JPS60113806A - Control of hydraulic selector valve controller - Google Patents

Abstract

PURPOSE:To permit the smooth operation by memorizing the first signal as a standard value when the whole control system is switched ON, and allowing each movement of a lever and a hydraulic motor to correspond each other. CONSTITUTION:When the whole systems are switched ON, the first signal on a wiring 10b is memorized as a digital signal value cn. When an operator operates a lever 10i, the signal outputted onto the wiring 10b is set as a digital signal value ci, and the difference between ci and cn is set as input value dc. Therefore, the problems such as the displacement of neutral position due to the use of a signal generator 10a for a long period and the electrical drift of neutral position in a non-linear amplifier 10c can be solved, and each movement of the lever 10i and a hydraulic motor is allowed to correspond each other, and the smooth operation is permitted.

Description

[Detailed description of the invention] The present invention relates to a control method for a hydraulic switching valve control device.

When operating a crane or the like of a construction machine using hydraulic pressure, the control of the hydraulic pressure depends on the operation of a hydraulic switching valve.

When operating such a hydraulic switching valve, there are cases in which the operation is performed directly from the driver's cab, and cases in which it is necessary to operate remotely from the driver's cab.

For this reason, conventionally, a configuration of a hydraulic switching valve control device as shown in FIG. 1 has been adopted for this remote control.

To explain the configuration in FIG. 1, the illustration is a system diagram of a conventional hydraulic switching valve control device.

The hydraulic switching valve 5 that hydraulically controls the hydraulic motor 6 has switching positions 5a, 5b, and 5c, and the switching position ν) is configured to be operated by the hydraulic actuator l or the lever IC, and the hydraulic switching valve 5 has switching positions 5a, 5b, and 5c. Pressure feeding or removal of pressure oil to the displacement chamber 1a or 1b is as follows:
The configuration is such that this is performed by operating the νJ switching valve 2 or 3.

The lever 10i in the signal generator 10-a is configured to generate a voltage signal to the wiring fob according to the operating position by operating it in the -force direction or the other direction, and the lever 101 is configured to generate a voltage signal corresponding to the operating position of the wiring fob. When the rider releases the lever 101, the lever 101 is always returned to the neutral position by the force of the spring, and the wiring lOb is input to the electronic control device 10, where the
The wiring 10b is input to the main body portion 10f via a non-wire amplifier 10C and a wiring 10d.

The output wirings log and 10) I from the main body portion 10f are input to the switching valves 3 and 2, respectively.

Further, the movement of the hydraulic actuator 1, that is, the movement of the hydraulic switching valve 5, is connected to a potentiometer 5d, and the output wiring 10e of the potentiometer 5d is connected to the main body part 10.
In addition, the hydraulic switching valve 5 inputted in f is an overlap type valve due to its manufacturing cost. It is shown in Figure 2.

In FIG. 2, a spool valve 5e is fitted into the spool 51 so as to be able to slide in the axial direction, and the switching position 5a, 5b or 5c at No. 114 is the position of the spool valve 5e in the axial direction. The spool line P5e has a configuration set by the transition, and the cylinder 51 linked to the hydraulic actuator 1 is provided with ports 5g, 5j, 5h, etc., and the port 5j communicates with the hydraulic power source 4 in FIG. 5g and 5h each communicate with the hydraulic motor 6 in FIG.

In the conventional hydraulic switching valve control device described above, the hydraulic motor 6 whose operation is explained as follows:
It is driven by the hydraulic power from the hydraulic switching valve 5, and when the hydraulic switching valve 5 is located at the switching position 5b, the flow of the hydraulic power is closed and the operation of the hydraulic motor 6 is stopped. When the hydraulic switching valve 5 is at the switching position 5a or 5c, hydraulic power is force-fed to one or the other of the hydraulic motors 6 to drive the hydraulic motor 6 in one or the other direction.

Further, the hydraulic motor 6 drives a crane or the like (not shown).

In this case, the relationship between the switching position of the hydraulic switching valve 5 and the spool valve 5e will be explained as follows.

The position of the spool valve 5e shown in FIG. 2 is such that the land 5f closes the flow of pressure oil in the port 5j and the switching position is 5b.
It is said that

From this state, when the spool valve 5e is moved to the left,
The switching position is now set to 5a, and as a result, the ports 5j and 5h communicate with each other, and pressure oil is force-fed from the port 5j to one side of the hydraulic motor 6 via the port 5h.

Furthermore, when the spool valve 5e is moved to the right from the neutral state, the switching position is set to 5c.
This allows port 5j and port 5g to communicate,
Pressure oil is supplied from port 5 to hydraulic motor 6 via port 5g.
It will be pumped to the other side.

Such operation of the spool valve 5e is performed by the operation of the hydraulic actuator 1, and the operation of the hydraulic actuator 1 is as follows.

Switching valves 2 and 3 are respectively in switching position 2 as shown.
When set to b and 3b, the displacement chamber 1a
and lb are each open to the reservoir, and the hydraulic actuator l is completely free.

Therefore, when the driver operates the lever lc in this state, the spool valve 5e can be freely operated via the hydraulic actuator 1, and the driver in the driver's seat can manually operate the lever 1c. The above switching positions 5a, 5b or 5c can be selected.

In addition, a spool valve 5e connected to the hydraulic actuator 1
The springs (
centering (not shown)
g) When the driver releases the lever 1c in this state, the hydraulic actuator 1 will be in the position shown, and the switching position will be 5b (neutral position).
becomes.

In contrast to such manual control, when controlling the hydraulic actuator 1 from a remote location, the lever 10i located on the signal generator 10a is operated.

In this operation, the electronic control unit 10 processes and calculates the signal from the signal generator 10a, and the result of the calculation, No. 4fi, is sent to the wiring 1.
The switching valve 2 or 3 is controlled via 0h or log, and the controlled switching valve 2 or 3 operates the hydraulic actuator 1.

First, the operation of the switching valve 2 or 3 to operate the hydraulic actuator 1 will be explained.

When only the switching valve 2 is set to the switching position 2a from the neutral state, pressure oil from the hydraulic source 4 flows into the displacement chamber 1a via the switching valve 2, and thereby the hydraulic actuator 1 is moved from the spool shown in FIG. Operate the valve 5e to the right,
Conversely, when only the switching valve 3 is set to the switching position 3a from this neutral state, pressure oil from the hydraulic source 4 flows into the displacement chamber 1b via the switching valve 3, and the hydraulic actuator l moves the spool valve 5e to the left. You will have to operate it in the opposite direction.

Also, if you want to fix the hydraulic actuator 1 at any position, including this neutral position, by setting the switching valves 2 and 3 to the switching position 2a and the switching position 3a, respectively, the hydraulic actuator 1 can be fixed at any position, including the neutral position. As described above, the operation of the switching valve 2 or 3, in which pressure oil is fed to both displacement chambers 1a and ib and the hydraulic actuator 1 is fixed, is controlled by the electronic control device 10 as described above. It is done.

When the operator releases the lever 10i, the lever 10i is always set at the neutral position shown in the figure by the internal spring force, and this neutral position corresponds to the neutral position of the hydraulic actuator l. There is.

When the lever 10i is tilted in either direction from such a neutral position, the wiring 10b has the lever lOi
An input voltage vb proportional to the amount of tilting is generated, and the input voltage vb is converted into the output voltage Vd shown in FIG. 3 in the non-linear amplifier 10c. There is a proportional relationship with the position, that is, the operating position of the spool valve 5e.

In this case, the proportional relationship is maintained by the main body portion 10f controlling the switching valve 2 or 3 based on the output voltage Vd and the feedback signal from the wiring 10e.

Here, in the characteristic shown in FIG. 3, point n, which is the center of the coordinates, corresponds to the neutral position of the lever 101, and the gradient of the characteristic becomes steep in area a around point n, and on both sides , the slope is gentle.

This is a necessary characteristic for the following reasons.

As shown in FIG. 2, in the neutral position of the spool valve 5e, the runt 5f in the spool valve 5e is connected to the port 5j.
As described above, the state in which the port 5J is closed is a so-called overlap state in which the land 5f or the wraps L4 and L2 are used on both sides of the port 5j in the axial direction to close the port 5J.

Therefore, if the hydraulic actuator 1 is operated in proportion to the value of the input voltage vb, the above phenomenon will occur.

That is, when tilting Shihachi-10i in any direction from the neutral position, the hydraulic actuator 1 is operated in proportion to the tilt.

As a result, the spool valve 5e (FIG. 2) operated by the hydraulic actuator 1 communicates the port 5j with the port 5h or 5g only after the spool valve 5e (FIG. 2) has moved the distance of lap ILI or L2 from the neutral position. .

This means that even if the neutral position 8-1O1 is operated, the hydraulic motor 6 will not operate at all while the overlap portion is being operated, and after the overlapping portion has been moved, The hydraulic motor 6 suddenly starts moving, and the relationship between the movement of the hydraulic motor 6 and the movement of the heel 10i becomes very difficult for the operator to operate.

Therefore, in region a in FIG. 3, the sensitivity is made high so that the spool valve 5e moves rapidly in response to a slight movement of the lever 101, and the land 5f moves to the port 5j.
After entering the communicating state, the spool valve 5e moves slowly in proportion to the movement of the lever 101.

That is, for the operator, as soon as the lever lOi starts to move from the neutral position, the hydraulic motor 6 begins to move in the same manner as the lever 101 moves, and the operator feels that the hydraulic motor 6 operates as the operator feels. It is something that has become a thing.

A conventional hydraulic switching valve control device is constructed and operates as described above.

However, these conventional hydraulic switching valve control devices have
It has the problems mentioned above.

That is, (1) The characteristics of region a in FIG. 3 are as follows:
Although a neutral voltage is applied at 0c and the amplification factor is increased in the vicinity of the neutral voltage, a first-order problem occurs in actual use.

The input voltage Vb at the neutral position of the lever 101 and the neutral voltage set to the non-wire amplifier 10c must exactly match.

In this case, if there is an error between the two voltages, the value of the output voltage Vd will change even if the lever 10i is at the neutral position.
(Figure).

When such an error occurs, the amplification factor near the neutral position is high, so in some cases, the lever 1
Even if Oi is at the neutral position, the hydraulic motor 6 may start moving.

Therefore, in order to prevent such a phenomenon from occurring, it is necessary to adjust the two voltages to match each product.

Furthermore, if the non-wire amplifier 10c is used for a long time, a drift may occur in the non-wire amplifier 10c, and this drift may cause an error as described in 2. , signal generator 10
There may also be a need to change the center position on the side a.

For example, this could be a failure of the spring that holds the lever 10i in the neutral position, or a name for the potentiometer installed inside the signal generator 10a.

(2) Furthermore, the conventional characteristics shown in FIG. 3 are such that the characteristics in areas other than region a uniformly increase as the absolute value of input voltage Vb increases.

However, according to experiments conducted by the present inventors, when the hydraulic mokro performs operations such as rotating a crane, when operating the lever 10i in the signal +4 generator 10a in either direction from the neutral position, the neutral It has been confirmed that the load suspended from the crane will sway horizontally if the operation near the beginning of the operating range on either side is not performed very carefully. Shaking tends to occur at the beginning when the hydraulic switching Jf5 opens, and when the valve opens after that,
It was confirmed that the horizontal shaking did not occur much.

Therefore, when the load on the hydraulic motor 6 is easily shaken, there is a problem in operating it by a person who is not accustomed to operating it.

An object of the present invention is to improve the conventional problem when starting to drive the hydraulic motor 6 near the neutral @ device n in FIG. It is an object of the present invention to provide a control method for a hydraulic switching valve control device that operates smoothly in correspondence with the movement of the hydraulic switching valve control device.

The present invention will be explained below.

The features of the present invention will be explained as follows.

1) In contrast to the conventional characteristics shown in FIG. 3 described above, the characteristics of the present invention relative to FIG. 3 are as shown in FIG. 4.

In FIG. 4, the input value da and the output value C5 are respectively the input voltage vb and the output voltage Vd in FIG.
2) However, the input value dc in FIG. 4 is fundamentally different in character from the input voltage vb in 3-, and its characteristics are as follows.

(a) The state before the operator's hand touches the lever 10i in FIG.
(b) Then, when the operator operates the lever 10i, the signal output to the wiring 10b is stored as a digital signal value Cn. (c) The difference between ci and cn is the input value dc.

This addresses the above-mentioned problems a: changes in the neutral position due to long-term use of the signal generator 10a, and b: electrical drift of the neutral position in the non-wire amplifier lOc. be.

3) Output value C5 for input value dc with the above characteristics
As shown in FIG. 4, the characteristics have the following characteristics.

(a) The output value C3 in a small operating range (b in the dead zone in Fig. 4) centered on the neutral position (d c = O) of +/<-10+ is always zero, (b) Dead zone i] At dc=±CI on both sides of b, the absolute value of the output value cs is set as the offset value cso, and (,c)c 1<l dc When I<C2, 1d
As the absolute value of the input value dc increases from cl=cl, the absolute value of the output value C5 gradually increases from the value of 1csl-1csol at 1dcl=cl, and (d) C2< In l dcl, the absolute value of the input value da increases from l da 1 = c2, and the absolute value of the output value cs increases from the value at 1 dcl - C2 more rapidly than the gradual increase in (C) above. It has a characteristic that increases with a gradient.

In the above description, each of cl and C2 is a predetermined constant, and CI is a value smaller than C2.

The present invention will be explained below based on Examples.

fJ, FIG. 5 is a block diagram showing the electronic control device 11 for implementing the control method of the hydraulic switching valve control device in the present invention, and FIG.
This is an improved version of the conventional electronic control device 10 shown in the figure, and the parts other than the electronic control device 10 in FIG. 1 are used as they are in this embodiment.

In FIG. 5, the output wiring io from the signal generator 10a
b and the output wiring 10e of the potentiometer 5d that detects the operating position of the hydraulic switching valve 5 are input to the multiplexer lla, and the output from the multiplexer lla is input to the AD converter flb,
The output from the command value adjustment means 12 and the FB detection value storage means 11c are inputted to both the command value adjustment means 12 and the FB detection value storage means 11c, and the respective outputs from the command value adjustment means 12 and the FB detection value storage means 11c are inputted to the deviation calculation means lid, which calculates the deviation. The output from the drive determining means lie is input to the drive determining means lie, and the output of the tolerance setting means 11f is also input to the driving determining means lie, and the output from the drive determining means lie is input to the output transistor 11g, which outputs the output transistor l
The output of 1g is wires 11h and lli.

Here, the wiring 11h and lli are substituted for the wiring 1og and 10h in FIG.
and 111 are the wiring Log in FIG.
and loh are input to the switching valves 3 and 2, respectively, in the same way that the command value adjusting means 12 in FIG. 5 is configured as in FIG. 7. FIG. 7 shows a block diagram of the command value adjusting means 12.

In Fig. 7, output wiring 1 of AD converter/heater llb
2a is a command input value storage means 12c and a neutral value storage means 1;
2d, the output of the command input value storage means 12c and the output of the neutral value storage means 12d are respectively input to the deviation calculation means 12e, the output of the deviation calculation means 12e is input to the command output calculation means 12f, and command output calculation means 12
The respective outputs of the offset amount setting means 12g, the neutral dead zone setting means 12h, the command slope setting means 12i, and the command inflection point setting means 12j are input to f, and the output wiring 12b of the command output section q means 12f is This is the wiring 12b in FIG.

Further, FIGS. 6 and 8 each show a flowchart showing the operations in FIGS. 5 and 7, respectively.

The operation of the configurations shown in FIGS. 5 and 7 will be described below with reference to the flowcharts shown in FIGS. 6 and 8.

Calculation A l (Figure 56): In Figure 5, the electronic control unit 11 is switched on.

Calculation A2: The first voltage value of the analog quantity from the wiring 10b immediately after the switch is turned on is converted into the neutral value cn of the digital quantity in the AD converter llb via the multiplexer lla, and the neutral value Cn is Neutral value storage means 12d in command value adjustment means 12 (
(Fig. 7).

In this case, immediately after the switch φ is turned on, the operator has not yet touched the lever lot, that is, the lever 10i has returned to the neutral position.

Calculation A3: In the above state, the lever 101 is in a state in which the electronic control device 11 can be operated by the operator.

When the operator operates the lever 10i from this state, the voltage value of the analog t& corresponding to the operating position changes to the wiring 10i.
On the other hand, the operating position of the hydraulic pressure switch 155 at that time is detected by the potentiometer 5d, and the detected value is output as an analog voltage value to the wiring 10e.

In this state, the multiplexer 11a first
The voltage of 0b is transmitted to the AD converter llb, which converts this voltage into a digital signal value ci, and the signal value ci is stored in the command input value storage means 12c.
is memorized.

Arithmetic A4: The multiplexer 11a then transmits the voltage value at the wiring 10e to the AD converter 11b, and outputs the voltage value (+fj) to the AD converter 11b as a digital signal.
The signal value cf is stored in the FB detection unit 1^ storage means 11C. - Following the above operation A4, operation A5 is entered, but operation 3i A
5 shows the subroutine in the tiSB diagram.

Calculation Bl (Fig. 8): Calculation B2 which starts the calculation of A5 In the two-deviation calculating means 12e, the neutral value c is calculated from the signal value ci.
n is subtracted, and the subtracted value is used as an input value dc and is output to the command output calculation means 12f.

This means that the value of the input value dC on the horizontal axis of FIG. 4 has been determined.

Note that the ratio between the signal value ci and the neutral value Cn is always a positive value, that is, the signal generator 10a
In , when Shihachi-1Oi is tilted from the neutral position to one end, the voltage output to the wiring 10b is set to zero,
As the shi-8-10i is set from this end toward the neutral position, the voltage at the wire lOb increases, and when the rep-101 is set from the neutral position to the other end, the voltage at the wire 10b increases. is set to be maximum.

Calculation B3: In the command output calculation means 12f, the human power value d
It is determined whether the absolute value of C is smaller than or equal to cl in the dead zone.

Note that the value of the dead zone 171 C1 is the value of the neutral dead zone setting means 1.
This is the value stored in 2h.

Operation B4: When determined as Yes in operation B3,
The output value O3 is set to zero.

In this case, C5=O is the output (18c s
It is the value that is the neutral point (the intersection of the output value cs and the input value dC), and in Fig. 4, the output value CS in the dead zone
The value of is always a constant zero.

Performance'j1. B5: When it is determined No in calculation B3, determine whether the absolute value of the input value dc is larger than cl (constant) in the dead zone and smaller than constant 02 (including the equal sign). .

Calculation B6: When the determination in calculation B5 is Yes, the command output calculation means 12f determines whether the input value dc is positive.

Calculation B7: When the determination in calculation B6 is Yes, the command output calculation means 12f sets cs=AXldcl+csn.

The output value CS in this case determines the characteristics of the part f in Fig. 84.

Calculation B8: When the determination in calculation B6 is No,
In the command output calculation means 12f, cs=AXldcl-csn.

The output value CS in this case determines the characteristics of the 0 portion in FIG.

Performance 9B9: When the judgment in operation B5 is NO,
The command output calculation means 12f determines whether the human power value dc is positive.

Calculation B10: When the determination in calculation B9 is Yes, the command output calculation means 12f sets cs=AXc2+csn+BX (ldc1-C2).

The output value aS in this case determines the characteristics of the part g in FIG.

fljil, B l l: Judgment in operation B9 is N
When it becomes O, the command output calculation means 12f sets cs=AXc2-csn-BX (ldcl-C2).

The output value C5 in this case determines the characteristics of the portion d in FIG.

In addition, the constant C5n in the calculations B7, B8, B10 and Bll above is the value of CS at dc=o, assuming that the characteristics at parts e and f are extended and intersect with the cs axis in Fig. 4. The value of this constant CSH is stored in the offset amount setting means 12g.

In addition, the extension of the characteristics in parts e and f, dc
The fact that cs=csn in =o means that this characteristic is set so that cs=cso (offset value) at 1dcl=cl, and the value of offset value C5O in this case is shown in Fig. 2. This corresponds to lap L1 or L2 in .

Further, cl, C2, A, and B in the above calculation are respectively stored in the neutral dead zone setting means 12h, the command inflection point setting means 12j, and the command gradient setting means 12i.

Further, the coefficients A and B used in the above calculation indicate the gradient of the characteristic at e and f and the gradient of the characteristic at d and g in FIG. 4, respectively.

Here, the values of these coefficients A and B are determined as follows.

The output value cs in FIG. 4 is the output of the command value adjustment means 12 in FIG. must be compared.

This means that the output (ics and the feed/cut signal value c
This means that f must have a 1:1 correspondence in its scale (SCale), and the fee 1ζ pack signal value cf corresponds to the input value dc.

Therefore, the maximum output C5m of the output value C5 and the input value da
The maximum output Cm at is in a 1:1 relationship.

Therefore, the absolute value C in the portions d and g in FIG.
The maximum value C5m of 5 must be equal to the magnitude of dc=Cm.

In addition, under such conditions, as mentioned above, in order to prevent the load on the hydraulic motor 6 from causing load swing,
In Fig. 4, the characteristic at parts e and f is set to a gentle slope A, and the subsequent part of the characteristic at parts d and g, where load swing is unlikely to occur, is set to 1. In order to enable quick operation, the slope is set to e. , the slope B must be larger than the f portion.

Therefore, in order to satisfy the above conditions, the values of gradients A and B must necessarily be set to A<1.0 B>1,0.

In this case, the relationship between A and B is as follows: B = (csm - (AXc2 + csn)) / (cm -
c2) becomes.

Note that the characteristics in FIG. 4 are such that the characteristics in the first quadrant and the characteristics in the third quadrant are symmetrical.

This is because the arrangement of the spool valve 5e in FIG. 2 for each boat 5j, 5g, and 5h is symmetrical about the illustrated neutral position.

Operation B12: Return to operation 5 in FIG.

Operation ηA6: The deviation calculation means lid is the command value adjustment means 12
Deviation Er between the output value cs of the horn and the feedback signal value cf stored in the FB detection value storage means lie
Calculate.

Calculation A7: The drive determining means lie determines whether the absolute value of the deviation Er is equal to the allowable deviation Ero or smaller than the allowable deviation Ero.

Operation A8: When the determination in operation A7 is Yes, turn on both the transistor Trl and the transistor Tr2 installed in the output transistor l1g.
As a result, a voltage is output to both the wiring 11h and lli.

This sets switching valves 2 and 3 in FIG. 1 to switching positions 2a and 3a, respectively.

This means that the movement of the hydraulic actuator 1 is fixed and the operation of the hydraulic switching valve 5 is also fixed in that state, as explained in the explanation of the operation in FIG. It shows that it is in the desired condition.

On the other hand, when the determination result in calculation A7 is NO, it means that a deviation has occurred in the control state, and that deviation will be corrected by each calculation following calculation A9 below. A9: When the determination result in calculation A7 is NO, the drive determining means 11e determines whether the deviation Er is positive.

Arithmetic A10: Performance! When the determination result in A9 is Yes, in the output transistor 11g, the transistor Tri is turned off, and the transistor Tr2 is turned off.
is turned on.

As a result, a voltage is output only to the wiring 11h, the switching valve 3 in FIG. 1 is set to the switching position 3a, and the switching valve 2 remains at the switching position 2b.

As explained in the explanation of the operation in FIG. 1, pressure oil is introduced into the displacement chamber 1b of the hydraulic actuator 1, which causes the spool valve 5e in FIG. will be corrected.

Operation A11: When the determination result in operation A9 is NO, in output transistor l1g, transistor Tri is turned on and transistor Tr2 is turned off. 2 becomes the switching position 2a, and while the switching valve 3 remains at the switching position 3a, the spool valve 5e in FIG. 2 is moved to the right to correct the above deviation.

When the operation A8, AIO or All is completed, the operation returns to operation A3 in FIG. 6, and the above operation is repeated.

In addition, in the embodiment of the present invention described above, the switching valve 2
Although the hydraulic actuator 1 is controlled by 3 and 3, the hydraulic actuator 1 may be replaced with an electric actuator.

In this way, when the hydraulic actuator l is replaced with an electric actuator, the electric actuator is directly controlled electrically by the output of the output transistor l1g in FIG. This will operate the valve 5.

Furthermore, in the old calculations A8, AIO, or All, the output of the output transistor l1g operates the hydraulic actuator 1 by turning on and off the switching valves 2 and/or 3 in FIG.

However, no matter what kind of actuator this hydraulic actuator 1 is, the conclusion is that the above control should be as described above.

That is, when the above calculation A8, that is, the deviation Er is within the allowable value and the control state is satisfied, the output of the output transistor l1g stops the movement of the actuator, and the above calculation AIO or All, that is, If the deviation Er is shifted to one side or the other and the control is not satisfied, the output of the output transistor l1g may shift the actuator to one side or the other to perform the above control to correct the deviation. become.

In this way, as shown in the flow charts in FIGS. 6 and 8, the hydraulic actuator 1 is operated in proportion to the output value CS in FIG. When a deviation occurs between the two, the electronic control unit 11 performs control to correct the deviation so that it always becomes zero.

As is clear from the explanation in J2 below, the method of controlling the hydraulic switching valve control device of the present invention is as follows: 1) The voltage at the wiring 10b immediately after the electronic control device 11 is switched on is set as the neutral value Cn of the digital quantity. , this is memorized, and 2) after that, when the lever 101 is actually operated, the voltage at the wiring 10b is changed to the digital signal value ci.
The value obtained by subtracting neutral (56cn) from this signal value ci is apparently the upper input value dC.

Therefore, the method for controlling the hydraulic switching valve control device according to the present invention is as follows:
Alternatively, even if the signal generator 10a has changed over time due to long-term use, the lever 10i
The initial value in the state before the operation is used as the standard, and the initial value is newly set every time the electronic control unit 11 is turned on, so the neutral position adjustment is not performed as in the conventional case. b) Also, unlike the conventional analog value, the neutral value Cn is a digital value, so no matter how continuously the electronic control device 11 is used, its value remains constant. This has the effect of preventing electrical drift.

Further, the control method of the hydraulic switching valve control device according to the present invention is as follows: 3) As shown in Fig. 4, the output value CS in the dead zone
The value of 0 is always a constant value of zero. Therefore, C) The control device can be simplified compared to the conventional method of making the characteristic in the dead zone steep. Become.

Furthermore, the method for controlling the hydraulic switching valve control device according to the present invention is as follows: 4) As shown in FIG.
The characteristics of the d and g portions on both sides are the characteristics of the input value dC that gradually increases with the increase in the absolute value of the input value
d) Lever 1O1 in signal generator 10a (Fig. 5)
The operation is hydraulic, even if it is operated by a less skilled operator! There is no fear of load swinging immediately after the ilJ exchange valve 5 is opened, and the operation is smooth and has the effect of enabling quick operation.

Further, the control method of the hydraulic switching valve control device according to the present invention is as follows: 5) In FIG. 4, when the absolute value of the input value dC becomes 01, the value of the output value C5 is set to the offset value C5O. .

This means that when the hydraulic switching valve 5 enters operation in either direction from the neutral position, the command (output value C5) issued to the electronic control unit 11 is set to an output that rapidly increases the offset value C3O. As soon as the operation is started, the rapidly increased output causes the lap L1 or L2 (FIG. 2) of the spool valve 5e to immediately shift in that direction.

As a result, the transition occurs at the same time that the lever lOi in FIG.
The valve will be in an open state.

Therefore, despite the existence of valve overlap in the hydraulic switching valve 5, e) when the operator starts operating the lever 101 of the signal generator 10a from the neutral position, there is a very slight dead zone 1.
At the same time as starting to move lever lO1 except for 1cl,
The hydraulic motor 6 is operated as described above, and the operating feeling is no less superior than that of the conventional one shown in FIG.

[Brief explanation of drawings]

FIG. 1 shows a conventional hydraulic switching valve control device in the form of a system diagram, FIG. 2 shows a partial side sectional view of the hydraulic switching valve 5 in FIG. 1, and FIG. 3 shows a conventional hydraulic switching valve control device in FIG. FIG. 4 is a characteristic diagram showing the correlation between the input voltage vb and the output voltage Vd of the non-linear amplifier IOC; FIG. 4 is a characteristic diagram showing the correlation between the input value dc and the output value C5; dc is the wiring 10b immediately after the electronic control device 11 is switched on in FIG.
The output value C3 is the subsequent digital signal value from the wiring lOb based on the value obtained by digitizing the voltage at , and the output value C3 is the output value of the command value adjustment means 12 in FIG. FIG. 5 is a block diagram showing the electronic control device ll for carrying out the control method for the hydraulic switching valve control device according to the present invention, and FIG. 6 is a flow chart of the operation in FIG. 1. FIG. 7 shows a block diagram of the command value adjusting means 12 in FIG. 5, and FIG. 8 shows a flow chart of the operation in FIG. The symbols used in the examples are as follows. 1: Hydraulic actuator, '2 and 3: +)J
Replacement valve, 4=hydraulic source. 5: Hydraulic νJ switching valves 5a, 5b and 5C: Switching position, 5d: Potentiometer, 5e Nispool valve, 5f: Land, 5g, 5h and 5j + boat, Ll and L2: U, Pro: Hydraulic motor. IO and 11: Electronic control unit 10a: Signal generator, 10b and IO: Wiring, 11a: Multiplexer, 11b:
AD: 17/11<-ta, lie: FB detection value storage means, 11d: deviation calculation means, lie: drive determination means, l
lf: Tolerance deviation setting means, 11g: Output transistor,
llh and lli: wiring. 12: Command value adjustment means 12a and 12b: Wiring, 12c: Command input value storage means, 12d: Neutral square storage means, 12e: Deviation calculation means, 12f: Command output calculation means, 12g offset a setting means, 12h: Neutral A dead zone setting means, a command slope setting means 121, and a command inflection point setting means 12j. Patent applicant Sanwa Seiki Co., Ltd. Representative Etsushi Nishikai Figure 1 Figure 3 Figure 4 Figure 6

Claims (1)

[Claims] 1. Hydraulic switching valve (5) that controls the operation of the hydraulic motor (6).
), the switching positions (5a, 5b, 5c) are at the oil pressure ν
It is set by operating the spool valve (5e) installed inside the J exchange valve. The spool valve described in 1iii. Sign value c
The hydraulic switching valve is controlled by the deviation Er from f and the hydraulic switching valve: a: When the switching position is in the neutral position, the land (5f) in the spool valve closes the boat (5j) with an overlap state, and b: The flow of pressure oil through the port drives the hydraulic motor in either direction when the switching position is in another switching position adjacent to the neutral position. In. A: the first signal value cn from the signal generator immediately after the control is switched on is stored as a digital value in the neutral value storage means (12d); B: the subsequent signal value cn from the signal generator The difference between the digital signal value ci and the first signal value cn is expressed as the input value da
C: The relationship between the input value dc and the output value cs is (a): When the absolute value of the input value da is smaller than a predetermined constant 01, the output value cs is set to zero, (b): The absolute value of the input value dc is the predetermined constant 0.
When it is larger than 1 and smaller than another predetermined constant 02 that is larger than the predetermined constant 01, the absolute value of the output value cs becomes the offset value CSO when l da 1=cl. (C) The absolute value of the double input value dc shows a gradual increase as the absolute value of the human power value dc increases, and (C) the absolute value of the double input value dc is When it is larger than a predetermined constant 02, the absolute value of the input value dc increases from the absolute value of the output < di c s when l dc I=c2, and the output value O
Absolute of 5 (++j indicates a steeper increase than the above-mentioned gradual increase. Control force method for a hydraulic 9J switching valve control device characterized by the above operations. 2. Input value dc When the absolute value of is larger than a predetermined constant 01 and smaller than another predetermined constant 02, the absolute value of the output values C and S becomes the offset value when l dc 1=cl. From the state where the absolute value of CSO is, as the absolute value of the input value da increases, the absolute value of the output value cs shows a gradual increase, and the slope A of the increase is l,0 or less. , When the absolute value of the input value dc is larger than the other predetermined constant 02, the input value da is calculated from the absolute value of the output value C3 when l dc 1=c2.
As the absolute value of the output value cs increases, the absolute value of the output value cs shows a steeper increase than the gradual increase, and the slope B of the increase is a value of 1.0 or more. A method for controlling the hydraulic switching valve control device according to item 1.