JP3835861B2 - Control data storage device in control device of work machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a control data storage device in a control device for a work machine.
[0002]
[Prior art]
FIG. 4 is a block diagram for explaining signal transmission of a work machine control device having a learning function as an example of a control data storage device in a conventional work machine control device.
[0003]
An operation signal output means 1 for outputting an operation signal a for instructing driving of the work machine, a state detection means 4 for detecting a drive state of the work machine and outputting a state signal h, and a work machine that receives signals from both detection means. A control unit 2 for calculating and calculating the control signal g, and a driving means 3 for driving the work implement by a signal from the control unit 2.
[0004]
The control unit 2 calculates and calculates a feedforward control amount based on the target speed signal b, a control command signal calculation device 21 that calculates and calculates the target speed signal b and the target position (speed) signal k based on the operation signal a, and feedforward. A feedforward control amount calculation device 22 that outputs a signal e, and further calculates an error signal c that calculates an error of the actual value of the work implement with respect to the target value from the target position (speed) signal k and the state signal h and outputs an error signal c A device 24 is provided.
[0005]
The control unit 2 includes a correction characteristic data calculation device 29 for calculating and calculating correction characteristic data d for correcting the feedforward signal e based on the error signal c, and a volatile memory 26 for storing the correction characteristic data d. In the feedforward control amount calculation device 22, the control accuracy of the feedforward control amount is improved based on the correction characteristic data d stored in the volatile memory 26.
[0006]
On the other hand, the control unit 2 includes a feedback control amount calculation device 25 that calculates and calculates a feedback control amount based on the error signal c and outputs a feedback signal f. In addition, a control output calculation device 23 that calculates and calculates the control signal g from the feedforward signal e and the feedback signal f is provided. This control output arithmetic unit 23 outputs a control signal g for driving the driving means 3.
[0007]
As described above, the control data storage device in the control device for the work implement includes the operation signal output means 1 for outputting the operation signal a for instructing the drive speed of the work implement, and the state detection means 4 for detecting the drive status of the work implement. And a control unit 2 that receives signals from both detection means and outputs a control signal g for controlling the drive means 3 of the work machine. The control unit 2 includes a storage device including a volatile memory 26 that stores the relationship between the operation signal a and the state signal h in an updatable manner in association with the fluctuation speed of the operation signal a, and a nonvolatile memory 27. When the control signal g is obtained from the operation signal a, the control signal g for causing the drive speed of the work implement to accurately follow the drive speed indicated by the operation signal a using the data stored in the volatile memory 26 in the storage device. It is configured to calculate and output.
[0008]
When the volatile memory 26 storing the correction characteristic data d of the storage device is turned off, the stored correction characteristic data d is lost. In view of this, a nonvolatile memory 27 and a timer 28 for outputting a write signal i at a constant cycle are provided in association with the volatile memory 26. The correction characteristic data d stored in the volatile memory 26 is written and stored in the nonvolatile memory 27 based on the write signal i issued from the timer 28 every set time interval. Further, the correction characteristic data d stored in the nonvolatile memory 27 is read based on the read signal n output from the power-on means 6 when the power is turned on, and stored in the volatile memory 26.
[0009]
As described above, the correction characteristic data d is rewritten in the nonvolatile memory 27 by the timer 28 every set time interval. Therefore, learning of the machine difference, characteristic change due to secular change, characteristic change due to environmental change, etc. The control content is automatically adjusted.
[0010]
[Problems to be solved by the invention]
However, the nonvolatile memory 27 cannot be written permanently, and the number of times of writing is limited and has a lifetime. Long-term use sometimes exceeded the number of service life limits. In this case, the nonvolatile memory 27 is in a state where writing cannot be performed or stored data cannot be guaranteed.
[0011]
For this reason, this limitation is accommodated by increasing the set time interval of the timer 28. However, when the set time interval is increased, there is a case where the writing process is not performed within the working time of the work machine. Further, in the case of a control circuit that does not have a circuit for holding power for a predetermined time when the power is turned off, there is a possibility that the power is turned off during the writing process and the written contents are not guaranteed.
[0012]
The present invention has been made on the basis of the above circumstances, and controls a work machine capable of reliably storing and updating control data (correction characteristic data in the above-described conventional technique) in a nonvolatile memory. It is an object of the present invention to provide a control data storage device in an apparatus.
[0013]
[Means for Solving the Problems]
In order to achieve the above object, the invention of the claims of the present application includes the following problem solving means.
[0014]
That is, the control data storage device in the work machine control device according to the first aspect of the invention is a control data storage device in the work machine control device having a volatile memory and a nonvolatile memory for storing the work machine control data. The volatile memory writes the control data stored on the basis of a write signal to the nonvolatile memory, and the nonvolatile memory stores the control data stored on the basis of a read signal instructed when a work machine is turned on. In the control data storage device in the control device of the work machine configured to read out, a storage detection means for detecting an automatic storage operation signal for automatically storing the boom by an automatic storage switch operation is provided, and the write signal is commanded from the storage detection means It is configured to be. Further, the control data storage device in the work machine control device of the invention of claim 2 is a control data storage device in the work machine control device having a volatile memory and a nonvolatile memory for storing the work machine control data. The volatile memory writes the control data stored on the basis of a write signal to the nonvolatile memory, and the nonvolatile memory stores the control data stored on the basis of a read signal instructed when a work machine is turned on. In the control data storage device in the control device of the working machine configured to read out, a boom detection detector is provided in the boom steadying and a storage detection means for extracting a signal is provided, and the write signal is commanded from the storage detection means. It is composed.
[0015]
With the above configuration, the control data stored in the volatile memory when the work machine is stored is stored in the nonvolatile memory, so that the control data can be reliably stored and updated.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
1 to 3 are block diagrams for explaining signal transmission of a control data storage device in a control device for a work machine according to an embodiment of the present invention.
[0017]
Example 1
The control data storage device in the working machine control device according to the embodiment corresponding to the first aspect of the invention is configured as shown in FIG. 1, for example.
[0018]
Reference numeral 201 denotes a control device for the work machine, which generates control data m that changes therein and uses it for its control. 26 is a volatile memory, and 27 is a nonvolatile memory. The control device 201 and the volatile memory 26 constantly exchange control data m during operation, and the volatile memory 26 stores the latest control data m.
[0019]
Reference numeral 5 denotes storage detection means for detecting storage of the work machine and outputting a write signal i. Specific examples of detecting the storage include a method of detecting an automatic storage operation signal for automatically storing the boom by operating an automatic storage switch, or a method of extracting a signal by installing a boom storage detector in the boom steadying. Further, a RAM or the like can be considered as a specific example of the volatile memory, and an EEPROM, a flash memory, or the like can be considered as a specific example of the nonvolatile memory. Reference numeral 6 denotes power-on means for outputting a read signal n when the power is turned on.
[0020]
Since the storage detector 5 is configured as described above, the storage detection means 5 detects the storage at the end of the operation of the work machine and issues a write signal i, so that the control data m of the volatile memory 26 is reliably stored in the nonvolatile memory 27. Is written to. When power is turned on at the start of operation of the work machine, the read signal n is output from the power-on means 6 and the control data m is read from the nonvolatile memory 27 and stored in the volatile memory 26.
[0021]
Example 2
As another embodiment, for example, as shown in FIG. 2, a configuration relating to a storage device for correction characteristic data of a control device for a work machine having a learning function is conceivable. The correction characteristic data d in the block diagram showing the signal transmission related to the control device of the work machine corresponds to the control data m in the first embodiment.
[0022]
The operation signal output means 1 for instructing the operation of the work machine and outputting the operation signal a, the state detection means 4 for detecting the state of the work machine and outputting the state signal h, and receiving the signals from both detection means A control unit 20 that calculates and calculates the control signal g, and a drive unit 3 that drives the work machine with a signal from the control unit 20 are provided.
[0023]
The control unit 20 calculates and calculates a feedforward control amount by using a control command signal calculation device 21 that calculates and calculates a target speed signal b and a target position (speed) signal k based on the operation signal a, and feedforward control amount. A feedforward control amount calculation device 22 that outputs a signal e, and further calculates an error signal c that calculates an error of the actual value of the work implement with respect to the target value from the target position (speed) signal k and the state signal h and outputs an error signal c A device 24 is provided.
[0024]
The control unit 20 also includes a correction characteristic data calculation device 29 for calculating and calculating correction characteristic data d for correcting the feedforward signal e based on the error signal c, and a volatile memory 26 for storing the correction characteristic data d. In the feedforward control amount calculation device 22, the control accuracy of the feedforward control amount is improved based on the correction characteristic data d stored in the volatile memory 26.
[0025]
On the other hand, the control unit 20 includes a feedback control amount calculation device 25 that calculates and calculates a feedback control amount based on the error signal c and outputs a feedback signal f. In addition, a control output calculation device 23 that calculates and calculates the control signal g from the feedforward signal e and the feedback signal f is provided. This control output arithmetic unit 23 outputs a control signal g for driving the driving means 3. Reference numeral 5 denotes storage detection means for detecting storage of the work machine and outputting a write signal i. Reference numeral 6 denotes a power-on means for outputting a read signal n when the power is turned on. Reference numeral 27 denotes a non-volatile memory in which the correction characteristic data d of the volatile memory 26 is written using the write signal i as a trigger, and the correction characteristic data d is read using the read signal n as a trigger and stored in the volatile memory 26. Is.
[0026]
Since it is configured as described above, the storage detection means 5 detects the storage at the end of the operation of the work machine and outputs the write signal i, so that the correction characteristic data d of the volatile memory 26 is surely stored in the nonvolatile memory. 27 is written. When the power is turned on at the start of operation of the work machine, the read signal n is output from the power-on means 6 and the correction characteristic data d is read from the nonvolatile memory 27 and stored in the volatile memory 26.
[0027]
Example 3
As another embodiment, for example, a configuration as shown in FIG. 3 can be considered. The block diagram showing the signal transmission related to the control device of the work machine is the correction characteristic data d of the volatile memory 26 compared with the block diagram (FIG. 2) for explaining the technique of the second embodiment. The constituent elements that issue a write signal i that becomes a trigger for rewriting are different.
[0028]
Reference numeral 7 denotes storage state determination means, which includes a storage state memory 71 and comparison means 72. The storage state memory 71 stores storage state data (boom hoisting angle, boom turning angle, boom length, etc.) and sends the storage state data j to the comparison means 72. The comparison means 72 compares the state signal h (boom raising / lowering angle, boom turning angle, boom length, etc.) from the state detection means 4 with the storage state data j, and outputs the write signal i when it is determined as the storage state. is there. Reference numeral 20 denotes a control unit, which is the same as the control unit 20 described in the second embodiment.
[0029]
Since it is configured as described above, since the storage state, which is a state immediately before the use of the work machine is finished and the power is turned off, is determined and the write signal i is issued, the correction characteristic data d of the volatile memory 26 is surely obtained. Is rewritten into the nonvolatile memory 27. When the power is turned on at the start of operation of the work machine, the read signal n is output from the power-on means 6 and the correction characteristic data d is read from the nonvolatile memory 27 and stored in the volatile memory 26.
[0030]
【The invention's effect】
With the above-described operation, the control data storage device in the control device for the work machine according to the present invention can rewrite the control data of the work machine at an appropriate frequency without exceeding the write limit number of the nonvolatile memory. In addition, even in the case of a control circuit that does not have a circuit for holding power for a predetermined time when the power is turned off, the rewriting process can be performed reliably, which is a great effect.
[Brief description of the drawings]
FIG. 1 is a block diagram illustrating signal transmission according to a first embodiment.
FIG. 2 is a block diagram illustrating signal transmission according to a second embodiment.
FIG. 3 is a block diagram illustrating signal transmission according to a third embodiment.
FIG. 4 is a block diagram illustrating signal transmission of a control data storage device in a conventional work machine control device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Operation signal output means 2, 20 Control unit 21 Control command signal calculating device 22 Feedforward control amount calculating device 23 Control output calculating device 24 Error signal calculating device 25 Feedback control amount calculating device 26 Volatile memory 27 Non-volatile memory 28 Timer 29 Correction characteristic data calculation device 3 Driving means 4 State detection means 5 Storage detection means 6 Power-on means 7 Storage state determination means 71 Storage state memory 72 Comparison means 201 Controller a Operation signal b Target speed signal c Error signal d Correction characteristic data e Feed forward signal f Feedback signal g Control signal h State signal i Write signal j Storage state data k Target position (speed) signal m Control data n Read signal

Claims (2)

A control data storage device in a control device of a work machine having a volatile memory and a nonvolatile memory for storing control data of the work machine
The volatile memory writes control data stored based on a write signal to the non-volatile memory, and the non-volatile memory reads control data stored based on a read signal commanded when a work machine is powered on to the volatile memory. In the control data storage device in the control device of the work machine configured as described above,
Control in a control device for a work machine, characterized in that a storage detection means for detecting an automatic storage operation signal for automatically storing a boom by an automatic storage switch operation is provided, and the write signal is commanded from the storage detection means. Data storage device. A control data storage device in a control device of a work machine having a volatile memory and a nonvolatile memory for storing control data of the work machine
The volatile memory writes control data stored based on a write signal to the non-volatile memory, and the non-volatile memory reads control data stored based on a read signal commanded when a work machine is powered on to the volatile memory. In the control data storage device in the control device of the work machine configured as described above,
A control data storage device in a control device for a work machine, characterized in that a boom storage detector is installed on a boom steadying stop and storage detection means for extracting a signal is provided, and the write signal is commanded from the storage detection means .

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