JPH07114568B2 - Hydraulic lifting control device for ground work machine - Google Patents

Hydraulic lifting control device for ground work machine

Info

Publication number
JPH07114568B2
JPH07114568B2 JP1203558A JP20355889A JPH07114568B2 JP H07114568 B2 JPH07114568 B2 JP H07114568B2 JP 1203558 A JP1203558 A JP 1203558A JP 20355889 A JP20355889 A JP 20355889A JP H07114568 B2 JPH07114568 B2 JP H07114568B2
Authority
JP
Japan
Prior art keywords
control valve
flow rate
work machine
proportional flow
control device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
JP1203558A
Other languages
Japanese (ja)
Other versions
JPH0367502A (en
Inventor
制心 玉井
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Iseki and Co Ltd
Original Assignee
Iseki and Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Iseki and Co Ltd filed Critical Iseki and Co Ltd
Priority to JP1203558A priority Critical patent/JPH07114568B2/en
Publication of JPH0367502A publication Critical patent/JPH0367502A/en
Publication of JPH07114568B2 publication Critical patent/JPH07114568B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Description

【発明の詳細な説明】 [産業上の利用分野] この発明な、主としてトラクター等に連結される対地作
業機を昇降動させる油圧昇降制御装置に利用される比例
流量制御弁の制御装置に関するものである。
DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a controller for a proportional flow rate control valve, which is mainly used in a hydraulic lifting control device for lifting and lowering a ground work machine connected to a tractor or the like. is there.

[従来技術およびその課題] 従来、トラクターに連結された対地作業機を昇降制御さ
せる場合、上昇・下降用の各比例流量制御弁の駆動部に
パルス信号を流し、パルス信号のON時間を変化(PWM制
御)させて流量制御を行なう構成を採用していたのであ
るが、トラクターのミッションケース内の油温の上昇に
より流量制御弁のソレノイドコイルの温度も上昇し、こ
の温度上昇によりソレノイドコイルの内部抵抗が増大
し、その結果、ON時間に対する出力電流が減少して必要
な流量を確保できないという問題点があった。
[Prior art and its problem] Conventionally, when a ground work machine connected to a tractor is vertically moved, a pulse signal is sent to the drive unit of each proportional flow control valve for raising and lowering to change the ON time of the pulse signal ( Although the PWM control) was used to control the flow rate, the temperature of the solenoid coil of the flow control valve also rises due to the rise of the oil temperature in the tractor's mission case, and this temperature rise causes the inside of the solenoid coil to rise. There is a problem in that the resistance increases, and as a result, the output current with respect to the ON time decreases and the required flow rate cannot be secured.

[課題を解決するための手段] この発明は前記した問題点に鑑みて提案するものであっ
て、常に目標とする流量を確保して作業制度を向上し得
る対地作業機の油圧昇降制御装置を得ることを目的と
し、このため、次のような技術的手段を講じた。
[Means for Solving the Problem] The present invention is proposed in view of the above-mentioned problems, and provides a hydraulic lifting control device for a ground work machine capable of always securing a target flow rate and improving the work system. The following technical measures were taken for this purpose.

即ち、上昇用比例流量制御弁31および下降用比例流量制
御弁32を備えた対地作業機の油圧昇降制御装置におい
て、各比例流量制御弁31、32のソレノイドに流れるパル
ス電流値を検出してこれをデジタル信号に変換するA/D
変換手段40と、このA/D変換手段40からの信号に基づい
てデジタル処理を行い、前記ソレノイドに供給される電
流値を所定の値に維持すべく、パルス電流のパルス幅を
調整する制御部30を設けたことを特徴とする対地作業機
の油圧昇降制御装置の構成とするものである。
That is, in the hydraulic lifting control device for a ground work machine equipped with the proportional flow rate control valve 31 for rising and the proportional flow rate control valve 32 for lowering, the pulse current value flowing in the solenoid of each proportional flow rate control valve 31, 32 is detected and set. A / D to convert digital signal to digital signal
A conversion unit 40 and a control unit that performs digital processing based on the signal from the A / D conversion unit 40 and adjusts the pulse width of the pulse current so as to maintain the current value supplied to the solenoid at a predetermined value. The hydraulic lift control device for a ground work machine is provided with 30.

[実施例] 以下、図面に基づいて、この発明の実施例を説明する。[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

まず、構成から説明すると、1はトラクターで機体前部
にエンジン2を搭載し、エンジン2の回転動力をその後
方のミッションケース3内の変速装置により適宜減速
し、その動力を前輪4、4および後輪5、5に伝達して
いる。機体後部におけるミッションケース3の後上部に
は油圧シリンダケース6を搭載するとともに、同ケース
6の左右両側部にはリフトアーム8、8を回動自在に枢
着している。符号10はロータリ耕耘装置であって、トッ
プリンク11、ロワーリンク12、12からなる3点リンク機
構を介してトラクター1に昇降自在に連結されている。
First, the configuration will be described. 1 is a tractor equipped with an engine 2 at the front of the machine body, the rotational power of the engine 2 is appropriately reduced by a transmission in a mission case 3 behind the engine 2, and the power is transmitted to the front wheels 4, 4 and It is transmitted to the rear wheels 5, 5. A hydraulic cylinder case 6 is mounted on the upper rear part of the transmission case 3 in the rear part of the machine body, and lift arms 8, 8 are rotatably pivoted on both left and right sides of the case 6. Reference numeral 10 is a rotary tiller, which is movably connected to the tractor 1 via a three-point link mechanism including a top link 11, lower links 12, 12.

ロータリ耕耘装置10は、耕耘部14、耕耘部14を覆う主カ
バー15、主カバー15の後端部に回動自在に枢着されたリ
ヤカバー16等からなり、リヤカバー16の下縁部を地面に
摺接させながら耕深作業を行なう。
The rotary tiller 10 comprises a tiller 14, a main cover 15 that covers the tiller 14, a rear cover 16 that is pivotally attached to the rear end of the main cover 15, and the lower edge of the rear cover 16 is on the ground. Perform plowing work while making sliding contact.

第2図は、このロータリ耕耘装置10を油圧制御する制御
装置のブロック図であり、このブロック図に基づいてそ
の詳細を説明する。
FIG. 2 is a block diagram of a control device for hydraulically controlling the rotary tiller 10, and the details will be described based on this block diagram.

トラクター1の油圧操作レバー18の回動基部に取付けら
れた対地高さ設定器19、ロータリ耕耘装置10の耕深量を
設定する耕深設定器20、一側リフトアーム8の回動基部
に取付けられた対地高さ検出器25、ロータリ耕耘装置10
の主カバー15の後端部に取付けられ、リヤカバー16の回
動角度を検出することによってロータリ耕耘装置10の耕
深量を検出する耕深検出器26は、夫々A/D変換器27を介
してCPUからなる制御部30に接続され、この制御部30の
出力側には、油圧昇降制御装置を構成する上昇用比例流
量制御弁31と下降用比例流量制御弁32が接続されてい
る。比例流量制御弁31、32は、夫々の制御弁31、32のソ
レノイドに通電する電流値に比例して、スプールに設け
た圧力油の流通開口面積が変化するものであり、設定値
に対する検出値の大小、即ち偏差に比例した電流が制御
部30から出力され、電流値に比例したパルス幅のパルス
電流が夫々のソレノイドに通電されるように構成してい
る。
Ground height setting device 19 mounted on the rotation base of the hydraulic operation lever 18 of the tractor 1, plowing depth setting device 20 for setting the working depth of the rotary tiller 10, and mounting on the rotation base of the one-side lift arm 8. Height detector 25, rotary tiller 10
The cultivation depth detectors 26, which are attached to the rear end of the main cover 15 and detect the depth of cultivation of the rotary tiller 10 by detecting the rotation angle of the rear cover 16, are respectively connected via the A / D converter 27. Is connected to a control unit 30 composed of a CPU, and an ascending proportional flow rate control valve 31 and a descending proportional flow rate control valve 32 that constitute a hydraulic lift control device are connected to the output side of the control unit 30. The proportional flow rate control valves 31 and 32 change the flow opening area of the pressure oil provided on the spool in proportion to the value of the current supplied to the solenoids of the respective control valves 31 and 32. Is output from the control unit 30, and a pulse current having a pulse width proportional to the current value is supplied to each solenoid.

35、36はCPUとこれら流量制御弁31、32との間に介装さ
れた電流検出器であって、各比例流量制御弁31、32のソ
レノイドに流れる電流値を検出する。符号40は前記電流
検出器35、36で検出された電流値をデジタル信号に変換
するA/D変換器である。制御部30内にはこの検出電流値
から油温を推定する判定部が設けられている。
Reference numerals 35 and 36 denote current detectors interposed between the CPU and the flow rate control valves 31 and 32, and detect current values flowing in the solenoids of the proportional flow rate control valves 31 and 32. Reference numeral 40 is an A / D converter that converts the current value detected by the current detectors 35 and 36 into a digital signal. A determination unit that estimates the oil temperature from the detected current value is provided in the control unit 30.

また、符号37は制御部30に直接、接続された強制上げ下
げ用のスイッチであり、このスイッチ37をON、OFF操作
することにより、トラクター1に連結されたロータリ耕
耘装置10を強制的に昇降動させることができる。
Further, reference numeral 37 is a switch for forcibly raising and lowering which is directly connected to the control unit 30. By turning this switch 37 on and off, the rotary tiller 10 connected to the tractor 1 is forcibly moved up and down. Can be made.

次に第3図に示すフローチャートに基づいて、この実施
例の作用を説明する。この制御フローに示す手順は、制
御部30のメモリにその制御プログラムが記憶されている
ものである。
Next, the operation of this embodiment will be described based on the flow chart shown in FIG. The procedure shown in this control flow is such that the control program is stored in the memory of the control unit 30.

デプス制御(耕深制御)を例に採って説明すると、耕深
作業中にあっては耕深設定器20によって耕深が設定さ
れ、耕深検出器26によってその耕深が検出され、常に設
定された深さにロータリ耕耘装置10の耕耘部14が位置す
るような制御がなされる。比例流量制御弁31、32の動作
時には制御弁31(あるいは32)のソレノイドに流れる電
流が電流検出器35(あるいは36)にて検出され、制御部
30から送出される制御弁駆動用のパルス信号のON時間
と、この検出電流とからCPU内の油温判別部にて作動油
の温度が推定される(ステップ)。
Taking depth control (cultivation depth control) as an example, during working, the working depth setting device 20 sets the working depth, and the working depth detector 26 detects the working depth and always sets it. Control is performed such that the tilling part 14 of the rotary tiller 10 is located at the depth thus set. When the proportional flow control valves 31 and 32 are operating, the current flowing through the solenoid of the control valve 31 (or 32) is detected by the current detector 35 (or 36), and the control unit
The temperature of the hydraulic oil is estimated by the oil temperature determination unit in the CPU from the ON time of the pulse signal for driving the control valve sent from 30 and the detected current (step).

耕深設定値と耕深検出値との間に差が生じると出力要求
指令が出され(ステップ)、耕深が深くなり過ぎたた
めに、浅くすべく上昇指令が出されると、その偏差から
目標流量が計算され、同時に前記推定温度から上昇用比
例流量制御弁31の温度特性が補正され、比例流量制御弁
31に流すべき目標電流値が決定される(ステップ
)。
When there is a difference between the set value and the detected value of the working depth, the output request command is issued (step), and when the working depth is too deep, and the rising command is issued to make it shallow, the target is calculated from the deviation. The flow rate is calculated, and at the same time, the temperature characteristics of the proportional flow control valve for rising 31 are corrected from the estimated temperature, and the proportional flow control valve
The target current value to be supplied to 31 is determined (step).

そして、流量制御弁31の抵抗変化量、温度特性の変化を
加味して目標流量を得るためのパルス信号のON時間が設
定され(ステップ)、上昇用比例流量制御弁31のソレ
ノイドに電流が流される(ステップ)。
Then, the ON time of the pulse signal for obtaining the target flow rate is set by adding the resistance change amount of the flow control valve 31 and the change of the temperature characteristic (step), and the current is applied to the solenoid of the proportional flow control valve 31 for rising. (Step).

なお、下降側出力については、前記した作用と同じよう
な比較演算が行なわれ(ステップ)、目標電流値が
決定された後、ON時間が設定されて下降用比例流量制御
弁32に電流が流されるものである。
For the output on the falling side, the same comparison operation as the above-mentioned operation is performed (step), and after the target current value is determined, the ON time is set and the current is supplied to the proportional flow control valve for descending 32. It is what is done.

第4図イはパルス信号の波形、同図ロ、ハは夫々比例流
量制御弁に流す電流と検出された電流値である。同図の
点線は、油温の上昇による影響を受けて電流が減少した
様子を表している。
FIG. 4 (a) shows the waveform of the pulse signal, and FIG. 4 (b) and FIG. 4 (c) respectively show the current flowing through the proportional flow control valve and the detected current value. The dotted line in the figure shows how the current decreases due to the influence of the increase in oil temperature.

[発明の効果] この発明は、前記の如く構成したので、次のような技術
的効果を奏する。
[Effects of the Invention] Since the present invention is configured as described above, it has the following technical effects.

即ち、ミッションケース内の作動油の温度が上昇するこ
とに起因して、比例流量制御弁31、32のソレノイドの温
度が上昇し、この結果、ソレノイドの内部抵抗が増大し
てソレノイドに流れる電流値が減少し、必要な流量を確
保できないことになるが、この発明では、電流検出手段
35、36からの信号をA/D変換器40を介して制御部30にフ
ィードバックさせているので、このフィードバックされ
た信号に基づいて容易に演算を行い、所望の値の電流値
を得ることができるものであって、作動油の温度上昇に
よる影響を受けることが少なく、対地作業機の昇降制御
を精度良く行うことができる。
That is, the temperature of the solenoid of the proportional flow control valves 31, 32 rises due to the rise of the temperature of the hydraulic oil in the mission case, and as a result, the internal resistance of the solenoid increases and the current value flowing in the solenoid increases. However, in the present invention, the current detection means is not provided.
Since the signals from 35 and 36 are fed back to the control unit 30 via the A / D converter 40, it is possible to easily perform an operation based on the fed back signal and obtain a current value of a desired value. In addition, it is possible to perform up-and-down control of the ground work machine with high accuracy because it is less affected by the temperature rise of the hydraulic oil.

【図面の簡単な説明】[Brief description of drawings]

図はこの発明の実施例を示すものであって、第1図は全
体側面図、第2図はブロック図、第3図はフローチャー
ト、第4図イはパルス信号の波形、ロは制御弁に流す電
流、ハは検出電流である。 符号の説明 1……トラクター 2……エンジン 3……ミッションケース 19……対地高さ設定器 20……耕深設定器 25……対地高さ検出器 26……耕深検出器 30……制御部 31……上昇用比例流量制御弁 32……下降用比例流量制御弁
FIG. 1 shows an embodiment of the present invention. FIG. 1 is an overall side view, FIG. 2 is a block diagram, FIG. 3 is a flow chart, FIG. 4A is a pulse signal waveform, and B is a control valve. The flowing current and C are detected currents. Explanation of code 1 …… Tractor 2 …… Engine 3 …… Mission case 19 …… Ground height setting device 20 …… Grounding depth setting device 25 …… Ground height detector 26 …… Grounding depth detector 30 …… Control Part 31 …… Proportional flow control valve for raising 32 …… Proportional flow control valve for lowering

Claims (1)

【特許請求の範囲】[Claims] 【請求項1】上昇用比例流量制御弁31および下降用比例
流量制御弁32を備えた対地作業機の油圧昇降制御装置に
おいて、各比例流量制御弁31、32のソレノイドに流れる
パルス電流値を検出してこれをデジタル信号に変換する
A/D変換手段40と、このA/D変換手段40からの信号に基づ
いてデジタル処理を行い、前記ソレノイドに供給される
電流値を所定の値に維持すべく、パルス電流のパルス幅
を調節する制御部30を設けたことを特徴とする対地作業
機の油圧昇降制御装置。
1. A hydraulic current elevating / lowering control device for a ground work machine equipped with a proportional flow rate control valve for rising 31 and a proportional flow rate control valve for lowering 32 detects a pulse current value flowing in a solenoid of each proportional flow rate control valve 31, 32. Then convert this to a digital signal
A / D conversion means 40, and performs digital processing based on the signal from this A / D conversion means 40, and adjusts the pulse width of the pulse current so as to maintain the current value supplied to the solenoid at a predetermined value. A hydraulic lifting control device for a ground work machine, which is provided with a control unit 30 that operates.
JP1203558A 1989-08-04 1989-08-04 Hydraulic lifting control device for ground work machine Expired - Lifetime JPH07114568B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1203558A JPH07114568B2 (en) 1989-08-04 1989-08-04 Hydraulic lifting control device for ground work machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1203558A JPH07114568B2 (en) 1989-08-04 1989-08-04 Hydraulic lifting control device for ground work machine

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP31974096A Division JPH09163812A (en) 1996-11-29 1996-11-29 Device for controlling hydraulic lifting or lowering of counter-ground work machine

Publications (2)

Publication Number Publication Date
JPH0367502A JPH0367502A (en) 1991-03-22
JPH07114568B2 true JPH07114568B2 (en) 1995-12-13

Family

ID=16476128

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1203558A Expired - Lifetime JPH07114568B2 (en) 1989-08-04 1989-08-04 Hydraulic lifting control device for ground work machine

Country Status (1)

Country Link
JP (1) JPH07114568B2 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2579210Y2 (en) * 1992-09-30 1998-08-20 三菱農機株式会社 Control device for electromagnetic proportional control valve in work vehicle
JP2578685Y2 (en) * 1992-09-30 1998-08-13 三菱農機株式会社 Control device for electromagnetic proportional control valve in work vehicle
JP2001169620A (en) * 1999-12-17 2001-06-26 Yanmar Agricult Equip Co Ltd Rice transplanter

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5635223A (en) * 1979-08-29 1981-04-07 Komatsu Ltd Method and apparatus for control of pwm flow rate
JPS5769405A (en) * 1980-10-16 1982-04-28 Nippon Denso Co Ltd Solenoid valve driver
JPS607106A (en) * 1983-06-24 1985-01-14 Sanmei Denki Kk Driving circuit for proportional solenoid
JPS6057076A (en) * 1983-09-08 1985-04-02 Fujitsu Ten Ltd Electric current controller of electromagnet valve solenoid
JPS60117604A (en) * 1983-11-30 1985-06-25 Hitachi Constr Mach Co Ltd Controller for electromagnetic device with proportional solenoid
JPS60132182A (en) * 1983-12-19 1985-07-15 Fujitsu Ten Ltd Control circuit for electromagnetic valve solenoid
JPH0754121B2 (en) * 1984-07-25 1995-06-07 井関農機株式会社 Work implement lift control device for tractor
JPH0351589A (en) * 1989-07-17 1991-03-05 Kubota Corp Controller for hydraulic actuator

Also Published As

Publication number Publication date
JPH0367502A (en) 1991-03-22

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