corresponding to the control target in the setting target value storing means, and a control target corresponding to the control target selected by the control target selecting means. And a target value data converting means for reading the selected target value data in accordance with the operation amount of the target value setting means.

(Operation) In the configuration of the target value setting installation device of the control device according to the present invention, for example, a plurality of control targets are provided, and each of the control targets is arbitrarily set by a common target value setting unit. In a target value setting control device of a control device configured to give a control target value of, a set target value storage means for storing set target value data corresponding to each of the plurality of control targets and corresponding to its operation characteristics, Control target selecting means for selecting the set target value data corresponding to the control target in the set target value storage means, and selecting the target value data corresponding to the control target selected by the control target selection means in the target value setting. And a target value data conversion means for reading out according to the operation amount of the means. In accordance with the selection of the installation target, the target value set by the target value setting means is converted based on a predetermined functional relationship defined by the storage data, and input to the control target as a control core.

(Effects of the Invention) Therefore, according to the target value setting control device for a control device of the present invention, it is needless to say that a single target value setting operation unit is common to all control objects. The relationship between the amount of operation of the target value setting means and the amount of operation of the controlled object can be set to an optimum value for each time.

As a result, the operation efficiency is improved, and the size of the device can be reduced, which is particularly suitable for a control device employing a remote control system.

(Embodiment) FIGS. 1 to 5 show a target value setting control device of a control device such as a hydraulic actuator according to an embodiment of the present invention.

First, FIG. 1 shows the overall configuration of a control system of the apparatus of the embodiment. In the figure, reference numeral 11 denotes a first cylinder which is, for example, an up-and-down cylinder of a remote control type hydraulic crane.
The hydraulic actuator 11 is adapted to be supplied with hydraulic oil from a first oil pump (hydraulic pump) 5 via a three-position direction switching valve 21. Further, reference numeral T ₁ indicates a first oil tank.

The three-position directional control valve 21 is provided with a first position 21a for supplying hydraulic oil in a forward direction by an operation (described later) of a spool 41C of a first control cylinder (remote control cylinder) 41 for system control, and in a reverse direction. The three spool positions are controlled to be arbitrarily switched to a second position 21b for supplying hydraulic oil and a neutral third position 21C for stopping supply of hydraulic oil. When the position is switched to the position 21a, the operating rod 11a of the first hydraulic actuator 11 operates in the extending direction shown by the arrow (a). When the operation rod 11a is switched to the second position 21b in the reverse direction, the operating rod 11a operates in the contraction direction shown by the arrow (b) opposite to the forward direction. Further, when the position is switched to the third position 21c in the neutral state, the neutral state (stop state) is maintained.

By the way, the first control cylinder 41 has a first control cylinder 41 defined in front and rear with respect to the position of the piston 41d.
The first and second working chambers 41a and 41b are respectively provided with a pair of ON / OFF-driven electromagnetic on-off valves 71A and 71B. Te are adapted to oil is supplied from the second oil pump 6 and the first or second working chamber 41a, the second oil tank T ₂ side oil within 41b is correspondingly It is to be returned. When the control cylinder 4 is operated, the pair of solenoid on-off valves 71A and 71B are turned on and off in an alternate relationship. First, in the ON state, the second oil pump 6 is turned on. While the oil supply path from the oil chamber is communicated with the corresponding working chamber 41a or 41b while the oil discharge path from the working chamber 41a or 41b in the OFF state (of course, the relation of ON or OFF is reversed). so that the allowed to communicate with the second oil tank T ₂ side. Therefore, the first control cylinder 41 is, in principle, the ON / O of the solenoid on-off valve 71A or 71B.
The amount of movement of the piston 41d, in other words, the amount of operation stroke of the spool 41c is naturally determined by the FF time.

On the other hand, reference numeral 10 indicates ON and OFF of the pair of solenoid on-off valves 71A and 71B.
Final operation control signal E for arbitrarily variably controlling the OFF time
An operation control unit that outputs A and EB. The operation control unit 10 includes, for example, an arithmetic unit (CPU) and a plurality of memories (ROM and RA) by a microcomputer of about 8 bits.
M), and from the I / O unit, a control target value (a final operation amount of the hydraulic actuator 11 corresponding to the final target operation amount of the hydraulic actuator 11) first set by the operation unit (target value setting unit) 3. ), The control signals E _A1 and E _B1 (E _A2 , E _B2 ...) Are output.

The control signal outputs E _A1 and E _B1 control ON / OFF of the pair of solenoid valves 71A and 71B to adjust the stroke amount of the control cylinder 41. The first hydraulic pressure is adjusted in accordance with the adjustment amount. The operation amount of the actuator 11 is controlled according to the target value.

Further, in the case of the present embodiment, in addition to the first hydraulic actuator 11, the second hydraulic actuator (the hoisting motor) 12 to the third hydraulic actuator (the boom telescopic cylinder) 13, the fourth hydraulic actuator (the swing) Motor) fourteen hydraulic actuators are installed respectively, and for each of them, the same solenoid on-off valves (72A, 72B) to (74A, 74B), control cylinders 42 to 44, The second to the second equipped with the position direction switching valves 22 to 24, etc.
Where the fourth actuator drive control units 51 to 54 (see FIG. 2) are provided, the operation control unit 10 is controlled by the above-described hand-side operation unit 3 as shown in FIG. In response to the operation states of the selection means 8 and the target value setting means 9, the first to fourth actuator drive control units 51 to 54 correspond to the set target values of the selected control target. For example, first to fourth set target value storage means so that the obtained control signal can be arbitrarily converted into a characteristic and output.
31 to 34 and target value data conversion means 30.

The first to fourth set target value storage means 31 to 34 store the operating characteristics of the first to fourth hydraulic actuators 11 to 14 as shown in FIGS. 3A to 3D, for example. stores the setting target values Y ₁ to Y ₄ corresponding. Then, and outputs the actual target value Y ₁ to Y ₄ to be set appropriate to each of the hydraulic actuators 11 to 14 in accordance with the input quantity X from the target value setting means 9. That is, the actual target value Y ₁ to Y ₄ is
As is apparent from FIG. 3, the input amount X supplied from the target value setting means 9 is arbitrarily determined as a parameter. Then, FIG. 3 (a) to FIG.
The data conversion operation with any of the characteristics (d), in other words, the data conversion operation according to the control target, is performed by the output of the control target selection unit 8 to the target value data conversion unit 30 and the target value setting unit 9 by the output. This is performed according to a logical AND condition with the output, and at the same time, two or more or all control targets can be selected.

That is, the target value data conversion means 30 first receives the output of the control target selection means 8 and outputs the target value data as shown in FIGS.
(D) Any one of the set target value storage means 31 to 34 corresponding to each characteristic is selected and specified, and then the output amount X of the target value setting means 9 is obtained from the specified set target value storage means 31 to 34. It reads the actual target value Y ₁ to Y ₄ in accordance with, and inputs to the corresponding first to fourth hydraulic actuator drive control unit 51 to 54.

The configuration of the target value setting control device of the control device of the embodiment of the present invention includes, for example, first to fourth hydraulic actuators 11 to 14 that are a plurality of control targets, and the first to fourth hydraulic actuators that are the plurality of control targets. Target value setting control of a control device for giving an arbitrary control target value by the target value setting means 9 to each of the hydraulic actuators (11, 12, 13, 14) among the four hydraulic actuators 11 to 14 In the device, the first to fourth hydraulic actuators 11 to 14 which are the plurality of control targets are provided.
, And set target value storage means 31 to 34 storing set target value data Y _{1 to} Y ₄ (FIGS. 3a to 3d) corresponding to the operation characteristics thereof. The specific set target value storage means 31 to 34 corresponding to the first to fourth hydraulic actuators 11 to 14 for which the current target value is to be set in 34
And the set target value storage means 31 to 34 corresponding to the first to fourth hydraulic actuators 11 to 14 for setting the current target value selected by the control object selection means 8. And a target value data converting means 30 for reading selected target value data from the target value setting means 9 in accordance with the set amount of the target value setting means 9. (Any one of the hydraulic actuators 11 to 14) is selected, and the target value setting means 9 of the operation unit 3 arbitrarily gives a control target value, so that an operation characteristic according to the selected control target is obtained. The target value data to be set by the target value data conversion means 30 is read out from the stored authorized target value storage means (any one of the first to fourth authorized target value storage means 31 to 34), and the current control is performed. Target value Control target of the selected object, that is adapted to output to one of the first to fourth hydraulic actuator drive control unit 51 to 54.

Therefore, according to the target value setting control device of the control device of the embodiment of the present invention, it is sufficient that a single target value setting operation unit is common to all the control targets, and of course, The relationship between the operation amount of the target value setting means 9 and the operation amount of the controlled object can be optimized.

That is, according to the target value setting control device of the present invention, the output target value for the input target value X, that is, the actual target value Y
(Y = Y ₁ , Y ₂ , Y ₃ , Y ₄ ) is the set target value storage means 31 to
It is determined by the characteristic setting of the 34 data conversion tables (maps in FIGS. 3A to 3D). Therefore, if a particularly linear region of the characteristic is set in association with a particularly important portion for control, the resolution of the input target value in the region can be improved. For the same reason, for example, when the user does not want to use the input target value i up to the maximum value i (MAX), the original characteristic is set to an intermediate value to limit the characteristic to the desired upper limit value characteristic. Can be multiplied.

In the configuration of the target value setting control device of the above embodiment,
It does not matter whether the remote control system is a wireless system (radio control system) or a wired system. However, in recent years, radio controlled wireless control systems using cordless transmitters employing FM radio waves have been increasing in order to enable workers to carry out cargo work away from trucks alone. Therefore, in such a case, it is also important to design the wireless control system in consideration of the characteristics and technical restrictions of the wireless control system itself.

In the case of a wireless control system, the configuration of the transmitter must be designed to be as small, low in weight and low in power consumption as possible in order to exhibit the so-called handheld function, and the product must be within the current general cost. If such an attempt is made, the capacity of the microcomputer unit must be made as small as about 6 bits.

On the other hand, even in such a case, a microcomputer having a sufficient capacity of 8 bits can be used in the receiver side main unit as usual.

In other words, in such a case, it is necessary to decompose the signal composed of 6 bits from the transmitter so as to correspond to the 8-bit signal on the receiver side. It is important to have an optimal relationship (conversion characteristic) between them.

However, in the case of the present invention, even if the, for example, the characteristics memory of the resolution of the transmitter 6 bits (to correspond to a resolution of 2 ⁶ = 64 8 bits (2 ⁸ = 256) with the desired properties For example, the three-position directional control valves 21 to 24 shown in Fig. 1 have a portion that does not open at the beginning of switching due to the relationship of the opening area to the stroke of the switching. On the other hand, there is generally provided a case in which the opening area does not change even after the spool is once opened even if the spool is moved further (that is, a dead zone portion).
If the resolution of the 6-bit signal assigned to the dead zone is made coarse by using the dead zone portion and the portion where the opening area changes is made dense, the operability can be prevented.

Further, the present invention has the following advantages in relation to, for example, an auto accelerator of a small crane truck.

In general, in a small crane vehicle having an auto accelerator function, for example, an electromagnetic on-off valve for controlling an up-and-down cylinder or the like is operated when an operation by an operation lever reaches a predetermined operation amount (for example,
When the operation angle of the potentiometer reaches 30 °), it remains open. When the operation amount of the operation lever is further increased (from 30 ° to the maximum value of 40 °), the accelerator opening of the vehicle engine (TVO) to increase the engine speed (torque).

On the other hand, in the auto-acceleration system, control is performed so as to suppress the upper limit of the engine speed during the boom turning.

In each case as described above, for example, the characteristic map shown in FIG. 4A (expandable control cylinder characteristic) and the characteristic map shown in FIG. 4B (expandable accelerator control characteristic), or FIG. ) And the characteristic map of FIG. 5 (b) (acceleration control characteristics of turning) are combined as shown in FIG. 5 so that switching is performed as continuous control characteristics. For example, the target value can be set by a single operation in exactly the same manner as in the above embodiment.

Furthermore, if the above-mentioned data conversion system is applied, a large number of model operation characteristics that are easy to operate and match with the operation characteristics of various classes of operators (beginner, intermediate, advanced) are stored in advance, It is also possible to make it possible for the transmitter to select an operation characteristic that matches the level of the user.

Further, at the time of simultaneous operation of a plurality of control objects, it is possible to set the most appropriate characteristic according to the selected one, thereby improving operability.

For example, when trying to move two hydraulic actuators at the same time (such as moving the telescopic cylinder and the up-and-down cylinder at the same time), as shown in FIG. Then, since the supply flow rate from the hydraulic pump is a fixed amount, most of the supply flow rate is supplied to one of the two hydraulic actuators that are about to move at the same time and has a lower operating pressure. Therefore, when performing simultaneous operations, it is necessary to operate while adjusting the amount of oil supplied to each hydraulic actuator separately from when operating each hydraulic actuator alone. Therefore, a characteristic map may be prepared for each of the hydraulic actuators so that the optimal characteristic is obtained by the hydraulic actuators operated simultaneously so that the supplied oil amount is adjusted. Therefore, when a plurality of hydraulic actuators are selected for simultaneous operation by the control target selecting means 8, each control cylinder for moving each hydraulic actuator is different from the characteristic map selected when individually operated. It is also possible to output from the above-mentioned characteristic map and perform an optimal simultaneous operation.

The control cylinders 41 to 44 for remote control and the three-position directional control valves 21 to 24 for operating the hydraulic actuators 11 to 14 are usually individually manufactured according to the operability of the control target ( Processing).

In other words, in general, when operating with a manual directional switching valve or the like, the relationship between the stroke amount and the opening area is optimized for each spool of each switching valve in accordance with the characteristics of the controlled object in order to improve the operability. (For example, generally, a revolving spool is individually processed so as to reduce the opening area with respect to the stroke amount for expansion and contraction and the like).

However, if the configuration of the present invention is adopted, a common directional switching valve (one having the same relationship between the stroke of the spool and the opening area) can be used even in such a case. The difference in operability can be achieved by adjusting only the stroke amount of the control cylinders 41 to 44. In other words, in the case of the configuration of the present invention,
The operability of each hydraulic actuator can be simply adjusted by software by the set target value storage means 31 to 34. Therefore, the three-position directional control valves 21 to 24 can be used in common, and as a result, there is an advantage that the cost can be reduced as compared with the case where the three position directional control valves 21 to 24 are separately manufactured. Of course, this is exactly the same for the remote control cylinders 41 to 44.

At the same time, the hydraulic actuators 11-can be easily changed only by changing the data contents of the set target value storage means 31-34.
Since the operability of 14 can be changed, it is very easy to change the setting of characteristics (for example, by converting ROM or rewriting RAM data).

[Brief description of the drawings]

FIG. 1 is a control-hydraulic system diagram showing an overall system configuration of a target value setting control device for a control device according to an embodiment of the present invention, FIG. 2 is a functional block diagram of the main parts, FIG. (A)
-(D), FIGS. 4 (a) and (b), FIG. 5 (a),
(B) is a data conversion characteristic diagram in each data conversion part of the device of the embodiment. 5 First hydraulic pump 6 Second hydraulic pump 11 First hydraulic actuator 12 Second hydraulic actuator 13 Third hydraulic actuator 14 Fourth hydraulic actuator 21 ... first three-position directional control valve 22 ... second three-position directional control valve 23 ... third three-position directional control valve 24 ... fourth three-position directional control valve 41 ... first control cylinder 42 Second control cylinder 43 Third control cylinder 44 Fourth control cylinder 51 First hydraulic actuator drive control unit 52 Second hydraulic actuator drive control unit 53 Hydraulic actuator drive controller 3 54... Fourth hydraulic actuator drive controller

Claims (1)

(57) [Claims] 1. A target value of a control device comprising a plurality of controlled objects, wherein an arbitrary control target value is given to each of the controlled objects by common target value setting means. In the setting control device, setting target value storage means corresponding to each of the plurality of control targets and storing setting target value data corresponding to the operation characteristic thereof, and setting of the setting target value storage means corresponding to the control target. Control target selecting means for selecting target value data; and target value data converting means for reading selected target value data corresponding to the control target selected by the control target selecting means in accordance with the operation amount of the target value setting means. A target value setting control device for a control device, wherein the target value setting control device is provided.