JPH02173468A - Control method for operating lever - Google Patents

Abstract

PURPOSE:To enable free operation of a work machine and work efficiency with a difference advancing and delaying a response in a system by additionally providing a lever signal with a hard mode so as to selectively output the signal of hard mode and that of STD mode with no additional hard mode. CONSTITUTION:An engine 1 drives a variable displacement oil hydraulic pump 2 controlling by its output an operating part of a work machine through an operating valve 3 and an actuator 4. While an electric signal in accordance with an operating angle of an electric operating lever 5 is input via a signal circuit 6 to a controller 7 controlling the operating valve 3 and a servo 8 of the oil hydraulic pump 2 via signal circuits 9, 10. Further an operating lever signal in addition to an STD mode is input as a hard mode signal to the controller 7 through a selector switch 13 and a hard mode signal controller 12. Accordingly, controllability and work efficiency can be improved by enabling the work machine to be freely controlled in its action.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a control method for a control lever that allows selection of quick or slow response for a control system of an object to be operated, such as a work machine, depending on the feeling of operating the control lever. .

Construction machinery, such as hydraulic power excavators, has working machine running,
There is an operating device such as a swing, and these operating pairs are operated via a hydraulic pump driven by an engine, an operating valve connected to a discharge circuit from the pump, and an actuator such as a hydraulic motor or hydraulic cylinder. Control is now performed by operating devices such as operating levers, and in particular, due to recent demands for higher functionality, improved operability, automation, etc., electric operating levers and electromagnetic proportional flow control valves are also used in the control system. Control technology has progressed further with the introduction of electronic control such as microcomputers in addition to electro-hydraulic control using variable displacement hydraulic pumps and variable displacement hydraulic pumps. Since the operation valve operates at a constant speed, hydraulic input and output are applied linearly. Therefore, if the operation valve operates quickly, a shock will occur when starting or stopping the work equipment, causing the valve to If the operation of the hydraulic pump is slow, there will be a delay in the operation when starting and stopping the work equipment, and if the variable operation of the hydraulic pump is made to operate quickly, it is inevitable that shock and cavitation will occur. Of course, in order to eliminate such problems, the present applicant first developed a modulation system function, that is, a system that automatically delays the response of the system according to a plurality of modes that can be selected by the operator or set in advance depending on the work situation. Furthermore, the present invention provides a hydraulic pump which is capable of performing control according to a modulation pattern while preventing locking and cavitation that occur during operation of a hydraulic pump.

However, the above control method delays the response of the system to prevent lockout, and is not related to the feel of operating the control lever.Even if the control lever is operated quickly, the response of the system such as the control valve and actuator cannot be made faster. could not.

(Problems to be Solved by the Invention) The present invention solves the above-mentioned problem, which is the mismatch between the operating feel of the operating lever and the response of the system. The response of the system was not able to follow that response even when the system was moving, and there was a discrepancy between the response and the operating sensation. The present invention is intended to provide a control method for selectable operating levers.

(Means and effects for solving the problem) In order to achieve the above object, the present invention converts the operating angle of an electric operating lever into an electrical signal, inputs it to an electronic controller, stores and calculates it, and In addition to adding an advance compensation function (this function is called a hard mode) using an operating valve and a variable means, the hard mode and the conventional normal operation function (this function is called an STD mode) are added as necessary. This is interpreted so that the operator can select the hard mode if he/she wants to make the operation object such as the work equipment respond sensitively according to the operating feeling according to the work situation, and By operating quickly, a hard mode signal is sent to the operating valve or hydraulic pump via the controller, and the command signal causes the
These operating valves and hydraulic pumps will respond quickly and operate the actuators. Conversely, if the operating valves and hydraulic pumps are switched to the STD mode or -mode, the operating valves and hydraulic pumps will receive an STD mode signal, that is, an advance compensation function. The signal that is turned OFF is commanded.

(Example) An example of the present invention will be described in detail below with reference to the accompanying drawings. As a hydraulically driven tracked vehicle, a hydraulic excavator has a working machine, a turning device, and a traveling device, and these electro-hydraulic circuit systems are connected to a variable displacement hydraulic pump driven by an engine 1, as shown in Fig. 1. The operating target such as the above-mentioned work equipment (not shown) is actuated through an operating valve 3 and an actuator 4 such as a hydraulic cylinder or a hydraulic motor connected to the discharge hydraulic circuit of No. 2, and these are connected to an electric operating lever 5. The operating angle of is converted into an electrical signal and inputted to the controller 7 via the signal circuit 6, and the signal circuits 9 and 10 are sent to the operating valve 3 and the servo 8 of the hydraulic pump 2, respectively.
commanded via. This operating lever signal is a conventional command signal and is called an STD mode signal.

Next, along with the STD mode signal, a hard mode signal is added to the operating lever signal, which has an advance compensation function that generates electricity at an operating speed of a certain level or higher, and the hard mode signal is transmitted from the operating lever 5 to the signal circuit 11. is input to the hard mode signal controller 12 via the STD
In addition to the mode signal, the controller 7 sends the circuit 9.
The signal is outputted to the operating valve 3 and pump servo 8 via 10. An ONSOFF changeover switch 13 is provided for selecting the pigeon mode signal.

To explain the above-mentioned hard mode signal circuit, the electric operating lever signal originally converts the amount of mechanical change in the lever into an electrical quantity and outputs it as an electrical signal, but the STD mode signal converts the operating angle of the lever into an electrical signal. In contrast, in the pigeon mode signal, in addition to the operation angle converted into an electrical signal, the displacement force of the speed of the lever is amplified by the amplitude by the frequency resonance circuit, and this is converted into an electrical signal. The frequency at which the amplitude is amplified is considered to be in the range of 0.5 to 8 degrees OH2, which most closely matches the operator's sense of operation, and in this example, 2.0H2 is adopted. .

A block diagram of the controller circuit 11 for this hard mode signal is shown in Figure 2. First, the frequency is passed through a filter, amplified by a differentiator, and then input to an adder, where it is amplified by a gain and a limiter. Items within the upper and lower ranges are output through the buffer.

This increases the amount of signal, which speeds up the response of the system, resulting in an operation consistent with the operating feel.

FIG. 3 shows an example of comparing the response of the system due to the STD mode signal and the hard mode signal from the work equipment control lever, where the horizontal axis shows the time (I) of the lever signal due to the movement of the control lever. ), the response speed (V) of the work equipment, etc. is taken on the vertical axis, and the lever signal is started from the "N" position as shown by line A to operate the work equipment, and then - If the lever signal is stopped at that state position and then returned to the initial "N" position in stages after a predetermined period of time as a command signal to complete the operation, in the STD mode signal
As shown by the line, the response to the lever signal A is delayed considerably, and it can be seen that there is a delay in the operation of the working machine. On the other hand, the hard mode signal responds at the same time as the lever signal A is output, and the hard mode signal transmits a command signal in a form that rises earlier than the lever signal, as shown by line B, and receives the signal. Since the response of the system becomes faster and the operation of the work machine is performed in a state close to the lever signal amount as shown by the line b, the operator's operating feeling and the work machine operation substantially match. Even in the subsequent step-by-step command as a lever signal for returning the operation of the operating lever, the responses of the STD and hard mode signals and the operation of the work machine are the same as described above.

In general, if you move the operating lever slowly, (1) in Figure 4
) As shown in the line, the hysteresis is small, and on the other hand, the faster you move it, the greater it becomes.If you move the lever quickly in the case of an STD mode signal, it will cause a delay in the system (II)
On the other hand, in the case of the hard mode signal which is a lead compensation function, the delay and lead cancel each other out and become smaller as shown by the line (II[).

Since the system responds to the hard signals according to the present invention, and in turn operates sensitively in accordance with the operating sensation of the operation object such as work, during actual operation, depending on the work situation, first
In order to instruct the lever signal to select whether to use the TD mode signal or the hard mode signal, the hard mode signal is set to O.
In the case of N, the hard mode signal is issued to the operating valve by operating the operating lever faster than normal. For work that does not require particularly sensitive operation, the hard mode signal is turned off and the STD mode signal is used.

(Effects of the Invention) As described in detail above, the present invention provides a new hard mode signal in addition to the STD mode signal in the lever signal, and also allows these modes to be selected depending on the work situation. If you want to operate the operating object such as a work equipment in a sensitive manner according to the operator's operating feeling, operating the control lever quickly will cause the work equipment to operate more quickly. If this is not the case, you can simply set the normal operation to the speed. In this way, the operation of the work equipment can be freely controlled by operating the control lever, so the objects to be operated, such as the work equipment, move as one as the operator's hands and feet. Not only does it improve operability, but it also further improves work efficiency.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of the control lever control method according to the present invention, FIG. FIG. 3 is an explanatory diagram showing an example of the working machine operation response of the STD mode signal and hard mode signal to the same lever signal, and FIG. 4 is an explanatory diagram showing the relationship between the two mode signals and hysteresis. 2... Variable displacement pump 3... Solenoid operated valve 4... Actuator 5... Electric operating lever 7... Controller 8... Pump servo

Claims (1)

[Claims] In an electro-hydraulic circuit system that controls the operation of an operating target via a variable displacement pump driven by an engine in response to a lever signal from an electrically operated lever, an electromagnetic operating valve connected to the pump's discharge circuit, and an actuator, the lever signal It is characterized by adding a hard mode to the resonant circuit with lead compensation by an amplitude amplification means, and selectively outputting an STD mode to which the hard mode signal is not added, thereby creating a speed/slow difference in the response of the system. How to control the operating lever.