JPH0260912B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a valve control device using a joystick operation input, which controls the opening and closing of a valve in accordance with the operation of a joystick.

(Prior Art) Conventionally, as a device of this type for controlling the opening and closing of a valve in response to a joystick operation input, for example, the device shown in FIG. 6 is known.

In FIG. 6, 1 is a joystick operating device equipped with a joystick lever 2 as an operation input means, and an opening setting signal (voltage signal) generated by operating the joystick lever of a built-in potentiometer is given to a controller 3. , is amplified and converted into a current signal by the current amplifier 4 of the controller 3,
The opening and closing of the proportional valve 6 is controlled by driving the solenoid 5.

Incidentally, some models are equipped with a torque motor as a driving source instead of the solenoid 5.

(Problems to be Solved by the Invention) However, in the conventional valve control device using the joystick operation input, the opening/closing of the proportional valve 6 is controlled in accordance with the operation of the joystick lever 2. Therefore, if the joystick lever 2 is suddenly operated, the valve will be rapidly opened and closed in accordance with the joystick operation speed, and the sudden opening and closing of the valve will cause a large shock in the hydraulic load. There was a problem.

Therefore, it is conceivable to provide a first-order delay circuit 7 in the controller 3 to prevent hydraulic shock caused by sudden operation of the joystick lever 2. However, when the first-order delay circuit 7 is provided, the joystick lever 2 can be slowly moved. Since there is a first-order delay even when the valve is operated, the opening and closing of the valve becomes delayed, resulting in an excessively large response delay and a problem in that the operating sensation is impaired.

(Means for Solving the Problems) The present invention has been made in view of the above-mentioned problems of the prior art, and it is possible to prevent the hydraulic shock from occurring even when the joystick is suddenly operated, and to prevent the joystick from causing a hydraulic shock even if the joystick is suddenly operated. It is an object of the present invention to provide a valve control device using a joystick operation input, which can perform opening/closing control that follows the joystick operation when operated slowly.

In order to achieve this object, the present invention divides the opening range of the valve by the joystick operation into a plurality of sections, sets a limit section speed for each divided section, and when the joystick operation speed is equal to or higher than a predetermined speed, The opening/closing of the valve is controlled at a limit section speed set for each divided section, and when the joystick operating speed is lower than a predetermined speed, the valve opening/closing is controlled directly following the joystick operating speed.

(Function) According to the configuration of the present invention, when the joystick is suddenly operated, the valve opening section determined by the operation amount is divided into a plurality of sections, and the section limit speed is set in advance for each divided section. The opening/closing control of the valve is performed by the valve, and by suppressing the opening/closing control of the valve that follows a sudden joystick operation, it is possible to prevent a hydraulic shock from being added to the hydraulic pressure load.

Furthermore, when the joystick is slowly operated at a speed below the limit speed, the valve opening/closing control is performed in accordance with the joystick operation, so that the feeling of operation does not deteriorate.

(Embodiment) FIG. 1 is a block diagram showing an embodiment of the present invention.

First, to explain the configuration, 10 is a joystick operating device, which has a joystick lever 12. When the joystick lever 12 is operated, a built-in potentiometer or encoder is used to generate an opening signal (voltage signal, etc.) corresponding to the amount of lever operation. ) is output. The opening signal from the joystick operating device 10 is supplied to the opening setting device 14 via the opening converter 13, and the opening setting device 14 opens the valve according to the amount of operation of the joystick lever 12 in the joystick operating device 10. degree is set. The opening setting signal from the opening setting device 14 is sent to the pulse generator 15.
The pulse generator 15 generates a number of pulses corresponding to the opening setting signal from the opening setting device 14. The output of the pulse generator 14 is the counter 1
6, and the counting output of the counter 16 is further sent to the decoder 17 as a CW pulse of the pulse motor 19 or
A pulse motor 1 converted into CCW pulses and provided as a driving source for a valve 20 via a driver 18
The pulse motor 19 rotates in the opening direction or the closing direction depending on the number of pulses generated from the pulse generator 15 to control the flow rate of the valve 20, for example.

On the other hand, the operation signal from the joystick operating device 10 is given to the speed detector 21.
1, the operating speed Vj of the joystick lever 12 is detected. The operating speed Vj of the joystick lever 12 detected by the speed detector 21 is given to the positive input of the comparator 22, and the operating speed Vj of the joystick lever 12 detected by the speed detector 21 is given to the positive input of the comparator 22, and is applied to the valve 2 given from the speed setting device 24, which will be explained later.
When the operation speed Vj of the joystick lever 12 exceeds the reference speed Vr, which is the limit speed, the comparator 22 generates an H level output. The AND gate 25 is set in an allowable state.

The speed setting device 24 has a joystick operating device 1.
The maximum opening value determined by the valve opening/closing operation according to 0 is N
Division, for example, in this embodiment, the section limit speeds V1, V2, V3, and V4 for each divided section divided into four.
are set in advance, and for example, when the valve 20 is fully opened from zero by operating the lever of the joystick operating device 10, the section limit speed V1, V2, V3 and V4 are output in sequence, and the section limit speed output from this speed setter 24 is:
When the comparator 22 determines that the operating speed Vj of the steering lever 12 exceeds the reference speed Vr that gives the limit speed and generates an H level output, making the AND gate 25 in the permissible state, the pulse generator 15 outputs intermediate limit speeds V1, V2, V3 and V4 will be set sequentially.

The output of the section switching signal to the speed setter 24 by the multiplexer 26 is performed by three comparators 28a, 28b, which input the count value of the counter 16.
28c, each comparator 2
8a to 28c are setting switches 30a, 30b, 3 that give the boundary opening degrees S1, S2, and S3 of the divided sections.
0c is provided, and a switch 3 is provided to set the actual opening degree of the valve 20 given by the count value of the counter 16.
It is compared with the set opening degrees S1 to S3 of 0a to 30c, and a section identification signal is supplied to the speed setter 24 via the multiplexer 26. It should be noted that the opening degrees S1 to S3, which define the section boundaries set by the setting switches 30a to 30c, are set in a relationship such that S1<S2<S3, and each boundary setting value S1 to S3 is determined by the opening of the fluid controlled by the valve 20. An appropriate value can be set depending on the pressure load.

Next, the operation of the embodiment shown in FIG. 1 will be explained.

Now, assume that the joystick lever 12 of the joystick operating device 10 is suddenly operated to switch the valve 20 from the fully closed position to the fully open position. The movement of the joystick lever 12 at this time is as shown by the dashed line in FIG. If it exceeds Vr, the comparator 22 generates an H level output, and the AND gate 2
5 is considered to be a permissible state.

On the other hand, the boundary opening degrees S1 to S3 of each division section of the setting switches 30a to 30c, which set reference values to the comparators 28a to 28c, are the fully closed opening degree _S0 shown in FIG.
Assuming that the maximum opening degree Smax is determined as follows, all outputs of the comparators 28a to 28c are at the L level until the count value of the actual opening degree by the counter 16 reaches the first section boundary opening degree S1. For this reason, the speed setter 24 sets the preset speed V1 for the first section to the pulse generator 15 via the AND gate 25, and the pulse generator 15 generates pulses at a cycle based on this set speed V1. Until the actual valve opening reaches the boundary opening S1, the valve 20 is slowly opened as shown in FIG.

When the actual opening counted by the counter 16 reaches the set opening S1 of the setting switch 30a, the output of the comparator 28a becomes H level, and the speed setter 24 receives the H level output of the comparator 28a via the multiplexer 26. The section limit speed V2 set in advance for the next second section is set in the pulse generator 15 via the AND gate 24, and as shown in FIG. Opening control of the valve 20 is performed using the faster section limit speed V2. Furthermore, counter 1
When the actual opening degree based on the count value of 6 reaches the set opening degree S2 of the setting switch 30b, the output of the comparator 28b also becomes H level, and the speed setting device 24 sets the section limit speed V3 of the third section to the AND gate. 25 to the pulse generator 15, and the opening control of the valve 20 is performed with the section limit speed V3 of the third section faster than the section limit speed V2 of the second section.

Furthermore, when the actual opening counted by the counter 16 reaches the set opening S3 of the setting switch 30, the output of the comparator 28c becomes H level, and the speed setting device 24 sets the preset section limit speed V4 for the fourth section. It is set in the pulse generator 15 via the AND gate 25, and the valve 20 is controlled to open according to the section limit speed V4 of the fourth section, which is lower than the section limit speed V3 of the third section, and finally reaches the maximum opening degree Smax. It starts to open.

Even if the joystick lever 12 of the joystick operating device 10 is operated suddenly in this way, when the operating speed Vj of the joystick lever 12 is equal to or higher than the predetermined limit speed Vr, the opening degree will change as shown by the solid line characteristic in FIG. The section is divided into four sections, and the opening control of the valve 20 is performed in accordance with predetermined section limit speeds V1, V2, V3, and V4 for each divided section,
In addition, as the value of section limit speed V1 to V4, valve 2
By setting a value such that the start-up is gentle to avoid hydraulic shock due to 0-opening control, and the speed is set to a value that increases rapidly in the middle and reduces the speed before the final opening, hydraulic shock due to sudden valve opening is prevented. It is made so that it can be absorbed.

On the other hand, when the joystick lever 12 of the joystick operating device 10 is slowly operated at a speed lower than the limit speed Vr for the comparator 22, the output of the comparator 22 is kept at the L level.
Since the AND gate 25 is placed in a prohibited state and the section limit speed is not set to the pulse generator 15 from the speed setter 24, the pulse generator 15 is set at a speed that follows the operation speed of the joystick lever 12. A pulse is generated, and the opening control of the valve 20 shown by the solid line follows the operating speed of the joystick lever 12 shown by the dashed line in FIG. 3, resulting in valve opening control that follows the lever operation one-to-one. .

Figure 4 shows the opening converter 1 provided in the embodiment shown in Figure 1.
3 is a graph showing an example of the conversion characteristic of No. 3, and the characteristic of this opening converter 13 is that the relationship between the valve opening and the joystick operation amount is a non-linear characteristic.

That is, by passing through the opening converter 13, the relationship between the joystick operation amount and the valve opening is not a linear relationship, but when the valve opening is small, the joystick operation amount can be increased, and when the valve opening is large, the joystick operation can be increased. This makes it easier to finely adjust the opening when the valve opening is small.

FIG. 5 is a time chart showing valve control characteristics according to another embodiment of the present invention. In the embodiment of FIG. 1, as shown in FIG. In this example, the valve closing control is controlled by setting the section limit speed. It is characterized by the fact that

That is, in the embodiment shown in FIG. 6, the valve opening degree is quickly raised as a high-speed response following the joystick operation shown by the dashed-dotted line for valve opening control, while for the valve closing operation,
The closing control according to the setting of the section limit speed closes the valve slowly, regardless of sudden operation of the joystick lever 12, and stops the load without a hydraulic shock. In order to realize the control characteristics shown in FIG. 6, a direction detection means for detecting the operating direction of the valve from the operating signal from the joystick operating device 10 shown in FIG. 1 is provided, and the joystick lever 12 is operated in the closing direction. , and when the operation speed Vj exceeds the limit speed Vr, the speed setter 24 may be controlled to set the section limit speed. The section limit speed settings for valve closing control in Figure 6 are based on an example in which the valve opening section is divided into three sections, and section limit speeds V1, V2, and V3 are set in advance for each section. .

In addition, the above embodiment takes as an example a case in which the valve is suddenly operated from fully closed to fully open or from fully open to fully closed by operating the joystick lever. However, when opening a valve to an appropriate opening degree, for example, 50%, this joystick operation opening degree is 50%.
%, divide the operation section into four parts and set the section limit speed for each section, for example, as shown in Figure 2.
The valves may be controlled by sequentially setting V1 to V4 so as not to cause a hydraulic shock. In addition, although the above-mentioned embodiment takes as an example the case where the valve opening/closing section is divided into three or four, the number of divided sections N can be set to an appropriate value as necessary.

(Effects of the Invention) As described above, according to the present invention, in a valve control device using a joystick operation input that controls the opening and closing of a valve in accordance with the joystick operation, the opening degree range of the valve by the joystick operation can be controlled in a plurality of sections. It is divided into sections, a limit section speed is set for each divided section, and when the joystick operating speed is above a predetermined speed, the valve is controlled to open and close at the limit section speed set for each divided section. Even if an unskilled operator suddenly operates the lever, the valve opening/closing control will be performed according to the predetermined section speed limit, regardless of the sudden operation of the joystick.
The load can be driven smoothly without causing a hydraulic shock. On the other hand, if the joystick is operated slowly at a speed below the limit speed, the load can be driven by valve opening/closing control that follows the joystick operation. The load can be operated appropriately without impairing the sense of operation, without requiring prolonged control as would be the case when a first-order delay circuit is provided to prevent a conventional hydraulic shock.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing one embodiment of the present invention, Fig. 2 is a time chart showing the change in valve opening degree over time when sudden joystick operation is performed in the embodiment of Fig. 1; Figure 3 is a time chart showing the change in valve opening degree over time when the joystick operation is performed slowly in the embodiment shown in Figure 1, and Figure 4 is a time chart showing the opening degree converter provided in the embodiment shown in Figure 1. FIG. 5 is a graph showing the characteristics, FIG. 5 is a time chart showing changes in valve opening degree over time according to another embodiment of the present invention, and FIG. 6 is a block diagram showing a conventional example. 10: Joystick operating device, 12: Joystick lever, 13: Opening converter, 14: Opening setting device, 15: Pulse generator, 16: Counter,
17: Decoder, 18: Driver, 19: Pulse motor, 20: Valve, 21: Speed detector, 2
2, 28a to 28c: comparator, 24: speed setting device, 25: AND gate, 26: multiplexer, 30a to 30b: setting switch.

Claims (1)

[Scope of Claims] 1. In a valve control device using a joystick operation input that controls the opening and closing of a valve in accordance with the joystick operation, the opening degree section set by the joystick operation is divided into a plurality of sections, and the divided sections a speed setting means for setting a limit section speed for each divided section; and a control means for controlling opening/closing of the valve at the section limit speed set for each divided section by the speed setting means when the operation speed of the joystick is equal to or higher than a predetermined speed. A valve control device using joystick operation input, characterized by: 2. The control means includes an opening/closing direction detector that detects the opening/closing direction of the valve due to the operation of the joystick, and selects the section limit speed for each divided section by the speed setting means based on the direction detection output of the opening/closing direction detector. 2. The valve control device according to claim 1, wherein the valve is controlled by a joystick operation input.