JPWO2013176003A1 - Handling control device - Google Patents

Handling control device Download PDF

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JPWO2013176003A1
JPWO2013176003A1 JP2014516761A JP2014516761A JPWO2013176003A1 JP WO2013176003 A1 JPWO2013176003 A1 JP WO2013176003A1 JP 2014516761 A JP2014516761 A JP 2014516761A JP 2014516761 A JP2014516761 A JP 2014516761A JP WO2013176003 A1 JPWO2013176003 A1 JP WO2013176003A1
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control
current
magnitude
average value
valve
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JP5920461B2 (en
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仁美 飯泉
仁美 飯泉
寧 青木
寧 青木
拓郎 岸田
拓郎 岸田
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Shimadzu Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • B60P1/44—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading having a loading platform thereon raising the load to the level of the load-transporting element
    • B60P1/4471—General means for controlling movements of the loading platform, e.g. hydraulic systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
    • F15B13/0442—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors with proportional solenoid allowing stable intermediate positions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Magnetically Actuated Valves (AREA)
  • Servomotors (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

荷台と、荷台を駆動するアクチュエータと、このアクチュエータに作動液を供給しソレノイドに供給する制御電流の大きさを変更することにより開度を可変な電磁操作型マルチコントロール弁を含む液圧回路と、前記電磁操作型マルチコントロール弁の開度を変更するための操作を受付け操作量を示す信号を出力する操作部とを備えた産業車両に、操作部たる操作レバーから出力される操作量を示す信号に基づき電磁操作型マルチコントロール弁たる比例弁の開度に対応する制御電流の大きさの平均値を決定する制御、前記比例弁の開度をパラメータとして付加すべき交流成分であるディザ電流の大きさを決定する制御、及び前記平均値が前記比例弁の開度に基づき決定された大きさで前記交流成分の大きさを決定する制御により決定された大きさの前記交流成分を有する前記制御電流を比例弁４２に出力する制御を少なくとも行う制御装置を備える。A loading platform, an actuator for driving the loading platform, and a hydraulic circuit including an electromagnetically operated multi-control valve whose opening is variable by changing the magnitude of a control current that is supplied to the actuator and supplied to the solenoid. A signal indicating an operation amount output from an operation lever as an operation unit in an industrial vehicle including an operation unit that receives an operation for changing the opening degree of the electromagnetic operation type multi-control valve and outputs a signal indicating an operation amount Control for determining the average value of the control current magnitude corresponding to the opening degree of the proportional valve which is an electromagnetically operated multi-control valve, and the magnitude of the dither current which is an AC component to be added using the opening degree of the proportional valve as a parameter And the average value is determined by the control for determining the magnitude of the AC component with the magnitude determined based on the opening degree of the proportional valve. A control for outputting the control current having the alternating-current component of of come to the proportional valve 42 comprises at least performs control device.

Description

本発明は、荷役作業に用いられ、電磁操作型マルチコントロール弁を含む液圧回路を搭載した産業車両の荷役制御装置に関する。   The present invention relates to an industrial vehicle cargo handling control apparatus that is used for cargo handling work and is equipped with a hydraulic circuit including an electromagnetically operated multi-control valve.

従来より、荷役作業に用いられ、液圧回路を介して作動液をアクチュエータに供給することによりアクチュエータに接続した荷台の昇降や前後傾等を行うように構成された産業車両において、荷台の昇降や前後傾等の速度を制御可能にすべく、液圧回路中に開度を変更可能な電磁操作型マルチコントロール弁を設けることが行われてきている（例えば、特許文献１を参照）。このような液圧回路を採用すれば、電磁操作型マルチコントロール弁を通過する作動液の量を変化させることにより、アクチュエータの作動速度すなわち荷台の昇降や前後傾等の速度を制御することができるからである。このような電磁操作型マルチコントロール弁は、弁体であるスプールが入力ポート及び出力ポートに接続したスリーブ内を移動する構成を有し、ソレノイドに通電することにより発生する電磁力により前記スプールを吸引して移動させる構成を有し、前記ソレノイドに供給する電流の大きさに比例して前記スプールの移動量すなわち開度を変更する構成を備えている。このような構成を有する電磁操作型マルチコントロール弁において、スプールの固着を防ぐ、スプールを移動させる際のヒステリシスを低減する、又はスプールを移動させる際の応答性の向上を図るといった目的のために、前記ソレノイドに供給する電流に、スプールを微小振動させるための交流成分（以下、ディザ電流と称する）を付加することが広く行われている。   Conventionally, in an industrial vehicle that is used for cargo handling work and configured to elevate and lower and tilt the cargo bed connected to the actuator by supplying hydraulic fluid to the actuator via a hydraulic circuit, In order to be able to control the speed of forward and backward tilting, an electromagnetically operated multi-control valve capable of changing the opening degree has been provided in the hydraulic circuit (see, for example, Patent Document 1). By adopting such a hydraulic circuit, it is possible to control the operating speed of the actuator, that is, the speed of raising and lowering the platform and tilting forward and backward, by changing the amount of hydraulic fluid that passes through the electromagnetically operated multi-control valve. Because. Such an electromagnetically operated multi-control valve has a structure in which a spool as a valve element moves in a sleeve connected to an input port and an output port, and the spool is sucked by electromagnetic force generated by energizing the solenoid. And the moving amount of the spool, that is, the opening degree is changed in proportion to the magnitude of the current supplied to the solenoid. In the electromagnetically operated multi-control valve having such a configuration, for the purpose of preventing the sticking of the spool, reducing the hysteresis when moving the spool, or improving the response when moving the spool, It is widely performed to add an AC component (hereinafter referred to as a dither current) for minutely vibrating the spool to the current supplied to the solenoid.

ところで、前記ディザ電流によるスプールの振幅は、従来はスプールの移動量すなわち前記ソレノイドに供給する電流の平均値の大きさに関わらず一定である。しかし、このような構成では、電磁操作型マルチコントロール弁の開度が０となる最大の電流量近傍（以下、荷役流量の立ち上がり部と称する）、又は電流の大きさの増加幅と比較して電磁操作型マルチコントロール弁の開度の増加幅が非連続的に大きくなる点の近傍（以下、荷役流量変化部と称する）においてスプールを移動させるべくソレノイドに供給する電流の大きさを変化させると、前記ディザ電流によるスプール振動により、荷役流量の変化が大きくなり、車体振動など荷役制御において不具合が発生するおそれがあった。   Meanwhile, the amplitude of the spool due to the dither current is conventionally constant regardless of the amount of movement of the spool, that is, the average value of the current supplied to the solenoid. However, in such a configuration, the vicinity of the maximum current amount at which the opening degree of the electromagnetically operated multi-control valve becomes 0 (hereinafter referred to as a rising portion of the cargo handling flow rate) or an increase in the magnitude of the current is compared. When the magnitude of the current supplied to the solenoid is changed in order to move the spool in the vicinity of the point where the increase in the opening degree of the electromagnetic control type multi-control valve becomes discontinuously large (hereinafter referred to as a cargo handling flow rate changing portion). The spool vibration due to the dither current causes a large change in the cargo handling flow rate, which may cause problems in cargo handling control such as vehicle body vibration.

特開平１１―１７１４９７号公報JP-A-11-171497

本発明は以上の点に着目し、ソレノイドを利用してスプールを駆動する電磁操作型マルチコントロール弁を備えた産業車両において、電磁操作型マルチコントロール弁の開度の増加幅が非連続的に大きくなる点の近傍（以下、荷役流量変化部と称する）でスプールを移動させるべくソレノイドに供給する電流の大きさを変化させると、前記ディザ電流によるスプール振動により、荷役流量の変化が大きくなり、車体振動など荷役制御において不具合が発生するという問題点を解決することを目的とする。   The present invention pays attention to the above points, and in an industrial vehicle equipped with an electromagnetically operated multi-control valve that drives a spool using a solenoid, the increase in the opening degree of the electromagnetically operated multi-control valve is discontinuously large. If the magnitude of the current supplied to the solenoid is changed in order to move the spool in the vicinity of the point (hereinafter referred to as a cargo handling flow rate changing portion), the change in the cargo handling flow rate increases due to the spool vibration caused by the dither current. The object is to solve the problem that trouble occurs in cargo handling control such as vibration.

このような課題を解決すべく、本発明に係る荷役制御装置は、以下に述べるような構成を有する。すなわち本発明に係る荷役制御装置は、荷台と、荷台を駆動するアクチュエータと、このアクチュエータに作動液を供給しソレノイドに供給する制御電流の大きさを変更することにより開度を可変な電磁操作型マルチコントロール弁を含む液圧回路と、前記電磁操作型マルチコントロール弁の開度を変更するための操作を受付け操作量を示す信号を出力する操作部とを備えた産業車両に用いられ、前記操作部から出力される前記操作量を示す信号に基づき前記電磁操作型マルチコントロール弁に供給する制御電流の大きさの平均値を決定する制御、前記制御電流の大きさの平均値をパラメータとして該制御電流に付加すべき交流成分の大きさを決定する制御、及び前記平均値が前記操作量を示す信号に基づき決定された大きさで前記交流成分の大きさを決定する制御により決定された大きさの前記交流成分を有する前記制御電流を電磁操作型マルチコントロール弁に出力する制御を少なくとも行う。   In order to solve such a problem, the cargo handling control apparatus according to the present invention has a configuration as described below. That is, the cargo handling control device according to the present invention includes a loading platform, an actuator that drives the loading platform, and an electromagnetic operation type in which the opening degree is variable by changing the magnitude of the control current that is supplied to the actuator and supplied to the solenoid. Used in an industrial vehicle comprising a hydraulic circuit including a multi-control valve, and an operation unit that receives an operation for changing the opening of the electromagnetically operated multi-control valve and outputs a signal indicating an operation amount. Control for determining an average value of the control current supplied to the electromagnetically operated multi-control valve based on a signal indicating the operation amount output from the control unit, and the control using the average value of the control current as a parameter Control for determining the magnitude of the AC component to be added to the current, and the AC component at a magnitude determined based on the signal indicating the manipulated variable. It performs control for outputting the control current having the alternating-current component of a magnitude determined by the control for determining the magnitude of the electromagnetic operation type multiplex control valve at least.

このようなものであれば、荷役流量の立ち上がり部及び荷役流量変化部における交流成分すなわちディザ電流の大きさを小さくすることにより、このような領域において、荷役流量の変化を抑制することができ、安定した荷役制御が可能となる。   If it is such, by reducing the magnitude of the alternating current component, that is, the dither current in the rising part of the cargo handling flow rate and the cargo handling flow rate changing part, the change in the cargo handling flow rate can be suppressed in such a region, Stable cargo handling control is possible.

本発明によれば、ソレノイドを利用してスプールを駆動する電磁操作型マルチコントロール弁を備えたスプールの固着及びスプール移動量のヒステリシス軽減のため、スプールを微小振動させるべくソレノイドに供給する電流に任意の周波数のディザ電流を付加している産業車両において、荷役流量の立ち上がり部及び荷役流量変化部におけるディザ電流を抑制することにより、荷役制御を安定化させることができる。   According to the present invention, the current supplied to the solenoid for minute vibration of the spool is arbitrarily selected in order to reduce the hysteresis of the spool and the amount of movement of the spool provided with the electromagnetically operated multi-control valve that drives the spool using the solenoid. In an industrial vehicle to which a dither current having a frequency of 5 is added, the handling control can be stabilized by suppressing the dither current at the rising portion of the cargo handling flow rate and the cargo handling flow rate changing portion.

本発明の一実施形態に係る産業車両に用いられる液圧回路の概略図。Schematic of the hydraulic circuit used for the industrial vehicle which concerns on one Embodiment of this invention. 同実施形態に係る開度決定プログラムによる制御の手順を示すフローチャート。The flowchart which shows the procedure of control by the opening degree determination program which concerns on the same embodiment. 同実施形態に係る比例弁の制御電流−荷役流量特性図及び制御電流−ディザ電流振幅マップ。FIG. 4 is a control current-loading flow characteristic diagram and a control current-dither current amplitude map of a proportional valve according to the embodiment.

以下、本発明の一実施形態について述べる。   Hereinafter, an embodiment of the present invention will be described.

本実施形態の産業車両１は、荷物を積載すべき荷台２を駆動するアクチュエータ３と、このアクチュエータ３に作動液を供給する図１に示すような液圧回路４と、この液圧回路４を経て前記アクチュエータ３に供給する作動液の流量を制御するための制御装置５と、荷台２の昇降速度を制御するための操作を受け付ける操作部たる操作レバー６１を有し前記制御装置５に信号を出力する入力部６とを搭載している。   The industrial vehicle 1 of the present embodiment includes an actuator 3 that drives a loading platform 2 on which loads are loaded, a hydraulic circuit 4 as shown in FIG. 1 that supplies hydraulic fluid to the actuator 3, and the hydraulic circuit 4. A control device 5 for controlling the flow rate of the hydraulic fluid supplied to the actuator 3 and an operation lever 61 as an operation portion for receiving an operation for controlling the lifting speed of the loading platform 2 are provided with a signal to the control device 5. An input unit 6 for output is mounted.

前記アクチュエータ３は、本実施形態では第１のシリンダ室３１に作動液の供給を受けることにより荷台２を上昇させるとともに、第２のシリンダ室３２に作動液の供給を受けることにより、ロッド３３を介して荷台２を下降させる液圧式のアクチュエータ３である。このアクチュエータ３は、上述したように液圧回路４を介して作動液の供給を受ける。   In the present embodiment, the actuator 3 raises the loading platform 2 by receiving the hydraulic fluid supplied to the first cylinder chamber 31 and also receives the rod 33 by receiving the hydraulic fluid supplied to the second cylinder chamber 32. This is a hydraulic actuator 3 that lowers the loading platform 2 through the hydraulic actuator 3. As described above, the actuator 3 is supplied with hydraulic fluid via the hydraulic circuit 4.

前記液圧回路４は、駆動源たるモータＭに接続してなり前記アクチュエータ３に作動液圧を供給するための液圧ポンプ４１と、この液圧ポンプ４１を経て前記アクチュエータ３に流入する作動液量を変更可能にすべく前記制御装置５からの制御信号を受けて開度を変更可能な弁である電磁操作型マルチコントロール弁（以下、比例弁４２と称する）と、作動液を貯蔵するためのタンク４３から前記液圧ポンプ４１を経て前記比例弁４２までを接続する入力通路４４と、前記比例弁４２と前記第１のシリンダ室３１とを接続する第１の出力通路４５と、前記比例弁４２と前記第２のシリンダ室３２とを接続する第２の出力通路４６と、前記比例弁４２と前記タンク４３とを連通し前記第１又は第２のシリンダ室３１、３２から吐出された作動液を前記タンク４３に戻すための吐出通路４７と、前記液圧ポンプ４１から吐出された作動液を無負荷でタンク４３に戻すためのスルー通路４８とを備えている。   The hydraulic circuit 4 is connected to a motor M as a driving source, and supplies a hydraulic pump 41 for supplying hydraulic pressure to the actuator 3, and hydraulic fluid that flows into the actuator 3 through the hydraulic pump 41. In order to store the hydraulic fluid, an electromagnetically operated multi-control valve (hereinafter referred to as a proportional valve 42) that can change the opening degree in response to a control signal from the control device 5 so that the amount can be changed. An input passage 44 connecting the tank 43 to the proportional valve 42 via the hydraulic pump 41, a first output passage 45 connecting the proportional valve 42 and the first cylinder chamber 31, and the proportional The second output passage 46 connecting the valve 42 and the second cylinder chamber 32, the proportional valve 42 and the tank 43 communicate with each other, and discharged from the first or second cylinder chamber 31, 32. Hydraulic fluid It includes a discharge passage 47 for returning to the tank 43, a through passage 48 for returning the hydraulic fluid the liquid discharged from the pressure pump 41 to the tank 43 with no load.

前記比例弁４２は、前記入力通路４４と前記第１及び第２の出力通路４５、４６との間を遮断するとともに前記入力通路４４と前記スルー通路４８を連通させる中立状態、前記入力通路４４と前記第１の出力通路４５とを連通するとともに前記第２の出力通路４６と前記吐出通路４７とを連通する上昇状態、及び前記入力通路４４と前記第２の出力通路４６とを連通するとともに前記第１の出力通路４５と前記吐出通路４７とを連通する下降状態をとり得る。また、この比例弁４２は、前記上昇状態及び前記下降状態において、前記制御装置５からの開閉信号ｅに基づき開度を変更可能である。また、この比例弁４２は、弁体である図示しないスプールが、入力ポート及び出力ポートに接続したスリーブ内を摺動可能な構成を有する。このスプールは、スプリングにより中立状態をとるよう付勢されているとともに、ソレノイド４８に電流を供給された際にはこのソレノイド４８に発生する電磁力により前記スプリングの付勢力に抗して吸引され上昇状態又は下降状態となる。   The proportional valve 42 is in a neutral state in which the input passage 44 and the first and second output passages 45 and 46 are blocked and the input passage 44 and the through passage 48 are communicated with each other. The ascending state in which the first output passage 45 is communicated with the second output passage 46 and the discharge passage 47, and the input passage 44 and the second output passage 46 are communicated with each other. A descending state in which the first output passage 45 and the discharge passage 47 communicate with each other can be taken. The proportional valve 42 can change the opening degree based on the open / close signal e from the control device 5 in the raised state and the lowered state. The proportional valve 42 has a configuration in which a spool (not shown), which is a valve body, can slide in a sleeve connected to an input port and an output port. The spool is biased to take a neutral state by a spring, and when current is supplied to the solenoid 48, the spool is attracted and lifted against the biasing force of the spring by the electromagnetic force generated in the solenoid 48. State or descending state.

前記入力部６の操作レバー６１は、前記比例弁４２を前記中立状態、前記上昇状態及び前記下降状態のいずれとするかの選択入力を受け付ける。さらに詳述すると、この操作レバー６１は、中立位置、上昇位置及び下降位置のいずれかを選択的にとり、この操作レバー６１が前記中立位置、前記上昇位置及び前記下降位置をとる場合にそれぞれ前記比例弁４２を前記中立状態、前記上昇状態及び前記下降状態とすべく、前記制御装置５にこの操作レバー６１の位置を示す昇降停止信号ａを出力する。   The operation lever 61 of the input unit 6 receives a selection input for setting the proportional valve 42 to the neutral state, the raised state, or the lowered state. More specifically, the operation lever 61 selectively takes any one of a neutral position, a raised position, and a lowered position, and the proportional lever when the operation lever 61 assumes the neutral position, the raised position, and the lowered position, respectively. In order to set the valve 42 to the neutral state, the raised state, and the lowered state, an elevation stop signal a indicating the position of the operation lever 61 is output to the control device 5.

前記制御装置５は、プロセッサ、メモリ、入力インタフェース、出力インタフェース等を有した制御システムである。また、この制御装置５の入力インタフェースには、前記入力部６の操作レバー６１からの昇降停止信号ａが入力される。一方、この制御装置５の出力インタフェースからは、前記比例弁４２に対して開度を変更するための開閉信号ｅが出力される。また、メモリの所定領域には、昇降停止信号ａが示す操作レバー６１の操作量とソレノイド４８に供給すべき制御電流の大きさとの対応を示す制御電流マップが記憶されている。さらに、メモリの他の所定領域には、前記入力部６が昇降動作を開始するための操作を受け付けた際に実行され、ＣＰＵが実行することにより、前記操作レバー６１からの昇降停止信号ａを取得し、この昇降停止信号ａに対応する大きさの電流を前記比例弁４２のソレノイド４８に供給し比例弁４２の開度を変更する制御を行なうためのプログラムが内蔵されている。   The control device 5 is a control system having a processor, a memory, an input interface, an output interface, and the like. In addition, an elevation stop signal a from the operation lever 61 of the input unit 6 is input to the input interface of the control device 5. On the other hand, an opening / closing signal e for changing the opening degree is output from the output interface of the control device 5 to the proportional valve 42. Further, in a predetermined area of the memory, a control current map indicating a correspondence between the operation amount of the operation lever 61 indicated by the elevation stop signal a and the magnitude of the control current to be supplied to the solenoid 48 is stored. Further, in another predetermined area of the memory, it is executed when the input unit 6 receives an operation for starting the raising / lowering operation, and when the CPU executes it, the raising / lowering stop signal a from the operation lever 61 is received. A program for obtaining and controlling the change of the opening degree of the proportional valve 42 by supplying a current of a magnitude corresponding to the elevation stop signal a to the solenoid 48 of the proportional valve 42 is incorporated.

ここで、前記プログラムは、前記昇降停止信号ａが示す操作レバー６１の操作量に対応した大きさの平均値Ａを有する制御電流を比例弁４２のソレノイド４８に供給するとともに、スプールの固着を防ぐ、スプールを移動させる際のヒステリシスを低減する、又はスプールを移動させる際の応答性の向上を図るといった目的のために、前記ソレノイドに供給する電流に、スプールを微小振動させるためのディザ電流を付加する制御を行うためのプログラムである。しかして、このディザ電流の振幅Ｖは、荷役流量の立ち上がり部及び荷役流量変化部において、他の領域と比較して小さくなるように設定している。さらに詳述すると、本実施形態に係る比例弁４２は、図３に示すような制御電流−荷役流量特性を有する。すなわち、制御電流の大きさが立ち上がり値Ａ1を下回る状態から該立ち上がり値Ａ1を上回る状態となると、この比例弁４２を作動液が通過可能となる。また、制御電流の大きさが前記立ち上がり値Ａ1を上回り荷役流量変化値Ａ2を下回る状態と比較して、制御電流の大きさが該荷役流量変化値Ａ2を上回る状態では、制御電流の増加幅に対する荷役流量の増加幅の比率が大きくなる。そして、制御電流の大きさの平均値Ａが前記立ち上がり値Ａ1を中心として幅αの範囲にある場合、及び制御電流の大きさの平均値Ａが前記荷役流量変化値Ａ2を中心として幅αの範囲にある場合には、ディザ電流の振幅Ｖを、他の領域の振幅Ｖ1より小さな値Ｖ2に設定する制御を行う。但し、操作レバー６１の操作量が開弁する意志がないものとみなすのに十分小さい場合、換言すれば制御電流の大きさの平均値Ａが所定値Ａ0を下回る場合には、ディザ電流の振幅Ｖを０に設定する。Here, the program supplies a control current having an average value A having a magnitude corresponding to the operation amount of the operation lever 61 indicated by the elevation stop signal a to the solenoid 48 of the proportional valve 42 and prevents the spool from sticking. For the purpose of reducing hysteresis when moving the spool or improving responsiveness when moving the spool, a dither current for minutely vibrating the spool is added to the current supplied to the solenoid. This is a program for performing control. Therefore, the amplitude V of the dither current is set so as to be smaller than the other regions at the rising portion of the cargo handling flow rate and the cargo handling flow rate changing portion. More specifically, the proportional valve 42 according to the present embodiment has a control current-loading flow characteristic as shown in FIG. That is, when a state below the magnitude rising value A 1 of the control current in a state above the rising value A 1, hydraulic fluid can pass through the proportional valve 42. In comparison with the state in which the magnitude of the control current is below the cargo flow rate change value A 2 exceeds the rising value A 1, the magnitude of the control current in a state above the該荷role flow rate change value A 2, the control current The ratio of the increase width of the cargo handling flow rate to the increase width increases. When the average value A of the control current is in the range of the width α centered on the rising value A 1 , and the average value A of the control current is the width centered on the cargo flow rate change value A 2. When it is in the range of α, control is performed to set the amplitude V of the dither current to a value V 2 that is smaller than the amplitude V 1 of the other region. However, when the operation amount of the operation lever 61 is sufficiently small to be considered not to open the valve, in other words, when the average value A of the control current is below the predetermined value A 0 , the dither current Set the amplitude V to zero.

以下、開度決定プログラムによる制御の手順についてフローチャートである図２を参照しつつ以下に述べる。   Hereinafter, the control procedure by the opening determination program will be described with reference to FIG. 2 which is a flowchart.

まず、操作レバー６１の操作量を検知し（Ｓ１）、この操作量をパラメータとして比例弁４２へ出力する制御電流の大きさの平均値Ａを決定する（Ｓ２）。具体的には、昇降停止信号ａが示す操作レバー６１の操作量をパラメータとし、前記制御電流マップを参照することにより制御電流の大きさの平均値Ａを決定する。それから、制御電流の大きさの平均値ＡがＡ0を下回るか否かを判定する（Ｓ３）。制御電流の大きさの平均値ＡがＡ0を下回る場合は、ディザ電流の振幅Ｖを０に設定する（Ｓ４）。なお、このとき、荷役流量は０すなわち比例弁４２の開度は０である。一方、制御電流の大きさの平均値ＡがＡ0を下回らない場合は、続けて、制御電流の大きさの平均値Ａが前記立ち上がり値Ａ1を中心として幅αの範囲にあるか否かを判定する（Ｓ５）。制御電流の大きさの平均値Ａが前記立ち上がり値Ａ1を中心として幅αの範囲にない場合は、続いて制御電流の大きさの平均値Ａが前記荷役流量変化値Ａ2を中心として幅αの範囲にあるか否かを判定する（Ｓ６）。制御電流の大きさの平均値Ａが前記立ち上がり値Ａ1を中心として幅αの範囲になく、かつ制御電流の大きさの平均値Ａが前記荷役流量変化値Ａ2を中心として幅αの範囲にない場合は、ディザ電流の振幅Ｖを通常振幅Ｖ1に設定する（Ｓ７）。一方、制御電流の大きさの平均値Ａが前記立ち上がり値Ａ1を中心として幅αの範囲にある場合、又は制御電流の大きさの平均値Ａが前記荷役流量変化値Ａ2を中心として幅αの範囲にある場合は、ディザ電流の振幅Ｖを前記通常振幅Ｖ1より小さい変化時振幅Ｖ2に設定する（Ｓ８）。First, the operation amount of the operation lever 61 is detected (S1), and the average value A of the magnitude of the control current output to the proportional valve 42 is determined using this operation amount as a parameter (S2). Specifically, using the operation amount of the operation lever 61 indicated by the lift stop signal a as a parameter, the average value A of the control current is determined by referring to the control current map. Then, it is determined whether or not the average value A of the control current is below A 0 (S3). If the average value A of the magnitude of the control current is below the A 0 sets the amplitude V of the dither current to 0 (S4). At this time, the cargo handling flow rate is 0, that is, the opening degree of the proportional valve 42 is 0. On the other hand, if the average value A of the control current does not fall below A 0 , whether or not the average value A of the control current is in the range of the width α with the rising value A 1 as the center. Is determined (S5). If the average value A of the control current is not in the range of the width α centered on the rising value A 1 , then the average value A of the control current is the width centered on the cargo handling flow change value A 2. It is determined whether it is in the range of α (S6). The average value A of the control current is not in the range of the width α around the rising value A 1 , and the average value A of the control current is in the range of the width α around the cargo flow change value A 2 If not, the amplitude V of the dither current is set to the normal amplitude V 1 (S7). On the other hand, when the average value A of the control current is in the range of the width α with the rising value A 1 as the center, or the average value A of the control current has a width with the cargo flow rate change value A 2 as the center. If it is in the range of α, the dither current amplitude V is set to the change amplitude V 2 smaller than the normal amplitude V 1 (S8).

以上に述べたように、本実施形態によれば、荷役流量の立ち上がり部及び荷役流量変化部におけるディザ電流の大きさである変化時振幅Ｖ2を、その他の場合におけるディザ電流の大きさである通常振幅Ｖ1より小さくすることにより、このような領域において前記ディザ電流によるスプール振動により、荷役流量の変化が大きくなり、車体振動など荷役制御において不具合が発生するという問題点を解決することができる。換言すれば、荷役流量の立ち上がり部及び荷役流量変化部におけるディザ電流を抑制することにより、荷役制御を安定化させることができる。As described above, according to the present embodiment, the amplitude V 2 at the time of change, which is the magnitude of the dither current at the rising portion of the cargo handling flow rate and the cargo handling flow rate changing portion, is the magnitude of the dither current in other cases. By making the amplitude smaller than the normal amplitude V 1, it is possible to solve the problem that in such a region, a change in the cargo handling flow rate is increased due to the spool vibration due to the dither current, and a malfunction occurs in the cargo handling control such as the vehicle body vibration. . In other words, the cargo handling control can be stabilized by suppressing the dither current at the rising portion of the cargo handling flow rate and the cargo handling flow rate changing portion.

なお、本発明は以上に述べた実施形態に限らない。   The present invention is not limited to the embodiment described above.

例えば、上述した実施形態は、荷台を昇降させるためのアクチュエータに液圧を供給するための液圧回路に用いられる比例弁を制御するものであるが、荷役作業に用いられる産業車両において他の用途に用いられるアクチュエータに液圧を供給するための液圧回路に用いられる比例弁に本発明を適用してもよい。例えば、荷台を前後傾させるためのアクチュエータに液圧を供給するための液圧回路や、荷台を左右に回転させるためのアクチュエータに液圧を供給するための液圧回路に用いられる比例弁の制御に本発明を適用してもよい。   For example, the above-described embodiment controls a proportional valve used in a hydraulic circuit for supplying hydraulic pressure to an actuator for raising and lowering a cargo bed. The present invention may be applied to a proportional valve used in a hydraulic circuit for supplying hydraulic pressure to an actuator used in the above. For example, control of a proportional valve used in a hydraulic circuit for supplying hydraulic pressure to an actuator for tilting the loading platform forward and backward, or for supplying hydraulic pressure to an actuator for rotating the loading platform to the left and right The present invention may be applied to.

その他、本発明の趣旨を損ねない範囲で種々に変更してよい。   In addition, various changes may be made without departing from the spirit of the present invention.

ソレノイドを利用してスプールを駆動する電磁操作型マルチコントロール弁を備えたスプールの固着及びスプール移動量のヒステリシス軽減のため、スプールを微小振動させるべくソレノイドに供給する電流に任意の周波数のディザ電流を付加している産業車両において、荷役流量の立ち上がり部及び荷役流量変化部におけるディザ電流を抑制することにより、荷役制御を安定化させることができる。   In order to reduce the hysteresis of the spool with the electromagnetically operated multi-control valve that drives the spool using a solenoid and to reduce the hysteresis of the spool movement, a dither current with an arbitrary frequency is added to the current supplied to the solenoid to make the spool vibrate slightly. In the added industrial vehicle, it is possible to stabilize the cargo handling control by suppressing the dither current at the rising portion of the cargo handling flow rate and the cargo handling flow rate changing portion.

２…荷台
３…アクチュエータ
４…液圧回路
４２…比例弁（電磁操作型マルチコントロール弁）
５…制御装置
６１…操作レバー（操作部）2 ... Loading platform 3 ... Actuator 4 ... Hydraulic circuit 42 ... Proportional valve (electromagnetically operated multi-control valve)
5. Control device 61. Operation lever (operation unit)

Claims (1)

荷台と、荷台を駆動するアクチュエータと、このアクチュエータに作動液を供給しソレノイドに供給する制御電流の大きさを変更することにより開度を可変な電磁操作型マルチコントロール弁を含む液圧回路と、前記電磁操作型マルチコントロール弁の開度を変更するための操作を受付け操作量を示す信号を出力する操作部とを備えた産業車両に用いられ、
前記操作部から出力される前記操作量を示す信号に基づき前記電磁操作型マルチコントロール弁に供給する制御電流の大きさの平均値を決定する制御、前記制御電流の大きさの平均値をパラメータとして該制御電流に付加すべき交流成分の大きさを決定する制御、及び前記平均値が前記操作量を示す信号に基づき決定された大きさで前記交流成分の大きさを決定する制御により決定された大きさの前記交流成分を有する前記制御電流を電磁操作型マルチコントロール弁に出力する制御を少なくとも行うことを特徴とする産業車両の荷役制御装置。A loading platform, an actuator for driving the loading platform, and a hydraulic circuit including an electromagnetically operated multi-control valve whose opening is variable by changing the magnitude of a control current that is supplied to the actuator and supplied to the solenoid. Used for an industrial vehicle including an operation unit that receives an operation for changing an opening degree of the electromagnetically operated multi-control valve and outputs a signal indicating an operation amount;
Control for determining the average value of the control current supplied to the electromagnetically operated multi-control valve based on the signal indicating the operation amount output from the operation unit, and using the average value of the control current as a parameter The control determines the magnitude of the alternating current component to be added to the control current, and the average value is determined by the control that determines the magnitude of the alternating current component at a magnitude determined based on the signal indicating the manipulated variable. A cargo handling control device for an industrial vehicle, characterized in that at least control for outputting the control current having the AC component having a magnitude to an electromagnetically operated multi-control valve is performed.
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JPH01229180A (en) * 1988-03-07 1989-09-12 Nissan Motor Co Ltd Driving circuit for electromagnetic hydraulic control valve
JPH04102777A (en) * 1990-08-16 1992-04-03 Matsushita Electric Ind Co Ltd Flow quantity control valve
JPH11171497A (en) * 1997-12-15 1999-06-29 Toyota Autom Loom Works Ltd Dither controller of industrial vehicular solenoid valve and industrial vehicle

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JPH11202947A (en) * 1998-01-09 1999-07-30 Sumitomo Electric Ind Ltd Driving control method for electromagnetic proportional pressure control valve

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Publication number Priority date Publication date Assignee Title
JPH01229180A (en) * 1988-03-07 1989-09-12 Nissan Motor Co Ltd Driving circuit for electromagnetic hydraulic control valve
JPH04102777A (en) * 1990-08-16 1992-04-03 Matsushita Electric Ind Co Ltd Flow quantity control valve
JPH11171497A (en) * 1997-12-15 1999-06-29 Toyota Autom Loom Works Ltd Dither controller of industrial vehicular solenoid valve and industrial vehicle

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