KR0174393B1 - Control device for hydraulic construction machinery - Google Patents
Control device for hydraulic construction machinery Download PDFInfo
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- KR0174393B1 KR0174393B1 KR1019940009677A KR19940009677A KR0174393B1 KR 0174393 B1 KR0174393 B1 KR 0174393B1 KR 1019940009677 A KR1019940009677 A KR 1019940009677A KR 19940009677 A KR19940009677 A KR 19940009677A KR 0174393 B1 KR0174393 B1 KR 0174393B1
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- 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
- F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
- F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
- F15B9/08—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor
- F15B9/10—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor in which the controlling element and the servomotor each controls a separate member, these members influencing different fluid passages or the same passage
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
- Operation Control Of Excavators (AREA)
Abstract
복수개의 가변용량형 유압펌프와 복수개의 액츄에이터와 작업장치위치검출기 및 토출유량검출기를 가지는 유압식 기계장비의 제어장치에 있어서, 작업조작기로부터 작업조작신호를 입력하여 조작속도신호를 발생하는 작동속도변환부와, 상기 작동속도변환부로부터의 조작속도신호와 상기 작업장치위치검출기로부터의 현재위치신호를 입력하여 기준위치신호를 발생하는 자동동작연산부와, 상기 기준위치신호와 상기 현재위치신호간의 오차를 검출하여 요구속도신호를 발생하는 위치제어부와, 상기 요구속도신호를 입력하여 기준유량신호와 액추에이터밸브제어신호 및 기준속도신호를 발생하는 유량배분연산부와, 상기 기준유량신호와 현재유량신호간의 오차를 검출하여 상기 유압펌프의 토출유량을 제어하는 밸브를 제어하는 펌프밸브제어신호를 발생하는 펌프유량제어부와, 상기 현재위치신호와 상기 기준속도신호간의 오차에 따르는 작업장치밸브제어신호에 상기 액츄에이터밸브신호를 합하여 최종작업장치밸브제어신호를 발생하는 속도제어부를 구비함을 특징으로 하는 제어장치.In a control device of a hydraulic machine having a plurality of variable displacement hydraulic pumps, a plurality of actuators, a work device position detector, and a discharge flow rate detector, an operating speed converting unit for generating a manipulation speed signal by inputting a work manipulation signal from a work manipulator. And, an automatic operation calculation unit for inputting an operation speed signal from the operating speed converter and a current position signal from the work device position detector to generate a reference position signal, and detecting an error between the reference position signal and the current position signal. A position control unit for generating a required speed signal, a flow rate calculating unit for generating a reference flow signal, an actuator valve control signal, and a reference speed signal by inputting the required speed signal, and detecting an error between the reference flow signal and the current flow signal. Pump valve control system for controlling the valve for controlling the discharge flow rate of the hydraulic pump And a pump flow control unit for generating a pressure control unit for generating a final work unit valve control signal by adding the actuator valve signal to a work unit valve control signal according to an error between the current position signal and the reference speed signal. Controller.
Description
제1도는 본 발명이 적용되는 유압시스템의 구성을 보여주는 유압 회로도.1 is a hydraulic circuit diagram showing the configuration of a hydraulic system to which the present invention is applied.
제2도는 본 발명에 따른 제어장치의 구성을 보여주는 기능 블럭도.2 is a functional block diagram showing a configuration of a control device according to the present invention.
본 발명은 유압식 건설기계의 제어장치에 관한 것으로, 특히 유압식 건설장비의 작동을 자동적으로 제어하기 위한 장치에 관한 것이다.The present invention relates to a control device for a hydraulic construction machine, and more particularly to an apparatus for automatically controlling the operation of the hydraulic construction equipment.
굴삭기, 로우더 또는 도우저등과 같은 유압식 건설장비는, 일반적으로, 복수개의 펌프, 유량제어밸브 및 복수개의 유압실린더 및 모터를 액츄에이터로 하는 작업장치등으로 구성되어 있고, 이러한 작업장치의 조작은 운전석 내부의 조이스틱, 페달, 레버들과 같은 작업조작수단을 사용한 운전자의 조작에 의하여 이루어진다. 그러나, 실제적인 굴삭, 상차 및 평탄작업등의 건설기계의 동작에 관련한 자동화 시스템을 구현하기 위해서는 요구되는 각 작업장치의 위치 및 속도에 대한 제어가 필요하다.Hydraulic construction equipment such as excavators, loaders, or dozers generally include a plurality of pumps, flow control valves, and a plurality of hydraulic cylinders and a work device that uses a motor as an actuator. This is accomplished by the operator's operation using work manipulation means such as joysticks, pedals and levers. However, in order to implement an automation system related to the operation of construction machinery such as actual excavation, loading and leveling, it is necessary to control the position and speed of each required work device.
따라서 본 발명의 목적은 유압식 기계장비에 있어서 작업장치를 자동적으로 제어할 수 있는 장치를 제공함에 있다.It is therefore an object of the present invention to provide an apparatus capable of automatically controlling a work device in a hydraulic machine.
상기 본 발명의 목적을 달성하기 위하여 본 발명은, 복수개의 가변용량형 유압펌프와 복수개의 액츄에이터와 작업장치위치검출기 및 토출유량검출기를 가지는 유압식 기계장비의 제어장치에 있어서, 작업조작기로부터 작업조작신호를 입력하여 조작속도신호를 발생하는 작동속도변환부와, 상기 작동속도변환부로부터의 조작속도신호와 상기 작업장치위치검출기로부터의 현재위치신호를 입력하여 기준위치신호를 발생하는 자동동작연산부와, 상기 기준위치신호와 상기 현재위치신호간의 오차를 검출하여 요구속도신호를 발생하는 위치제어부와, 상기 요구속도신호를 입력하여 기준유량신호와 액추에이터밸브제어신호 및 기준속도신호를 발생하는 유량배분연산부와, 상기 기준유량신호와 현재유량신호간의 오차를 검출하여 상기 유압펌프의 토출유량을 제어하는 밸브를 제어하는 펌프밸브제어신호를 발생하는 펌프유량제어부와, 상기 현재위치신호와 상기 기준속도신호간의 오차에 따르는 작업장치밸브제어신호에 상기 액츄에이터밸브신호를 합하여 최종작업장치밸브제어신호를 발생하는 속도제어부를 구비함을 특징으로 한다.In order to achieve the object of the present invention, the present invention, in the control device of the hydraulic mechanical equipment having a plurality of variable displacement hydraulic pump, a plurality of actuators, a work device position detector and a discharge flow rate detector, the work operation signal from the work operator An operation speed converting unit for generating an operation speed signal by inputting an input; A position control unit for detecting an error between the reference position signal and the current position signal to generate a required speed signal, a flow rate distribution operation unit for generating a reference flow signal, an actuator valve control signal, and a reference speed signal by inputting the required speed signal; Detecting the error between the reference flow rate signal and the current flow rate signal to The pump flow control unit for generating a pump valve control signal for controlling the valve for controlling the flow rate, and the actuator valve signal to the work device valve control signal according to the error between the current position signal and the reference speed signal, the final work device valve control Characterized in that the speed control unit for generating a signal.
이하 본 발명의 바람직한 실시예를 첨부된 도면을 참조하여 상세하게 설명한다. 제1도는 본 발명의 제어장치가 적용되는 유압시스템의 일례를 보여준다. 작업장치위치검출기(8)로부터의 작업장치의 위치에 관한 데이터와, 토출유량검출기(9)로부터의 토출유량에 관한 데이터와, 작업조작기(4)로부터의 작업조작신호(또는 작업조작량)에 관한 데이터를 입력하는 마이크로컨트롤러(5)는 전자비례 유량조절밸브(3)를 제어한다. 전자비례 유량조절밸브(3)는 엔진(1)에 의해 구동되는 가변용량형 유압펌프(2)의 사판경전각을 조정하여 액츄에이터인 유압실린더(7)로의 유로상에 설치된 주제어밸브(6)로의 오일공급을 조절한다. 주제어밸브(6)는 마이크로컨트롤러(5)의 제어에 따라 유압실린더(7)로 유입되는 작동유의 흐름방향과 유압실린더(7)로부터 유출되는 작동유의 흐름방향을 통제한다. 작업장치위치검출기(8)는 현재의 작업장치의 위치 예를들면 굴삭기의 버켓의 현재위치등을 감지하여 이것에 관한 데이터를 마이크로컨트롤러(5)에 제공한다. 토출유량검출기(9)는 유압펌프(2)와 주제어밸브(6)사이의 관로상에 설치되어 유압펍프(2)로부터 토출되는 작동유의 유량에 관한 데이터를 마이크로컨트롤러(5)에 제공한다. 마이크로컨트롤러(5)에는 본 발명에 따른 제어장치가 내장된다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. 1 shows an example of a hydraulic system to which the control device of the present invention is applied. Data relating to the position of the work device from the work device position detector 8, data relating to the discharge flow rate from the discharge flow rate detector 9, and the work operation signal (or the amount of work operation) from the work manipulator 4 The microcontroller 5 for inputting data controls the electronic proportional flow control valve 3. The electromagnetic proportional flow control valve 3 adjusts the swash plate inclination angle of the variable displacement hydraulic pump 2 driven by the engine 1 to the main control valve 6 installed on the flow path to the hydraulic cylinder 7 as an actuator. Adjust oil supply. The main control valve 6 controls the flow direction of the hydraulic oil flowing into the hydraulic cylinder 7 and the flow direction of the hydraulic oil flowing out of the hydraulic cylinder 7 under the control of the microcontroller 5. The work device position detector 8 detects the position of the current work device, for example, the current position of the bucket of the excavator, and provides data on this to the microcontroller 5. The discharge flow rate detector 9 is provided on the conduit between the hydraulic pump 2 and the main control valve 6 to provide the microcontroller 5 with data on the flow rate of the hydraulic oil discharged from the hydraulic pub 2. The microcontroller 5 has a built-in control device according to the invention.
본 발명에 따른 제어장치의 기능성 구성을 보여주는 제2도를 참조하면, 작동속도변환부(11)는 작업조작기(4)로부터 작업조작신호 js를 입력하여 그 작업조작량에 대한 각 작업장치의 조작속도신호 V를 발생하여 이를 자동동작연산부(12)로 공급한다. 자동동작연산부(12)는 제1도의 작업장치위치검출기(8)로부터 입력딘 현재위치신호 POreal와 조작속도신호 V를 이용하여 자동동작에 필요한 각 작업장치에 요구되는 기준위치신호 POref를 발생한다. 기준위치신호 POref는, 산술연산기(14)와 위치제어연산부(15)로 구성된 위치제어부(13)로 입력된다. 산술연산기(14)는 기준위치신호 POref와 현재위치신호 POrea1간의 차이를 연산한 위치오차신호 eO를 위치제어연산부(15)에 제공한다. 위치제어연산부(15)는 위치오차신호 eO를 기준으로 한 소정의 제어연산을 행하여 각 작업장치의 요구속도신호 VO를 발생한다. 즉, 자동동작에 요구되는 바람직한 각 작업장치의 기준위치와 각 작업장치의 위치검출기(8)로부터의 현재위치를 비교하여 그 오차량에 해당하는 신호에 대한 제어연산을 통하여 각 작업장치의 기준위치를 실제의 각 작업장치가 추종할 수 있는 바람직한 기준속도를 발생하는 과정이다.Referring to FIG. 2 showing the functional configuration of the control apparatus according to the present invention, the operation speed converting unit 11 inputs the operation operation signal js from the operation manipulator 4 to operate the operation speed of each working apparatus with respect to the operation operation amount. The signal V is generated and supplied to the automatic operation calculator 12. The automatic operation computing unit 12 generates the reference position signal POref required for each working apparatus required for automatic operation by using the current position signal POreal and the operation speed signal V input from the working apparatus position detector 8 in FIG. The reference position signal POref is input to the position control section 13 composed of the arithmetic operator 14 and the position control calculation section 15. The arithmetic operator 14 provides the position control operation unit 15 with the position error signal eO which calculates the difference between the reference position signal POref and the current position signal POrea1. The position control operation unit 15 performs a predetermined control operation based on the position error signal eO to generate the required speed signal VO of each work device. In other words, the reference position of each preferred working device required for automatic operation is compared with the current position from the position detector 8 of each working device, and the reference position of each working device is controlled through a control operation on a signal corresponding to the error amount. It is a process of generating a desirable reference speed that each actual work device can follow.
여기서, 작업장치의 궤적 및 위치제어가 요구되는 경우(이하 자동작동모드라 칭함)에는 위치제어부(13)로부터 발생된 요구속도신호 VO가 유량배분연산부(16)으로 입력되고, 자동동작을 수행하지 않고 각 작업장치의 속도제어만을 필요로 하는 수동조작이 요구되는 경우(이하 수동작동모드라 칭함)에는 자동동작연산부(12)와 위치제어연산부(13)에서의 상술한 실행과정은 생략되고 작동속도변환부(11)로부터 발생된 조작속도신호 V가 곧바로 유량배분연산부(16)으로 입력됨에 유의하여야 한다. 유량배분연산부(16)에서는, 요구되는 자동작동 혹은 수동작동의 특성에 적합하도록 각 작업장치에 요구되는 유량을 재배분하여 각 작업장치의 액츄에이터인 유압실린더(7) 및 모터의 유입유량을 제어하는 전자비례유량제어밸브(도시되지 않음)을 제어하는 액츄에이터밸브제어신호 VOLT와 속도제어를 위한 각 작업장치의 기준 속도신호 V1ref를 연산한다. 또한, 유량배분연산부(16)는 각 작업장치에 해당하는 유량의 합한 유량을 공급하는 유압펌프를 제어하기 위한 기준유량신호 Qref를 발생한다.Here, when the trajectory and the position control of the work device are required (hereinafter referred to as the automatic operation mode), the required speed signal VO generated from the position control unit 13 is input to the flow rate distribution calculation unit 16, and does not perform the automatic operation. If a manual operation requiring only speed control of each work device is required (hereinafter referred to as a manual operation mode), the above-described execution process in the automatic operation operation unit 12 and the position control operation unit 13 is omitted and the operation speed It should be noted that the operation speed signal V generated from the conversion section 11 is directly input to the flow rate distribution calculation section 16. The flow rate distribution calculating section 16 controls the inflow flow rates of the hydraulic cylinder 7 and the motor, which are actuators of each work device, by redistributing the flow rate required for each work device so as to suit the characteristics of the required automatic operation or manual operation. The actuator valve control signal VOLT for controlling the electromagnetic proportional flow control valve (not shown) and the reference speed signal V1ref of each work device for speed control are calculated. Further, the flow rate distribution calculating section 16 generates a reference flow rate signal Qref for controlling the hydraulic pump for supplying the sum of the flow rates corresponding to each work device.
기준유량신호 Qref는 산술연산기(18)와 펌프제어연산부(19)로 구성된 펌프유량제어부(17)로 입력되며, 기준속도신호 V1ref와 엑츄에이터밸브제어신호 VOLT는 속도제어부(20)로 입력된다. 펌프유량제어부(17)의 산술연산기(18)는 기준유량신호 Qref와 제1도의 토출유량검출기(9)로부터 제공된 현재의 토출유량신호 Qreal와의 차이를 나타내는 유량오차신호 eQ를 만든다. 펌프제어연산부(19)는 유량오차신호 eQ를 기준으로 한 소정의 제어연산을 행하여 유압펌프(2)의 사판경전각을 조정하는 전자비례유량제어밸브(3)를 제어하는 펌프밸브제어신호 VOLTP를 출력한다. 즉, 자동작동 또는 수동작동에 요구되는 바람직한 각 펌프의 기준토출유량과 현재토출유량을 비교하여 그 오차량에 해당하는 신호를 이용한 제어연산을 통하여 각 펌프의 기준토출유량을 각 펌프의 실제적인 토출유량이 추종할 수 있는 바람직한 출력전압을 각 펌프에 장착된 전자비례유량제어밸브에 인가하는 것이다.The reference flow signal Qref is input to the pump flow control unit 17 including the arithmetic operator 18 and the pump control operation unit 19, and the reference speed signal V1ref and the actuator valve control signal VOLT are input to the speed control unit 20. The arithmetic operator 18 of the pump flow control unit 17 produces a flow rate error signal eQ indicating a difference between the reference flow rate signal Qref and the current discharge flow rate signal Qreal provided from the discharge flow rate detector 9 in FIG. The pump control operation unit 19 performs a predetermined control operation based on the flow rate error signal eQ to control the pump valve control signal VOLTP for controlling the electromagnetic proportional flow control valve 3 for adjusting the swash plate inclination angle of the hydraulic pump 2. Output That is, the standard discharge flow rate of each pump is compared with the standard discharge flow rate and the current discharge flow rate required for the automatic operation or the manual operation and the control operation using the signal corresponding to the error amount is used to actually discharge the standard discharge flow rate of each pump. The desired output voltage that can be followed by the flow rate is applied to the electromagnetic proportional flow control valve mounted to each pump.
한편, 속도제어부(20)는 출력조정연산부(21)와, 산술연산기(24) 및 (25)와, 속도제어연산부(22) 및 미분기(23)로 구성된다. 유량배분연산부(16)으로부터 액츄에이터밸브제어신호 VOLT를 입력하는 출력조정연산부(21)가 각 작업장치의 액츄에이터인 유압실린더 및 모터의 유입유량을 제어하는 전자비례유량제어밸브를 실제적으로 제어하는 최종액츄에이터밸브제어신호 FFVOLT를 발생한다. 미분기(23)는 작업장치위치검출기(8)로부터 입력된 현재위치신호 POreal를 이용한 미분연산을 행하여 각 작업장치의 현재속도신호 V1real을 출력한다. 산술연산기(24)는 유량배분연산부(16)으로부터 입력된 기준속도신호 V1ref와 미분기(23)으로부터 입력된 현재속도신호 V1Real간의 차이를 검출하는 속도오차신호 eV를 발생한다. 속도제어연산부(22)는 속도오차신호 eV를 기준으로 한 소정의 제어연산을 통하여 각 작업장치에 해당하는 전자비례유량제어밸브를 제어하는 작업장치밸브제어신호 VOLT1을 발생한다. 출력조정연산부(21)로부터 발생된 최종액츄에이터밸브제어신호 FFVOLT와 속도제어연산부(22)로부터 발생된 작업장치밸브제어신호 VOLT1은 산술연산기(25)에서 합산되어 각 작업장치를 제어하는 전자비례유량제어밸브를 제어하는 최종작업장치밸브제어신호 VOLT2를 출력한다. 즉, 유량배분연산부(16)에서 연산되고 속도제어부(20)에서 조정된 출력신호와 속도제어에 요구되는 바람직한 각 작업장치의 기준속도와 각 작업장치의 위치검출기(8)로부터 연산된 실제의 현재속도를 비교하여 그 오차량에 해당하는 신호에 대한 제어연산을 행하여 각 작업장치의 기준속도를 실제의 각 작업장치의 속도가 조정될 수 있는 바람직한 제어신호에 합하여 각 작업장치의 전자비례유량제어밸브를 제어하는 신호를 출력하는 것이다.On the other hand, the speed control unit 20 is composed of an output adjustment operation unit 21, arithmetic operators 24 and 25, speed control operation unit 22 and differentiator 23. The final actuator for controlling the inflow flow rate of the hydraulic cylinder, which is the actuator of each work device, and the motor, by the output adjustment calculation unit 21, which inputs the actuator valve control signal VOLT from the flow rate distribution calculation unit 16, to the final actuator. Generates the valve control signal FFVOLT. The differentiator 23 performs differential operation using the current position signal POreal input from the work device position detector 8, and outputs the current speed signal V1real of each work device. The arithmetic operator 24 generates a speed error signal eV for detecting a difference between the reference speed signal V1ref input from the flow rate distribution calculation section 16 and the current speed signal V1Real input from the differentiator 23. The speed control operation unit 22 generates a work device valve control signal VOLT1 for controlling the electronic proportional flow control valve corresponding to each work device through a predetermined control operation based on the speed error signal eV. The final actuator valve control signal FFVOLT generated from the output adjustment operation unit 21 and the work device valve control signal VOLT1 generated from the speed control operation unit 22 are summed by the arithmetic operator 25 to control the electronic proportional flow rate control. The final work device that controls the valve outputs the valve control signal VOLT2. That is, the output signal calculated by the flow distribution calculating section 16 and the output signal adjusted by the speed control section 20 and the reference speed of each preferred work device required for the speed control and the actual current calculated from the position detector 8 of each work device. Comparing the speed and performing control operation on the signal corresponding to the error amount, the reference speed of each working device is added to the desired control signal that can adjust the actual speed of each working device. It is to output the signal to control.
상술한 바와 같이, 본 발명은 현재의 토출유량 및 작업장치의 속도 및 위치에 관한 정보를 미리 설정된 기준값들에 비교하여 최적의 작업상태를 자동적으로 설정할 수 있으므로, 작업효율과 조작신뢰성을 향상시키는 효과가 있다.As described above, the present invention can automatically set the optimum working state by comparing the information on the current discharge flow rate and the speed and position of the working apparatus with preset reference values, thereby improving work efficiency and operation reliability. There is.
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| KR1019940009677A KR0174393B1 (en) | 1994-04-30 | 1994-04-30 | Control device for hydraulic construction machinery |
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| KR100849881B1 (en) * | 2007-04-25 | 2008-08-01 | 박길용 | Hydraulic power package unit for operating door of car |
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| KR100849881B1 (en) * | 2007-04-25 | 2008-08-01 | 박길용 | Hydraulic power package unit for operating door of car |
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