JP4647146B2 - Construction machine drive device, construction machine and construction machine drive program - Google Patents

Construction machine drive device, construction machine and construction machine drive program Download PDF

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Publication number
JP4647146B2
JP4647146B2 JP2001210578A JP2001210578A JP4647146B2 JP 4647146 B2 JP4647146 B2 JP 4647146B2 JP 2001210578 A JP2001210578 A JP 2001210578A JP 2001210578 A JP2001210578 A JP 2001210578A JP 4647146 B2 JP4647146 B2 JP 4647146B2
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Prior art keywords
signal
target
operation command
means
electric actuator
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JP2003033063A (en
Inventor
修司 大平
東一 平田
栄治 江川
正巳 落合
幸雄 青柳
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日立建機株式会社
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Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a drive device for a construction machine such as a hydraulic excavator, a construction machine, and a drive program for a construction machine, and more particularly, to an electrically driven construction machine drive device using an electric actuator, a construction machine, and a drive program for a construction machine. .
[0002]
[Prior art]
In recent years, studies on electrically driven construction machines using electric actuators as actuators have been underway from the viewpoint of energy saving and the like. Here, there are various types of electric actuators, for example, one that drives a driven member such as a direct turn with an electric motor, and one that drives a hydraulic actuator by rotating a hydraulic pump with the electric motor. For example, Japanese Patent Application Laid-Open No. 2000-283107 proposes a mixing method of both, and Japanese Patent Application Laid-Open No. 2001-10783 proposes a method of directly driving a turning device with an electric motor. In such an electrically driven construction machine, an electric lever system is used as an operation lever device, and an operation command signal is processed by a controller, and each electric actuator is driven and controlled via an inverter.
[0003]
Further, as an operation lever device, an electric lever system is used, and an operation command signal is processed by a controller to control a discharge amount of a hydraulic pump, and an actuator is controlled as described in JP-A-58-72762. There is a drive control device. In this system, a variable displacement hydraulic pump and a hydraulic motor are connected in a closed circuit or semi-closed circuit, and the discharge amount of the hydraulic pump is controlled, so that the maximum drive pressure and flow rate are controlled according to the operation amount of the operation lever. Control is performed so as to obtain a predetermined pressure flow control pattern that defines the value.
[0004]
[Problems to be solved by the invention]
However, the above prior art has the following problems.
[0005]
In an electrically driven construction machine as described in Japanese Patent Application Laid-Open No. 2000-283107 and Japanese Patent Application Laid-Open No. 2001-10783, each electric actuator is driven and controlled based on an operation command signal output from an operation lever device The operation command signal must be processed by the controller. At that time, when the relationship between the operation command signal (lever operation amount) and the target speed and target output torque of the electric actuator is appropriately set, control is performed to reach the target torque before reaching the target speed, and the target speed approaches It is necessary to control the target speed so that it is smoothly connected, and to obtain good operability without sudden change in acceleration / deceleration. However, Japanese Patent Laid-Open No. 2000-283107 and Japanese Patent Laid-Open No. 2001-10783 have not been examined or are insufficient. In particular, in Japanese Patent Application Laid-Open No. 2001-10783, torque control is performed using a deviation (speed deviation) between a target speed signal and an actual speed signal of an electric actuator for turning, but the target torque, maximum acceleration torque, turning speed, There is a possibility that the transition from torque control to target speed cannot be properly performed and acceleration / deceleration changes suddenly. In addition, when applied to actuators other than turning, a large torque is suddenly generated when the speed deviation suddenly increases, and the acceleration / deceleration may change suddenly at this point as well.
[0006]
In JP-A-58-72762, when acceleration / deceleration is performed with the operation amount of the operation lever being constant, the acceleration / deceleration is continued at a constant acceleration / deceleration until the speed corresponding to the operation amount of the operation lever is reached. As soon as the speed corresponding to the operation amount is reached, the acceleration / deceleration speed becomes zero, and a shock may occur to impair the operation feeling. In order to prevent this by operation, it becomes necessary to finely control the acceleration / deceleration by slightly operating the operation lever as it approaches the target speed, increasing the burden on the operator.
[0007]
A first object of the present invention is to improve the operability in a construction machine such as a hydraulic excavator by appropriately shifting from torque control to control to a target speed, preventing sudden change in acceleration / deceleration speed of the electric actuator. It is to provide a construction machine drive device, a construction machine, and a construction machine drive program.
[0008]
The second object of the present invention is to provide a drive device for a construction machine which can give optimum characteristics according to the drive direction of the electric actuator and whether it is accelerating or decelerating, and can obtain better operability. Is to provide.
[0009]
A third object of the present invention is to provide a construction machine drive device that can give optimum acceleration / deceleration characteristics to each electric actuator and can obtain better operability.
[0010]
A fourth object of the present invention is to smoothly drive an electric actuator even when the speed deviation suddenly increases when torque control is performed using a deviation between a target speed signal and an actual speed signal of the electric actuator. It is to provide a drive device for a construction machine that can be used.
[0011]
[Means for Solving the Problems]
(1) In order to achieve the first object, the present invention provides an electric actuator, operation command means for outputting an operation command signal for the electric actuator, power supply means, and the electric actuator using electric power from the power supply means. A driving device for a construction machine that drives the electric actuator by outputting an operation command signal to the power conversion unit in response to an operation command signal from the operation command unit. Target speed signal generating means for outputting a target speed signal of the electric actuator based on a predetermined functional relationship with respect to the operation command signal, and an actual speed for detecting an actual speed of the electric actuator and outputting an actual speed signal A signal generating means calculates a difference between the target speed signal and the actual speed signal, and outputs a speed deviation signal Degree deviation signal generating means, first target output torque signal generating means for outputting a first target output torque signal based on a predetermined functional relationship with respect to the operation command signal, and the speed deviation signal Second target output torque signal generating means for outputting a second target output torque signal based on a predetermined function relationship, and a target output having a smaller absolute value of the first and second target output torque signals Target signal selection means for selecting a torque signal as a target value, and controlling the drive of the electric actuator by outputting the operation command signal to the power conversion means based on the target value selected by the target signal selection means It shall be.
[0012]
Thus, the target speed signal generating means, the actual speed signal generating means, the speed deviation signal generating means, the first target output torque signal generating means, the second target output torque signal generating means, and the target signal selecting means are provided, and the target speed is provided. By selecting a target value having a smaller absolute value among the first target output torque signal obtained from the signal and the second target output torque signal obtained from the speed deviation signal, and driving the electric actuator, for example, During the acceleration operation of the electric actuator, the initial drive torque signal is smaller than the second target output torque signal at the initial stage of driving, and the electric actuator is accelerated according to the first target output torque signal, and the operation amount of the operation command means is increased. Accordingly, the speed of the electric actuator can be increased, and an acceleration feeling suitable for the operator's feeling can be obtained. After that, when the first target output torque signal> the second target output torque signal, the speed of the electric actuator increases in accordance with the second target output torque signal. As the target speed signal approaches 0, the second target output torque signal also decreases as the actual speed signal approaches the target speed signal. When the actual speed signal reaches the target speed signal, the acceleration becomes zero. For this reason, the control shift from the torque control to the target speed can be performed appropriately, the electric actuator is accelerated to the target speed without causing a shock, and the operability can be improved by preventing a sudden change in the acceleration / deceleration of the electric actuator. it can.
[0013]
(2) Further, in order to achieve the second object, the present invention provides the driving device according to (1), wherein the first and second target output torque signal generating means are arranged in a driving direction of the electric actuator. Accordingly, the first and second target output torque signals are calculated based on different functional relationships depending on whether the acceleration or deceleration is performed.
[0014]
This makes it possible to give optimum characteristics depending on the driving direction of the electric actuator and whether the electric actuator is accelerating or decelerating, and can further improve operability.
[0015]
(3) Further, in order to achieve the third object, the present invention provides the drive device of (1), wherein there are a plurality of the electric actuators, and the operation command means, power conversion means, There are also a plurality of target speed signal generating means, actual speed signal generating means, speed deviation signal generating means, first target output torque signal generating means, second target output torque signal generating means, and target signal selecting means. The first and second target output torque signal generating means calculate the first and second target output torque signals based on different functional relationships corresponding to the plurality of electric actuators.
[0016]
As a result, it is possible to provide optimum acceleration / deceleration characteristics for each electric actuator, and it is possible to obtain even better operability.
[0017]
(4) In order to achieve the fourth object, the present invention provides the method according to (1), wherein the target speed signal generating means is based on a function relationship predetermined with respect to the operation command signal. It is assumed that the calculated target speed signal is subjected to processing for limiting the temporal change rate to a predetermined value, and the value obtained by the processing is output as the target speed signal.
[0018]
By limiting the rate of change of the target speed signal over time to a predetermined value in this way, even if the deviation between the target speed and the actual speed suddenly increases due to a sudden operation of the operation command means, the target speed signal and the actual speed The speed deviation signal, which is the difference between the signals, is limited to a predetermined value, and a sudden change in the speed of the electric actuator is prevented, so that the electric actuator can be driven more smoothly.
[0019]
(5) In the above (1), preferably, the apparatus further comprises third target output torque signal generating means for generating an allowable maximum torque signal based on a predetermined functional relationship with respect to the actual speed signal, The target signal selection means selects a target value having the smallest absolute value among the first and second target output torque signals and the allowable maximum torque signal.
[0020]
As a result, when the first and second target output torque signals are larger than the allowable maximum torque signal, the target value is limited to the allowable maximum torque signal and the output torque of the electric actuator is prevented from exceeding the rated torque. Lifetime can be improved.
[0021]
(6) Further, in order to achieve the first object, the present invention provides an electric actuator, operation command means for outputting an operation command signal for the electric actuator, power supply means, and power supplied from the power supply means. In a construction machine comprising a power conversion means for driving the electric actuator, and having a drive device for driving the electric actuator by outputting an operation command signal to the power conversion means in response to an operation command signal from the operation command means. Target speed signal generating means for outputting a target speed signal of the electric actuator based on a predetermined functional relationship with respect to an operation command signal from the command means, and detecting an actual speed of the electric actuator and outputting an actual speed signal An actual speed signal generating means for calculating the difference between the target speed signal and the actual speed signal, , A first target output torque signal generating means for outputting a first target output torque signal based on a predetermined functional relationship with respect to the operation command signal, and the speed deviation signal The second target output torque signal generating means for outputting the second target output torque signal based on a predetermined function relationship, and the one having the smaller absolute value among the first and second target output torque signals Target signal selecting means for selecting the target output torque signal as a target value, and outputting the operation command signal to the power conversion means based on the target value selected by the target signal selecting means. Drive shall be controlled.
[0022]
As a result, as described in (1) above, the electric actuator is accelerated to the target speed without causing a shock, and the operability can be improved by preventing a sudden change in the acceleration / deceleration of the electric actuator.
[0023]
(7) Further, in order to achieve the first object, the present invention provides an electric actuator, operation command means for outputting an operation command signal for the electric actuator, power supply means, and power supplied from the power supply means. In a construction machine having power conversion means for driving an electric actuator, a computer for driving the electric actuator by outputting an operation command signal to the power conversion means in response to an operation command signal from the operation command means, Target speed signal generating means for outputting a target speed signal of the electric actuator based on a predetermined functional relationship with respect to an operation command signal from the operation command means, and detecting the target speed signal and the actual speed of the electric actuator. A speed deviation signal that calculates the difference from the actual speed signal from the actual speed signal generator and outputs a speed deviation signal. Generating means, first target output torque signal generating means for outputting a first target output torque signal based on a predetermined function relationship with respect to the operation command signal, and a function predetermined for the speed deviation signal A second target output torque signal generating means for outputting a second target output torque signal based on the relationship; a target output torque signal having a smaller absolute value of the first and second target output torque signals as a target value; A construction machine for controlling the drive of the electric actuator by functioning as a target signal selection means for selecting and outputting the operation command signal to the power conversion means based on the target value selected by the target signal selection means A driving program is provided.
[0024]
As a result, as described in (1) above, the electric actuator is accelerated to the target speed without causing a shock, and the operability can be improved by preventing a sudden change in the acceleration / deceleration of the electric actuator.
[0025]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0026]
FIG. 1 is a diagram showing an overall configuration of a construction machine drive device according to an embodiment of the present invention.
[0027]
In FIG. 1, the construction machine drive device according to the present embodiment includes electric actuators 1 to 6 that drive necessary members of the construction machine, and operation command signals to the electric actuators 1 to 6. output Electric operation lever devices 7 to 12, inverters 13 to 18 for controlling electric power for driving the electric actuators 1 to 6, and the number of revolutions for detecting the actual speed of the electric actuators 1 to 6 and outputting an actual speed signal Sensors 19 to 24; a battery 25 that supplies power for driving the electric actuators 1 to 6 to the inverters 13 to 18; a controller 26 that generates and outputs an operation command signal for the inverters 13 to 18; A generator 27 and an engine 28 for rotating the generator 27 are provided.
[0028]
The construction machine related to the drive device according to the present embodiment is, for example, a hydraulic excavator, and the electric actuators 1 to 6 are, for example, the boom, arm, bucket, left travel, right travel, and turn actuators of the hydraulic excavator. 7 to 12 output boom, arm, bucket, left travel, right travel, and turn operation command signals. The electric actuators 1 to 6 may directly drive the boom, arm, bucket, left travel, right travel, and turn by themselves, or drive the hydraulic pump with the electric actuator and discharge the hydraulic pump. The hydraulic actuator may be driven with oil to drive the boom, arm, bucket, left travel, right travel, and turn.
An electric motor is usually used as the electric actuator.
[0029]
FIG. 2 is a flowchart showing processing functions of the controller 26. In FIG. 2, the controller 26 sequentially performs the processes in steps 101 to 106 corresponding to the actuators 1 to 6, and outputs commands to the inverters 13 to 18 corresponding to the actuators 1 to 6 in step 107. Let -6 perform the desired action.
[0030]
FIG. 3 is a flowchart showing details of the procedures 101 to 106, and FIG. 4 is a flowchart showing details of the procedure 107. In these flowcharts, the numbers 1 to 6 assigned to the actuators are represented by “i”.
[0031]
In FIG. 3, first, in step 108, the operation command signal Xi of the electric operation lever devices 7 to 12 and the actual speed signal Vi of the rotation speed sensors 19 to 24 are read. Next, in step 109, a target speed signal Vri0 is obtained from the operation command signal Xi. In this calculation, the functional relationships A1, B1, C1, D1, E1, and F1 of the target speed signal Vri0 as shown in FIG. 5 determined in advance with respect to the operation command signal Xi are stored in the storage device of the controller 26. This is done using this functional relationship. Here, the functional relationships A1, B1, and C1 are those when the operation command signal Xi is positive, and the functional relationships D1, E1, and F1 are those when the operation command signal Xi is negative. For the actuators 3, 4, and 5, the functional relations B and E are used, and for the actuator 6, the functional relations A and D are used. The positive / negative sign is, for example, + for forward travel direction,-for reverse travel direction, or + for left turn,-for right turn,-for cloud direction, and + for dump direction. Thus, the operation direction or the operation direction is expressed. The same applies to FIGS. 6 to 15 used in the following description.
[0032]
Next, in step 110, a difference signal (speed deviation signal) ΔVi between the target speed signal Vri0 and the actual speed signal Vi is calculated, and the procedure proceeds to step 111, where the absolute value of the speed deviation signal ΔVi and a predetermined allowable value δi are obtained. Compare the magnitude relationship of. As a result, if the absolute value of the signal ΔVi is equal to or smaller than the allowable value δi, the process proceeds to step 113, and if the absolute value of the signal ΔVi is larger than the allowable value δi, the process proceeds to step 112. In step 112, whether the signal ΔVi is positive or negative is determined. If ΔVi <0, the process proceeds to step 114, and if ΔVi> 0, the process proceeds to step 115. In step 113, the target speed signal Vri0 is used as it is as the effective target speed signal Vri, and processing of Vri = Vri0 is performed. In step 114, the increment ΔSi for each specified time is subtracted from the previous effective target speed signal Vri, and Vri = Vri (previous). -ΔSi, In step 115, an increment ΔSi for each specified time is added to the previous effective target speed signal Vri, and Vri = Vri (previous) + ΔSi is calculated to obtain the current effective target speed signal Vri. Next, in step 110A, a difference signal (speed deviation signal) ΔVi between the effective target speed signal Vri and the actual speed signal Vi is calculated again.
[0033]
Here, the speed deviation signal ΔVi is calculated by replacing the target speed signal Vri0 with the effective target speed signal Vri without using the target speed signal Vri0 as it is, by setting the maximum value of the change rate of the effective target speed signal Vri to ΔSi. The time change of Vri0 is limited to a predetermined value, and the speed of the actuator when the operator suddenly operates the operation lever of the operation lever device and the change of the operation command signal Xi (ΔVi calculated in step 110) is too large. This is to prevent sudden changes. Depending on the characteristics of the actuator, there is an actuator that does not require this processing, and the procedures 111 to 110A can be omitted for such an actuator.
[0034]
Next, the procedure proceeds to a procedure for obtaining a target torque commanded to each actuator. This calculation is performed in advance with respect to the operation command signal Xi, as shown in FIGS. 6 to 9, the functional relationships A2 to C2; A3 to C3; D2 to F2; D3 to F3, and the speed deviation signal ΔVi. 10 to 13 which are predetermined with respect to the function relations A4 to C4; D4 to F4; A5 to C5; D5 to F6 of the target torque Tri2, and predetermined figures for the actual speed signal Vi. 14 and FIG. 15, the functional relationships A6 to C6; A7 to C7; D6 to F6; D7 to F7 of the allowable maximum torque Tri3 are stored in the storage device of the controller 26, and this functional relationship is used. Also in this case, the functional relationships A2 to A7, B2 to B7, and C2 to C7 are those when the operation command signal Xi, the speed deviation signal ΔVi, and the actual speed signal Vi are positive, and the functional relationships D2 to D7, E2 to E7, F2 ˜F7 is for the case where the operation command signal Xi, the speed deviation signal ΔVi, and the actual speed signal Vi are negative.
[0035]
First, in step 116, whether the operation command signal Xi is positive or negative is determined, Positive Then, in step 117, it is determined whether the speed deviation signal ΔVi is positive or negative. If ΔVi ≧ 0, it is determined that the actuator operation command direction is a positive direction and acceleration is being performed, and the flow proceeds to step 119, where ΔVi <0. If there is, it is determined that the actuator operation command direction is the positive direction and the vehicle is decelerating, and the process proceeds to step 123. If the operation command signal Xi is negative in step 116, whether the speed deviation signal ΔVi is positive or negative is determined in step 118. If ΔVi> 0, it is determined that the actuator operation command direction is negative and the vehicle is decelerating. Step Δ127, if ΔVi ≦ 0, it is determined that the actuator operation command direction is negative and acceleration is in progress. 131 Move on.
[0036]
In step 119, the target torque Tri1 is obtained from the operation command signal Xi according to the functional relationship shown in FIG. 6, and then in step 120, the target torque Tri2 is obtained from the speed deviation signal ΔVi according to the functional relationship shown in FIG. Here, for example, for the actuators 1 to 3, the function relations B2 and B4 in FIGS. 6 and 10 are used. For the actuators 4 and 5, the function relations C2 and C4 in FIGS. 6 and FIG. 10, the torque characteristics corresponding to each actuator can be selected. Subsequently, the torque value that is the maximum allowable absolute value with respect to the actual speed signal Vi from the viewpoint of limiting the power to be used within the maximum output based on the specifications of each actuator by the function relationship shown in FIG. Find Tri3. Here, for example, for the actuators 1 and 2, the function relationship C6 in FIG. 14 is obtained, for the actuators 3 to 5 by the function relationship B6 in FIG. 14, and for the actuator 6 by the function relationship A6 in FIG. Thus, characteristics corresponding to each actuator can be selected. Subsequently, in step 122, among Tri1, Tri2, and Tri3 obtained as described above, the absolute value is the smallest, that is, since all are positive values, the minimum value considering the sign is selected and the final target is selected. The torque is Tri0.
[0037]
In step 123, the target torque Tri1 is obtained from the operation command signal Xi according to the functional relationship shown in FIG. 7, and then in step 124, the target torque Tri2 is obtained from the speed deviation signal ΔVi according to the functional relationship shown in FIG. Here, for example, the actuators 1 to 3 are related to the actuator 6 by the functional relationships B3 and E4 in FIGS. 7 and 11, and the actuators 4 and 5 are related to the actuator 6 by the relationships C3 and F4 in FIGS. 7 and FIG. 11, the characteristics corresponding to each actuator can be selected. Subsequently, the torque value that is the maximum allowable absolute value with respect to the actual speed signal Vi mainly from the viewpoint of limiting the power used within the maximum output based on the specifications of each actuator by the functional relationship shown in FIG. Find Tri3. Here, for example, the actuators 1 and 2 are obtained by the functional relationship C7 of FIG. 15, the actuators 3 to 5 are obtained by the functional relationship B7 of FIG. 15, and the actuator 6 is obtained by the functional relationship A7 of FIG. Thus, characteristics corresponding to each actuator can be selected. Subsequently, in step 126, among Tri1, Tri2, and Tri3 obtained as described above, the absolute value is the smallest, that is, since all are negative values, the maximum value in consideration of the sign is selected and the final target is selected. The torque is Tri0.
[0038]
Similarly, in step 127, the target torque Tri1 is obtained from the operation command signal Xi according to the functional relationship shown in FIG. 8, and then in step 128, the target torque Tri2 is obtained from the speed deviation signal ΔVi according to the functional relationship shown in FIG. Here, for example, for the actuators 1 to 3, the function relations E2 and B5 in FIGS. 8 and 12 are used. For the actuators 4 and 5, the function relations F2 and C5 in FIGS. 8 and FIG. 12, the characteristics corresponding to each actuator can be selected. Subsequently, the torque value that is the maximum allowable absolute value for the actual speed signal Vi mainly from the viewpoint of limiting the power used within the maximum output based on the specifications of each actuator by the functional relationship shown in FIG. Find Tri3. Here, for example, the actuators 1 and 2 are obtained by the function relation F7 in FIG. 15, the actuators 3 to 5 are obtained by the function relation E7 in FIG. 15, and the actuator 6 is obtained by the function relation D7 in FIG. Thus, characteristics corresponding to each actuator can be selected. Subsequently, in step 130, the smaller of the absolute values of Tri1, Tri2 and Tri3 obtained as described above, that is, since all are positive values, the minimum value considering the sign is selected and the final target is selected. The torque is Tri0.
[0039]
procedure 131 Then, the target torque Tri1 is obtained from the operation command signal Xi by the function relationship shown in FIG. 9, and then the target torque Tri2 is obtained from the speed deviation signal ΔVi by the function relationship shown in FIG. Here, for example, the actuators 1 to 3 are related to the actuator 6 by the functional relationships E3 and E5 of FIGS. 9 and 13 and the actuators 4 and 5 are connected to the actuator 6 by the functional relationships F3 and F5 of FIGS. Is obtained by the functional relations D3 and D5 in FIGS. 9 and 13, whereby the torque characteristics corresponding to each actuator can be selected. Subsequently, from the viewpoint of limiting the power used within the maximum output based on the specifications of each actuator by the functional relationship shown in FIG. Find Tri3. Here, for example, the actuators 1 and 2 are obtained by the functional relationship F6 in FIG. 14, the actuators 3 to 5 are obtained by the functional relationship E6 in FIG. 14, and the actuator 6 is obtained by the functional relationship D6 in FIG. Thus, characteristics corresponding to each actuator can be selected. Subsequently, in step 134, the tri, tri2, and tri3 obtained as described above have the smallest absolute value, that is, all are negative values, so that the maximum value considering the sign is selected and the final target is selected. The torque is Tri0.
[0040]
FIG. 16 is a functional block diagram showing the above processing. However, in FIG. 16, the processing of procedures 111 to 115, 110A is omitted. The correspondence between each block shown in FIG. 16 and each procedure in the flowcharts shown in FIGS. 3 and 4 is as follows.
[0041]
Block 31: Procedure 109
Block 32: Procedure 110 or 110A
Block 34: Procedures 119, 123, 127, 131
Block 35: Procedures 120, 124, 128, 132
Block 36: Procedure 121, 125, 129, 133
Block 37: Procedures 122, 126, 130, 134
Block 38: Procedures 141-136 (FIG. 4)
The required torque values Tr10 to Tr60 required for each actuator can be obtained by repeating the above from 1 to 6 with respect to “i”.
[0042]
Next, in the procedure 107 of FIG. 2, processing as shown in FIG. 4 is performed.
[0043]
First, in step 141, the required power required by each actuator is obtained from the torque value Tri0 required by each actuator and the actual speed signal Vi of each actuator, and the total required power H obtained by adding all the required power is obtained. At this time, the required power is obtained as a positive value for the actuator in the acceleration state for each actuator, and as a negative value for the actuator in the deceleration state. Next, the routine proceeds to step 142, where it is compared with the total power allowed for driving the actuators 1 to 6 (power determined by the capacity of the battery 25 and the output of the engine 28) H0. , And α = 1 and proceed to step 145. If H> H0 in step 142, the process moves to step 144, α = H0 / H is obtained, and the process moves to step 145. In step 145, Tri = α × Tri0 allowed for each actuator is obtained. Next, the procedure proceeds to step 146, and the obtained Tri is output as a torque command value to the corresponding inverters 13-18.
[0044]
In the present embodiment configured as described above, for example, when the operation lever of the operation lever device 7 is operated with the intention of driving the electric actuator 1, the controller 26 sets the target in steps 119, 120, and 121 in FIG. Torques Tri1 and Tri2 and allowable maximum torque Tri3 are calculated, and the smallest one of them, that is, the minimum value thereof is selected as final target torque Tri0, and inverter 13 is set so that this target torque Tri0 is obtained. To control the electric actuator 1.
[0045]
FIG. 17 shows temporal changes in the final target torque Tri0 (output torque of the electric actuator 1) and the actual speed Vi of the electric actuator 1 when the smaller one of the target torques Tri1 and Tri2 is selected. Immediately after the operation of the operation lever, Tri1 is selected as the target torque Tri0 with Tri1 <Tri2, and the electric actuator 1 is accelerated according to the target torque Tri1. Here, the target torque Tri1 is obtained from the operation command signal Xi. Therefore, at this time, the speed of the electric actuator 1 can be increased according to the operation amount of the operation lever, and an acceleration feeling suitable for the operation feeling of the operator can be obtained. Thereafter, when Tri1> Tri2, Tri2 is selected as the target torque Tri0, and the speed of the electric actuator 1 increases in accordance with the target torque Tri2. Here, the target torque Tri2 is a value obtained from the speed deviation signal ΔVi, and the speed deviation signal ΔVi decreases as the actual speed Vi of the electric actuator 1 approaches the target speed signal Vri0, and the actual speed Vi becomes the target speed signal Vri0. When it reaches, it becomes 0. Accordingly, at this time, the acceleration of the electric actuator 1 decreases as the actual speed Vi of the electric actuator 1 approaches the target speed signal Vri0, and becomes zero when the actual speed Vi reaches the target speed signal Vri0. Accelerated to speed.
[0046]
FIG. 18 shows, as a comparative example, the target torque Tri1 (output torque of the electric actuator 1) and the actual speed Vi of the electric actuator 1 over time when the electric actuator 1 is controlled only by the target torque Tri1 obtained from the operation command signal Xi. Showing change. In this case, since the target torque Tri1 is constant if the operation amount of the operation lever is constant, the electric actuator 1 increases at a constant acceleration until the actual speed Vi of the electric actuator 1 reaches the target speed signal Vri0. When the actual speed Vi of the electric actuator 1 reaches the target speed signal Vri0, the acceleration becomes zero. For this reason, an unintended shock is generated when the electric actuator 1 reaches the target speed, and the operation feeling is impaired.
[0047]
Although not shown, when the electric actuator 1 is controlled only by the target torque Tri2 obtained from the speed deviation signal ΔVi, the acceleration is accelerated by the target torque at Tri2 (> Tri1) immediately after the operation of the operation lever. It becomes excessive and generates more shock than intended, which also impairs the operational feeling.
[0048]
In the present embodiment, not only the target torques Tri1 and Tri2 as described above, but also these and the minimum value of the allowable maximum torque Tri3 are selected as the target torque Tri0. For this reason, if the smaller value of the target torques Tri1 and Tri2 is larger than the allowable maximum torque Tri3, the target torque Tri0 is limited to Tri3, and the output torque of the electric actuator 1 is the maximum output based on the specifications of the electric actuator 1. Exceeding (rated torque) is prevented. For this reason, it is guaranteed that the electric actuator 1 operates within the range of the rated torque, and the life of the electric actuator 1 can be improved.
[0049]
Further, in the present embodiment, when the target speed signal Vri0 is obtained from the operation command signal Xi and the speed deviation signal ΔVi is obtained from the target speed signal Vri0, the target speed signal Vri0 is not used as it is, but the procedures 111 to 115 are performed. Then, the speed deviation signal ΔVi is calculated in place of the effective target speed signal Vri. Here, the increment of the effective target speed signal Vri is limited to ΔSi. Therefore, even if the speed deviation suddenly increases, such as when the operator suddenly operates the operation lever and the change in the operation command signal Xi (ΔVi calculated in step 110) becomes too large, it is used in step 120. The speed deviation signal ΔVi is limited to ΔSi, and a sudden change in the speed of the electric actuator 1 can be prevented, and the electric actuator 1 can be driven more smoothly.
[0050]
The above has described the acceleration at the time of driving the electric actuator 1 in the positive direction, but the same applies to the case of driving in the negative direction or at the time of deceleration.
[0051]
Further, in the present embodiment, as shown in FIGS. 6 to 15, when the operation command signal Xi, the speed deviation signal ΔVi, and the actual speed signal Vi are positive, the functional relationships A2 to A7, B2 to B7, C2 -C7, and in the negative case, the functional relationships D2-D7, E2-E7, F2-F7 are used, and while the electric actuator is accelerating, the functional relationships A2, B2, C2; A4, B4, C4; D3, E3 F3; D5, E5, F5; A6, B6, C6; D6, E6, F6. The target torque is calculated using B5, C5; A7, B7, C7; D7, E7, F7, and the electric actuator is torque controlled, so that the electric actuator is accelerating or decreasing depending on the driving direction of the electric actuator. It is possible to impart optimum characteristics depending on whether inside, it is possible to obtain a better operability.
[0052]
Further, in the present embodiment, as shown in FIGS. 6 to 15, different functional relationships A2 to A7, B2 to B7, C2 to C7 or D2 to D7, E2 to E7, and F2 to F7 are different for each electric actuator. Since the target actuator is calculated and the electric actuator is torque-controlled, optimal acceleration / deceleration characteristics can be imparted to each electric actuator, and good operability can be obtained in this respect as well.
[0053]
As described above, according to the present embodiment, the electric actuator is accelerated to the target speed without causing a shock, and sudden change in the acceleration / deceleration of the electric actuator can be prevented to improve operability.
[0054]
In addition, optimum characteristics can be imparted depending on the driving direction of the electric actuator and whether the electric actuator is being accelerated or decelerated, and better operability can be obtained.
[0055]
Further, optimum acceleration / deceleration characteristics can be imparted to each electric actuator, and in this respect, good operability can be obtained.
[0056]
【The invention's effect】
According to the present invention, the control can be appropriately shifted from the torque control to the target speed, the electric actuator is accelerated to the target speed without causing a shock, and the operability is improved by preventing a sudden change in the acceleration / deceleration of the electric actuator. can do.
[0057]
Further, according to the present invention, optimum characteristics can be imparted depending on the driving direction of the electric actuator and whether the electric actuator is accelerating or decelerating, and better operability can be obtained.
[0058]
Further, according to the present invention, optimum acceleration / deceleration characteristics can be imparted to each electric actuator, and good operability can also be obtained in this respect.
[0059]
Furthermore, according to the present invention, even if the deviation between the target speed and the actual speed of the electric actuator suddenly increases, the speed deviation signal that is the difference between the target speed signal and the actual speed signal is limited to a predetermined value. The electric actuator can be driven smoothly.
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration of a construction machine drive device according to an embodiment of the present invention;
FIG. 2 is a flowchart showing processing functions of the controller shown in FIG. 1;
FIG. 3 is a flowchart showing details of each actuator process in the flowchart shown in FIG. 2;
4 is a flowchart showing details of output command processing to each power conversion means in the flowchart shown in FIG. 2. FIG.
FIG. 5 is a diagram showing a functional relationship of a predetermined target speed signal Vri0 with respect to an operation command signal Xi.
FIG. 6 is a diagram showing a functional relationship of a predetermined target torque Tri1 with respect to an operation command signal Xi.
FIG. 7 is a diagram showing a functional relationship of a predetermined target torque Tri1 with respect to an operation command signal Xi.
FIG. 8 is a diagram showing a functional relationship of a predetermined target torque Tri1 with respect to an operation command signal Xi.
FIG. 9 is a diagram showing a functional relationship of a predetermined target torque Tri1 with respect to an operation command signal Xi.
FIG. 10 is a diagram showing a functional relationship of a predetermined target torque Tri2 with respect to a speed deviation signal ΔVi.
FIG. 11 is a diagram showing a functional relationship of a predetermined target torque Tri2 with respect to a speed deviation signal ΔVi.
FIG. 12 is a diagram showing a functional relationship of a predetermined target torque Tri2 with respect to a speed deviation signal ΔVi.
FIG. 13 is a diagram showing a functional relationship of a predetermined target torque Tri2 with respect to a speed deviation signal ΔVi.
FIG. 14 is a diagram illustrating a functional relationship of a predetermined allowable maximum torque Tri3 with respect to an actual speed signal Vi.
FIG. 15 is a diagram showing a functional relationship of a predetermined allowable maximum torque Tri3 with respect to an actual speed signal Vi.
16 is a functional block diagram showing the processing shown in FIG. 3. FIG.
FIG. 17 is a diagram showing temporal changes in the final target torque Tri0 and the actual speed of the electric actuator when the smaller one of the target torques Tri1 and Tri2 is selected.
FIG. 18 is a diagram showing temporal changes in target torque Tri1 and the actual speed of the electric actuator when the electric actuator is controlled only by the target torque Tri1 obtained from the operation command signal as a comparative example.
[Explanation of symbols]
1-6 Electric actuator
7-12 Electric operation lever device (operation command means)
13-18 Inverter (Power conversion means)
19-24 Rotational speed sensor (actual speed signal generating means)
25 Battery (Power supply means)
26 Controller

Claims (7)

  1. An electric actuator, an operation command means for outputting an operation command signal for the electric actuator, an electric power supply means, and an electric power conversion means for driving the electric actuator by electric power from the electric power supply means, and an operation command signal from the operation command means According to the construction machine drive device for outputting an operation command signal to the power conversion means to drive the electric actuator,
    Target speed signal generating means for outputting a target speed signal of the electric actuator based on a predetermined functional relationship with respect to an operation command signal from the operation command means; and an actual speed signal for detecting an actual speed of the electric actuator. An actual speed signal generating means for outputting
    A speed deviation signal generating means for calculating a difference between the target speed signal and the actual speed signal and outputting a speed deviation signal;
    First target output torque signal generating means for outputting a first target output torque signal based on a predetermined functional relationship with respect to the operation command signal;
    Second target output torque signal generating means for outputting a second target output torque signal based on a predetermined functional relationship with respect to the speed deviation signal;
    Target signal selection means for selecting a target output torque signal having a smaller absolute value of the first and second target output torque signals as a target value;
    A drive device for a construction machine, wherein the drive of the electric actuator is controlled by outputting the operation command signal to the power conversion means based on the target value selected by the target signal selection means.
  2. 2. The construction machine drive device according to claim 1, wherein the first and second target output torque signal generating means are accelerated and decelerated according to the driving direction of the electric actuator. And calculating the first and second target output torque signals based on different functional relationships.
  3. 2. The construction machine drive device according to claim 1, wherein there are a plurality of said electric actuators, and said operation command means, power conversion means, target speed signal generation means, actual speed signal generation means, speed deviation signal generation means corresponding to this. There are also a plurality of first target output torque signal generating means, second target output torque signal generating means, and target signal selecting means, and the plurality of first and second target output torque signal generating means include the plurality of electric motors. A drive device for a construction machine, wherein the first and second target output torque signals are calculated based on different functional relationships corresponding to each of the actuators.
  4. 2. The construction machine drive device according to claim 1, wherein the target speed signal generating means sets a predetermined rate of change in the target speed signal calculated based on a predetermined functional relationship with respect to the operation command signal. A drive device for a construction machine that performs a process of limiting to a value and outputs the processed value as the target speed signal.
  5. 2. The construction machine drive device according to claim 1, further comprising third target output torque signal generation means for generating an allowable maximum torque signal based on a predetermined functional relationship with respect to the actual speed signal. The selection means selects the one having the smallest absolute value among the first and second target output torque signals and the maximum allowable torque signal as a target value.
  6. An electric actuator, an operation command means for outputting an operation command signal for the electric actuator, an electric power supply means, and an electric power conversion means for driving the electric actuator by electric power from the electric power supply means, and an operation command signal from the operation command means In a construction machine having a drive device for driving the electric actuator by outputting an operation command signal to the power conversion unit according to
    Target speed signal generating means for outputting a target speed signal of the electric actuator based on a predetermined functional relationship with respect to an operation command signal from the operation command means; and an actual speed signal for detecting an actual speed of the electric actuator. An actual speed signal generating means for outputting
    A speed deviation signal generating means for calculating a difference between the target speed signal and the actual speed signal and outputting a speed deviation signal;
    First target output torque signal generating means for outputting a first target output torque signal based on a predetermined functional relationship with respect to the operation command signal;
    Second target output torque signal generating means for outputting a second target output torque signal based on a predetermined functional relationship with respect to the speed deviation signal;
    Target signal selection means for selecting a target output torque signal having a smaller absolute value of the first and second target output torque signals as a target value;
    A construction machine that controls driving of the electric actuator by outputting the operation command signal to the power conversion unit based on a target value selected by the target signal selection unit.
  7. An electric actuator, an operation command means for outputting an operation command signal for the electric actuator, a power supply means, and a construction machine comprising a power conversion means for driving the electric actuator by electric power from the power supply means. In order to drive the electric actuator by outputting an operation command signal to the power conversion means in response to the operation command signal,
    Target speed signal generating means for outputting a target speed signal of the electric actuator based on a predetermined functional relationship with respect to an operation command signal from the operation command means;
    A speed deviation signal generating means for calculating a difference between the target speed signal and an actual speed signal from an actual speed signal generating means for detecting an actual speed of the electric actuator and outputting a speed deviation signal;
    First target output torque signal generating means for outputting a first target output torque signal based on a predetermined functional relationship with respect to the operation command signal;
    Second target output torque signal generating means for outputting a second target output torque signal based on a predetermined functional relationship with respect to the speed deviation signal;
    Target signal selection means for selecting, as a target value, a target output torque signal having a smaller absolute value among the first and second target output torque signals;
    A construction machine drive program for controlling the drive of the electric actuator by outputting the operation command signal to the power conversion means based on the target value selected by the target signal selection means.
JP2001210578A 2001-07-11 2001-07-11 Construction machine drive device, construction machine and construction machine drive program Active JP4647146B2 (en)

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JP4704725B2 (en) * 2004-10-14 2011-06-22 住友建機株式会社 Swivel control device for construction machinery
JP4851802B2 (en) * 2006-02-01 2012-01-11 日立建機株式会社 Swivel drive device for construction machinery
WO2008041395A1 (en) * 2006-10-03 2008-04-10 Hy Incorporated Motor controller
JP4770807B2 (en) * 2007-07-23 2011-09-14 ダイキン工業株式会社 Rotating body drive control device
JP4475301B2 (en) * 2007-08-03 2010-06-09 ダイキン工業株式会社 Rotating body drive control device
JP4611370B2 (en) * 2007-12-28 2011-01-12 住友建機株式会社 Swivel drive control device and construction machine including the same
JP2009261231A (en) * 2008-03-24 2009-11-05 Hy:Kk Controller for motor
EP2447423B1 (en) 2009-06-25 2018-11-21 Hitachi Construction Machinery Co., Ltd. Rotation control device for working machine
JP5691499B2 (en) * 2010-12-24 2015-04-01 ダイキン工業株式会社 Hybrid work machine
JP5395818B2 (en) * 2011-01-21 2014-01-22 日立建機株式会社 Swing control device for work machine
JP6119154B2 (en) * 2012-09-19 2017-04-26 コベルコ建機株式会社 Swing control device for work machine

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