JPH07101364B2 - Automatic control device for hydraulic drive machine - Google Patents

Description

The present invention is applied to linear excavation control of a hydraulic excavator, horizontal retraction control of a crane, and the like, and a hydraulic drive having means for compensating for non-linearity of a hydraulic drive unit. The present invention relates to an automatic control device for a machine.

[Conventional technology]

Generally, in hydraulically driven machines such as cranes and shovels, it is an important issue to compensate for the non-linearity of actuators (hydraulic cylinders) for operating the movable parts thereof, especially the dead zone thereof.

That is, strictly speaking, the actuator does not operate at a speed proportional to the output, but has a characteristic that it does not operate at all until a signal of a certain value or more is received, for example, when the operation is started. Such a dead zone region remarkably appears particularly in the actuator (that is, the hydraulic drive unit) of the hydraulic drive machine, and it is practically difficult to ignore this and proceed with high-precision hydraulic drive control.

Therefore, conventionally, a constant dead zone compensation value for compensating the dead zone of the hydraulic drive unit as described above is set in advance, and control is performed to correct the actual control amount by the dead zone compensation value.

[Problems to be Solved by the Invention]

The dead band characteristic of the hydraulic drive unit is not always constant, but generally varies from one to another. Therefore, when performing the dead zone compensation with a constant dead zone compensation value as described above, it is not possible to perform the correction in consideration of the characteristics of each hydraulic drive unit, and it is desired to realize more accurate control.

In this way, while there are variations in the characteristics of the hydraulic equipment,
In order to maintain high control accuracy, it is necessary to finely adjust the dead zone compensation according to the above characteristics. However, if such a dead zone compensation value adjustment is performed at the manufacturing stage for each machine, it will take an enormous amount of time and labor, and will hinder mass production of the control device, resulting in a large cost reduction. It becomes a hindrance. In addition, in order to suppress the above variations, even if a servo valve equipped with a minor feedback system is used in place of a simple electromagnetic proportional pressure reducing valve, or sensors are provided at various places to form a minor feedback loop, The high cost due to is inevitable.

Further, the non-linearity of the dynamic characteristics of the hydraulic drive unit is not caused only by the dead zone as described above. For example, the characteristic (inclination) of the actual operating speed with respect to the output to the hydraulic drive unit,
It is a major factor causing the above-mentioned non-linearity.

In view of such circumstances, the present invention is capable of improving control accuracy with a low-cost structure by automatically adjusting non-linear compensation according to variations in characteristics of a hydraulic drive unit. It is an object of the present invention to provide an automatic control device.

[Means for Solving the Problems]

The present invention is a detection means for detecting the drive amount of the hydraulic drive unit,
The detection signal of the detection means is input, and a control means for controlling the drive of the hydraulic drive section based on the detection signal is provided. The control means includes a dead zone compensating means for compensating the dead zone of the hydraulic drive section, and the hydraulic pressure. In the automatic control device of the hydraulic drive machine provided with the non-linear compensation means for compensating the non-linearity of the drive unit, while switching the mode of the control means between the normal control mode and the adjustment mode, the dead zone compensation adjustment mode in the adjustment mode, Mode switching means for switching the modes in the order of the correction gain setting mode, signal output means for outputting the control signal of the hydraulic drive unit while changing the output value in the dead zone compensation value setting mode, the output value and the actual hydraulic drive unit. Dead zone compensation adjustment calculation means for calculating a value relating to the adjustment of the dead zone compensation value from the relationship with the drive amount of Dead band compensation adjustment storage means for storing values related to adjustment, gain setting signal output means for actually operating the hydraulic drive unit by output of a plurality of kinds of signals having different output values in the correction gain setting mode, and this hydraulic drive The speed detection means for detecting the operation speed of the section, the relationship between the detected speed and the output value, the characteristic value of the operation speed with respect to the preset output value, and the dead zone compensation adjustment storage means are stored. A correction gain calculation means for calculating a correction gain based on the value and a correction gain storage means for storing the correction gain calculated by the correction gain calculation means are provided, and the dead zone compensation stored by the dead zone compensation adjustment storage means is provided. The dead band compensation value is set so that the actual dead band compensation is performed in the normal control mode. Configure stage is obtained by forming the nonlinear compensating unit to perform nonlinear compensation incorporating the correction gain stored in the correction gain storing means in the normal control mode.

[Work]

In the above apparatus, in the adjustment mode, the dead zone compensation value adjustment mode is first switched to, and in this mode, the relationship between the output value and the actual drive amount of the hydraulic drive unit is obtained. Is calculated and stored. After that, the mode is switched to the correction gain setting mode, and in this mode, an appropriate correction gain is set in consideration of the adjustment of the dead zone compensation value. And
By performing the control in consideration of the adjustment of the dead zone compensation value and the value related to the correction gain in the normal control mode, appropriate control can be executed in consideration of the characteristic variation of the hydraulic drive unit.

〔Example〕

 An embodiment of the present invention will be described with reference to the drawings.

FIG. 3 shows a hydraulic excavator as an example of a hydraulic drive machine provided with the automatic control device of the present invention, and this figure shows a state during slope excavation work. A boom (movable part) 2 can be lifted on the revolving structure 1 of the hydraulic excavator body.
Is pivoted, and the arm (movable part) is attached to the tip of the boom 2.
A bucket (movable part) 4 is rotatably attached to the tip of the arm 3. Boom 2, arm 3,
And the bucket 4 are driven by a boom cylinder (hydraulic drive unit) 5, an arm cylinder (hydraulic drive unit) 6,
This is performed by expanding and contracting the bucket cylinder (hydraulic drive unit) 7.

Various detectors as shown in FIG. 1, that is, a boom angle detector (detection means) 8 for detecting a ground angle θ ₁ of the boom ₁ and an arm 3 for the boom 2 are provided at or near the pivot points. An arm angle detector (detection means) 9 for detecting the angle α2 and a bucket angle detector (detection means) 10 for detecting the ground angle of the bucket 4 are provided.

An arm lever (not shown) for manually controlling the arm 3 is provided in the driver's cab of the revolving structure 1, and the operating speed of the arm lever is from the pilot pressure of the remote control valve to the arm lever pilot pressure detector for both arm raising and lowering directions. It is detected from 11,12.

Further, the excavation angle setting switch 13,
An automatic / manual switch 14 and a mode switch (mode switching means) 15 including a PID switch and the like are provided. The excavation angle setting switch 13 sets the inclination angle β of the slope G as shown in FIG. 3 as the target excavation angle. Further, the automatic / manual changeover switch 14 is set to the automatic side in a state where the bucket 4 is placed in a predetermined posture at the excavation start point, so that the height position of the arm tip B at this time with respect to the slope and the bucket ground. The angles are set as the destinations ybo and θ ₃₀ , respectively.

In FIG. 3, α ₃ is the bucket angle with respect to the arm 3, l ₁ is the distance from the arm base end 0 to the boom tip A, and l ₂ is the distance from the boom tip A to the arm tip B (arm length). Show. Further, x is a horizontal coordinate axis and y is a vertical coordinate axis. In the case of slope excavation, the coordinate calculation of the arm tip B position is performed based on the coordinate axes x ′, y ′ rotated by the excavation angle β with respect to the coordinate axes x, y. Be seen.

The detection signals of the detectors 8 to 12 and the switch signals of the various switches 13 to 15 are input to the controller 16. The controller 16 outputs a control signal based on the operation of the arm lever, and the arm cylinder hydraulic pressure control unit 17, the boom cylinder hydraulic pressure control unit 18, and the bucket cylinder hydraulic pressure control unit.
Drive control of the arm cylinder 6, the boom cylinder 5, and the bucket cylinder 7 is performed through 19.

In this embodiment, only the arm 3 is manually operated by operating the arm lever, and with the rotation of the arm 3, the ground height position yb ′ with respect to the slope G of the arm tip B and the bucket ground angle θ ₃ Drive control of the boom 2 and the bucket 4 is performed automatically so as to excavate the bucket 4 while keeping the target values at the target values. The controller (control means) 16 controls the bucket 4 to move in the direction of the arrow in FIG. The control amount of the boom 2 (boom cylinder 5) and the bucket 4 (bucket cylinder 7) required for the linear movement is calculated and output.

As shown in FIG. 2, the controller 16 includes a digital arithmetic unit 20, an A / D converter 21, a RAM 22, a ROM 23, and an EEPROM2.
4 and a D / A converter 25, and the various detection signals and command signals (switch signals) are input to the digital arithmetic unit 20 through the A / D converter 21. This digital operation unit 20
The voltage output from the D / A converter 25 is converted by the voltage / current converter 26 and then converted into hydraulic pressure by the electromagnetic proportional pressure reducing valve 27, whereby the operating speed control of each cylinder 5-7 is executed. It

The controller 16 is switched between the normal control mode and the adjustment mode by operating the mode changeover switch 15, and the adjustment mode is switched to each mode in the following order.

(1) Offset value adjustment mode for position detectors 8-10 (2) Actuator dead zone compensation value adjustment mode for cylinders 5-7 (3) Actuator correction gain setting mode for each cylinder 5-7 (4) Boom feedforward gain adjustment Mode (5) Bucket feedforward gain adjustment mode (6) Boom feedback gain adjustment mode (7) Bucket feedback gain adjustment mode Next, the details of the control performed in each of these modes will be described in detail below.

* Normal control mode This mode is a mode for performing actual slope excavation work after fine adjustment of each control element has been performed in advance by each adjustment mode described in detail later.

Fig. 4 shows the controller when switched to this mode.
It is a block diagram which shows the control content of 16. The controller 16 is roughly divided into an arm control block 16a, a boom control block 16b, and a bucket control block 16c.

(A) Arm control block 16a In this block 16a, first, the calculating means 28 is applied to the arm lever signal from the arm lever pilot pressure detector 11 (12).
Is multiplied by a predetermined gain to output the basic control amount u ₂₁ . The correction by the arm link correction means 29 is added to this to output the primary correction control amount u ₂₂ , and the secondary correction control amount u ₂ corrected by the nonlinear compensation means 30 is output as the control amount of the arm cylinder 6. It

In consideration of the fact that the actual expansion / contraction speed of the arm cylinder 6 and the rotation angular speed of the arm 3 are not in a strict proportional relationship, the arm link correcting means 29 keeps these relationships in a proportional relationship over the entire cylinder stroke. As described above, a predetermined correction is added.

The non-linear compensating means 30 determines the output current value to the electromagnetic proportional pressure reducing valve due to the dead zone of the electromagnetic proportional pressure reducing valve 27 shown in FIG. 2 and the non-linearity between the spool stroke and the opening of the switching valve. In consideration of the occurrence of non-linearity with the expansion / contraction speed of the arm cylinder 6, this is corrected to maintain linearity. The arm actuator correction gain storage means 31a and arm actuator dead zone compensation fine The calculation is performed by incorporating the correction gain and the dead zone compensation fine adjustment value stored by the adjustment value storage means (dead zone compensation adjustment storage means) 31b.

With such a configuration, the arm 3 is manually controlled at a constant angular velocity in accordance with the commanded velocity of the arm lever operation.

(B) Boom control block 16b This block 16b controls the elevation of the boom 2 so as to keep the ground height of the arm tip B constant while the arm 3 is rotating. This boom control block 16b has
Detection signals (angle signals) from both the boom angle and arm angle detectors 8 and 9 are input, and based on these angle signals and the basic control amount u ₂₁ of the arm control block 16a, the boom cylinder feedforward calculation means 32 , A boom cylinder feedforward control amount u ₁₁ for causing the height position of the arm tip B to the slope G to follow a constant target value ybo is calculated.

The contents of this calculation will be described. Here, in order to simplify the description, a case where the inclination angle β of the slope G in FIG. 3 is 0, that is, a case where a straight line excavation work is performed on a horizontal plane will be described. In this case, coordinate system x, y and coordinate system x ′,
Since y ′ matches, we proceed with the coordinate system x, y. At this time, the ground height position yb of the boom tip B is expressed by the following equation.

yb = l ₁ sin θ ₁ + l ₂ sin (θ ₁ −α ₂ ) Therefore, the arm tip speed b is b = {l ₁ cos θ ₁ + l ₂ cos (θ ₁ −α ₂ )} ₁ −l ₂ cos (θ ₁₋ α ₂ ) ₂ . Here, ₁ is the boom angular velocity, and ₂ is the arm angular velocity. If yb is constant, b = 0, so And using this equation, the boom cylinder feedforward control amount u ₁₁ in FIG. Given in. Note that Kff is a feedforward gain, and this feedforward gain Kff has a preset boom feedforward gain standard value Kffo.
Boom feedforward gain fine adjustment value storage means 33
The value added with the fine adjustment value ΔKff stored in
As this feedforward gain fine adjustment value ΔKff, the one set in the feedforward gain adjustment mode described later is used.

On the other hand, in the coordinate calculation means 34, the actual height position y of the arm tip B is calculated based on the boom angle signal and the arm angle signal.
b is obtained by coordinate calculation, and the proportional control means (feedback calculation means) 35 calculates the feedback control amount u ₁₂ from the deviation Δyb between the calculated value yb and the target value ybo of the arm tip height position.

This proportional-integral means 35 has a proportional gain Kp and an integral gain.
It has a feedback gain of Ki, and the feedback control amount u ₁₂ is calculated based on the following equation.

u ₁₂ = Kp · Δyb + Ki · Σ (Δyb) Here, Σ (Δyb) is the total sum (integrated value) of the control deviations Δyb obtained in each constant control cycle from the start of control to the present time. For the proportional gain Kp and the integral gain Ki, values obtained by adding the fine adjustment values ΔKp, ΔKi stored in the boom feedback gain fine adjustment value 36 to these standard values Kpo, Kio are used, and these fine adjustment values ΔKp The value set in the boom feedback adjustment mode described later is used as ΔKi.

This feedback control amount u _12, the boom cylinder basic control amount u ₁₃ by adding the feed forward control amount u ₁₁ is obtained, to which the correction by the boom link correcting unit 37 (primary correction control amount u _14), a boom Posture correction means 38
Correction (secondary correction control amount u ₁₅ ), non-linear compensation means 39
Then, the boom cylinder control output u ₁ is finally obtained.

The boom link correcting means 37 includes the arm control block 16
Similar to the arm link correction means 29 in a, correction is performed to maintain the proportional relationship between the expansion / contraction speed of the boom cylinder 5 and the rotation angular speed of the boom 2. The non-linear compensating means 39, like the non-linear compensating means 30, compensates for the linearity between the output current value to the boom cylinder hydraulic pressure control section 18 and the boom cylinder speed, and the boom actuator correction gain storage means 40a and the boom actuator. The dead band compensation fine adjustment value storage means (dead zone compensation adjustment storage means) 40b performs a calculation that incorporates the correction gain Ka and the fine adjustment value Δw. As these values, those set in the actuator correction gain adjustment mode and the actuator dead zone compensation value value adjustment mode described later are used.

The boom attitude correction means 38 multiplies the correction gain according to the boom angle in consideration of the fact that the inertia moment of the boom 2 changes according to the boom angle θ ₁ and the boom cylinder pressure changes due to this, which changes the cylinder speed. Correction is performed to keep the boom angular velocity constant.

With the above configuration, the elevation of the boom 2 is controlled so that the arm tip B moves linearly along the excavation surface G while keeping the logarithmic height constant.

(C) Bucket control block 16c This block 16c controls the rotation of the bucket 4 so that the ground angle θ ₃ of the bucket 4 is kept constant during the rotation of the arm 3. This bucket control block 16c
Then, the feedback control amount u ₃₂ is obtained by the proportional integration means 41 from the deviation Δθ ₃ between the detected value of the bucket angle θ ₃ by the bucket angle detector 10 and the bucket angle target value θ ₃₀ . This proportional-integral means 41 also has a proportional gain Kp and an integral gain Ki as feedback gains, and calculates the feedback control amount u ₃₂ by the following equation.

u ₁₂ = KpΔθ ₃ + KiΣ (Δθ ₃ ) These proportional gain Kp and integral gain Ki are also stored in the standard values Kpo and Kio set in advance to the fine values stored in the bucket feedback gain fine adjustment value storage means 42. Adjustment value ΔKp, ΔKi
The value added is used.

On the other hand, the basic control quantity u ₂₁ of the arm control block 16a, a basic control quantity u ₁₃ of the boom control block 16b is taken into the bucket feedforward operation means 29, both the control quantity u _21, u ₁₃
Based on, the bucket cylinder feedforward control amount u for making the bucket angle θ ₃ follow the target value θ _30
31 is calculated.

The specific calculation contents will be described. First, the bucket angle θ ₃
Is expressed by the following equation.

_{θ 3 = θ 1 -α 2 -α} 3 ∴ 3 = 1 - 2 - 3 3 = 0 and the _{∴ 3 = 1 - 2 u 31} = Kff Based on this (u ₁₃ -u ₂₁₎ is obtained, the formula From this, the bucket feedforward control amount u31 is calculated. The feedforward gain Kff in this mode is also a value obtained by adding the gain fine adjustment value ΔKff stored in the bucket feedforward gain fine adjustment value storage means 44 to the preset standard value Kffo,
For this fine adjustment value ΔKff, a value set in the bucket feedforward gain adjustment mode described later is used.

The feedback control amount u ₃₂ and the feedforward control amount u ₃₁ are added to each other to obtain the basic bucket control amount u ₃₃ . Then, the correction by the bucket link correction means 46 (primary correction control amount u ₃₄ ),
And the bucket cylinder control output u ₃ is obtained by adding the correction by the nonlinear compensating means 46.

This non-linear compensating means 46 also performs an operation based on the actuator correction gain stored in the bucket actuator correction gain storage means 47a and the bucket actuator dead zone compensation fine adjustment value storage means (the fine adjustment value Δw stored in the dead zone compensation adjustment storage means 43b). To do.

As described above, the control for keeping the ground angle θ ₃ of the bucket 4 constant (target value) is executed, and this control is combined with the linear movement control of the arm tip B by the boom control block 16b to perform the actual slope excavation work. Is realized.

The gain standard values Kffo, Kpo, set by the feedforward calculation means 32, 43 and the proportional control means 35, 41,
Kio is stored in the ROM 23 shown in FIG. 2, whereas the gain fine adjustment values ΔKff, ΔKpo, ΔKio are stored in the EEPROM 24 and can be rewritten as necessary.

Next, in this normal control mode, each non-linear compensation means 3
The contents of calculation performed in 0, 39, and 46 will be described with reference to FIGS. 5 and 6.

FIG. 6 shows an example of the dynamic characteristics of the actuators represented by each cylinder, that is, the characteristics of the operating speed (output) with respect to the control signal input to the actuator. As can be seen from this figure, The non-linearity of the dynamic characteristics is divided into elements due to the dead zone AF of the actuator and other elements.

The out-of-dead-zone nonlinear compensating means 48 shown in FIG. 5 compensates for the non-linearity of the above-mentioned elements other than the element caused by the dead-zone AF, and the dynamic characteristics thereof are as shown in FIG. 6, for example. When it is represented by the curve R ₁ , the control value is linearized by multiplying the input value by the inverse function of the function representing this curve (represented by the curve R ₂ ).

The output value of the non-dead-zone nonlinear compensating means 48 is added to the actuator compensation gain stored in the actuator compensation gain storage means by the actuator compensation gain multiplier 49.
Ka is multiplied. This actuator correction gain Kp is
It is set in consideration of variations in the characteristics of the actuator output-operating speed, and is calculated and set in the actuator correction gain adjustment mode described later.

On the other hand, the dead zone compensation fine adjustment value Δw stored in the actuator dead zone compensation fine adjustment value storage means 31b (41b, 47b) is set to the dead zone compensation standard value wo preset by the nonlinear compensation means 30 (39, 46). Is added by the adder 50 to calculate the adjusted dead zone compensation value w, and this dead zone compensation value w is output to the output value of the actuator correction gain multiplier 49 by the dead zone compensation value adder (dead zone compensation means) 51. The final output value is calculated by the addition. The actuator dead zone compensation fine adjustment value Δwo is represented by an excess / deficiency amount based on the dead zone compensation standard value wo in consideration of variations in the dead zone due to actuators and control valves. It is set in the adjustment mode.

(1) Position detector offset value adjustment mode Before executing the above-mentioned normal control, each control element is adjusted. As this adjustment mode, the position detector offset value adjustment mode is first switched. This mode is also for adjusting the characteristics of various detectors in consideration of variations. Specifically, an operation is performed in which each movable part is stopped at a position where it can be clearly positioned, such as the end position of the movable range, and the offset is obtained from the detection signal at this time and stored.

(2) Actuator dead zone compensation value adjustment mode After the detector is finely adjusted, it is switched to the next dead zone compensation value adjustment mode in the finely adjusted state. This mode is a mode for calculating and storing a fine adjustment value of the compensation value in consideration of variations in the dead zones of the actuators of the cylinders 5 to 7.

The functional configuration of the controller 16 in this mode is shown in FIG. Since this configuration is common to the adjustment modes of the actuators of the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7, they will be collectively described in one drawing.

In the figure, an initial position storage means 52 stores the position (initial position) of each actuator (here, cylinders 5 to 7) when starting the adjusting operation. Displacement amount calculation means 53
Is the difference between the current actuator position and the initial position,
That is, the displacement amount of each actuator is calculated. The output signal storage means 54 sequentially stores the drive signals of the respective actuators output from the signal output means 55 in a constant cycle, and the displacement amount calculated by the displacement amount calculation means 53 has a predetermined value (described later). At this point, the output signal at this time is output to the actuator dead zone compensation fine adjustment value calculation means.
Output to 56. The signal output means 55 outputs a drive signal for each actuator according to the displacement amount calculated by the displacement amount calculation means 53.

The actuator dead zone compensation fine adjustment value calculation means (dead zone compensation adjustment calculation means) 56 calculates the dead zone compensation value w of the actuator based on the output signal output from the output signal storage means 54, and also calculates the dead zone compensation value w , A difference from a preset dead zone compensation standard value wo is set as an actuator dead zone compensation fine adjustment value Δw and stored in the actuator dead zone compensation fine adjustment value storage means 31b (41b, 47b). This fine adjustment value Δw is, in terms of hardware,
It is stored in the EEPROM 24 and can be rewritten if necessary.

Next, the setting operation of the fine adjustment value Δw actually performed in this mode will be described. In this embodiment, as shown in FIG. 12, considering that there is hysteresis between the output to the actuator and the operating speed, the two dead zone compensation values w ₁ and w ₂ shown in the same figure are obtained. The action is taken.

First, the operation (first adjusting operation) of setting the fine adjustment value Δw ₁ corresponding to the dead zone compensation value w ₁ in the same figure is shown in the flowchart of FIG.

Prior to adjustment, the initialization, ie sets the output value u-check of the signal output means 55 to an initial value 0, stores the current actuator position as the initial position x-ini (Step S _1).

Next, a constant value Δ preset to the above output value u-check
a value obtained by adding u-check is set as a new value u-check (Step S _2), the control signal to the actuator the value u-check as the actual output value is output (step
S ₃ ).

By repeating these steps S ₂ and S ₃ repeatedly (NO in step S ₄ ), the output value increases in proportion to time as shown in the upper part of FIG. 9, but the dead zone of this output actuator is increased. The actuator position does not change while in the area. After that, the output value further increases, the actuator position changes, and its current position and initial position x-ini
As, the value u-check at this time the dead zone compensation value; the difference (i.e., displacement amount) when the reaches a preset amount [Delta] x ₁ or more (9 points view P ₁ step S ₄ in YES) and A value obtained by subtracting a preset dead zone compensation value wlo from this value u-check is calculated, and this value is set as the first actuator dead zone compensation fine adjustment value Δw ₁ to the actuator dead zone compensation fine adjustment value storage means. 31b (41b, 47b) is stored (step S _5). Then, the output signal to the actuator is returned to 0, and the first adjusting operation ends.

Next, the second adjustment operation as shown in the flowchart of FIG. 10, that is, the operation of setting the _second dead zone compensation fine adjustment value Δw ₂ is started.

Here, the operation of steps S ₁ to S ₃ are as defined above, the output value u-check increases with time, the time (step displacement amount becomes a preset value [Delta] x ₂ or more
YES in S _7; at point P ₂ of FIG. 11), actuator position at this time is stored as x-old (Step S _8). The value Δx ₂ is set to such a value that it is determined that the actuator has started to move and is in a stable state.

After this point, the value obtained by subtracting the constant value Δu-check from the current output value u-check is the new output value u.
Is set as -check (Step S _9), the signal to the actuator is outputted to the new value as the actual output value (Step S _10). By the operation of step S ₈ to S ₁₀ described above is continued repeatedly (at step S ₁₁ N
O), the stored value x-old is sequentially updated, while the output value u-
check decreases with time and the operating speed of the actuator decreases, but at the time when the difference between the stored value x-old (that is, the previous actuator position) and the current position match or go backward (YES in step S11; 11 point P ₃ ),
That is, when the operating direction of the actuator is reversed,
The output value u-check at this time is set second as an actuator dead zone compensation value w _2, a value obtained by subtracting the second actuator dead zone compensation standard values w ₂₀ previously set from this value the second actuator dead zone compensation As the fine adjustment value Δw ₂ , the actuator dead zone compensation fine adjustment value storage means 31b (4
1b, is stored in 47b) (Step S _12).

The actuator dead zone fine adjustment values Δw ₁ and Δw ₂ set and stored in this manner are added to the dead zone compensation standard value wo in the normal control mode, so that appropriate control can be performed in consideration of the dead zone characteristics of each actuator. Will be executed.

The two fine adjustment values Δw ₁ and Δw ₂ are used properly, in other words, the two dead zone compensation values w ₁ (= wo + Δw ₁ ), w ₂ (= w
The proper use of o + Δw ₂ ) may be determined according to the characteristics of the machine. For example, the average value of the both may be always used as the dead zone compensation value w, or, as shown in FIG. 13, the first dead zone compensation value w ₁ is used at the start of control, and then the second dead zone is used. The compensation value w ₂ may be gradually decreased. In addition, when the speed tends to increase, the first dead zone compensation value w ₁ may be used, and when the speed tends to decrease, the second dead zone compensation value w ₂ may be used.

(3) Actuator correction gain setting mode This mode is for setting the actuator correction gain Ka for correcting the characteristic of the actual operating speed with respect to the output of the actuator, and The correction gain Ka is set to the ratio ao / a of the standard value ao of the slope of the output-speed characteristic and the individual value a.

FIG. 14 shows a functional configuration for setting the correction gain Ka. Here again, since the configuration required for setting the correction gain for each actuator of the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 is common, each mode will be described collectively with reference to FIG. 14 only.

Here, a constant signal is output to the actuator, the movable part (boom 2, arm 3, bucket 4 in this embodiment) is actually moved to obtain the rotation speed at this time, and the correction gain Ka is calculated from this speed. The desired action is taken.

In the figure, an angle range setting means 57 sets a range in which the movable part is moved by the operation of an actuator, and a time measurement range in which time is actually measured within this range. For example, when the rotation limit angle of the movable part is the angles θa ₁ and θa ₂ shown in FIG. 15, the angle range setting means 57 is a range narrower than the above movable range as a range in which the movable part is actually moved. In the figure, the angles θb _{1 to} θb ₂
The range of angles θc _{1 to} θc _{2 in} the figure is set as a range for measuring time in this rotation range.

Constant output signal generating means (gain setting signal outputting means) 58
Outputs an appropriate signal to the actuator so that the movable part reciprocates many times within the set rotation range θb _{1 to} θb ₂ and keeps the output signal level at a constant value each time the rotation is repeated. It is configured to raise each. That is, a signal of a level proportional to the number of rotations is output to the actuator.

The time measuring means 59 measures the time required for the rotating part to pass through the time measuring range θc _{1 to} θc ₂ set by the angle range setting means 57 when the movable part rotates. is there. Further, the speed storage means 60 calculates the rotation speed at each rotation from the time measured by the time measurement means 59 in the time measurement range and the angular width (θc ₂ −θc ₁ ) in the same range, The speed is stored as combination data with the output value of the actuator.

The actuator correction gain calculation means 62 calculates the correction gain Ka based on each speed stored in the speed storage means 61. This calculation is performed by setting a preset dead zone compensation standard value wo and the dead zone compensation fine value. Adjustment value storage means 31b
The dead zone compensation value w, which is the sum of the fine adjustment value Δw stored in (41b, 47b), is taken into consideration.

Specifically, the output-speed data stored in the speed storage means 61 is plotted on a graph by subtracting the dead zone compensation value w, as shown in FIG. In the figure, a straight line L ₁ indicates a standard output-speed characteristic, and a characteristic standard value ao, which is the inclination thereof, is stored in the controller 16 in advance. On the other hand, the straight line L ₂ is obtained from the plotted points, and this slope becomes the individual value a of the characteristic.

The actuator correction gain calculation means 62 sets the ratio ao / a of the characteristic standard value ao and the individual value a as the actuator correction gain Ka, and the actuator correction gain storage means
It is stored in 31a (41a, 47a). Therefore, by executing the control using the stored actuator correction gain Ka in the normal control mode, the control considering the variation in the output-speed characteristic of each actuator is realized.

The correction gain Ka is also stored in the EEPROM 24 in terms of hardware, and can be rewritten if necessary.

(4) Boom feedforward gain adjustment mode (5) Packet feedforward gain adjustment mode These modes are trials equivalent to the actual excavation operation so that proper feedforward control according to the individual difference of the machine is executed. This is a mode in which a fine adjustment value of each feedforward gain is set by performing an operation.

FIG. 17 shows a functional configuration of the controller 16 in the boom feedforward gain adjustment mode. As is clear from the comparison with FIG. 4, the feedback control of the boom 2 by the proportional-plus-integral means 35 is not performed here, and the difference (control deviation) Δyb between the actual arm tip height yb and the target value ybo is constant. It is stored in the deviation storage means 63 for each control cycle.

The boom feedforward gain fine adjustment value calculation means 64 shown in the same figure sequentially finds the correction amount of the feedforward gain from the integrated value Σ (Δyb) of the deviation stored in one trial excavation operation, and calculates the correction amount of this correction amount. The boom cylinder feedforward calculation means 32 is caused to perform feedforward control of trial excavation operation based on the gain corrected by the integrated value each time, and the correction is made when the integrated value Σ (Δyb) of the deviation falls within the allowable range. The integrated value of the amount is set as a boom feedforward gain fine adjustment value ΔKff, and the beam feedforward gain fine adjustment value storage means 33 is set.
To remember.

Similarly, FIG. 18 shows a functional configuration of the controller 16 in the bucket feedforward gain adjustment mode. Also here, the feedback control of the bucket 4 by the proportional-plus-integration means 41 is not performed, and the difference (control deviation) Δθ ₃ between the actual bucket ground angle θ ₃ and the target value θ ₃₀ is stored in the deviation storage means 65 at every constant control cycle. Remembered.

Similarly to the beam feedforward gain fine adjustment value calculation unit 64, the bucket feedforward gain fine adjustment value calculation unit 66 shown in the figure also has an integrated value Σ (Δθ ₃ ) of deviations stored in one trial excavation operation. The feedforward gain correction amount is sequentially obtained from the correction amount, and the bucket cylinder feedforward calculation means 43 is caused to perform the feedforward control of the trial excavation operation based on the gain corrected by the integrated value of each correction amount, and the accumulated value of the deviation is obtained. Σ
The integrated value of the correction amount when (Δyb) falls within the allowable range is the boom feedforward gain fine adjustment value ΔKff.
And is stored in the boom feedforward gain fine adjustment value storage means 44.

FIG. 19 shows a functional configuration of both feedforward gain fine adjustment value calculation means 64, 66. Since the adjustment modes for both the boom feedforward gain and the bucket feedforward gain will be described in common here, the control deviations Δyb and Δθ ₃ in both modes will be commonly expressed as Δh.

In the above-mentioned FIG. 19, the correction amount calculation means 68 indicates the deviation Δh stored in the deviation storage means 63 (65) in one trial excavation operation.
Based on the integrated value Σ (Δh) of, the feed-forward gain correction amount Fff (Σ (Δh)) corresponding thereto is calculated.

In this embodiment, the integrated value Σ (Δh) of the deviation and the feedforward gain correction amount Fff (Σ (Δh)) are given the relationship as shown in FIG. That is, only in a region where the integrated value Σ (Δh) of deviations is equal to or more than the positive tolerance value Va (> 0) or less than the negative tolerance value −Va (<0),
The feedforward gain correction amount Fff (Σ
(Δh)) will be set.

The integrated value storage means 69 sequentially stores the integrated value of the correction amount Fff (Σ (Δh)) calculated by the correction amount calculation means 66 each time one trial excavation operation is performed, and the integrated value is provisional feedforward. Feedforward calculation means 32 as a gain fine adjustment value
(43), and based on this, feedforward control during trial excavation operation is performed.

The permission determination means 70, after each trial drilling operation,
The integrated value Σ (Δh) of the deviation is within the allowable range, that is,
In FIG. 20, it is determined whether or not it is within the range of (−Va ≦ 0 ≦ Va). The fine adjustment value setting means 71 finely adjusts the integrated value of the correction amount at that time when the integrated value Σ (Δh) of the deviation is within the allowable range by the allowance determination means 70. The value ΔKff is set as the feed forward gain fine adjustment value storage means 33, 4
It is something to be memorized in 4.

Next, the actual setting operation of the fine adjustment value in this mode will be described with reference to the flowchart of FIG.

Prior to adjustment of the feed forward gain, and a feedback gain to 0 (step S _21), so that the feedback control does not work. On the other hand, while setting the feedforward gain fine adjustment value ΔKff to 0,
Set the gain standard value Kffo which is set in advance a feed-forward gain Kff, thereby to initialize the feedforward gain Kff (step S _22).

Next, while the actual drilling operation equivalent trial drilling operation, sequentially stores indexing deviation Δh in the constant control every cycle during the operation (step S _23), further, the integrated value Σ
(Δh) is calculated (step S ₂₄ ).

The integrated value Σ (Δh) of this deviation is within the allowable range (−Va to V).
If it is not within a) (NO in either of steps S ₂₅ and S ₂₆ ), the correction amount Fff corresponding to this integrated value Σ (Δh)
(Σ (Δh)) is calculated and added to the provisional feedforward gain fine adjustment value ΔKff to update and set as a new feedforward gain fine adjustment value ΔKff, and this provisional feedforward gain fine adjustment value ΔKf is also set.
a value obtained by adding the gain standard value Kffo the f set as the temporary feedforward gain Kff (step S _27), to perform the next attempt drilling operation based on the gain Kff.

By repeating such operations, the correction amount Fff (Σ (Δ
h)) is sequentially accumulated, and the feedforward gain Kff is corrected. Then, the integrated value of the above deviation Σ
When (Δh) falls within the allowable range (steps S ₂₅ , S
₂₆ ), the temporary fine adjustment value ΔKff that is the integrated value at this time.
Is set and stored as a formal feedforward gain fine adjustment value (step S ₂₈ ).

The value obtained by adding the feedforward gain fine adjustment value ΔKff set and stored in this way to the standard value Kffo is used as the feedforward gain Kff in the normal control mode, so that the feedforward control suitable for the characteristic of the machine is performed. Will be realized.

The control deviations can be weighted. For example, if you want to emphasize the startup state of the machine,
As shown in FIG. 7A, in the initial state, the weighting coefficient Cw is gradually reduced from the initial value Cws to the steady value Cwo, and after this state, the steady weighting value Cwo is introduced.
The deviation Δh may be multiplied by the ratio between the steady value Cwo and the steady value Cwo. In this case, assuming that the actual trend of the control deviation is shown in FIG. 11B, the weighted trend of the control deviation is shown in FIG. By performing such weighting, it becomes possible to give a gain that fits immediately after the start of control.

(6) Boom feedback gain adjustment mode (7) Bucket feedback gain adjustment mode These modes, like the above feedforward control, are modes in which fine adjustment values for each feedback gain are set by trial operation equivalent to actual excavation operation. Is.

FIG. 23 shows the functional configuration of the controller 16 in the boom feedback gain adjustment mode. Here again, the deviation storage means 7 is provided for each control cycle in which the difference (control deviation) Δyb between the actual arm tip height yb and the target value ybo is constant.
It will be remembered in 2.

The boom feedback gain fine adjustment value calculation means 73 finds the correction amounts of the feedback proportional gain and the integral gain, respectively, based on the vibration state of the deviation Δh (vibration count value in this embodiment) and the integrated value Σ (Δyb). Based on the gain corrected by the integrated value of the correction amount each time, the proportional-integral means 35 performs the feedback control of the trial excavation operation, and the correction amount at the time when the vibration state of the deviation and the integrated value fall within the allowable range. The boom feedback gain fine adjustment values ΔKp and ΔKi are set and stored in the boom feedback gain fine adjustment value storage means 36.

Similarly, FIG. 24 shows a functional configuration of the controller 16 in the bucket feedback gain adjustment mode. Also here, the difference (control deviation) Δθ ₃ between the actual bucket ground angle θ ₃ and the target value θ ₃₀ is stored in the deviation storage means 75 at every constant control cycle, and the packet feedback is performed based on the vibration state and the integrated value. The fine gain adjustment value calculation means 76 sequentially obtains the correction amount of the feedback gain, and the proportional integration means 41 executes the feedback control of the trial excavation operation based on the gain corrected by the integrated value of the correction amount each time, and The vibration state of the deviation and the correction amount at the time when the integrated value falls within the allowable range are set as the bucket feedback gain fine adjustment values ΔKp, ΔKi and stored in the bucket feedback gain fine adjustment value storage means 42.

The functional configurations of both feedback gain fine adjustment value calculation means 73, 76 are shown in FIGS. Since this mode is switched in the order of the proportional gain adjustment mode and the integral gain adjustment mode, the former mode is shown in FIG. 25 and the latter mode is shown in FIG.

In FIG. 25, the vibration state calculation means 78 calculates the vibration state of the deviation Δh stored in the deviation storage means 72 (75) in one trial excavation operation, and in this embodiment, the vibration count value n Is calculated.

This vibration count value n is calculated as shown in FIG. The auxiliary count value in the figure is 0 when the initial value is 0, 1 is added when the deviation increasing / decreasing direction is the same as the previous time, and is reset to 0 when the deviation is different from the previous time. Will be reset. The flag has an initial value of 0, and when the auxiliary count value first becomes 3,
If this is an increasing method, it is set to 1, and if it is decreasing, it is set to -1. After that, when the auxiliary count value is 3 and the increasing / decreasing direction is reversed, the sign is reversed. The vibration count value n has an initial value of 0 and is incremented by 1 each time the flag is changed.

Therefore, in this calculation, the number of times the deviation increasing / decreasing method is macroscopically switched is counted.

The vibration count value n may be set by another method. For example, as shown in FIGS. 28 (a) and 28 (b), a vibration detection width having a width δ is set above and below an appropriate vibration detection offset value ho expected to be the center of vibration, and the inside of this detection width is set. The vibration count value n may be added every time the deviation shifts from to outside. In this case, a large number of vibration count values n are counted when there is a vibration with a large deviation as shown in FIG.
When the deviation vibration is extremely gentle as shown in (3), the vibration count value n is hardly counted.

The correction amount calculating means 79 calculates the correction amount Fp (n) of the feedback proportional gain corresponding to the vibration count value n calculated as described above.

In this embodiment, the vibration count value n and the proportional gain correction amount
The relationship shown in FIG. 29 is given to Fp (n). That is, only in the region where the vibration count value is equal to or larger than the preset allowable value na (> 0), it is assumed that the movement of the control deviation is oscillating, and the negative feedforward gain correction amount Fp (n) corresponding thereto is set. It is set.

The integrated value storage means 80 sequentially stores the integrated value of the correction amount Fp (n) calculated by the correction amount calculation means 79 for each trial excavation operation, and the integrated value is used as a temporary feedback gain fine adjustment value. Is given to the proportional-plus-integration means 35 (41), and based on this, feedback control during the trial excavation operation is performed.

The permission determination means 81, after each trial drilling operation,
The vibration count value n is within the allowable range, that is, the allowable value n
It is to determine whether or not it is within the range of a or less. The fine adjustment value setting means 82 sets the integrated value of the correction amount at that time as the feedback proportional gain fine adjustment value ΔKp when the vibration determination value n is determined by the allowance determination means 81 to be within the allowable range. However, it is stored in the feedforward gain fine adjustment value storage means 36 (42).

On the other hand, in the integral gain adjustment mode, as shown in FIG. 26, the correction amount calculation means 68, the integrated value storage means 69, the allowance determination means 70, and the fine adjustment value setting means described in FIG. Similar to 71, the correction amount calculation means 83, the integrated value storage means 84, the allowance determination means 85, and the fine adjustment value setting means 86 are provided, and the integrated value Δh of the deviation is set in the same manner as the feedforward gain adjustment mode. Accordingly, the feedback integration gain fine adjustment value ΔKi is set.

The difference from the feedforward gain adjustment is that the integrated value Σ (Δh) of the deviation and the gain correction amount Fi (Σ (Δh))
The relationship between the two is shown in Fig. 30. That is, whether the integrated value Σ (Δh) of deviations is the positive allowable value Va or more or the negative allowable value −Va or less, the positive correction amount Fi depending on the absolute value thereof.
(Σ (Δh)) is set.

Next, the setting operation of the proportional gain fine adjustment value and the integral gain fine adjustment value actually performed in this feedback adjustment mode will be described with reference to the flowcharts of FIGS. 31 and 32, respectively.

First, in the proportional gain adjustment mode, as shown in FIG. 31, prior to the feedback gain adjustment, the fine adjustment value Δ set in the feedforward gain adjustment mode is set.
Based on Kff, leaving the fine adjustment of the feed-forward gain (step S _31). Although not shown, each of the nonlinear compensating means 30, 39, 46 also incorporates the correction gain Ka and the dead zone compensation fine adjustment value Δw set by the actuator compensation gain setting mode and the actuator dead zone compensation fine adjustment value. Allow the calculation to be performed. On the other hand, the feedback proportional gain fine adjustment value ΔKp is set to 0, and the feedback proportional gain Kp is set to a preset gain standard value Kpo, whereby the feedback proportional gain Kp is initialized (step S
₃₂ ).

Next, while the actual drilling operation equivalent trial drilling operation, and order storage by indexing deviation Δh every predetermined control cycle during the operation (step S _33), further, the vibration count value n Calculate (step _S34 ).

When the vibration count value n is equal to or larger than the allowable value na (NO in step S35), the correction amount Fp (n) corresponding to the vibration count value n is calculated, and the correction amount Fp (n) is tentatively adjusted to the feedback proportional gain fine adjustment value ΔKp. Is updated and set as a new feedback proportional gain fine adjustment value ΔKp, and a value obtained by adding this temporary feedback proportional gain fine adjustment value ΔKp to the gain standard value Kpo is set as a temporary feedback proportional gain Kff ( In step _S36 ), the next trial excavation operation is performed.

By repeating such an operation, the correction amount Fp (n) is sequentially added to the provisional feedback proportional gain fine adjustment value ΔKp, and the feedback proportional gain Kp is corrected. Then, when the vibration count value falls within the allowable range (YES in step _S36 ), the temporary fine adjustment value ΔKp, which is the integrated value at this time, is set as the formal feedback proportional gain fine adjustment value, and is stored. Be done (step
S ₃₇ ). After the proportional gain adjustment mode is completed as described above, the mode is switched to the integral gain adjustment mode shown in FIG. 32 (step _S38 ).

In this integral gain adjustment mode, not only the feedforward gain Kff, but also the fine adjustment value of the proportional gain Kp based on the just-stored proportional gain fine adjustment value ΔKp is performed in advance (step S ₄₁ ). It is the 21st
Similar to the operation in the feedforward gain adjustment mode shown in the figure, after the feedback integration gain Ki is initialized (step S ₄₂ ), trial excavation operation and control cycle deviation storage (step S ₄₃ ), the integration value Σ calculation of (Delta] h) (step S _44), and the integral gain Ki and modifications thereof fine adjustment value ΔKi (step S _47), the cumulative value Σ
It continues until (Δh) satisfies the allowable condition (NO in either of steps S ₄₅ and S ₄₆ ), and when the allowable condition is seen (YES in steps S ₄₅ and S ₄₆ ), the integrated value at this time ΔKi is set and stored as a formal feedback integration gain fine adjustment value (step S ₄₈ ).

By using the control in which the proportional gain fine adjustment value ΔKp and the integral gain fine adjustment value ΔKi set as described above are introduced in the normal control mode, feedback control considering the characteristics of the machine is realized. .

Even in the integral gain adjustment mode, each control deviation can be weighted as described with reference to FIG.

According to such an apparatus, control accuracy can be improved by executing control in the normal control mode using the correction gain and the fine adjustment value set and stored in each adjustment mode. Furthermore, since the correction gain and each fine adjustment value are stored in the EEPROM 24 and can be rewritten as appropriate, the correction gain and each fine adjustment value can be set at the time of replacement of each actuator or the like, or when aging of characteristics is expected. The adjustment value can be modified and changed.

Moreover, in the above adjustment mode, first, the actuator dead zone compensation value adjustment mode is adjusted accurately, and the correction gain setting mode is used to set the correction gain based on this adjustment value. It is possible to properly perform both the adjustment of the dead zone compensation value and the setting of the correction gain.

The present invention is not limited to the above-described embodiments, but can take the following modes as examples.

(1) In the above embodiment, when the correction gain is calculated, the speed is calculated from the time required for the movable part to pass through a certain predetermined angle range, but the speed sensor may directly detect the speed. You may

(2) In the above embodiment, the two dead zone compensation values w ₁ and w ₂ are obtained, and these are used properly.
In the present invention, only one of the values relating to the adjustment of the dead zone compensation value may be obtained.

(3) In the above embodiment, as the “value relating to the adjustment of the dead zone compensation value” of the present invention, the dead zone compensation fine adjustment value which is the difference between the new dead zone compensation value and the preset dead zone compensation standard value is calculated and stored. However, instead of this,
Even if the adjusted new dead zone compensation value itself is stored, the same effect as above can be obtained.

(4) In the above embodiment, a device capable of switching a large number of adjustment modes in addition to the feedforward control mode and the feedback control mode is shown. However, in the present invention, at least the dead zone compensation value is adjusted and the correction gain is set. If it is revealed, it can exert its effect. However, if the offset value of each detector and the non-linear compensation of the actuator are finely adjusted as in the above embodiment, and the feedforward gain and feedback gain are adjusted in this state, the characteristics of the actuator will be sufficient. The control gain can be adjusted in a linear state, and more reasonable and highly accurate gain adjustment can be performed.

(5) The present invention is applicable not only to the linear excavation control of the hydraulic excavator as described above, but also to the control of various hydraulic drive machines. For example, the control accuracy can be improved in the same manner as in the above-described embodiment for a system for horizontal retraction control of a hydraulic crane, horizontal extrusion of a large hydraulic excavator, bucket tilt angle maintenance, automatic return control, and the like.

〔The invention's effect〕

As described above, the present invention makes it possible to switch the control means between the normal control mode and the adjustment mode. In this adjustment mode, first, the dead zone compensation value adjustment mode is switched to the actual operation of the hydraulic drive unit when the drive signal is output. Accurately calculate and store the value related to the adjustment of the dead zone compensation value from the drive amount, and then set the correction gain for non-linear compensation in the dedicated correction gain setting mode based on this adjustment of the dead zone compensation value. Since it is stored in the normal control mode and then controlled by taking in each of the stored values, the dead zone compensation value is automatically obtained at the stage after the product is commercialized, not at the production stage.
Both of the correction gains can be properly set, and there is an effect that highly accurate control can be realized in consideration of variations in dynamic characteristics of each actuator in low-cost manufacturing.

[Brief description of drawings]

FIG. 1 is an input / output signal diagram of a controller provided in a hydraulic excavator according to an embodiment of the present invention, FIG. 2 is a hardware configuration diagram of the controller, and FIG. 3 shows a slope excavation work state by the hydraulic excavator. A front view, FIG. 4 is a block diagram showing the control contents of the controller in the normal control mode, FIG. 5 is a block diagram showing the calculation contents of the nonlinear compensating means in the controller, and FIG. 6 is a diagram showing the dynamic characteristics of the actuator. A graph showing an example, FIG. 7 is a block diagram showing the control contents of the controller in the actuator dead zone compensation value adjustment mode, and FIG. 8 is a flowchart showing the first control operation of the controller in the mode,
FIG. 9 is a graph showing the relationship between the output value and the actuator position, which increase with time in the same operation,
Fig. 11 is a flow chart showing the second control operation of the controller, Fig. 11 is a graph showing the relationship between the output value and the actuator position, which change with time in the same operation, and Fig. 12 is the output to the actuator and the operating speed. And FIG. 13 is a graph showing a control example using two dead zone compensation values, FIG. 14 is a block diagram showing the control contents of the controller in the actuator correction gain setting mode, and FIG. 15 is the same. FIG. 16 is an explanatory view showing an angle range set in the controller, FIG. 16 is a graph showing a relationship between a characteristic individual value and a standard value required in the controller, and FIG. 17 is a control content of the controller in the boom feedforward gain adjustment mode. Fig. 18 shows the block diagram of Fig. 18 in the bucket feedforward gain adjustment mode. FIG. 19 is a block diagram showing the control contents of the above controller, FIG. 19 is a block diagram showing the calculation contents of the feedforward gain fine adjustment value calculating means in the feedforward gain adjustment mode, and FIG. 20 is the control deviation required in the same mode. 21 is a graph showing the relationship between the integrated value and the feedforward gain correction amount, FIG. 21 is a flowchart showing the actual control operation of the controller in the same mode, and FIGS. 22 (a), (b) and (c) are the weights of the control deviation. Fig. 23 is a block diagram showing the control contents of the controller in the boom feedback gain adjustment mode, and Fig. 24 is a bucket. Fig. 25 is a block diagram showing the control contents of the controller in the feedback gain adjustment mode. Block diagram showing the content of operation of the feedback gain fine adjustment value calculating means in the fed back proportional gain adjustment mode,
FIG. 26 is a block diagram showing the calculation contents of the feedback gain fine adjustment value calculation means in the feedback integral gain adjustment mode, and FIG. 27 is a graph showing an example of the calculation method of the vibration count value used in the feedback proportional gain adjustment mode. 28 (a) and 28 (b) are graphs showing another example of the calculation method of the same vibration count value, and FIG. 29 is a relationship between the vibration count value and the proportional gain correction amount obtained in the feedback proportional gain adjustment mode. FIG. 30 is a graph showing the relationship between the integrated value of the deviation obtained in the feedback integral gain adjustment mode and the gain correction amount, and FIG. 31 shows the actual control operation of the controller in the feedback proportional gain adjustment mode. The flowchart shown in Fig. 32 is the above feedback integral gain adjustment mode. Is a flow chart showing the actual control operation of the controller in. 2 ... Boom, 3 ... Arm, 4 ... Bucket, 5 ...
Boom cylinder (hydraulic drive), 6 ... Arm cylinder (hydraulic drive), 7 ... Bucket cylinder (hydraulic drive), 8 ... Arm angle detector (detection means), 9 ... Arm angle detector ( Detection means), 10 ... bucket angle detector (detection means), 15 ... mode changeover switch (mode changeover means), 16 ... controller (control means), 31a.
Arm actuator correction gain storage means, 31b ... Arm actuator dead zone compensation fine adjustment value storage means (dead zone compensation adjustment storage means), 40a ... Boom actuator correction gain storage means, 40b ... Boom actuator dead zone compensation fine adjustment value storage means ( Dead zone compensation adjustment storage means), 47a ... bucket actuator correction gain storage means, 47b ... bucket actuator dead zone compensation fine adjustment value storage means (dead zone compensation adjustment storage means), 51 ... dead zone compensation value adder (dead zone compensation means) , 55: signal output means, 56: actuator dead zone compensation fine adjustment value calculation means (dead zone compensation adjustment calculation means), 58: constant output signal generation means (gain setting signal output means), 59: time measurement means (Speed detection means), 62 ... Actuator correction gain storage means.

Claims (1)

[Claims] 1. A detection means for detecting a drive amount of a hydraulic drive section, and a control means for inputting a detection signal of the detection means to control the drive of the hydraulic drive section based on the detection signal.
In the automatic control device for the hydraulic drive machine, the control means is provided with a dead zone compensating means for compensating the dead zone of the hydraulic drive section and a non-linear compensating means for compensating the non-linearity of the hydraulic drive section. The mode is switched between the normal control mode and the adjustment mode, and in the adjustment mode, the dead band compensation value adjustment mode and the correction gain setting mode are switched in this order, and the hydraulic pressure is changed while changing the output value in the dead band compensation value setting mode. A signal output means for outputting a control signal of the drive section, a dead zone compensation adjustment calculation means for calculating a value relating to the adjustment of the dead zone compensation value from the relationship between the output value and the actual drive amount of the hydraulic drive section, and this calculated Dead band compensation adjustment storage means for storing a value relating to the adjustment of the dead zone compensation value, and mutually output in the correction gain setting mode Gain setting signal output means for actually operating the hydraulic drive section by outputting a plurality of different types of signals, speed detection means for detecting the operating speed of the hydraulic drive section, the detected speed and the output value. Relationship, the characteristic value of the operating speed with respect to the preset output value, and the correction gain calculation means for calculating the correction gain based on the value stored in the dead zone compensation adjustment storage means, and the correction gain calculation means. And a correction gain storage means for storing the corrected correction gain, and for performing the actual dead zone compensation in the normal control mode with the dead zone compensation value that takes in the value relating to the dead zone compensation stored by the dead zone compensation adjustment storage means. The dead zone compensating means, and takes in the correction gain stored in the correction gain storage means in the normal control mode. Automatic control system for a hydraulic drive machine which is characterized in that constitute the non-linear compensation unit to perform nonlinear compensation.