JPS6228318B2 - - Google Patents
Info
- Publication number
- JPS6228318B2 JPS6228318B2 JP55062309A JP6230980A JPS6228318B2 JP S6228318 B2 JPS6228318 B2 JP S6228318B2 JP 55062309 A JP55062309 A JP 55062309A JP 6230980 A JP6230980 A JP 6230980A JP S6228318 B2 JPS6228318 B2 JP S6228318B2
- Authority
- JP
- Japan
- Prior art keywords
- rotation speed
- pump
- combustion engine
- internal combustion
- speed deviation
- 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
Links
- 238000002485 combustion reaction Methods 0.000 claims description 33
- 230000007423 decrease Effects 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 description 15
- 238000006243 chemical reaction Methods 0.000 description 13
- 239000000446 fuel Substances 0.000 description 12
- 238000002347 injection Methods 0.000 description 11
- 239000007924 injection Substances 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 230000003247 decreasing effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
Landscapes
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Control Of Positive-Displacement Pumps (AREA)
Description
【発明の詳細な説明】
この発明は内燃機関と可変容量形の液圧ポンプ
とを含む系の制御方法に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method of controlling a system including an internal combustion engine and a variable displacement hydraulic pump.
従来、内燃機関と液圧ポンプとを含む系の制御
方法としては、たとえば特開昭50−4601号公報に
示されるように、内燃機関の出力回転数の低下を
検出して、液圧的手段を用いて液圧ポンプの傾転
角に制限を加える全馬力制御方法があるが、この
場合には油温の変動の影響を受けやすく、また内
燃機関の目標回転数の変化への対応が困難であ
り、応答性が悪く、系全体の動的安定性を良好に
保つことがむずかしく、さらに液圧ポンプの最大
傾転角を外部から制御するときにはレギユレータ
の構造が複雑になる。 Conventionally, as a control method for a system including an internal combustion engine and a hydraulic pump, for example, as shown in Japanese Patent Laid-Open No. 50-4601, a decrease in the output rotation speed of the internal combustion engine is detected and a hydraulic pump is used. There is a total horsepower control method that limits the tilting angle of the hydraulic pump using Therefore, the response is poor, it is difficult to maintain good dynamic stability of the entire system, and the structure of the regulator becomes complicated when the maximum tilting angle of the hydraulic pump is controlled from the outside.
この発明は上述の問題点を解決するためになさ
れたもので、応答性、動的安定性が良好で、かつ
内燃機関が停止することなく全馬力制御をするこ
とができる内燃機関と液圧ポンプとを含む系の制
御方法を提供することを目的とする。 This invention was made to solve the above-mentioned problems, and includes an internal combustion engine and a hydraulic pump that have good responsiveness and dynamic stability, and that can control full horsepower without stopping the internal combustion engine. The purpose of the present invention is to provide a method for controlling a system including the following.
この目的を達成するため、この発明においては
目標回転数と出力回転数との差すなわち回転数偏
差を求め、この回転数偏差が設定値より大きいと
き、この回転数偏差と増減が逆に対応するポンプ
制御係数を求め、このポンプ制御係数と操作レバ
ー操作量とを乗算して傾転角目標値を求めて、こ
の傾転角目標値により液圧ポンプの傾転角を制御
するとともに、上記設定値を上記目標回転数によ
り変化させる。 In order to achieve this objective, in this invention, the difference between the target rotation speed and the output rotation speed, that is, the rotation speed deviation, is determined, and when this rotation speed deviation is larger than a set value, the rotation speed deviation and increase/decrease correspond inversely to each other. Determine the pump control coefficient, multiply this pump control coefficient by the operating amount of the operating lever to determine the tilt angle target value, control the tilt angle of the hydraulic pump using this tilt angle target value, and adjust the above settings. The value is changed depending on the target rotation speed.
第１図はこの発明に係る制御方法を実施するた
めの装置を示す図である。図において１は内燃機
関、２，３は内燃機関１によつて駆動される可変
容量形の液圧ポンプ、４，５はポンプ２，３の斜
板もしくは斜軸２ａ，３ａの傾転角を制御するレ
ギユレータ、６は内燃機関１の燃料噴射ポンプ
で、燃料噴射ポンプ６はこれに設けたラツクを操
作することにより所望量の燃料を内燃機関１に供
給する。７は内燃機関１のスタータスイツチ、８
は内燃機関１のアクセルレバー、９，１０はそれ
ぞれポンプ２，３の傾転角の最大値を外部から制
御するための操作レバー、１１は内燃機関１の出
力回転数を検出する検出器、１３は目標回転数Ｎ
r、操作レバー９，１０の操作量L1，L2、出力回
転数Ｎから傾転角目標値Ｘi1，Ｘi2およびラツク
変位目標値Ｍを求めて、レギユレータ４，５およ
び燃料噴射ポンプ６を制御する制御装置である。 FIG. 1 is a diagram showing an apparatus for implementing the control method according to the present invention. In the figure, 1 is an internal combustion engine, 2 and 3 are variable displacement hydraulic pumps driven by the internal combustion engine 1, and 4 and 5 are the tilt angles of the swash plates or slant shafts 2a and 3a of the pumps 2 and 3. The regulator 6 to be controlled is a fuel injection pump for the internal combustion engine 1, and the fuel injection pump 6 supplies a desired amount of fuel to the internal combustion engine 1 by operating a rack provided thereon. 7 is a starter switch for internal combustion engine 1, 8
1 is an accelerator lever of the internal combustion engine 1; 9 and 10 are operating levers for externally controlling the maximum tilt angles of the pumps 2 and 3; 11 is a detector for detecting the output rotation speed of the internal combustion engine 1; 13 is the target rotation speed N
r , the operating amounts L 1 , L 2 of the operating levers 9, 10, and the output rotational speed N, the tilt angle target values X i1 , X i2 and the easy displacement target value M are determined, and the regulators 4, 5 and the fuel injection pump 6 are determined. This is a control device that controls the
第２図は燃料噴射ポンプ６を示す図である。図
において６ａは燃料噴射ポンプ本体、１４は燃料
噴射ポンプ本体６ａの燃料噴射量を制御するラツ
ク、１２はラツク１４の変位を検出する検出器、
２０は波形整形器、１５はラツク１４を駆動する
可動線輪、１６はヨーク、１７は永久磁石、１８
はラツク１４の戻しばね、１９は電流増幅器、４
０は加算器で、加算器４０でラツク変位目標値Ｍ
とラツク変位Ｙとの差ΔＹを求め、この差ΔＹで
電流増幅器１９を介して可動線輪１５を制御す
る。このため、ラツク１４の変位はラツク変位目
標値Ｍに応じた値となる。 FIG. 2 is a diagram showing the fuel injection pump 6. As shown in FIG. In the figure, 6a is a fuel injection pump main body, 14 is a rack that controls the fuel injection amount of the fuel injection pump main body 6a, 12 is a detector that detects the displacement of the rack 14,
20 is a waveform shaper, 15 is a movable wire that drives the rack 14, 16 is a yoke, 17 is a permanent magnet, 18
is the return spring of the rack 14, 19 is the current amplifier, 4
0 is an adder, and the adder 40 calculates the easy displacement target value M.
The difference ΔY between the rack displacement Y and the rack displacement Y is determined, and the movable wire ring 15 is controlled via the current amplifier 19 using this difference ΔY. Therefore, the displacement of the rack 14 has a value corresponding to the rack displacement target value M.
第３図はレギユレータ４を示す図である。図に
おいて２１は油圧シリンダ２１ａ，２１ｂからな
る油圧シリンダ装置で、油圧シリンダ装置２１に
より斜板もしくは斜軸２ａが駆動される。２６は
パイロツト油圧源、２７はタンク、２２〜２５は
油圧シリンダ２１ａ，２１ｂを制御する２位置２
方電磁弁、３４は電磁弁２２〜２５を制御する増
幅器、２８はポンプ２の傾転角を検出する検出
器、２９は波形整形器、４１は加算器で、加算器
４１で傾転角目標値Ｘi1と傾転角Ｘp1との差ΔX1
を求め、この差ΔX1で増幅器３４を介して電磁
弁２２〜２５を制御する。すなわち、電磁弁２
２，２３のソレノイドを励磁すると、油圧源２６
からの圧油が油圧シリンダ２１ａに作用するとと
もに、油圧シリンダ２１ｂはタンク２７に連通し
ているから、ポンプ２の傾転角は増加する。逆
に、電磁弁２４，２５のソレノイドを励磁する
と、ポンプ２の傾転角は減少する。そして、電磁
弁２３，２５のソレノイドを励磁すると、電磁弁
２２〜２５はすべて２回路を閉じるから、ポンプ
２の傾転角はその状態を維持する。このようにし
て、傾転角は傾転角目標値Ｘi1に応じた値とな
る。なお、レギユレータ５についても同様に構成
されているので、その詳細な説明は省略する。 FIG. 3 is a diagram showing the regulator 4. In the figure, reference numeral 21 denotes a hydraulic cylinder device consisting of hydraulic cylinders 21a and 21b, and the hydraulic cylinder device 21 drives a swash plate or a slant shaft 2a. 26 is a pilot hydraulic power source, 27 is a tank, and 22 to 25 are two positions 2 that control the hydraulic cylinders 21a and 21b.
34 is an amplifier that controls the solenoid valves 22 to 25, 28 is a detector that detects the tilting angle of the pump 2, 29 is a waveform shaper, 41 is an adder, and the adder 41 determines the tilting angle target. Difference between value X i1 and tilt angle X p1 ΔX 1
is determined, and the solenoid valves 22 to 25 are controlled via the amplifier 34 using this difference ΔX 1 . That is, solenoid valve 2
When the solenoids 2 and 23 are energized, the hydraulic power source 26
Since the pressure oil from the pump 2 acts on the hydraulic cylinder 21a and the hydraulic cylinder 21b communicates with the tank 27, the tilting angle of the pump 2 increases. Conversely, when the solenoids of the electromagnetic valves 24 and 25 are energized, the tilt angle of the pump 2 decreases. Then, when the solenoids of the electromagnetic valves 23 and 25 are energized, all of the electromagnetic valves 22 to 25 close two circuits, so that the tilt angle of the pump 2 maintains that state. In this way, the tilt angle becomes a value corresponding to the tilt angle target value X i1 . Note that since the regulator 5 is similarly configured, detailed explanation thereof will be omitted.
第４図は制御装置１３を示す図である。図にお
いて４２は加算器、３０はラツク変位目標値発生
回路、３７は修正値発生回路、４３は加算器、３
３はポンプ制御係数発生回路、４４，４５は乗算
器である。 FIG. 4 is a diagram showing the control device 13. In the figure, 42 is an adder, 30 is a rack displacement target value generation circuit, 37 is a correction value generation circuit, 43 is an adder, 3
3 is a pump control coefficient generation circuit, and 44 and 45 are multipliers.
この制御装置１３においては、加算器４２で目
標回転数Ｎrと出力回転数Ｎとの差すなわち回転
数偏差ΔＮを求め、ラツク変位目標値発生回路３
０で第５図に示すグラフの関数に基いて回転数偏
差ΔＮからラツク変位目標値Ｍを求める。また、
修正値発生回路３７で第６図に示すグラフの関数
に基いて目標回転数Ｎrから修正値Δｎを求め、
加算器４３で回転数偏差ΔＮと修正値Δｎとの和
すなわち修正回転数偏差ΔＮaを求め、ポンプ制
御係数発生回路３３で第７図に示すグラフの関数
に基いて修正回転数偏差ΔＮaからポンプ制御係
数Ｋpを求め、乗算器４４，４５でポンプ制御係
数Ｋpと操作量L1，L2との積すなわち傾転角目標
値Ｘi1，Ｘi2を求める。 In this control device 13, the adder 42 calculates the difference between the target rotation speed Nr and the output rotation speed N, that is, the rotation speed deviation ΔN, and the rack displacement target value generation circuit 3
0, the easy displacement target value M is determined from the rotational speed deviation ΔN based on the function of the graph shown in FIG. Also,
The correction value generation circuit 37 calculates the correction value Δn from the target rotational speed Nr based on the function of the graph shown in FIG.
The adder 43 calculates the sum of the rotational speed deviation ΔN and the corrected value Δn, that is, the corrected rotational speed deviation ΔN a , and the pump control coefficient generating circuit 33 calculates the corrected rotational speed deviation ΔN a from the corrected rotational speed deviation ΔN a based on the function of the graph shown in FIG. The pump control coefficient K p is determined, and the multipliers 44 and 45 determine the product of the pump control coefficient K p and the manipulated variables L 1 and L 2 , that is, the tilting angle target values X i1 and X i2 .
すなわち、この発明の制御方法においては、回
転数偏差ΔＮが増加したとき、ラツク変位目標値
Ｍをそれに応じて増加することにより、燃料噴射
ポンプ６の燃料噴射量を増加し、内燃機関１の燃
焼系の出力馬力を増加する。このとき、内燃機関
１のフライホイルの出力回転数が増加するから、
回転数偏差ΔＮが小さくなり、出力回転数Ｎは目
標回転数Ｎrに近づけられる。しかし、ポンプ
２，３の吐出圧P1，P2が高くなり、ポンプ２，３
のトルク（吐出圧P1，P2と傾転角との積）の合計
値すなわちトルク反力ＴPが大きすぎて、燃焼系
の出しうる最大トルクにうち勝つと、出力回転数
Ｎが低下し、ついには内燃機関１が停止する。こ
れを防止するため、回転数偏差ΔＮが大きくなつ
たときに、それに応じポンプ２，３の傾転角を減
少させ、トルク反力ＴPを減少させることが考え
られる。すなわち、関数発生器３７がない場合に
は、ΔＮa＝ΔＮとなり、回転数偏差ΔＮが増加
するとポンプ制御系数Ｋpが減少し、傾転角目標
値Ｘi1，Ｘi2が減少するため、ポンプ２，３の傾
転角が減少して、トルク反力ＴPが減少するか
ら、出力回転数Ｎの減少を防止することができ、
内燃機関１の停止を防止することができる。 That is, in the control method of the present invention, when the rotational speed deviation ΔN increases, the easy displacement target value M is increased accordingly, thereby increasing the fuel injection amount of the fuel injection pump 6 and reducing the combustion of the internal combustion engine 1. Increase the output horsepower of the system. At this time, the output rotation speed of the flywheel of the internal combustion engine 1 increases, so
The rotational speed deviation ΔN becomes smaller, and the output rotational speed N is brought closer to the target rotational speed N r . However, the discharge pressures P 1 and P 2 of pumps 2 and 3 become high, and
If the total value of the torque (product of the discharge pressures P 1 and P 2 and the tilting angle), that is, the torque reaction force T P , is too large and overcomes the maximum torque that the combustion system can produce, the output rotation speed N will decrease. Then, the internal combustion engine 1 finally stops. In order to prevent this, it is conceivable to reduce the tilting angles of the pumps 2 and 3 accordingly when the rotational speed deviation ΔN increases, thereby reducing the torque reaction force T P . That is, in the absence of the function generator 37, ΔN a =ΔN, and as the rotational speed deviation ΔN increases, the pump control system K p decreases, and the tilt angle target values X i1 and X i2 decrease, so that the pump Since the tilt angles 2 and 3 decrease and the torque reaction force T P decreases, it is possible to prevent a decrease in the output rotation speed N.
Stopping of the internal combustion engine 1 can be prevented.
このような制御を行なつた場合のポンプ２の特
性を第８図に示す。この図はポンプ２の吐出圧P1
と傾転角Ｘp1との関係を示すものである。図から
わかるように、ポンプ３の吐出圧P2が低い場合
（P2＝Ｐ2Lの場合）には、吐出圧P1が高圧になる
まで傾転角Ｘp1は減少しないが、吐出圧P2が高い
場合（P2＝Ｐ2Hの場合）には、吐出圧P1が比較的
低い段階で傾転角Ｘp1が減少する。そして、両者
の場合とも、内燃機関１の出力馬力（出力回転数
と出力トルクとの積）はほぼ一定に保たれる。 FIG. 8 shows the characteristics of the pump 2 when such control is performed. This figure shows the discharge pressure P 1 of pump 2
This shows the relationship between and the tilt angle X p1 . As can be seen from the figure, when the discharge pressure P 2 of the pump 3 is low (P 2 = P 2L ), the tilting angle X p1 does not decrease until the discharge pressure P 1 becomes high; 2 is high (P 2 =P 2H ), the tilting angle X p1 decreases when the discharge pressure P 1 is relatively low. In both cases, the output horsepower (product of output rotation speed and output torque) of the internal combustion engine 1 is kept approximately constant.
また、内燃機関１の出力特性を第９図に示す。
この図は出力回転数Ｎと出力トルクＴeとの関係
を示すものである。図からわかるように、目標回
転数Ｎrが高い場合（Ｎr＝ＮrHの場合）には、ト
ルク反力ＴPがＴeH以上になつたとしても、出力
回転数Ｎが低下した時、出力トルクＴeがＴeH以
上になりうるから、ポンプ制御係数Ｋpの特性の
傾きを極端に大きくしなくとも、すなわち傾転角
を急に小さくしなくとも、内燃機関１が停止する
ことはない。しかし、中間速度の場合（Ｎr＝Ｎr
ｐの場合）、アイドリングの場合（Ｎr＝ＮrIの場
合）には、トルク反力ＴPがＴeP，ＴeIに達する
と、出力トルクＴeがＴeP，ＴeI以上にはなり得
ないから、内燃機関１が停止してしまう。これを
防止するため、ポンプ制御係数Ｋpの特性の傾き
を大きく設定して、回転数偏差ΔＮ（＝ΔＮa）
が所定値に達したら、急に傾転角を小さくしてト
ルク反力ＴPを小さくすることが考えられるが、
この場合には制御系のゲイン定数を大きくするこ
とと等価であり、系の発振を招く危険性がある。 Further, the output characteristics of the internal combustion engine 1 are shown in FIG.
This figure shows the relationship between the output rotational speed N and the output torque T e . As can be seen from the figure, when the target rotation speed N r is high (N r = N rH ), even if the torque reaction force T P exceeds T eH , when the output rotation speed N decreases, Since the output torque T e can exceed T eH , the internal combustion engine 1 will not stop even if the slope of the characteristic of the pump control coefficient K p does not become extremely large, that is, the tilt angle does not suddenly decrease. do not have. However, for intermediate speeds (N r = N r
p ), in the case of idling ( Nr = NrI ), when the torque reaction force T P reaches T eP , T eI , the output torque T e cannot exceed T eP , T eI . Since there is no internal combustion engine 1, the internal combustion engine 1 will stop. In order to prevent this, the slope of the characteristic of the pump control coefficient K p is set to a large value so that the rotation speed deviation ΔN (=ΔN a )
When reaches a predetermined value, it is conceivable to suddenly reduce the tilting angle to reduce the torque reaction force TP .
In this case, this is equivalent to increasing the gain constant of the control system, and there is a risk that the system will oscillate.
そこで、この発明の制御方法においては、修正
値発生回路３７により、目標回転数Ｎrが減少し
たときに増加する修正値Δｎを求め、この修正値
Δｎを回転数偏差ΔＮに加算して修正回転数偏差
ΔNaを求めて、この修正回転数偏差ΔＮaが所定
値ΔＮa1に達したとき、ポンプ制御係数Ｋpを減
少させることにより、ポンプ２，３の傾転角を減
少させる。このことは、第１０図に示すように、
目標回転数Ｎrが大きいときには、回転数偏差Δ
Ｎがある程度大きくなつたときにポンプ制御係数
Ｋpを減少させ、目標回転数Ｎrが小さいときに
は、回転数偏差ΔＮが小さいときにポンプ制御係
数Ｋpを減少させることと同じである。したがつ
て、中間速度の場合、アイドリングの場合には、
回転数偏差ΔＮが少し大きくなると、ポンプ制御
係数Ｋpが減少し、ポンプ２，３の傾転角が減少
するため、トルク反力ＴPが減少するので、トル
ク反力ＴPが内燃機関１の最大出力トルクを越え
ることがないから、内燃機関１が停止するのを防
止することができる。すなわち、出力回転数Ｎと
トルク反力ＴPとの関係は第１１図に示すように
なり、ポンプ２，３の吐出圧P1，P2が上昇して
も、ポンプ２，３の傾転角が減少されるので、ト
ルク反力ＴPが内燃機関１の最大出力トルクを越
えることはなく、内燃機関１が停止するのが防止
される。 Therefore, in the control method of the present invention, the correction value generation circuit 37 calculates a correction value Δn that increases when the target rotation speed N r decreases, and adds this correction value Δn to the rotation speed deviation ΔN to generate a correction rotation. When the corrected rotational speed deviation ΔN a reaches a predetermined value ΔN a1 , the tilting angles of the pumps 2 and 3 are decreased by decreasing the pump control coefficient K p . This means that, as shown in Figure 10,
When the target rotation speed N r is large, the rotation speed deviation Δ
This is the same as reducing the pump control coefficient K p when N becomes large to a certain extent, and decreasing the pump control coefficient K p when the target rotation speed N r is small and the rotation speed deviation ΔN is small. Therefore, at intermediate speeds, when idling,
When the rotational speed deviation ΔN increases a little, the pump control coefficient K p decreases, and the tilt angles of the pumps 2 and 3 decrease, so the torque reaction force T P decreases . Since the maximum output torque of the internal combustion engine 1 is not exceeded, it is possible to prevent the internal combustion engine 1 from stopping. In other words, the relationship between the output rotational speed N and the torque reaction force T P is as shown in FIG. Since the angle is reduced, the torque reaction force T P does not exceed the maximum output torque of the internal combustion engine 1 and the internal combustion engine 1 is prevented from stopping.
なお、第６図に示す目標回転数Ｎrと修正値Δ
ｎの関係を変えることにより、第１１図に示す出
力回転数Ｎとトルク反力ＴPとの関係を任意に設
定することができる。また、制御装置１３をマイ
クロコンピユータで構成することが可能である。 In addition, the target rotation speed Nr and correction value Δ shown in Fig. 6
By changing the relationship of n, the relationship between the output rotational speed N and the torque reaction force T P shown in FIG. 11 can be arbitrarily set. Moreover, it is possible to configure the control device 13 with a microcomputer.
以上説明したように、この発明に係る内燃機関
と液圧ポンプとを含む系の制御方法においては、
目標回転数がどんな値であつても内燃機関が停止
することはない。また、液圧ポンプの吐出圧が上
昇してトルク反力が大きくなつたときには、液圧
ポンプの傾転角を急に減少させる必要はないか
ら、液圧ポンプの傾転角が周期的に変動すること
がなく、安定した系となる。さらに、出力回転数
に対する液圧ポンプのトルク反力の特性を用途に
応じて任意にかつ容易に設定することができる。
このように、この発明の効果は顕著である。 As explained above, in the method for controlling a system including an internal combustion engine and a hydraulic pump according to the present invention,
The internal combustion engine will never stop no matter what the target rotational speed is. In addition, when the discharge pressure of the hydraulic pump increases and the torque reaction force increases, there is no need to suddenly decrease the tilting angle of the hydraulic pump, so the tilting angle of the hydraulic pump changes periodically. This results in a stable system. Furthermore, the characteristics of the torque reaction force of the hydraulic pump with respect to the output rotation speed can be arbitrarily and easily set according to the application.
As described above, the effects of this invention are remarkable.
第１図はこの発明に係る制御方法を実施するた
めの装置を示す図、第２図は内燃機関の燃料噴射
ポンプを示す図、第３図は液圧ポンプのレギユレ
ータを示す図、第４図は制御装置を示す図、第５
図はラツク変位目標値発生回路の特性を示すグラ
フ、第６図は修正値発生回路の特性を示すグラ
フ、第７図はポンプ制御係数発生回路の特性を示
すグラフ、第８図は液圧ポンプの吐出圧と傾転角
との関係を示すグラフ、第９図は内燃機関の出力
回転数と出力トルクとの関係を示すグラフ、第１
０図は回転数偏差とポンプ制御係数との関係を示
すグラフ、第１１図は出力回転数と出力トルク、
トルク反力との関係を示すグラフである。
１……内燃機関、２，３……液圧ポンプ、４，
５……レギユレータ、６……燃料噴射ポンプ、８
……アクセルレバー、９，１０……操作レバー、
１１……検出器、１２……検出器、１３……制御
装置、３０……ラツク変位目標値発生回路、３３
……ポンプ制御係数発生回路、３７……修正値発
生回路、４０〜４３……加算器、４４，４５……
乗算器。
Fig. 1 is a diagram showing a device for carrying out the control method according to the present invention, Fig. 2 is a diagram showing a fuel injection pump of an internal combustion engine, Fig. 3 is a diagram showing a regulator of a hydraulic pump, and Fig. 4 is a diagram showing a regulator of a hydraulic pump. Figure 5 shows the control device.
Figure 6 is a graph showing the characteristics of the easy displacement target value generation circuit, Figure 6 is a graph showing the characteristics of the correction value generation circuit, Figure 7 is a graph showing the characteristics of the pump control coefficient generation circuit, and Figure 8 is the graph showing the characteristics of the hydraulic pump. Fig. 9 is a graph showing the relationship between the discharge pressure and the tilt angle of the internal combustion engine.
Figure 0 is a graph showing the relationship between rotation speed deviation and pump control coefficient, Figure 11 is a graph showing the relationship between rotation speed deviation and pump control coefficient, and Figure 11 is a graph showing the relationship between rotation speed deviation and pump control coefficient.
It is a graph showing the relationship with torque reaction force. 1... Internal combustion engine, 2, 3... Hydraulic pump, 4,
5...Regulator, 6...Fuel injection pump, 8
...accelerator lever, 9,10...operation lever,
11...Detector, 12...Detector, 13...Control device, 30...Easy displacement target value generation circuit, 33
... Pump control coefficient generation circuit, 37 ... Correction value generation circuit, 40 to 43 ... Adder, 44, 45 ...
Multiplier.
Claims (1)
数偏差を求め、この回転数偏差が設定値より大き
いとき、この回転数偏差と増減が逆に対応するポ
ンプ制御係数を求め、このポンプ制御係数と操作
レバー操作量とを乗算して傾転角目標値を求め
て、この傾転角目標値により液圧ポンプの傾転角
を制御するとともに、上記設定値を上記目標回転
数により変化させることを特徴とする内燃機関と
液圧ポンプとを含む系の制御方法。1 Find the difference between the target rotation speed and the output rotation speed, that is, the rotation speed deviation, and when this rotation speed deviation is larger than the set value, calculate the pump control coefficient whose increase/decrease corresponds inversely to this rotation speed deviation, and calculate this pump control coefficient. and the operation lever operation amount to obtain a tilt angle target value, control the tilt angle of the hydraulic pump using this tilt angle target value, and change the set value according to the target rotation speed. A method for controlling a system including an internal combustion engine and a hydraulic pump, characterized by:
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6230980A JPS56159580A (en) | 1980-05-13 | 1980-05-13 | Method of controlling system including internal combustion engine and hydraulic pump |
| GB8116765A GB2072890B (en) | 1979-10-15 | 1980-10-14 | Method of controlling internal combustion engine and hydraulic pump system |
| DE803049938A DE3049938A1 (en) | 1979-10-15 | 1980-10-14 | Method of controlling internal combustion engine and hydraulic pump system |
| US06/276,367 US4395199A (en) | 1979-10-15 | 1980-10-14 | Control method of a system of internal combustion engine and hydraulic pump |
| PCT/JP1980/000247 WO1981001031A1 (en) | 1979-10-15 | 1980-10-14 | Method of controlling internal combustion engine and hydraulic pump system |
| EP80901973A EP0037838B1 (en) | 1979-10-15 | 1981-04-21 | Method of controlling internal combustion engine and hydraulic pump system |
| SE8103708A SE447594B (en) | 1979-10-15 | 1981-06-12 | COMBUSTION ENGINE AND HYDRAULUM PUMP SYSTEM |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6230980A JPS56159580A (en) | 1980-05-13 | 1980-05-13 | Method of controlling system including internal combustion engine and hydraulic pump |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS56159580A JPS56159580A (en) | 1981-12-08 |
| JPS6228318B2 true JPS6228318B2 (en) | 1987-06-19 |
Family
ID=13196399
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6230980A Granted JPS56159580A (en) | 1979-10-15 | 1980-05-13 | Method of controlling system including internal combustion engine and hydraulic pump |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS56159580A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1988001349A1 (en) * | 1986-08-15 | 1988-02-25 | Kabushiki Kaisha Komatsu Seisakusho | Hydraulic pump control unit |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS591845U (en) * | 1982-06-28 | 1984-01-07 | 株式会社小松製作所 | Construction machinery engine control device |
| JPS591846U (en) * | 1982-06-28 | 1984-01-07 | 株式会社小松製作所 | Construction machinery engine control device |
| JPS59153989A (en) * | 1983-02-19 | 1984-09-01 | Hitachi Constr Mach Co Ltd | Control device for drive system of hydraulic pump |
| JPS60195339A (en) * | 1984-03-17 | 1985-10-03 | Hitachi Constr Mach Co Ltd | Hydraulic pump driving system controller |
| JPS60195338A (en) * | 1984-03-17 | 1985-10-03 | Hitachi Constr Mach Co Ltd | Hydraulic pump driving system controller |
| US4637781A (en) * | 1984-03-30 | 1987-01-20 | Kabushiki Kaisha Komatsu Seisakusho | Torque regulating system for fluid operated pump displacement control systems |
| JP4410640B2 (en) * | 2004-09-06 | 2010-02-03 | 株式会社小松製作所 | Load control device for engine of work vehicle |
-
1980
- 1980-05-13 JP JP6230980A patent/JPS56159580A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1988001349A1 (en) * | 1986-08-15 | 1988-02-25 | Kabushiki Kaisha Komatsu Seisakusho | Hydraulic pump control unit |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS56159580A (en) | 1981-12-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4606313A (en) | Method of and system for controlling hydraulic power system | |
| EP0181865B1 (en) | Hydrostatic vehicle control | |
| EP0182788B1 (en) | Hydrostatic vehicle control | |
| JP3888700B2 (en) | Hydraulic power control device | |
| KR910001692B1 (en) | Rotational frequency control device for internal combustion engine | |
| CN111828622B (en) | Hydrostatic axial piston pump, hydrostatic travel drive and control method | |
| CN110657236A (en) | Hydrostatic axial piston pump for a hydrostatic travel drive | |
| JPS6228318B2 (en) | ||
| US3983848A (en) | Fuel injection system | |
| US4711211A (en) | Fuel injection apparatus for internal combustion engine | |
| JPS628620B2 (en) | ||
| JP2678355B2 (en) | Control equipment for construction machinery | |
| JP2000154803A (en) | Engine lag-down prevention device for hydraulic construction machine | |
| JPS6318011B2 (en) | ||
| CN110657235B (en) | Wheel drive arrangement for a hydrostatic transmission and hydrostatic transmission | |
| JPH08312406A (en) | Method and equipment for controlling torque of internal combustion engine | |
| US7873462B2 (en) | Method and device for air pilot control in speed-controlled internal combustion engines | |
| JP2000161302A (en) | Engine lug-down prevention device for hydraulic construction machine | |
| US4727836A (en) | Fuel injection apparatus for internal combustion engine | |
| JPH10220274A (en) | Control method for engine of construction machine | |
| JP3538001B2 (en) | Engine control device for construction machinery | |
| JPS60195339A (en) | Hydraulic pump driving system controller | |
| JPS6230312B2 (en) | ||
| JPH0534519B2 (en) | ||
| JPH02115582A (en) | Input torque controller for variable capacity type hydraulic pump |