JPH1037247A - Operation controller and operation control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To protect an actuator which is an operation object from a rapid action even when an operation means, such as an operation lever is manipulated rapidly. SOLUTION: A level reading section 23 reads the level of a voltage signal U which is input per Δt(sec). A change speed arithmetic operation section 24 computes the amount of change U per time (t+Δt) with the level of the voltage signal U and a conversion voltage signal W before Δt(sec) obtained from a signal change conversion section 26. A comparison section 25 compares the amount of change per time U (t+Δt)-W(t) to the amount of setting change per time So (V). A signal conversion section 26 is designed to convert the voltage signal U to the voltage signal in conformity with the comparison result in the comparison section 25. The magnitude of the amount of change per time of the conversion voltage W is limited to below the amount of setting change So as W (t+Δt)=U(t+t) in the case of [U(t+Δt)-W(t)]<=So , and W(t+Δt)=W (t)±So in the case of [U(t+Δt)-W(t)]>So .

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation control device and an operation control method for controlling the speed and force of a working machine by an operation lever operated by an operator.

[0002]

2. Description of the Related Art In a conventional hydraulic shovel, as shown in FIG. 10, an operator operates an operation lever 8 provided in a cab, and a remote control valve (hydraulic pilot valve) according to the operation direction and operation angle. 9 by controlling the pilot pressure and the direction and opening of the main control valve 4 by this pilot pressure to control the flow rate of the oil supplied from the hydraulic pump 5 to the hydraulic cylinder 6. The speed of the work machine 7 is controlled. Then, the operator performs all the fine operations for performing a fine operation and the dynamic operations for performing a large operation through the operation lever.

In particular, in the case of a hydraulic shovel, an operator grasps one operating lever with both hands and operates the operating lever forward, backward, left and right, thereby obtaining four types of a boom, an arm, a bucket, and a turning mechanism. Since the operation of the two actuators is controlled and the operation is performed while also paying attention to the surrounding conditions, the operator requires skill and skill.

On the other hand, in the case of a crane, the same machine can be used for operations requiring delicate operations such as installation of heavy objects and high-speed heavy-duty operations such as excavation and loading of earth and sand by buckets. It is necessary to use properly
It is necessary to use the work properly by operating the operation lever.

[0005]

However, in the case of a hydraulic shovel, for example, sometimes the user is inadvertently or distracted, and performs an abrupt operation of suddenly moving the operating lever in or out. Sometimes caused a great shock to the vehicle body. As described above, since it is difficult for the operator to keep driving while maintaining the tension, a function that supports the operator's driving operation by improving operability has been demanded. Similar needs existed for cranes.

Therefore, conventionally, an attempt has been made to delay the response by providing a throttle in the pilot line from the remote control valve 9 to the main control valve 4 so that the flow rate of the supply oil does not suddenly change even if the operation lever is suddenly operated. there were.

However, when the aperture is provided, the response is delayed even when the operation lever is operated normally. Particularly, in the case of fine operation for performing fine work, not only the operation amount of the operation lever is small but also the operation speed is low. However, even in such a case, the response is delayed. On the other hand, since the operator adjusts the operation amount of the operation lever while watching the speed or the speed change of the hydraulic cylinder or the work machine, if the response is delayed during the fine operation, the operator excessively operates the operation lever. For example, it becomes difficult for the operator to perform desired speed control, and operability during fine operation may be deteriorated.

Conventionally, as shown in FIG.
The voltage signal output from 0 is signal-processed by the control unit 20,
Generally, the main control valve 4 is controlled via the electro-hydraulic conversion actuator 3. However, in order to solve the above problem, even if the electric lever 10 is suddenly operated, the flow rate of the supply oil is reduced. In order to prevent a sudden change, a first-order lag characteristic is provided between an input and an output by signal processing in the control unit 20.

However, even when the first-order lag characteristic is provided, as in the case where the throttle is provided in the pilot line, since it acts on all operations irrespective of the operating speed of the operating lever, it can be used even during fine operation. Response is delayed and operability is reduced. In addition, if the first-order lag characteristic is provided, the response delay increases as the output value approaches the input command value. Therefore, even if the operation lever is returned to the neutral position, the stop is delayed, and the actual stop of the work equipment is performed. There was a risk that the position would exceed the target stop position.

A work machine control method for a construction machine having a configuration similar to that of FIG. 11 has been proposed.
This method merely converts and outputs an operation signal of the operation lever in accordance with a pattern selected from a plurality of modulation patterns set in advance. Is changed, the operation of the working machine cannot follow the change, and there is a possibility that operability may be reduced.

The present invention solves the above-mentioned problem, and provides an operation control device and an operation control method capable of preventing a sudden operation of an actuator to be operated even when an operation means such as an operation lever is suddenly operated. The purpose is to do.

Another object of the present invention is to provide an operation control device and an operation control method which do not cause an extra delay in the operation of the actuator when the operation means is operated normally and which has good operability. And

[0013]

According to the present invention, there is provided an operation signal output means for outputting an operation signal corresponding to an amount of operation applied to an operation means, a control signal conversion means for converting the operation signal into a control signal, Actuator control means for controlling the operation of the actuator using the control signal, wherein the control signal conversion means calculates a change speed of the operation signal with respect to the control signal; and a magnitude of the change speed. And a comparing means for comparing the set value with a preset set value. When the magnitude of the change speed is equal to or less than the set value, the operation signal is the control signal, and the magnitude of the change speed is the set value. If it exceeds, a signal obtained by changing the control signal at a change speed lower than the change speed is set as a control signal (claim 1).

According to this configuration, an operation signal corresponding to the amount of operation applied to the operation means is output, the rate of change of the operation signal with respect to the control signal is calculated, and the magnitude of the rate of change and the predetermined setting The value is compared. When the magnitude of the change speed is equal to or less than the set value, the operation of the actuator is controlled using the operation signal as the control signal. When the magnitude of the change speed exceeds the set value, the control signal is set to a value equal to or less than the change speed. The operation of the actuator is controlled using the signal changed at the change speed as a control signal. Accordingly, when a fine operation whose change speed is equal to or less than the set value is applied to the operation means, the operation is controlled using the operation signal, so that good fine operability is obtained. on the other hand,
If a sudden operation is inadvertently or accidentally applied to the operating means such that the change speed exceeds the set value,
The control is performed using the signal changed at the change speed equal to or lower than the change speed, and the sudden operation of the actuator is prevented.

Further, the control signal converting means, when the magnitude of the change speed exceeds the set value, uses a signal obtained by changing the control signal at a change speed equal to the set value as a control signal ( Claim 2).

According to this configuration, when the magnitude of the change speed exceeds the set value, the operation of the actuator is controlled using a signal obtained by changing the control signal at a change speed equal to the set value as a control signal. When a sudden operation is applied to the operating means, either accidentally or erroneously, the change speed exceeds the set value, control is performed using a signal changed at a change speed equal to the set value. Thus, the sudden operation of the actuator is reliably prevented.

The operating means is an operating lever of a hydraulic shovel or a hydraulic crane, and the operating signal output means is provided with operating angle detecting means for detecting an operating angle of the operating lever. The actuator outputs an operation signal corresponding to the angle, and the actuator includes a hydraulic control valve for controlling driving of a working machine of a hydraulic shovel or a hydraulic crane.

According to this configuration, when the operator of the hydraulic shovel or the hydraulic crane applies a sudden operation to the operation lever inadvertently or erroneously such that the change speed exceeds the set value, the change is not performed. Boom, boom,
By controlling the hydraulic control valve that controls the driving of the working machine such as the arm, bucket, swivel mechanism, or winch of the crane, the switching speed of the hydraulic control valve is slowed down, and the sudden movement of the working machine is reduced. Is prevented.

Further, a change speed of an operation signal corresponding to the amount of operation applied to the operation means in response to a control signal for controlling the operation of the actuator is calculated, and the magnitude of the change speed is compared with a preset set value. When the magnitude of the change speed is equal to or less than the set value, the operation signal is set to the control signal. When the magnitude of the change speed exceeds the set value, the control signal is set to a change speed equal to or less than the change speed. The operation of the actuator is controlled by using the changed signal as a control signal (claim 4).

According to this method, when a fine operation whose change speed is equal to or less than the set value is applied to the operation means, the operation is controlled using the operation signal, so that good fine operability is obtained. Can be On the other hand, if a sudden operation is applied to the operating means, either inadvertently or accidentally, such that the change speed exceeds the set value, the control shall be performed using a signal changed at a change speed lower than the change speed. Thus, a sudden operation of the actuator is prevented.

[0021]

FIG. 1 is a block diagram showing a configuration of an embodiment of a hydraulic shovel to which the present invention is applied. FIG. 2 is an output voltage with respect to an operation angle θ of an operation lever 11 of an electric operation lever unit 1. FIG. 9 is a diagram illustrating characteristics of U.

This hydraulic shovel includes an electric operation lever unit 1, a control unit 2, which will be described later, an electric-hydraulic conversion actuator 3, a main control valve 4, a hydraulic pump 5, a hydraulic cylinder 6, a work machine 7 and the electric operation lever unit 1
Includes an operation lever 11, an operation angle detection unit 12, and a voltage conversion unit 13, and includes a work machine such as a boom, an arm, a bucket, or a turning mechanism according to the operation amount of the operation lever 11 operated by an operator. 7 is performed.

The operating lever 11 is attached to the lever holding portion 14 so as to be tiltable, and is operated by an operator to operate the working machine 7. Operation angle detector 12
Detects the operation direction (+ or −) and the operation amount of the operation lever 11, that is, the operation angle θ. As shown in FIG. 2, the voltage converter 13 converts the detected operation angle θ into a corresponding voltage signal U and outputs it.

As shown in FIG. 2, the operation lever 11
The range of the operable operation angle θ is −25 ≦ θ ≦ 25 (°), and the range of the output voltage signal U is −5 ≦ U ≦ 5
In (V), the voltage signal U has a one-to-one correspondence with the operation angle θ.

The electro-hydraulic conversion actuator 3 converts the input current signal I (A) into a hydraulic pressure (pilot pressure). The main control valve 4 controls the flow rate of hydraulic oil supplied from the hydraulic pump 5 to the hydraulic cylinder 6.
The opening degree of the valve is controlled according to the pilot pressure input from the hydraulic pressure conversion actuator 3,
The hydraulic cylinder 6 drives the working machine 7 according to the hydraulic oil supply flow rate.

The control section 2 will be described with reference to FIGS. 1, 3 and 4. FIGS. 3 and 4 are diagrams for explaining the conversion characteristics of the voltage signal in the control unit 2. FIG.
Shows the characteristics in the transient state.

The control section 2 includes a ROM 21, a RAM 22, a level reading section 23, a change speed calculating section 24, a comparing section 25, a signal converting section 26, and a current output section 27. The input voltage signal U will be described later. The processing is performed at every predetermined sampling time Δt (sec) to convert the voltage signal W into a voltage signal W, convert the converted voltage signal W into a corresponding current signal I, and output it. Here, voltage signals U and W at time t are expressed as U
(t) and W (t).

The ROM 21 stores data such as a preset change rate S (V / sec) described later.
The RAM 22 temporarily stores data.

The level reading section 23 reads the level of the input voltage signal U every Δt (sec). The change speed calculator 24 calculates the level of the read voltage signal U,
Using the conversion voltage signal W before Δt (sec) obtained by the signal conversion unit 26, the change speed, that is, the change amount per time U
(t + Δt) −W (t) is calculated.

The comparison unit 25 calculates a change per unit time U (t + Δt) -W (t) and a set change per unit time obtained from the set change speed S (V / sec) stored in the ROM 21. The quantity S ₀ (V) = S (V / sec) × Δt (sec) is compared.

The signal converter 26 converts the voltage signal U into a voltage signal W in accordance with the result of comparison by the comparator 25. As shown in FIG. 4, | U (t + Δt) -W (t) | ≦ S ₀
, W (t + Δt) = U (t + Δt), while | U (t +
Δ (t) −W (t) |> S ₀ , W (t + Δt) = W (t) ±
As S ₀ , the magnitude of the rate of change of the converted voltage signal W, that is, the magnitude of the amount of change per time is limited to the set amount of change S ₀ per time or less.

The current output section 27 converts the converted voltage signal W into a current signal I having a level corresponding to the voltage level, and outputs the converted signal to the electro-hydraulic conversion actuator 3.

FIG. 5 is a diagram for explaining the converted voltage signal W with respect to the input voltage signal U. The input voltage signal U is indicated by a broken line, and the converted voltage signal W is indicated by a solid line. In FIG. 5, the time change speed of the input voltage signal U, that is, the operation speed of the operation lever 11 gradually increases from the start of the operation, reaches the stroke end at 0.2 (sec), that is, reaches the voltage signal U = 5 (V). The lever 11 is maintained at the end position.

[0034] At this time, the converted voltage signal W, the operation start initial | U (t + Δt) -W (t) | When a ≦ S ₀ is W =
However, when | U (t + Δt) −W (t) |> S ₀ , W (t + Δt) −W (t) = S ₀ , that is, dW / dt =
S and increases more slowly than the input voltage signal U,
After 0.2 (sec) of the input voltage signal U, W = 0.3 (sec)
5 (V) is reached.

As described above, the operation lever 11 is suddenly operated, and the magnitude of the change amount per time | U (t + Δt) −W (t) |
Becomes larger, the response speed is delayed by limiting the change speed of the converted voltage signal W to the set change speed S, so that the impact due to the sudden operation of the operation lever 11 can be suppressed, while the fine operation When the magnitude | U (t + Δt) −W (t) | per unit time is small, as in the case of time, no response delay occurs, so that the operability during fine operation is not impaired.

Next, referring to FIG. 5 and FIG.
Will be described. 6A and 6B are diagrams showing characteristics when the set change speed S (V / sec) is changed when the hydraulic cylinder 6 is operated by suddenly operating the operation lever 11, and FIG. That is, it indicates the distance that the hydraulic cylinder 6 moves from when the operating lever 11 is returned to the neutral position to when the hydraulic cylinder 6 stops, and (b) indicates the shock G, that is, the acceleration of the work implement 7 when the operating lever 11 is returned to the neutral position. , Gravitational acceleration g as a unit.

In FIG. 6A, the flow rate F indicated by a solid line is shown.
1 is a flow amount when the operation lever 11 is suddenly operated, that is, when the input voltage signal U is indicated by a broken line in FIG.
The flow rate F2 indicated by the dashed line is the value when the operation lever 11 is operated normally, that is, the input voltage signal U ′ indicated by the dashed line in FIG.
6sec).

In FIG. 6B, a shock G1 indicated by a solid line indicates a shock when the operating lever 11 is suddenly operated, that is, a shock when the input voltage signal U is indicated by a broken line in FIG. G2 is a shock when the operation lever 11 is normally operated, that is, when the input voltage signal U '(0.46 seconds from the start of operation to the end of stroke) indicated by the dashed line in FIG.

When the setting change speed S is reduced, the absolute value of the gradient of the change of the converted voltage signal W shown in FIG. 5 is reduced, and the switching response of the main control valve 4 is delayed. Therefore, as shown in FIG.
Decreases, but the flow rate F increases. On the other hand, when the set change speed S is increased, the flow rate F decreases, but the shock G increases.

As a result, even when the operation lever 11 is suddenly operated, if the point of the flow rate F = 0 is set as the set change speed S, the shock G can be reduced without any characteristic deterioration compared to the conventional device. can do. Further, when the set change speed S is set to a value slightly smaller than the above-mentioned point, a slight flow amount F occurs at the time of sudden operation, but the shock G can be further reduced. Thus, the value of the set change speed S may be set within an optimum range in designing a hydraulic shovel.

For example, if the set change speed S is 12.5 ≦ S ≦ 20
(V / sec) without increasing the flow rate F
Shock G can be reduced.

At this time, the changing speed is 12.5, 20 (V / sec),
Converted to the switching time of the total operation amount on one side from the neutral position of the operation lever 11 to the end of the stroke, 5 (V) /12.5 (V / sec) = 0.4 (sec) 5 (V) / 20 (V / sec) ) = 0.25 (sec), and the switching time T of the total operation amount on one side of the operation lever 11 when the set change speed S is 12.5 ≦ S ≦ 20 (V / sec) is 0.
25 ≦ T ≦ 0.4 (sec).

As the operating lever 11 of the hydraulic shovel, a so-called short lever joystick is generally used, in which the maximum value of the switching speed of the one-sided total operation amount is as short as about 0.2 (sec) in terms of time. When the operation lever 11 is suddenly operated, a large shock G occurs.

However, according to the above embodiment, even when the operation lever 11 is suddenly operated, the operation lever 11
By limiting the rate of change of the converted voltage signal W so that the switching time of the total manipulated variable on one side becomes 0.25 to 0.4 (sec), it is possible to suppress an increase in the flow amount F at the time of stoppage and to control the shock G
Can be reduced.

FIG. 7 is a flowchart showing a specific example of the operation procedure in the control unit 2 (FIG. 1). FIG. 8 is a diagram for explaining the operation. FIG. 7A shows | U (t + Δt) -W (t) | ≦ In the case of S ₀ , (b) is | U (t + Δt) −W (t) |> S ₀ ,
(C) is | U (t + Δt) −W (t) |> S at time t ₁₀ on the way.
From ₀ | a case where switching to _{≦ S 0 | U (t +} Δt) -W (t). 7 and 8, at time t ₀ , U (t
₀₎ = and W (t _0).

First, n = 0 (step # 11)
0). At time t ₀ , U (t ₀ ) = W (t ₀ ). Next, it is determined whether or not the sampling time Δt (sec) has elapsed (step # 120), and every time the sampling time Δt (sec) has elapsed (Y in step # 120).
ES), the operations in and after Step # 130 are performed.

In step # 130, U (t _n + Δt)
Then, the input voltage signal U (t _n + Δ) after the sampling time Δt from the previous converted voltage signal W (t _n )
It is determined whether or not t) exceeds the set change speed S, that is, whether or not U (t _n + Δt) −W (t _n ) ≦ S ₀ (step # 140).

[0048] Since if _{U (t n + Δt) -V} (t n) ≦ S 0 (YES at step # 140), the time rate of change of the input voltage signal U is equal to or less than the set change rate S, W (t _n + Δ
t) = U (t _n + Δt) (step # 150), and FIG.
As shown in (a), the converted voltage signal W is the input voltage signal U
Matches.

On the other hand, if U (t _n + Δt) -W (t _n )> S ₀ (NO in step # 140), the time change rate of the input voltage signal U exceeds the set change rate S, so that W (t _n + Δt) -W (t _n ) t _n + Δ
t) = W (t _n ) + S ₀ (step # 160), and FIG.
(B), the converted voltage signal W is a value that changes by variation S ₀ at the sampling time Delta] t.

Then, step # 150 or step #
Following 160, W (t _{n + 1} ) = W (t _n + Δt), U
(t _{n + 1} ) = U (t _n + Δt) (step # 170)
Next, n ← n + 1 is set (step # 180), and the process returns to step # 120.

According to the above procedure, the input voltage signal U can be converted to the converted voltage signal W in a state where the change speed is limited to the set change speed S.

Here, as shown in FIG.
| U (t + Δt) -W (t) |> from _{S 0 | U (t + Δt} ) -W
(t) | ≦ S ₀ will be described.

In FIG. 8C, from time t _{0 to} time t ₄ , U (t _n + Δt) −U (t _n )> S ₀ and U (t _n
+ Δt) −W (t _n )> S ₀ (N in step # 140 above)
O), W (t _n + Δt) = W (t _n ) + S ₀ (step # 160), and the converted voltage signal W has a value increased by the change S _{0 for} each sampling time Δt.

[0054] t ₅ time _{later, U (t n + Δt)} -U (t n)
≦ S ₀ , but still U (t _n + Δt) −W (t _n )>
Since it is S ₀ (NO in step # 140), W (t
_n + Δt) = W (t _n ) + S ₀ (Step # 16 above)
0), converting the voltage signal W is a value that increases by variation S ₀ at each sampling time Delta] t.

[0055] and, for the first time in t ₁₀ point in time, U (t ₉ + Δ
t) -W (t ₉ ) = S ₀ (YES in step # 140 above)
Therefore, W (t ₉ + Δt) = U (t ₉ + Δt) (step # 150), and the converted voltage signal W matches the input voltage signal U at time t ₁₀ .

The present invention is not limited to the above embodiment, but can adopt the following modified embodiments (1) to (3).

(1) The conversion characteristic of the transient state of the voltage signal in the control unit 2 is | U as shown in FIG.
| U (t + Δt) −W (t) | ≦ S ₀
The inclination angle α of the gradient at t) −W (t) |> S ₀ may be made gentle. In FIG. 9, |
U (t + Δt) -W ( t) |> characteristics at S ₀ is not limited to a straight line, or a curve.

(2) A volume or a dip switch for adjusting the value of the set change speed S in a stepless manner is provided in the vicinity of the operation lever 11, and the operator can set the value of the set change speed S within a predetermined range. You may make it adjustable. In this case, for example, if the operator is not confident in his / her skill, the operator can reduce the value of the set change speed S, and if he / she is confident, increase the value of the setting change speed S, thereby exhibiting the performance of the apparatus in accordance with his / her skill. it can.

(3) In the above embodiment, the present invention is applied to the control of the main control valve 4. However, the present invention is also applied to the control of other actuators and devices such as a hydraulic pump and a hydraulic cylinder operated by an operator. be able to.

[0060]

As described above, according to the present invention,
When the magnitude of the change speed of the operation signal corresponding to the amount of operation applied to the operation means with respect to the control signal is equal to or less than the set value, the operation signal is set to the control signal, and when the magnitude of the change speed exceeds the set value, Since the operation of the actuator is controlled by using a signal obtained by changing the control signal at a change speed equal to or lower than the change speed as a control signal, a fine operation in which the change speed is equal to or less than a set value is performed on the operation means. When it is added, good operability can be obtained in fine operation, and even when sudden operation such that the change speed exceeds the set value is inadvertently or accidentally applied to the operation means, Can be prevented from sudden operation.

When the magnitude of the change speed exceeds the set value, the operation of the actuator is inadvertently controlled by using a signal obtained by changing the control signal at a change speed equal to the set value as a control signal. Alternatively, even when a sudden operation such that the change speed exceeds the set value is mistakenly applied to the operation means, it is possible to reliably prevent a sudden operation of the actuator.

The operating means is an operating lever of a hydraulic shovel or a hydraulic crane, and the operating signal output means is
An operation angle detection means for detecting an operation angle of the operation lever is provided, and an operation signal corresponding to the detected operation angle is output. The actuator is a hydraulic excavator or a hydraulic pressure control device that controls the driving of a working machine of a hydraulic crane. By providing a control valve, the hydraulic control valve can be operated even when an operator of a hydraulic shovel or a hydraulic crane applies a sudden operation to the operation lever such that the change speed exceeds a set value, either inadvertently or accidentally. Can be slowed down, whereby abrupt operation of a working machine such as a boom, an arm, a bucket, a turning mechanism, or a crane winch can be prevented. In particular, in the case of a hydraulic shovel or a hydraulic crane, the speed of the working machine is high and the acceleration is also large.However, the speed change of the working machine can be made smooth by slowing down the switching speed of the hydraulic control valve, thereby stopping the operation. It is possible to prevent a shock from occurring at times or the like.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of an embodiment of a hydraulic shovel to which the present invention is applied.

FIG. 2 is a diagram illustrating characteristics of an output voltage U with respect to an operation angle θ of an operation lever of an electric operation lever unit.

FIG. 3 is a diagram illustrating a conversion characteristic of a voltage signal in a steady state in a control unit.

FIG. 4 is a diagram illustrating a conversion characteristic of a voltage signal in a transient state in a control unit.

FIG. 5 is a diagram illustrating a converted voltage signal W with respect to an input voltage signal U, in which the input voltage signal U is indicated by a broken line and the converted voltage signal W is indicated by a solid line.

6A and 6B are diagrams showing characteristics when the set change speed S (V / sec) is changed when the hydraulic cylinder is operated by suddenly operating the operation lever, and FIG. , (B)
Indicates the magnitude of the shock G when the operation lever is returned to the neutral position.

FIG. 7 is a flowchart illustrating a specific example of an operation procedure in a control unit.

FIGS. 8A and 8B are diagrams for explaining the operation of the control unit, wherein FIG.
| For ≦ S _0, (b) is | | U (t + Δt) -W (t) U (t
In the case of + Δt) −W (t) |> S ₀ , (c) is | U (t + Δt) −W (t) |> S ₀ to | U (t + Δt) − at time t _{10 in the} middle.
This is the case where it is switched to W (t) | ≦ S ₀ .

FIG. 9 is a diagram illustrating different conversion characteristics of a voltage signal in a transient state in a control unit.

FIG. 10 is a block diagram showing a configuration of a conventional hydraulic shovel.

FIG. 11 is a block diagram showing a configuration of a conventional hydraulic shovel using an electric lever.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Electric operation lever part (operation means, operation signal output means) 11 Operation lever 12 Operation angle detection part 13 Voltage conversion part 14 Lever holding part 2 Control part (Control signal conversion means, change speed calculation means, comparison means, actuator control Means) 21 ROM 22 RAM 23 Level reading unit 24 Change speed calculation unit 25 Comparison unit 26 Signal conversion unit 27 Current output unit 3 Electro-hydraulic conversion actuator 4 Main control valve (actuator, hydraulic control valve) 5 Hydraulic pump 6 Hydraulic cylinder 7 Work machine

Claims (4)

[Claims] An operation signal output means for outputting an operation signal corresponding to an amount of operation applied to the operation means; a control signal conversion means for converting the operation signal into a control signal; Actuator control means for controlling the operation, the control signal conversion means, the change speed calculating means for calculating the change speed of the operation signal with respect to the control signal, the magnitude of the change speed and a preset set value and Comparing means for comparing the control signal with the operation signal when the magnitude of the change speed is equal to or less than the set value, and changing the control signal when the magnitude of the change speed exceeds the set value. An operation control device, wherein a signal changed at a change speed equal to or lower than the speed is used as a control signal. 2. The control signal conversion means according to claim 1, wherein when the magnitude of the change speed exceeds the set value, a signal obtained by changing the control signal at a change speed equal to the set value is used as the control signal. The operation control device according to claim 1, wherein: 3. The operation means is an operation lever of a hydraulic shovel or a hydraulic crane, and the operation signal output means is provided with an operation angle detection means for detecting an operation angle of the operation lever. 3. An actuator according to claim 1, wherein the actuator outputs an operation signal corresponding to the angle, and the actuator includes a hydraulic control valve for controlling driving of a working machine of a hydraulic shovel or a hydraulic crane. The operation control device according to claim 1. 4. A change rate of an operation signal corresponding to an amount of operation applied to an operation means with respect to a control signal for controlling operation of the actuator is calculated, and the magnitude of the change rate is compared with a preset value. When the magnitude of the change speed is equal to or less than the set value, the operation signal is set to the control signal. When the magnitude of the change speed exceeds the set value, the control signal is set to a change speed equal to or less than the change speed. An operation control method, wherein the operation of the actuator is controlled using the changed signal as a control signal.