JP3553188B2 - Electronic control device for construction machinery - Google Patents

Description

[0001]
[Industrial applications]
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronic control device for a construction machine, and in particular, a construction machine in which a plurality of controllers are distributed and arranged in each part of a construction machine such as a hydraulic shovel, and a desirable connection relationship for controlling the construction machine is formed between these controllers. Electronic control device.
[0002]
[Prior art]
2. Description of the Related Art In recent years, in a construction machine such as a hydraulic shovel, electronic control of a hydraulic drive system has been attempted for the purpose of facilitating the operation and improving operability. Hereinafter, a hydraulic excavator will be described as a representative example. The electronically controlled hydraulic shovel is equipped with a controller including a microcomputer as an electronic control unit, and its memory stores a control program and a standard control parameter for a standard operation procedure regarding an operation to be performed. The electronic control unit generates a control command using a control program and a control parameter, and controls the operation of a valve or the like provided in a hydraulic drive system of the hydraulic shovel.
[0003]
In the electronic control device of the above-mentioned hydraulic excavator, if the control content becomes sophisticated and complicated, there may be a case where the processing cannot be performed by one controller. Therefore, conventionally, there has been proposed an electronic control device that is provided with a plurality of controllers in such a case, and is configured to perform control by exchanging data by connecting the controllers by a serial communication unit or the like (Japanese Patent Application Laid-Open (JP-A) No. H11-163873). JP-A-1-263322, JP-A-2-190538, JP-A-1-263323, and the like.
[0004]
[Problems to be solved by the invention]
In a conventional electronic control device for a construction machine that uses a plurality of controllers for control, the operation / control unit and the data processing unit of the controller are divided into an input side and an output side, and both are electrically connected by serial communication. To perform overall control.
[0005]
However, in the current construction machines, the required specifications of users are further diversified, and manufacturers must develop a wide variety of construction machines in order to meet the requirements. For this reason, it is necessary to develop a control device for each model, and the development time for both hardware and software greatly increases. Even if the controller is divided into two parts, an input part and an output part, as in the prior art, if one output device such as an actuator, a pump, and an engine is added, the output part of the controller is newly added to hardware or software. Have to be developed together.
[0006]
Therefore, in the production of electronic control devices for construction machinery, hardware can be developed from the beginning assuming the maximum number of output devices, and a method of changing only the software can be adopted, but all models have the largest hardware. As a result, there is a problem that the cost becomes higher than necessary depending on the model.
[0007]
In addition, regarding a construction machine shipped from a production factory, the same problem as described above occurs when, for example, a retrofitting attachment is simply installed in a service factory where options and the like are mounted on a vehicle body in response to a user request.
[0008]
With a highly functional hydraulic excavator, the number of actuators mounted on the front tends to increase, and the form of the controller also increases, which may make it difficult to install the hydraulic excavator in the most environmentally resistant cockpit. In such a case, the controller must be disposed outside the cockpit, but a controller having a large shape has a disadvantage that it is susceptible to vibration, so that a problem that the controller is likely to be broken occurs. In addition, if measures are taken to prevent vibration, there arises a problem that manufacturing costs increase.
[0009]
Further, if the number of actuators, pumps, and the like increases, the number of signal lines from the controller also increases, and the noise of the signal lines increases, so that a malfunction easily occurs. At present, communication between controllers is a digital signal, but since a drive signal given from the controller to a control target is generally an analog signal, it is easily affected by noise. Further, the longer the length of the wiring between the controller and the pump or motor is, the more easily the noise is affected. Therefore, it is desirable to make the distance between the controller and the output device as close as possible to eliminate the influence of the noise.
[0010]
Furthermore, if the controller is formed in a centralized form, failure of even one actuator or sensor will affect all parts, and depending on the method of failure, finding the location and cause of the failure due to its complexity Is also difficult and maintenance is low.
[0011]
SUMMARY OF THE INVENTION An object of the present invention is to solve the above-described problems, shorten development time and reduce development costs for a wide variety of construction machines, make arrangement and wiring of output devices free, and provide vibration resistance and resistance. An object of the present invention is to provide an electronic control device for a construction machine which has improved noise characteristics, is easily compatible with post-installation functions, and has high maintainability.
[0012]
[Means for Solving the Problems]
An electronic control device for a construction machine according to a first aspect of the present invention is an electronic control device that includes three or more controllers and controls a hydraulic system of the construction machine to operate the construction machine, wherein the three or more controllers include: A first controller group that inputs and processes the generated signal, a second controller group that generates a drive signal based on data sent from another controller and outputs the drive signal to a control target, A main controller that manages a plurality of controllers belonging to the second controller group., A plurality of controllers belonging to the first controller group, a plurality of controllers belonging to the second controller group, and the main controller are connected via the in-vehicle LAN.
[0013]
According to a second aspect of the present invention, in the first aspect, the plurality of controllers belonging to the first controller group, the plurality of controllers belonging to the second controller group, and the main controller form one loop. It is configured to connect to
[0014]
In a third aspect based on the first aspect, the main controller and the plurality of controllers belonging to the first controller group are connected so as to form one loop, and the main controller and the second controller group are connected. Are connected so as to form another loop.
[0015]
According to a fourth aspect of the present invention, in the configuration of each of the above aspects, the first controller group inputs and processes operation signals output from the input operation device and detection signals output from various sensors. The second group of controllers includes a plurality of controllers for controlling each of a plurality of output devices provided on the construction machine.
[0016]
According to a fifth aspect of the present invention, the above-mentioned three or more controllers input and process a detection signal from a sensor provided on the control target to generate a drive signal, and output the drive signal to the control target. Is configured to include the group of
[0017]
In a sixth aspect based on the fifth aspect, in the fifth aspect, the third group of controllers performs processing using a detection signal from the hydraulic power source pump to generate a control drive signal, and transmits the drive signal to the hydraulic pump. It is characterized by including a controller for performing the control by giving and outputting the state data of the hydraulic pump.
[0018]
In a seventh aspect based on the fifth aspect, in the fifth aspect, the third controller group generates a control drive signal by performing processing using a detection signal from an engine that drives the hydraulic pump, and generates the control drive signal. It is characterized by including a controller for giving control to the engine and outputting state data of the engine.
[0019]
An eighth aspect of the present invention is configured such that the above-mentioned three or more controllers are classified according to their functions, and each controller is arranged at a location close to a corresponding control target in terms of distance.
[0020]
[Action]
According to the present invention, in an electronic control device that electrically controls a hydraulic drive system of a construction machine such as a hydraulic excavator to operate the construction machine, the electronic control device is controlled by three or more controllers, and the controllers are grouped according to their functions or roles. , Each controller is provided with a control function suitable for each controller, and each controller arranged in a distributed manner is connected via an in-vehicle LAN and communicates with each other to exchange data. The control function of the machine can be realized, and only the control function necessary for each construction machine can be added. In particular, it belongs to a first controller group that inputs and processes operation signals of input operation devices and detection signals of various sensors and transmits the data as detection data, and is provided corresponding to each input operation device and each sensor. A plurality of controllers, a plurality of controllers belonging to a second controller group that outputs a control drive signal to a plurality of output devices to be controlled, and a plurality of controllers provided for each output device; And a main controller that controls and manages the controllers in a comprehensive manner. These controllers are arranged in a decentralized manner and connected via an in-vehicle LAN to enhance the flexibility of the control system.
[0021]
【Example】
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
[0022]
FIG. 5 is a hydraulic shovel as an example of a construction machine on which the electronic control device 10 according to the present invention is mounted, and an input operation device, various sensors, output devices, and a hydraulic drive system in the hydraulic shovel related to the electronic control device 10. The main part configuration of is shown.
[0023]
In the hydraulic shovel, a revolving unit 12 is provided on a traveling unit 11, and the revolving unit 12 includes a cockpit 13, an engine machine unit 14, and a work machine unit 15. The traveling body 11 includes a right traveling body and a left traveling body. The work machine unit 15 is disposed at the front of the revolving unit 12 and includes a boom 16, an arm 17, and a bucket 18. The work machine unit 15 includes hydraulic cylinders (actuators) 19, 20, and 21 for operating each part of the boom 16, the arm 17, and the bucket 18, and, for example, angle sensors 22 and 23 and displacement sensors for detecting the operation amounts of the respective parts. Be placed. The cockpit 13 has inputs of a plurality of operation levers 24 and the like such as left and right operation levers for controlling the operation of the work machine unit 15 and the like, and left and right operation levers for maneuvering forward, backward, turning and the like by the traveling body 11. An operation device is provided.
[0024]
Detection signals relating to the operation direction and operation amount of the operation lever 24 and detection signals of the angle sensors 22 and 23 are input to the electronic control unit 10.
[0025]
The hydraulic drive system for operating the hydraulic excavator includes, for example, a switching valve 25 for controlling the supply of hydraulic oil to the hydraulic cylinder 19, and an operating state of the switching valve 25, in terms of a hydraulic cylinder 19 for raising and lowering the boom 16. It comprises two electromagnetic proportional valves 26 to be set, a pump 28 forming a hydraulic pressure source, and an engine 29 for rotating the pump 28. Pressure sensors 30 and 31 are provided in the oil passage 27 on the output side of the switching valve 25. The switching valves and the electromagnetic proportional valves are provided for the other hydraulic cylinders 20 and 21 in the same manner as described above. Further, a pump 28 having a tilt angle adjusting unit is provided with a tilt angle sensor 32 for detecting a set tilt angle, and an engine 29 is provided with a rotation speed sensor 33. 34 is a hydraulic oil tank.
[0026]
The detection signals from the pressure sensors 30, 31, the tilt angle sensor 32, and the rotation speed sensor 33 are input to the electronic control unit 10. A drive signal for controlling the operation amount of each of the electromagnetic proportional valves 26 from the electronic control device 10, a drive signal for setting a tilt angle via the regulator 35 to the tilt angle adjusting unit of the pump 28, and an engine 29. , A control signal for setting the number of rotations is output.
[0027]
An example of main control contents of the electronic control unit 10 will be described with reference to a control-related diagram shown in FIG.
[0028]
For example, when the operation lever 24 is operated, an operation signal generated by the operation is input to the electronic control unit 10 (step S1), and a metering characteristic corresponding to the operation amount of the operation lever 24 is added (step S2). Here, the “metering characteristic” refers to the operating speed characteristic of the front (boom, arm, bucket, etc.) with respect to the lever operation amount. Next, the output flow rate of the switching valve 25 or the like is calculated and calculated according to the input lever operation amount (step S3). In the calculation of the valve output flow rate in this step S3, a detection signal relating to an angle detected by the angle sensors 22 and 23 provided at the front, a hydraulic oil 19 supplied to the hydraulic cylinder 19 and the like detected by the pressure sensors 30 and 31 are used. A detection signal relating to pressure or the like is input (steps S4 and S5), a front attitude is calculated (step S6), and a front control value is determined using the determined front attitude value and lever operation amount value. (Step S7) Correction is made by using the value of the front control as a numerical value for correction.
[0029]
Next, since the maximum flow rate of the pump 28 has an upper limit, the pump flow rate is corrected so that the total output flow rate of all valves does not exceed the upper limit value (step S8). The flow rate of the pump 28 required at the time of the correction in the step S8 is obtained from the detected values of the rotation speed sensor 33 attached to the engine 29 and the tilt angle sensor 32 attached to the pump 28 (step S9, S10, S11). Thereafter, output processing of the valve is performed (step S12), and thereby a signal for driving the electromagnetic proportional valve 26 is output (step S13).
[0030]
Next, a detailed configuration example of the above-described electronic control device 10 will be described with reference to FIGS. The electronic control device 10 of the construction machine according to the present invention includes three or more controllers, and each controller is formed by a microcomputer.
[0031]
FIG. 1 shows a first embodiment of the system configuration of the electronic control unit 10. The electronic control device of this embodiment includes a main controller 41, for example, two lever controllers 42, 43, for example, three sensor controllers 44, 45, 46, for example, three valve controllers 47, 48, 49, and a pump controller. 50 and an engine controller 51.
[0032]
The main controller 41 is a controller for supervising, controlling, and managing the entire system.
[0033]
The lever controller 42 is a controller that inputs and processes operation signals from the right operation lever 24a and the left operation lever 24b, which are input operation devices, and generates and outputs operation data corresponding to the operation signals. Is a controller that inputs and processes operation signals from the left traveling lever 24c and the right traveling lever 24d, and generates and outputs operation data corresponding to the operation signals. The hardware configuration of the lever controllers 42 and 43 is the same, and the software is set according to the type of construction machine and the control target. Each of the sensor controllers 44 and 45 inputs and processes a detection signal relating to a vehicle body state such as a front angle sensor 22, 23, a displacement sensor, a pressure sensor 30, 31 and a temperature of hydraulic oil, and performs detection corresponding to the detection signal. A controller that generates and outputs data. The sensor controller 46 is a controller that inputs and processes detection signals from the tilt angle sensor 32, the rotation speed sensor 33, the pressure sensor, and the like, and generates and outputs detection data corresponding to the detection signals. In FIG. 1, the sensors on the input side of the sensor controller 44 are grouped together, the sensor unit 36a, the sensors on the input side of the sensor controller 45 are grouped together, and the sensor unit 36b and the sensors on the input side of the sensor controller 46 are grouped together. 36c. The above controllers 42 to 46 are input-side controllers for inputting and processing operation signals and detection signals.
[0034]
Next, the valve controllers 47, 48, and 49 are controllers for driving and controlling the respective actuators. The valve controller 47 controls the operation of the boom 16 and the bucket 18. For example, the valve controller 47 generates a drive signal using control data sent from another controller such as the main controller 41, and converts the drive signal to a boom electromagnetic signal. The values are given to the proportional valves 26a and 26b and the bucket electromagnetic proportional valves 26c and 26d. The valve controller 48 controls the operation of the arm 17 and the revolving unit 12, generates a drive signal using control data sent from another controller, and transmits the drive signal to the arm electromagnetic proportional valves 26e, 26f, 26f. This is given to the revolving-body electromagnetic proportional valves 26g and 26h. The valve controller 49 controls the operation of the left and right traveling body 11, generates a drive signal in the same manner, and supplies it to the traveling body electromagnetic proportional valves 26i, 26j, 26k, 26l. Although the illustrated valve controllers 47, 48, and 49 are configured to drive two actuators in one controller, the present invention is not limited to this, and one controller is provided in one actuator. Is also good. The pump controller 50 is a controller for generating a drive signal based on control data sent from another controller and performing control so that the pump 28 can output an optimal flow rate of hydraulic oil. The engine controller 51 is a controller for generating a drive signal based on control data sent from another controller, and controlling the engine 29 to have an optimum rotation speed. The above controllers 47 to 51 are output-side controllers for supplying a control drive signal to a control target and controlling the control drive signal.
[0035]
The main controller 41 and the other controllers 42 to 51 are connected to each other, and are connected by a signal line 52 so as to form one loop as a whole. Data transmitted from each controller is received by all controllers. That is, all the controllers 41 to 51 are connected via the in-vehicle LAN, and data is exchanged between them.
[0036]
In the above electronic control device 10, a structure in which a control device is configured using three or more controllers 41 to 51 having functions and roles individually and arranged separately, and the three or more controllers 41 to 51 are connected to an in-vehicle LAN. According to this structure, the controller can be freely added or removed as needed, and an optional attachment corresponding to each user's request can be easily incorporated.
[0037]
In the configuration of the electronic control device 10 shown in FIG. 1, a plurality of controllers 41 to 51 are provided, and these controllers are divided into groups according to functions or roles, and are arranged so as to be distributed at desired locations. Is done. The controllers 41 to 51 arranged in a distributed manner transmit and receive data between them, and there are various ways of processing / generating and transmitting data. As an example of the transmission method, operation signals input by operating the left and right operation levers 24a and 24b and the traveling levers 24c and 24d are processed by the lever controllers 42 and 43 and transmitted to the main controller 41. Further, the state data of the vehicle body detected by various sensors on the input side of the sensor controllers 44, 45, 46 is also transmitted to the main controller 41. In order to operate each actuator optimally, the main controller 41 performs arithmetic processing based on the transmitted various operation data and detection data to generate respective control signals. Next, the main controller 41 transmits the generated control data to the corresponding valve controllers 47, 48, 49. Based on the received control data, each valve controller electrically drives an electromagnetic proportional valve to be controlled to convert the valve into a hydraulic operation, and operates a corresponding actuator. Also for the pump 28 and the engine 29 to be controlled, the main controller 41 calculates optimal control data for control in the same manner as described above, and transmits the control data to the pump controller 50 and the engine controller 51. The pump controller 50 controls the pump 28 to an optimal flow rate output based on the control data transmitted from the main controller 41, and the engine controller 51 rotates the engine 29 based on the control data transmitted from the main controller 51 for optimal rotation. Control to a number.
[0038]
A second embodiment of the electronic control device according to the present invention will be described with reference to FIG. The second embodiment is a modification of the first embodiment. In FIG. 2, the same elements as those described in FIG. 1 are denoted by the same reference numerals. The plurality of controllers constituting the electronic control unit, that is, the main controller 41, the lever controllers 42 and 43, the sensor controllers 44 to 46, the valve controllers 47 to 49, the pump controller 50, and the engine controller 51 are the same, and each controller The functions of the components connected to the controller and the controllers are the same. The feature of the configuration of the second embodiment is that a plurality of controllers arranged in a distributed manner are divided into a group of controllers 42, 42, 44 to 46 located on the input side for inputting various detection signals, and a drive signal. A group of controllers 47 to 49, 50, and 51 located on the output side to be given to the control target is divided into a main controller 41, and one loop is formed between the group of controllers on the input side and the main controller 41. And the other controller is connected so as to form another loop between the output controller group and the main controller 41. In other words, in the configuration of the second embodiment, the lever controllers 42 and 43 that mainly process input data and the sensor controllers 44 to 46 are integrated into one closed system, and the valve controllers 47 to mainly handle output data. 49, a pump controller 50, and an engine controller 51 are integrated into one closed system, and are combined by a main controller 41 that controls and manages the entire system.
[0039]
The electronic control unit according to the second embodiment has the advantage that the data transmission direction is unified, data collision on the in-vehicle LAN is reduced, and high-speed control of the system can be performed.
[0040]
According to the above-described first and second embodiments, three or more controllers are prepared, and each controller is separately provided for each function, so that the amount of arithmetic processing for each controller is reduced, and the controller is mounted on each controller. The burden on the microcomputer is reduced. Also, once the hardware and software for each controller is developed and standardized for each function, only the control unit for the necessary functional parts needs to be installed for various types of models. There is no need for development, and a control system can be constructed at low cost.
[0041]
The third embodiment shown in FIG. 3 shows a configuration in which the traveling-system lever controller 43 and the valve controller 49 are removed from the electronic control device having the configuration of the first embodiment described with reference to FIG. In particular, in the case of a hydraulic excavator that does not require electronic control of the traveling system, the configuration shown in FIG. 3 is sufficient. In comparison, it can be constructed as an inexpensive control system. On the other hand, when it is desired to increase the number of actuators, a lever controller and a valve controller corresponding to the actuator may be additionally mounted if necessary, so that a control system can be easily and inexpensively constructed. be able to.
[0042]
FIG. 4 shows a fourth embodiment of the electronic control device according to the present invention. In this embodiment, for example, the system according to the third embodiment shown in FIG. 3 is realized by changing the type of a controller to be standardized. In the third embodiment, the sensor controllers 44 and 45 and the valve controllers 47 and 48 are separately provided, and the sensor controller 46, the pump controller 50, and the engine controller 51 are separately provided. In the present embodiment, first, a highly relevant sensor controller and a valve controller are integrated and configured as input / output controllers 61, 62, 63, and 64. The input / output controller 61 is for a boom, inputs various detection signals from the sensor unit 71, and outputs drive signals to the electromagnetic proportional valves 26a and 26b. The input / output controller 62 is for a bucket, receives various detection signals from the sensor unit 72, and outputs drive signals to the electromagnetic proportional valves 26c and 26d. The input / output controller 63 is for an arm, receives various detection signals from the sensor unit 73, and outputs drive signals to the electromagnetic proportional valves 26e and 26f. The input / output controller 64 is for a revolving structure, receives various detection signals from the sensor unit 74, and outputs control drive signals to the electromagnetic proportional valves 26g and 26h. The pump controller 80 also has a function of an input-side controller and a function of generating control data. The pump controller 80 receives various detection signals from the sensor unit 75 and outputs a drive signal to the pump 28. The engine controller 81 is also provided with a function of an input-side controller and a function of generating control data, and inputs various detection signals from the sensor unit 76 and outputs a drive signal to the engine 29. Other configurations are the same as those of the third embodiment.
[0043]
According to the configuration of the fourth embodiment, for example, as described in the control of the boom 16, data input from the sensor unit 71 attached to the boom 16 is immediately processed by the input / output controller 61 to generate control data. A drive signal is generated and given to the electromagnetic proportional valves 26a and 26b, so that high-speed control can be performed. The same applies to the input / output controllers 62 to 64 relating to other actuators, and to the pump controller 80 and the engine controller 81 relating to the pump 28 and the engine 29. If high speed is not required, it is desirable that the correction be performed based on data communicated through the in-vehicle LAN, as in the above-described embodiment.
[0044]
Although the hydraulic shovel has been described as an example of a construction machine in the above embodiment, the electronic control device according to the present invention can be similarly applied to other construction machines.
[0045]
【The invention's effect】
As is apparent from the above description, according to the present invention, since the electronic control device is provided with a plurality of controllers, arranged separately for each function, and arranged so as to be connected via the in-vehicle LAN, individual Controllers can be standardized, and a highly flexible control system can be constructed that can handle even high-function machines to low-function machines and even special work machines. In addition, the development period of hardware and software can be shortened, and a variety of products can be diversified and the price can be reduced. Since the controllers are distributed and each controller can be made small, it is easy to arrange them in a narrow cockpit, and the layout becomes very free. In addition, the miniaturization increases the vibration resistance, allows installation in a place other than the cockpit, and can be arranged at a location convenient for analog signals that are susceptible to noise. Further, since the controllers are grouped for each function and are arranged in a distributed manner, it is possible to easily know which actuator has failed, which is very convenient for maintenance and can reduce the maintenance cost.
[Brief description of the drawings]
FIG. 1 is a system configuration diagram showing a first embodiment of an electronic control device according to the present invention.
FIG. 2 is a system configuration diagram showing a second embodiment of the electronic control device according to the present invention.
FIG. 3 is a system configuration diagram showing a third embodiment of the electronic control device according to the present invention.
FIG. 4 is a system configuration diagram showing a fourth embodiment of the electronic control device according to the present invention.
FIG. 5 is a configuration diagram showing an example of a construction machine on which the electronic control device according to the present invention is mounted.
FIG. 6 is a control-related diagram showing an operation example of the electronic control device.
[Explanation of symbols]
10 Electronic control unit
11 Running body
12 Revolving superstructure
13 cockpit
14 Engine Working Unit
15 Working machine
16 Boom
17 arm
18 buckets

Claims (8)

An electronic control device including three or more controllers and operating the construction machine by controlling a hydraulic system of the construction machine,
The three or more controllers are a group of first controllers for inputting and processing the generated signals, and a second controller for generating a drive signal based on data sent from another controller and outputting the generated drive signal to a control target. group of the group and, the saw including a main controller for managing the first and the second controller a plurality of controllers belonging to the group of the plurality of controllers belonging to the group of the first controller, the second controller An electronic control device for a construction machine , wherein a plurality of controllers belonging to the above and the main controller are connected via an in-vehicle LAN . A plurality of controllers belonging to the first controller group, a plurality of controllers belonging to the second controller group, and the main controller are connected so as to form one loop. 2. The electronic control device for a construction machine according to claim 1. The main controller and a plurality of controllers belonging to the first controller group are connected to form one loop, and the main controller and the plurality of controllers belonging to the second controller group are connected to another loop. 2. The electronic control device for a construction machine according to claim 1, wherein the connection is made so as to form the following. The first group of controllers includes a controller that inputs and processes operation signals output from an input operation device and a controller that inputs and processes detection signals output from various sensors, and the second group of controllers includes The electronic control device for a construction machine according to any one of claims 1 to 3, further comprising a plurality of controllers for controlling each of a plurality of output devices provided in the construction machine. The three or more controllers include a third controller group that inputs and processes a detection signal from a sensor provided on a control target to generate a drive signal, and outputs the drive signal to the control target. The electronic control device for a construction machine according to any one of claims 1 to 3. The third group of controllers performs a process using a detection signal from the hydraulic pump to generate a control drive signal, gives the drive signal to the hydraulic pump to perform control, and outputs state data of the hydraulic pump. The electronic control device for a construction machine according to claim 5, further comprising a controller that outputs a signal. The third group of controllers performs processing using a detection signal from an engine that drives a hydraulic pump, generates a control drive signal, gives the drive signal to the engine to perform control, and controls the engine. The electronic control device for a construction machine according to claim 5, further comprising a controller that outputs the status data. 8. The electronic device according to claim 1, wherein the three or more controllers are classified according to functions, and each controller is arranged at a location that is close to a corresponding control target. 9. Control device.

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