JPS62288912A - Tuner for plural machines - Google Patents

Abstract

PURPOSE:To secure the high work speed and a high precision and to perform the tuning operation by including an operation signal based on feedback control and an open loop operation signal in an operation command signal outputted to operating means of first and second machines. CONSTITUTION:An adder 31 and a controller 32 constitute the first control means, namely, a feedback control means which obtains the deviation between a displacement signal outputted from a first displacement detecting means 13 and that outputted from a second displacement detecting means 23 and generates a first operation signal based on this deviation. A compensator 33 constitutes a second control means, namely, an open loop control means which gives a second operation signal based on a target signal from a target signal generating means 1. Thus, the characteristic of an operating means 21 of a second oil pressure shovel 20 is approximately equalized to that of an operating means 11 of a first oil pressure shovel 10, and the high work speed and the high precision are secured to perform the tuning operation.

Description

Detailed Description of the Invention 3. Detailed Description of the Invention (Field of Industrial Application) The present invention relates to a synchronization device for synchronized operation of a plurality of machines of the same type, such as a plurality of hydraulic excavators and a plurality of cranes.

<Prior art> It has an operating means constituted by a plurality of machines, such as a hydraulic pump, a switching valve, a hydraulic actuator, etc., and movable parts such as a boom and an arm that are displaced in accordance with the amount of operation output from this operating means. A first machine, for example, a first hydraulic excavator, and a second machine, for example, a second hydraulic excavator, having operating means and movable parts equivalent to those of the first hydraulic excavator are arranged at a predetermined work place, and one The target signal of the target signal generating means is given to both the operating means of the first hydraulic excavator and the operating means of the second hydraulic excavator, so that the same signal is generated by the two hydraulic excavators, the first hydraulic excavator and the second hydraulic excavator. There is a desire to improve work efficiency by having these two hydraulic excavators work together or by having these two hydraulic excavators work together in one work.

<Problems to be Solved by the Invention> However, in such cases, it is not easy to give the same target signal to both the operating means of the first hydraulic excavator and the operating means of the second hydraulic excavator. However, the above-mentioned two operating means cause variations in characteristics, and therefore errors occur in the operating amounts output from these operating means to the movable part, and as a result, it is difficult to perform an accurate synchronized operation.

In addition, the first hydraulic excavator is set as the main machine and the second hydraulic excavator is set as the subordinate machine, and the actual displacement of the movable part of the first hydraulic excavator is detected and the movable part of the second hydraulic excavator is adjusted. Tracking can also be done as an application of so-called mask slave control, but since this is basically feedback control, it is difficult to use a hydraulic excavator with low rigidity that has long arms such as arms and booms as movable parts. With machines, it is difficult to ensure fast working speed and high accuracy.

The present invention has been made in view of the above-mentioned actual situation in the prior art, and its purpose is to ensure high working speed and high accuracy during synchronized operation even when multiple machines have low rigidity such as hydraulic excavators. The object of the present invention is to provide a multi-machine synchronization device that can synchronize multiple machines.

Means for Solving the Problems In order to achieve this object, the present invention provides a target signal generating means for generating a target signal, an operating means for outputting a predetermined manipulated variable in response to the target signal, and a control means for outputting a predetermined manipulated variable in response to the target signal. A first machine, such as a hydraulic excavator, which has a movable part that is displaced in accordance with the amount of operation output from the operating means, and a first machine, such as a hydraulic excavator, which has the same operating means and movable part as the above-mentioned operating means and movable part. and a second machine that operates the first machine and the second machine synchronously in response to the target signal output from the target signal generating means, the first machine detecting the displacement of the movable part of the first machine. a second displacement detection means for detecting displacement of a movable part of a second machine; and a control means for outputting an operation command signal to an operation means of the second machine; a first control means for generating a first operation signal based on a deviation between a displacement signal output from the first displacement detection means and a displacement signal output from the second displacement detection means; and a second control means for providing a second operation signal based on the signal, and is configured to output an operation command signal in response to the first operation signal and the second operation signal.

<Operation> Since the present invention is configured as described above, the operation command signal outputted from the control means to the operation means of the first machine and the second machine includes the first operation signal, that is, feedback control. and a second operating signal, i.e., an open-loop operating signal, which eliminates the operational deviation between the first machine and the second machine via the feedback signal, Via an open-loop operating signal, the second machine is pre-operated in a substantially identical manner to the first machine, thereby eliminating the effects of low stiffness and making the operation of the first machine and the second machine The operations can be synchronized, and moreover, fast working speed and high precision can be ensured.

<Embodiment> Hereinafter, a synchronization device for multiple machines according to the present invention will be explained based on the drawings.

The figure is a block diagram showing the basic configuration of an embodiment of the present invention. In the figure, reference numeral 1 denotes target signal generating means for generating a target signal, which includes, for example, an operating lever. 10.20
are the first machine and the second machine that perform synchronized operation,
For example, it consists of a first hydraulic excavator and a second hydraulic excavator. 11 is provided in the first hydraulic excavator 10,
The operating means outputs a predetermined operation amount in response to the target signal output from the target signal generating means 1, and is comprised of, for example, a hydraulic bow, a solenoid valve, a hydraulic actuator, and the like. Reference numeral 12 denotes a movable part that is provided in the first hydraulic excavator 10 and is displaced according to the amount of operation output from the operating means 11, for example, the amount of operation of a hydraulic actuator that constitutes the operating means 11, such as a boom and an arm forming the front. It is an arm body such as. Reference numeral 13 denotes a first displacement detection means for detecting displacement of the movable part 12. 21 and 22 are respectively provided in the second hydraulic excavator 20, and the above-mentioned first hydraulic excavator 10
The operation means 11 and the operation means equivalent to the movable part 12 and the movable part 23 provided therein are second displacement detection means for detecting the displacement of the movable part 22.

Reference numeral 30 denotes a control means for outputting an operation command signal to the operation means 21 of the second hydraulic excavator 20, which controls the target signal generation means 1, the first hydraulic excavator 10, and the second hydraulic excavator 2.
It is placed between 0 and 0.

This control means 30 includes an adder 31 that calculates the deviation between the displacement signal outputted from the first displacement detection means 13 and the displacement signal outputted from the second displacement detection means 23; A controller 32 that adjusts the angle and phase with respect to deviation and a target signal output from the target signal generating means 1 are controlled by an operating means 11 provided in the first hydraulic excavator 10.
In view of the difference between the characteristics of
a compensator 33 for compensating so as to substantially match the characteristics of the operating means 11 provided at 0; an adder 34 for adding the signal obtained via the regulator 32 and the signal obtained via the compensator 33; and an output element, such as an amplifier 35, for processing the signal obtained by the adder 34 to the operating means 21 of the second hydraulic excavator 20.

Then, the adder 31 and the adjuster 32 described above calculate the deviation between the displacement signal output from the first displacement detection means 13 and the displacement signal output from the second displacement detection means 23, and based on this, The compensator 33 constitutes a first control means that generates a first operation signal, that is, a feedback control means, and the above-mentioned compensator 33 constitutes a second control means that generates a second operation signal based on a target signal, that is, a feedback control means. It constitutes a loop control means.

In the embodiment configured as described above, the operator operates the operating lever of the target signal generating means 1 while the first hydraulic excavator 10 and the second hydraulic excavator 20 are placed at a desired work location. Then, the target signal, for example, the target speed signal is transmitted to the operating means 11 of the first hydraulic excavator 10.
As a result, the solenoid valve in the operating means 11 is driven, pressure oil from the hydraulic pump is supplied to the hydraulic actuator, and the moving amount of the hydraulic actuator is expressed as the operating amount of the operating means 11 in the movable part 12. is output to. Further, the above-mentioned target signal is transmitted to the compensator 33 of the control means 30,
The second hydraulic excavator 2 via an adder 34 and an amplifier 35
0 to the operating means 21 of the first hydraulic excavator 10.
Similarly to the above case, the operation means 21 is operated and the amount of operation is outputted to the movable part 22. At this time, the second hydraulic excavator 2
The signal that has passed through the compensator 33 is given to the operating means 21 of No. 0, and therefore the characteristics of the operating means 21 and the characteristics of the operating means 11 of the first hydraulic excavator 10 are almost the same, and therefore, the operating means 21 of the first hydraulic excavator 10 ] The operating mode of the movable section 12 of the hydraulic excavator 20 and the operating mode of the movable section 22 of the second hydraulic excavator 20 can be made very similar.

Then, when the movable part 12.22 operates, the displacement of the movable part 12 of the first hydraulic excavator 10 is determined by the first displacement detection means 13.
The displacement signal is detected by the adder 3 of the control means 30.
1, the displacement of the movable part 22 of the second hydraulic excavator 20 is detected by the second displacement detection means 23, and the displacement signal is outputted to the adder 31, whereby the adder 31 detects the displacement. The deviation of the signal, that is, the deviation in operation between the movable part 12 of the first hydraulic excavator 10 and the movable part 22 of the second hydraulic excavator 20 is determined, and the deviation signal is sent to the controller 32 and then output to the first operation. It is given to the adder 34 as a signal. The adder 34 adds this first operation signal and the second operation signal obtained via the above-mentioned compensator 33, and outputs the second hydraulic pressure as an operation command signal via the amplifier 35 obtained by this addition. Operating means 21 of excavator 20
given to. The movable portion 22 of the second hydraulic excavator 20 performs operations including correction operations in accordance with the amount of operation of the operation means 21.

In the embodiment configured in this way, the movable part 12 of the first hydraulic excavator 10 operates in accordance with the target signal output from the target signal generating means 1, and the movable part 12 of the first hydraulic excavator The movable part 22 generates a second operating signal, that is, an open loop operating signal, which takes into consideration the matching of characteristics between the operating means 11 and the operating means 21, and an error in displacement between the moving parts 12 and 22. Since the operation is performed according to the operation command signal that substantially includes the first operation signal to be absorbed, that is, the feedback operation signal, the movable part 12 of the first hydraulic excavator 10 and the second hydraulic excavator are operated via the feedback operation signal. 20 and the movable part 22 can be eliminated. Further, the movable part 22 of the second hydraulic excavator 20 is set to the first position in advance via an open loop operation signal.
The movable part 12.22 of the hydraulic excavator 10 is operated in almost the same form as the movable part of the hydraulic excavator 10, so that even if the movable part 12.22 is composed of an arm having low rigidity, the influence of the low rigidity can be eliminated, and the first hydraulic The movable part 12 of the shovel 10 and the second
It is possible to achieve synchronized operation of the movable parts 22 of the hydraulic excavators 20, and to ensure high operating speed and high accuracy. equivalent excavation work, or towing work by cooperation between the first hydraulic excavator 10 and the second hydraulic excavator 20.

In the above embodiment, the amplifier 35 is mentioned as an example of the output element provided in the control means 30, but the operation means 21
If, for example, the amplifier 35 includes a switching valve that is switched by hydraulic pressure, an electric/hydraulic conversion device may be provided in place of the amplifier 35.

Further, in the above, the first hydraulic excavator 10 and the second hydraulic excavator 20 are mentioned as examples of the first machine and the second machine, but the present invention is not limited thereto.
．． 20 may be replaced by a civil engineering construction machine such as a crane, or another hydraulic machine having a structural form with low rigidity.

Further, for example, the second machine may be composed of a plurality of machines each having the same structure.

<Effects of the Invention> Since the multiple machine tuning device of the present invention is configured as described above, even if the multiple machines have low rigidity,
Fast working speed and high precision can be ensured during synchronized operation, which has the effect of contributing to improving work efficiency.

[Brief explanation of drawings]

The figure is a block diagram showing the basic configuration of an embodiment of a tuning device for multiple machines according to the present invention. DESCRIPTION OF SYMBOLS 1... Target signal generation means, 10... First hydraulic excavator (first machine), 11... Operating means, 12... Movable part, 13...1st
displacement detection means, 20... second hydraulic excavator (second machine), 21... operating means, 22...
...Movable part, 23...Second displacement detection means, 30...Control means, 31...Adder (first control means), 32... ...adjuster (first control means), 33 ...compensator (second control means), 34 ...adder, 35 ...amplifier (output element).

Claims (1)

[Claims] (1) A target signal generator having a target signal generating means for generating a target signal, an operating means for outputting a predetermined manipulated variable according to the target signal, and a movable part that is displaced according to the manipulated variable output from the operating means. the first machine and a second machine having operating means and movable parts equivalent to the above-mentioned operating means and movable parts; In a multi-machine synchronization device for synchronized operation of two machines, a first displacement detection means detects a displacement of a movable part of the first machine, and a second displacement detection means detects a displacement of a movable part of the second machine. displacement detection means;
and a control means for outputting an operation command signal to the operation means of the second machine, and the control means outputs a displacement signal output from the first displacement detection means and an output from the second displacement detection means. a first control means for generating a first operation signal based on a deviation from a displacement signal to be generated; and a second control means for generating a second operation signal based on the target signal; A tuning device for a plurality of machines, characterized in that it outputs the operation command signal according to the signal and the second operation signal.