JPS61289801A - Drive control mechanism for working apparatus of working machine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention connects a working device w such as a tilling rotary to a traveling machine such as a tractor to enable rolling operation and lifting/lowering, and the operation is controlled by an electromagnetic valve. The present invention relates to a working device drive control mechanism for a working machine configured to move the working device toward a target posture or position using an ntl pressure cylinder.

[Prior Art] Conventionally, in the work equipment drive control mechanism of this type of work equipment, in order to control the electromagnetic valve, a fixed pulse with a constant pulse width was applied to the electromagnetic valve to raise and lower the work equipment. By applying this force, the drive of the working device can be stopped with less shock.

[Problem that the invention seeks to solve]

However, since the given pulse width is constant,
If the pulse width is small, it tends to take too long to reach the target position, and on the other hand, if the pulse width is made large, an overshoot phenomenon or shock occurs that can cause the vehicle to reach the stop position when stopped. I can't avoid things like that, but... It was wise to select a recess width that was in an appropriate condition.

Therefore, based on this situation, the pulse width is increased when the deviation is large, and the pulse width is reduced when the deviation is small, in response to the deviation between the current position and the target position of the working device. Some models use a pulse width modulation method, but even in this case, the actual pulse width modulation may occur due to various causes such as changes in the weight of the working equipment, changes in the temperature of the hydraulic oil, changes in piping resistance, etc. This left problems such as the working equipment not moving or operating suddenly.

An object of the present invention is to provide an apparatus that can quickly move a working device to a target posture and position with less impact by rationally selecting control elements related to pulse width distortion.

[Means for solving problems]

The characteristic configuration according to the present invention is such that the duty in the pulse actuation signal for the electromagnetic valve is made smaller when the actual actuation speed of the working device is greater than the target actuation speed, or increased when the actual actuation speed of the working device is less than the target actuation speed. ,
The operation speed is changed according to the deviation between the target operating speed and the actual operating speed of the working device, and its effects are as follows.

[For production]

The duty is reduced as the actual operating speed increases relative to the target operating speed of the work equipment, and the actual operating speed is suppressed by reducing the ON time of the valve due to the reduction in duty. By increasing the duty and increasing the actual operating speed, it is possible to operate the working device at a speed in line with the target operating speed set assuming a desired operating mode.

By applying pulses, it is possible to reliably determine whether the working equipment is moving or not, and the pulse width modulation adjustment can also be performed in the actual operating state of the working equipment (for example, when the working equipment is in a stopped state as in the conventional case). However, since the distance from the target position is short, the duty given is small and the operating state of the working equipment is not far from that of the working equipment not operating. Can be done accurately.

〔Effect of the invention〕

As a result, despite changes in the weight of the working device, changes in the temperature of the hydraulic oil, etc., the working device can be moved to the target posture and position quickly and with less impact.

〔Example〕

As shown in FIG. 4, a working device (
The tilling rotary, which is an example of 4), is connected so that it can be raised and lowered, and the lift arms f61, f8+, which are swing-driven by hydraulic cylinders fi+, and the lower links (2) and (2) are connected by the lift rond fi+ # (71). The working device (4) is configured to have an Iv function for lifting and lowering the aircraft.

Furthermore, one of the lift ronds (7) is configured with a telescopic cylinder, and the working device (4) is configured to be capable of rolling operation, and is configured to be able to follow the ground regardless of the inclination of the body of the tractor 11+. .

Next, position control for holding the working device (4) at a desired level relative to the aircraft will be described in detail. As shown in FIG. 3, an electromagnetic bar I leg (9) is interposed in the hydraulic circuit between the hydraulic cylinder (6) and the hydraulic pump (8), and this electromagnetic bar leg (9) is connected to the descending solenoid valve ( l0) and the descending side main valve (+i) which is operated 0N-OFF by this solenoid valve t101, and the ascending side solenoid valve (1@) and the descending side main valve (+i) which is operated 0N-OFF by this solenoid valve (12).
It consists of an ascending main valve 0@ which is operated in the N-OFF state, and a check valve (14) that prevents oil from flowing to the descending side.

To explain in detail the operation mode of the electromagnetic valve (9) described in E, the ascending solenoid valve (121) is closed by the t valve signal from the control mechanism (Io), and the ascending solenoid valve (121) is closed by the closing action of the ascending solenoid valve θ. The side main valve (03) is closed, and pressure oil from the hydraulic pump (8) is sent to the hydraulic cylinder (5) via the check valve (04). ) Subsequently, the descending side solenoid is opened by the descending signal from the control mechanism 05), and the descending side main valve is opened by opening the descending solenoid valve (ln). (■) is opened and the hydraulic oil from the hydraulic cylinder (61) is returned to the tank Kasumi.

In addition to providing a control mechanism (16) with a built-in microcomputer that issues an operation control signal to the above-mentioned electromagnetic valve (9),
Into this control mechanism O-sun, a level signal for the tilling rotary (4) to the machine from the two lift arm sensors installed on the rotation shaft of the lift arm (6) and a setting signal from the position setting device are input. The position control mechanism is configured so as to

The operating signal from the control mechanism θ to the electromagnetic valve (9) is a pulse signal, as shown in FIG. Take the main valve (11), (1!
I is outputted to the electromagnetic valve (9) for use in a transient state that transitions from an ON state to an OFF state.

As shown in FIG. 5, /period f'l'1 of the ON state
Define the ratio of K to the tilling rotor as the duty α)), and change the duty of K. J −+2
1 to the target height quickly and with less impact will be explained. The above duty σ]) is shown as the following formula, D-Soujuni-EV 8: Basic duty EV-Hato-V
vo: Target operating speed By adding a value corresponding to the deviation (EV) from the speed tv), the change is made as shown in FIGS. 3(A) to 3(C). In other words, Figure 2 (b)
As shown in , if the target operating speed (V0) is greater than the basic duty, the target operating speed (V0) is smaller than the basic duty (noise).
If it is smaller, it is set to be larger than the basic duty ((4). The actual operating speed ff+ is determined by the lift arm sensor (tilling rotary (4) at 1'6).
level signal to the aircraft at an appropriate period (T) (for example, 0.0y
seconds), and 1 position information at the time of sampling (
xl) and the position information (X-1) from one cycle ago by the period +'r
Assume that it is divided by l.

For those that perform duty (I) control as described above, one electromagnetic valve (9) is connected to a continuous O
When shifting from the state where the N signal is applied to the duty (1) control, it is set to start from the OFF signal, and K is set to suppress the overshoot phenomenon of the tilling rotary (4).

The following configuration will be explained with reference to the flow sheet shown in FIG. ), calculate the positional deviation (EX) from the target value (XA) [Step ■], and calculate the magnitude relationship between this deviation (EX) and the dead band (tX) at the target position! 1# Determine whether M + 耀 rotary + 4) is in the rising state or lower yielding position, or if it is within the dead zone (c) [Status flag 5F=2o
rO], the current position is determined by turning on the solenoid valve (9).
This is done until one period (corresponding to the gradient) has elapsed, which consists of time and OFF time. l) In other words, the period (υ This is done until the sampling times & corresponding to the valve drive cycle held are reached.Also, when the valve is located within the dead zone (a) [status flag 5F = 1], the valve (
9) OFF time for one cycle (OFF over the entire υ range)
Synchronize (input gradient) into the time memory and stop the electromagnetic valve (9) [Step ■]. Next K.
To reset one period of motion (duty after υ elapses), input the previously calculated OFF time into the contents of the OFF time memory [step ■] and one target speed ( Velocity deviation (EV) from V0)
Calculate [Step ■]. Here, the tilling rotary C-Fun is again in the ascending state (5F = 2) or descending state (5F = 2).
= 0) or in the dead zone (2α)?"Certainly select the basic duty (Don or I)ou or 0, and calculate the duty ID+ from the speed deviation (EV) [Step 2] ]. If the duty (the value of Di multiplied by ioθ) is smaller than the base KO, D is considered 0 and 10
If it is larger than 0, it is considered as 100, and if 0≦D≦100, the calculated value is used and the par? Rep (9) off-tie A
Calculate [step ('D)].

There is an I rate (Bl) that determines the operating state of the valve (9) by an interrupt command for the main I rate (Al) as described above, and this interrupt rate fBl
i! A certain fixed time for the main routine prisoners (
For example, an interrupt is executed every /ms), and the main? It is controlled by a timer (different from the timer 2). Based on the off time (OFFT) calculated in the main routine prisoner, the elapsed time (
If t8) is shorter than 0FFT, OF of valve (9)
Maintain the F state, and when the elapsed time (tρ becomes longer than 0FFT), turn on the UP valve of the electromagnetic pole I leg (9) in the case of L valve-like l1l (SF = 2), and turn on the descending state (SF = 0).
), the Down valve is turned on, and when it is in the dead zone (g)*, the valve is turned off, so that the valve is always operated from the OFF state, and The operating state is determined each time.

[Another example]

■ The duty control mode of the working device (4) as described above may be used not only for position control (elevating control) but also for rolling control. ), it is possible to adopt a duty control mode in which the operating speed is used as a control medium.

@Also, a duty control mode may be adopted for automatic tilling depth control to maintain the working device (4) at a set depth. In this case, the detected value of the cover sensor (19) is used as the tilling depth setting device (not shown). ]
To raise and lower the working device (4) until the set value is reached, the hydraulic cylinder (9) is set to duty control OA1.

[Brief explanation of the drawing]

The drawings show an embodiment of a working device drive control mechanism for a working machine according to the present invention, and FIGS. (
B) indicates duty, Figure 2 (A), (B), () →
is a graph showing the duty arrest due to the deviation of the actual speed from the target speed, Fig. 3 is a configuration diagram showing the drive system of the working device, Fig. 4 is a side view showing the traveling machine and the working device, and Fig. 5 7 is a graph showing drive pulses, FIG. wJ6 is a graph showing pulse rise characteristics when shifting from continuous drive control to duty control, and FIG. 7 is a flowchart. (1)......Traveling body, (4)...Working device, (6)...Hydraulic cylinder, (9)...
...Solenoid valve, (V0)...Target operating speed, (■)...Actual operating speed, (EV)...
···deviation. Agent Patent Attorney Kitamura Shume Me Me '+1 7 Diagram Timer π Valke Lend; Der-ni 1 4° Timer Vo
r i separate 5 no j [convex F koi straight^; basic situation.

Claims (1)

[Claims] A working device (4) connected to the traveling body (1) so that its posture or position can be freely changed is moved toward a target posture or position by a hydraulic cylinder (5) whose operation is controlled by a solenoid valve (9). In the working device drive control mechanism of the working device configured, the duty (D) in the pulse actuation signal to the electromagnetic valve (9) is set so that the actual operating speed (V) of the working device (4) is the target operating speed (V_0 ), the target operating speed (V_0) and the actual operating speed (V) of the working device (4) are set so that the target operating speed (V_0) and the actual operating speed (V) become smaller when the operating speed is larger than deviation(
A working device drive control mechanism of a working device that is adapted to be changed by EV).