JPS6275104A - Controlling method of hydraulic actuation type working machine - Google Patents

Abstract

PURPOSE:To carry out the action control of a working machine, by detecting the parameter variation of a controlled object, and correcting a controlling instruction value for a hydraulic valve based on the intended input of the working machine corresponding to the parameter variation. CONSTITUTION:A parameter identification device 19 has the arithmetic unit 24 of a parameter variation which calculates the difference of the mathematical model 23 of a controlled object 22 and an actually observed value when a control instruction based on the controlled object is inputted. This calculated result is inputted to a feedback gain calculator 20 and a correcting instruction is inputted to a controller 18 therefrom, so that a controlling instruction value is corrected corresponding to the parameter variation. Thereby, the action of a working machine can be controlled accurately on a working position corresponding to the intended input of the working machine.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a method for controlling a hydraulically operated working machine operated by a hydraulic actuator operated by oil discharged from a hydraulic valve.

Conventional technology The amount of movement of a hydraulic actuator or working machine is horizontally I, I-
/7"1 station number 1 + 14I! Compare with the stroke of the counterfeit lever and when they match, set the hydraulic valve to the neutral position and stop the hydraulic actuator, moving the work machine to a position that matches the work machine target input. A so-called feedback control method is known.

Problems to be Solved by the Invention Due to oil leaks in hydraulic valves or changes in oil viscosity, the parameters of the hydraulic valve, hydraulic actuator, that is, the control target, change, and even if the work equipment target input is the same, the discharge amount of the hydraulic valve may change. Because the operating speed of the hydraulic actuator may differ due to the difference in flow rate and amount of change in flow rate, it becomes impossible to accurately control the operation of the work equipment to a position that matches the work equipment target input.
The work accuracy of the work equipment deteriorates.

For example, when excavating slopes or trenches with an arm-type working machine such as a power shovel that rotates the boom, arm, and packet using a hydraulic cylinder, the packet is moved along a preset trajectory 'ft#' by inputting the work machine target. It is necessary to control the operation so that the packet moves in such a way that it moves, and as mentioned above, if there is a change in the parameters to be controlled, the packet may move off the preset trajectory, so the accuracy of excavation work using the packet is poor. Become.

Means and action for solving the problem Detects changes in parameters of controlled objects such as hydraulic valves and hydraulic actuators, and corrects and changes the control command value to the hydraulic valve based on the work equipment target input according to the parameter change In this way, even if the parameters of the controlled object change, the operation of the work machine can be accurately controlled to a position that matches the work machine target input.

Embodiment FIG. 2 is an overall schematic diagram, and an arm 3 is attached to a boom 2 which is movable up and down by a boom cylinder 1 on an upper revolving structure (not shown), and which is movable up and down by an arm cylinder 4. A packet 5 is attached to the tip of 3 so as to be movable up and down with a packet cylinder 6, forming a working machine in the arm hole of a power shovel, and each cylinder is equipped with a boom valve 7, an arm valve δ, and a packet valve 9 (not shown). While the oil discharged from the hydraulic power source is supplied, the boom valve 7 and the packet valve 9 are switched by a servo motor 10, the arm valve 8 is switched by a control lever 11, and each servo valve 10 is operated by a controller 12. A control signal is input, and the controller 12 has a boom angle detector 13 and an arm angle detector 1.
4. The boom angle α, arm angle β, and packet angle γ are inputted from the packet angle detector 15, respectively, and when the arm valve ε is switched with the operating lever 11 and the arm 3 is rotated up and down with the arm cylinder 6, the arm angle β is determined. A control signal is output to each of the nine servo motors IQ in accordance with the change in the servo motor IQ, and the operation is controlled so that the cutting edge of the packet 5 moves linearly along a predetermined trajectory X.

That is, the controller 12 is provided with first and second setting devices 16 and 17 in which the boom angle α and packet angle r are set in advance with respect to the arm angle β, and the first and second setting devices 16 and 17 are set in advance to set the boom angle α and the packet angle r with respect to the arm angle β. A control signal is output from the second setter 16.17 to each servo motor 10 to switch the boom valve 7 and packet valve 9, and when the set boom angle α and packet angle r are input to the controller 12, the boom valve 7 , the packet valve 9 is placed in the neutral position.

FIG. 1 is an explanatory diagram of the controller 12, in which the output signal of the first setting device 16 is input to the control device 18, and this control device! 18 outputs the control command value R1 to the servo motor 10, and a parameter identification device 119 and a feedback gain calculation device 20 are provided.The control command value R1 is input to the parameter identification device FIT19, and the boom angle The boom angle α detected by the detector 13 is sent to the boom cylinder length calculation device 21 and
The moving distance is calculated, and the moving distance is determined by the identification device 1.
9, the boom angle α is input to the control device [1
When the control command value R1 matches the control command value R1, the output of the control command value R1 from the control device tlB is stopped.

That is, feedback control is performed so that the moving distance of the boom cylinder 1 is fed back and the set position is reached.

The identification device 19 includes a servo motor 10, a boom valve 7,
A controlled object mathematical model 23 that calculates the theoretical movement distance of the boom cylinder 1 when a predetermined control command value is input based on each dimension of the controlled object 22 such as the boom cylinder 1.
and a calculation that calculates the difference between the calculated moving distance and the actually measured moving distance of the controlled object mathematical model 23, and calculates the actual parameters of the controlled object 22, that is, the parameter changes of the controlled object, based on the difference. The calculated parameters and changes of the controlled object are sent to the feedback gain calculation device 20, and the feedback gain calculation device 20 outputs feedback gains, that is, correction commands to the control device, according to the parameter changes of the controlled object 22. I8 is input to correct the control command value according to the parameter change.

Note that the packet cylinder 6 is also controlled in the same manner as the boom cylinder 1, so a description thereof will be omitted.

Thereby, even if the parameters of the controlled object change, the boom cylinder 1 and the packet cylinder 6 can be accurately operated to a predetermined position at the set speed, so that the tip of the packet 5 can be correctly operated along the set trajectory X.

In the above embodiments, a work machine with an arm hole was described, but the control target is not limited to this, and in a hydraulically operated work equipped with a work machine operated by a hydraulic actuator that operates with oil discharged from a hydraulic valve. It is sufficient to detect changes in the parameters of the hydraulic valve and hydraulic actuator, and change the control command value to the hydraulic valve based on the target input of the work machine in accordance with this parameter change.

Effects of the Invention Even if the parameters to be controlled change, the hydraulic actuator operates to ensure that the work machine performs the set operation, so the work machine can be accurately controlled to the work position that matches the work machine target input, and the work Accuracy can be improved.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is an explanatory diagram of a controller, and FIG. 2 is an overall diagram of a control device for a working machine with an arm hole.

Claims (1)

[Claims] A method for controlling a hydraulically operated working machine operated by a hydraulic actuator operated by oil discharged from a hydraulic valve, the method comprising:
A hydraulic operation characterized in that a change in a parameter of a control target such as the hydraulic valve or a hydraulic actuator is detected, and a control command value to the hydraulic valve based on a work equipment target input is corrected and changed in accordance with the parameter change. How to control type work equipment.