KR101112134B1 - Method for self tuning active pitching control - Google Patents

Abstract

The present invention relates to a learning type hydraulic cylinder vibration control method, wherein the learning type hydraulic cylinder vibration control method includes: (a) a system factor for controlling a hydraulic cylinder in a hydraulic cylinder vibration control method of a construction machine; Measuring and storing the final pressure value PL_end, the free vibration period value PL_peroid of the large chamber, and the amplitude Mag (PL) of the pressure value of the large chamber; (b) Control signal output setting for controlling the pressure supply of the large chamber and the small chamber by detecting the pressure of the large chamber and the small chamber after performing the specific work according to the driver's operation, and after the driver's operation is finished. Outputting to the valve driving apparatus according to the present invention; (c) measuring system factors after the output of all control signals is finished according to the control signal output setting; (d) selecting / storing the control signal output setting as the optimum control signal output setting of the operation when the amplitude Mag (PL) value of the measured large chamber pressure is less than or equal to the set value; And (e) if the amplitude Mag (PL) value of the measured large chamber pressure is equal to or greater than the set value, it is determined whether the current tuning number has reached the set number of times. The control signal output setting having the amplitude Mag (PL) value of the smallest large chamber pressure among the amplitude Mag (PL) values of the measured large chamber pressure when the set number of times is reached, is returned to step (b). The learning-type hydraulic cylinder vibration control method comprising the step of selecting and storing the optimal control signal output setting of the job.

According to the present invention, through the series of processes that the driver directly tunes to a large load change of the excavator various work types and work equipments to find the optimum control signal output setting that is most suitable for the actual work type to effectively suppress the vibration of the hydraulic cylinder It has the advantage of being controllable.

Construction Machinery, Hydraulic Cylinder Vibration, Vibration Control, Large Chamber, Small Chamber

Description

Learning-type hydraulic cylinder vibration control method {Method for self tuning active pitching control}

The present invention relates to a method of controlling a vibration of a hydraulic cylinder in a learning type, and more particularly, in a excavator working type, a driver may select a specific operation mode for a boom cylinder vibration generated regardless of the driver's intention when the hydraulic cylinder stops operating rapidly. The present invention relates to a method for controlling vibration of a boom cylinder in real work using a control device configured to be directly tuned and a tuned system parameter.

Due to the vibration generated in the hydraulic cylinder during the rapid operation of the equipment during the operation of the excavator, efforts are being made to improve this by increasing the work fatigue of the driver and reducing the work efficiency.

Conventionally, a pressure sensor is used to detect a rapid operating state of the operating lever, and when the operating lever is rapidly operated, a control signal is output by the controller to control the control valve. However, the working device does not operate rapidly. To control the control valve so as not to actually solve the vibration of the hydraulic cylinder fundamentally. In addition, even if a method of controlling the vibration of the hydraulic cylinder by detecting the pressure of the hydraulic cylinder through the pressure sensor is used, there is a problem in that the actual control effect is reduced according to various working types of the excavator and inertia change of the working device.

The present invention, in order to solve the problems of the prior art as described above, in the hydraulic cylinder vibration control method of the excavator through a series of processes that the driver directly tunes to a large load change of the excavator various work types and work equipment An object of the present invention is to provide a control method capable of outputting an optimum control signal for a work type.

In order to achieve the above object, according to a preferred embodiment of the present invention, in the hydraulic cylinder vibration control method of a construction machine,

(a) Measure the system parameters (final pressure value PL_end of the large chamber, free vibration period value PL_peroid) of the large chamber, and amplitude (Mag (PL)) of the large chamber pressure to control the hydraulic cylinder. Storing;

(b) The control signal for controlling the pressure supply of the large chamber and the small chamber by detecting the pressure of the large chamber and the small chamber after performing the specific work according to the driver's operation and detecting the pressure of the large chamber and the small chamber after the driver's operation is finished Outputting to the valve driving device accordingly;

(c) measuring system factors after the output of all control signals is finished according to the control signal output setting;

(d) selecting / storing the control signal output setting as the optimum control signal output setting of the operation when the measured Mag (PL) value is equal to or smaller than the set value; And

(e) If the measured Mag (PL) value is equal to or greater than the set value, it is determined whether the current tuning number has reached the set number. If it does not reach the set number, the control signal output setting is changed through the phase calculator and the step (b) is performed. Returning to, and selecting and storing the control signal output setting having the smallest Mag (PL) value among the measured Mag (PL) values as the optimum control signal output setting of the operation when the set number of times is reached. A learning type hydraulic cylinder vibration control method is provided.

At this time, the above-described control signal is a first control signal for controlling the oil supply to the large chamber for the set time and returning the small chamber pressure oil to the tank when it stops in the boom raising operation by the operation mode of the driver's work device And a second control signal so that when stopped in the boom lowering operation, the first control signal for supplying the pressure oil of the small chamber for the set time and controlling the pressure return of the large chamber to the tank is included. It is made up.

Further, the above-described control signal output setting may be configured to include a plurality of output settings including an output start condition and an output end condition of the first control signal and the second control signal.

Herein, the control signal output setting described above starts output of the first control signal when the pressure of the large chamber and the small chamber is the same when the operation lever is in a neutral state, and when the pressure of the small chamber is less than the set pressure, The output is terminated, and the output of the second control signal is output when the pressure of the large chamber is equal to the final pressure value PL_end of the large chamber, which is a system factor, in the section where the large chamber pressure decreases and the small chamber pressure increases. It may be configured to include a first output setting to start, and to terminate the output of the second control signal when the pressure of the small chamber is less than the set pressure.

In addition, the above-described control signal output setting starts outputting the first control signal when the pressure of the large chamber and the small chamber is the same when the operation lever is in the neutral state, and when the pressure of the small chamber is less than the set pressure, the first control signal. After the output of the first control signal, the first output setting condition and the large chamber pressure amplitude value are checked and the second control signal is output through the phase calculator. When the pressure of the small chamber is less than the set pressure, the And a second output setting for terminating the output of the second control signal.

On the other hand, the above-described learning type hydraulic cylinder vibration control method,

(f) Deriving the optimum control signal output setting corresponding to the work type according to the driver's selection from the stored control signal output setting through the acid calculator, and according to the optimum control signal output setting derived in the work execution process according to the driver's operation. And outputting a control signal to control the vibration of the hydraulic cylinder.

As described above, according to the learning-type hydraulic cylinder vibration control method according to the present invention, the most suitable for the actual work type through a series of processes that the driver directly tunes to a large load change of the excavator various work types and work devices Finding the control signal output setting of has the advantage that it can effectively control the vibration of the hydraulic cylinder.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the learning-type hydraulic cylinder vibration control method according to the present invention.

1 is a schematic diagram of a hydraulic system to which a learning type hydraulic cylinder vibration control method according to an exemplary embodiment of the present invention is applied. As shown in FIG. 1, the hydraulic system to which the learning type hydraulic cylinder vibration control method according to the present invention is applied supplies hydraulic pressure of the hydraulic pump 1 and the hydraulic pump 1 operated by an engine (not shown) to a boom cylinder. The main control valve 2, the controller 3 for controlling the main control valve 2, the valve drive device 6 for controlling the opening and closing of the main control valve 2 by the control signal output from the controller 3, the hydraulic pump (1) A boom cylinder for driving the boom, which is one of the working devices, receives a pressure oil from a large chamber pressure sensor for detecting the pressure of the large chamber of the boom cylinder, and a small chamber for detecting the pressure of the small chamber of the boom cylinder. Pressure sensor 5, an operation lever 8 for outputting an operation signal for performing work according to the driver's operation, a pilot pressure sensor 7 for detecting pressure of the operation signal according to operation of the operation lever, tuning to the driver Can guide you through the process It may include a mode selector switch (10) for operation to the instrument panel 9 and the driver is performing a tune.

The boom cylinder is made of a well-known hydraulic cylinder. When the large chamber and the small chamber are formed and the boom cylinder is extended, the hydraulic oil from the hydraulic pump 1 is input into the large chamber by the operation of the main valve and the small chamber is a tank (not shown). The pressurized oil is returned to the tank. In addition, when the boom cylinder is compressed, the hydraulic oil from the hydraulic pump 1 is inputted into the small chamber by the operation of the main control valve, and the large chamber is connected to the tank so that the hydraulic oil is returned to the tank. In addition, the large chamber of the boom cylinder is equipped with a large chamber pressure sensor (4), the large chamber pressure sensor (4) detects the pressure acting on the large chamber of the boom cylinder and sends the detected pressure signal to the controller (3) do.

The valve driving device 6 controls the operation of the main control valve 2 by forming a pilot pressure by the control signal output from the controller 3 and supplying it to the main control valve 2.

Referring to the operation of the hydraulic system to which the vibration control method of the learning-type hydraulic cylinder according to the present invention having the above-described configuration is applied.

The operation lever 8 is an apparatus for generating an operation signal for driving a work device (not shown) according to the driver's operation. The operation signal of the operation lever 8 is input to the controller 3 to provide a valve drive device 6. ) Is changed to a control signal capable of driving. The controller 3 outputs a control signal for driving the valve driving device 6 according to the operation signal output from the operation lever 8 to control the operation of the main control valve 2 so that the operation of the boom cylinder is performed. do.

In addition, the controller 3 analyzes an operation signal output from the operation lever 8 to determine whether the boom cylinder is suddenly stopped, and when the boom cylinder is suddenly stopped by the operation of the operation lever, actively suppresses the vibration generated in the boom cylinder. To control.

At this time, since the pressure signal indicating the pressure state of the large chamber of the boom cylinder detected by the large chamber pressure sensor 4 is transmitted to the controller 3 as described above, the controller 3 responds to the pressure state in the boom cylinder. Active vibration control can be performed.

That is, the controller 3 according to the present invention determines whether the operating lever is suddenly operated so that the boom cylinder is suddenly stopped and whether the boom is suddenly stopped while the boom (not shown) is being raised or is suddenly stopped while the boom (not shown) is being lowered. After the determination, the valve driving device 6 is driven to suit the respective cases to control the vibration generated by controlling the pressure supply of the large chamber and the small chamber of the boom cylinder.

That is, the controller 3 according to the present invention may be configured to use two kinds of control signals to control the vibration. The first control signal is a control signal for supplying the pressurized oil to the large chamber and returning the small chamber pressurized oil to the tank for a predetermined time, and the second control signal is to supply the pressurized oil to the small chamber for the set time and the pressurized oil of the large chamber Control signal to control the return to the tank.

In more detail, when the boom cylinder is suddenly stopped while the boom cylinder is being raised, it corresponds to a state in which the boom cylinder is suddenly stopped while the boom cylinder is being extended. Therefore, the controller 3 outputs the first control signal according to a predetermined output setting. Vibration generated in the boom cylinder by supplying pressure oil to the chamber, returning the pressure oil of the small chamber to the tank, and then outputting the second control signal to supply pressure oil to the small chamber, and returning the pressure oil of the large chamber to the tank. Active control

In addition, when the boom cylinder is suddenly stopped while the boom cylinder is being lowered, it corresponds to a state in which the boom cylinder is suddenly stopped while the boom cylinder is being compressed. Therefore, the controller 3 outputs a second control signal according to a predetermined output setting to supply pressure oil to the small chamber. By returning the pressure oil of the large chamber to the tank, the vibration generated in the boom cylinder is actively controlled.

At this time, the hydraulic cylinder vibration control method according to the prior art was configured to simply control the vibration in accordance with the control method determined in the production of construction machinery. In other words, regardless of the working environment or type of work, the output of the first control signal and the second control signal is controlled according to a preset control method in the production of construction equipment.

In order to solve the drawbacks of the prior art, the vibration control method according to the present invention is the first control signal and the first control signal for the vibration control of the hydraulic cylinder directly by the driver to a large load change of various work types and working apparatus of the construction machine 2 Provides a series of processes to tune the output settings (output time, output time) for the control signal, and saves the optimal output settings determined through this series of processes to perform the appropriate work type. It can be configured to control the vibration of the hydraulic cylinder using the output setting. This tuning process will be described in detail with reference to FIGS. 2 to 8.

2 is a flowchart illustrating a system identification process according to an embodiment of the present invention. Hereinafter, a system identification process according to the present invention will be described in detail with reference to FIG. 2. The system identification process is a process performed to find out the system factors necessary for controlling the vibration of the hydraulic cylinder for the intended type of operation by the driver. That is, in the system identification process, various system factors are calculated / stored according to the type of work intended by the driver without applying a control signal for controlling the vibration of the hydraulic cylinder, and are used in the tuning process to be described later. The control signal output setting of is determined.

First, when the driver turns on the system identification mode changeover switch by operating the switch 10 in order to find the system factor necessary for the control for the type of work intended by the driver, the controller 3 performs the system identification process. Start (S100).

If the system identification mode changeover switch is turned on by the driver, the controller 3 initializes the system factor (S101), or maintains the existing normal mode.

After the initialization is completed for the system factor, the controller 3 outputs a message to the driver to perform the desired work type through the instrument cluster (S102).

When the driver checks the message displayed through the instrument panel and operates the operation lever to perform the actual work, the input device operation signal input step S103 proceeds, and the controller 3 responds to the operation signal and the work performance according to the driver's operation. In response to the pressure signal of the boom cylinder detected accordingly (S104).

The controller 3 receives the pressure signal and the operation signal when the reception completion point for the pressure signal does not have an operation signal according to the driver's operation lever operation and the amplitude of the waveform of one cycle of the large chamber pressure of the cylinder is less than or equal to a preset amplitude. Are completed (S105) and the system argument is calculated / stored (S106).

6 is an explanatory diagram for a system factor according to an embodiment of the present invention. Referring to Figure 6 will be described in detail with respect to the system factors used in the control method according to the present invention. The system parameters calculated through the system identification process according to the present invention are as follows.

In FIG. 6, 'PL' is a pressure value of a boom cylinder large chamber, 'PS' is a pressure value of a boom cylinder small chamber, and 'operating lever' represents an operation amount according to the driver's operation.

The 'PL_end' value is the final pressure value of the boom cylinder large chamber at the time when the operator completes the work. It means the average of the peak / valley median value of 2 cycles after the 2nd cross point with all the control levers neutral. It is calculated using Equation 1 below.

PL_End = Average {Mid (Ppeak_1, Pvalley_1), Mid (Ppeak_2, Pvalley_2)}

'PL_period' value is a free vibration period value of the boom large chamber, which is expressed as 1 cycle period after the 2nd cross point in a state where all operation levers are neutral, and is calculated using Equation 2 below.

PL_period = t_peak2-t_peak1

'Mag (PL)' is the amplitude of the pressure value of the boom chamber, represented by the amplitude of the fourth cycle after the 2nd cross point with all operating levers neutral, and is calculated using Equation 3 below.

Mag (PL) = Ppeak_4-Pvalley_4

When the calculation / storing of the system factor is completed using the above Equations 1 to 3, the controller 3 sets the System_ID_flage value to 1 as information indicating that the system identification is completed, and ends the system identification process. (S107).

3 is a flowchart illustrating a process of performing a tuning mode according to an embodiment of the present invention. Hereinafter, a process of performing a tuning mode according to the present invention will be described in detail with reference to FIG. 3.

First, in order to perform the control of the hydraulic cylinder while applying the system factor found in the system identification mode to the driver's intended work type, the driver operates the switch 10 to turn on the tuning mode switching switch (S200). .

When the tuning mode is turned on, the controller 3 checks the value of System_ID_Flag. If the value of System_ID_Flag is 1, the system identification is completed. Therefore, the controller 3 initializes all parameters necessary for tuning and proceeds to the next step. If the value is 0, the process is not completed because the system identification is not completed (S201).

After the tuning parameters are initialized, the controller 3 outputs a guidance message to the driver so as to perform the work mode on the instrument panel 9 (S202).

The driver who confirms the guidance message through the instrument panel 9 operates the actual operation lever 8 to input the operation signal in order to execute the desired work type (S203), and the controller 3 detects the operation signal and sends it to the operation signal. A control signal for performing a corresponding operation is output to the main control valve 2 to perform a desired operation by the driver, and at the same time receives a pressure signal output from the large chamber pressure sensor 4 and the small chamber pressure sensor 5. (S204).

The controller 3 continuously detects the presence or absence of an operation signal output from the operation lever 8, and when the operation according to the driver's operation is completed and the operation lever 8 is in a neutral state, according to the preset control signal output setting, The first control signal and the second control signal are output (S205).

Herein, the control signal output setting means a plurality of output settings including an output start condition and an output end condition of the first control signal and the second control signal. As described above, the first control signal and the second control signal capable of controlling the vibration of the hydraulic cylinder have different efficiency in controlling the vibration of the hydraulic cylinder according to the output time and the output time, respectively, according to the type of work desired by the driver. do. In view of this, the control method according to the present invention provides a plurality of output settings having different output start conditions and output end conditions, and according to each output setting after the end of work according to the type of work intended by the driver. The first control signal and the second signal are output, and after the output is finished, the vibration control efficiency is judged and the output setting having the most optimal vibration control efficiency is determined and stored as the optimum output setting of the corresponding work type.

Therefore, the controller 3 determines the number of output setting tunings that are currently in progress, and reads the corresponding control signal output setting among the plurality of stored control signal output settings according to the corresponding number of times to control the first control according to the read control signal output setting. Outputs a signal and a second control signal. In order to find an optimal output setting, the present invention will be described based on an embodiment according to the present invention configured to perform at least one tuning process specified by the driver at a time.

First, when the operation according to the driver's operation is completed and the operation lever 8 is in a neutral state, the controller 3 judges the current tuning number, and the amplitude of the existing tuning condition and the pressure value of the large chamber by the phase calculator S209. Using the value, the output start condition and the output end condition of the second control signal are found, and the control signal output setting corresponding to the current tuning count is read. If the first tuning process is performed as shown in FIG. 4, the controller selects the first output setting from among the plurality of stored control signal output settings, and according to the selected first output setting, the first control signal and the second control signal. (S501 of S205).

Next, the controller 3 determines whether the output of the first control signal and the second control signal is completed, and calculates / stores the system factor when the output of all the control signals is completed (S206). When the calculation for the system factor is completed, the controller 3 analyzes the calculated system factor to determine whether the corresponding output setting is the optimal output setting. In this case, as a criterion for determining whether the output is optimal, one of various criteria determined experimentally may be set according to a person skilled in the art. In the present embodiment, as described above, the Mag (PL) value, which is the amplitude of the pressure value of the large chamber, is used among the system factors calculated through Equations 1 to 3. That is, if the Mag (PL) value calculated after outputting the first control signal and the second control signal according to the control signal output setting is less than or equal to the preset value, the corresponding control signal output setting is set to the optimum control signal output setting of the operation. Select to save.

If the calculated Mag (PL) value exceeds a preset value, the controller 3 determines whether the tuning count executed so far has reached the preset tuning count. As a result of the determination, when the tuning number of executions performed so far does not reach the preset tuning number, the control unit outputs the control signal output setting through the phase calculator and returns to step S202.

If the controller 3 determines that the tuning number executed so far reaches the preset tuning number, the control signal having the smallest Mag (PL) value among the Mag (PL) values according to each control signal output setting execution. Select and save the output setting as the optimum control signal output setting for the job.

The optimum control signal output setting calculated in this manner is used as a control signal output setting for controlling the vibration of the hydraulic cylinder when the driver performs the same work. That is, when the driver selects the job type in which the optimum control signal output setting is stored before performing the work, the controller 3 selects the optimum control signal corresponding to the job type selected by the driver among the stored optimum control signal output settings. The output setting is loaded to control the vibration of the hydraulic cylinder according to the construction machine operation.

4 is a flowchart illustrating a control signal output process according to a first output setting according to an embodiment of the present invention.

As shown in FIG. 4, the controller 3 according to the present invention checks the number of tuning operations currently in progress, and loads the first output setting among the plurality of stored control signal output settings when tuning is performed first. Therefore, the first control signal and the second control signal are output accordingly.

4 is an explanatory diagram of a first output setting according to an embodiment of the present invention. As shown in FIG. 4, the first output setting according to the present invention starts outputting the first control signal when the pressure of the large chamber and the small chamber is the same in the absence of all the operation signals, and sets the pressure of the small chamber. When the pressure is below the pressure, the output of the first control signal is set to end. In addition, the first output setting according to the present invention may be performed when the pressure of the large chamber is decreased and the pressure of the large chamber is equal to the final pressure value PL_end of the large chamber, which is a system factor, in a section in which the pressure of the small chamber is increased. The output of the second control signal is started, and when the pressure of the small chamber becomes equal to or less than the set pressure, the output of the second control signal is set to end.

Therefore, the controller 3 according to the present invention determines whether the pressure signal Pi according to the driver's manipulation output from the pilot pressure sensor is equal to or less than the preset value Pi_set, and when the controller 3 is below the preset value, the manipulation signal according to the driver's manipulation. The large chamber pressure value PL outputted from the large chamber pressure sensor 4 and the small chamber pressure sensor 5 is compared with the small chamber pressure value PS. As a result of comparison, when the pressure values of the large chamber and the small chamber are the same, the controller 3 starts to output the first control signal as described above to the main control valve 2, and the pressure PS of the small chamber is increased. When less than the set value PS_set, the output of the first control signal is terminated.

After the output of the first control signal is finished, the controller 3 monitors the large chamber pressure value PL and the small chamber pressure value PS to increase the pressure value of the large chamber in a section in which the pressure value of the small chamber increases. The second control signal starts to be outputted to the main control valve 2 at the time when the final pressure value PL_end of the large chamber, which is a system factor, is lower than the set value. Terminate the output.

Upon completion of the output of the second control signal, the controller 3 calculates / stores the above-described system factor and proceeds to the next step.

5 is a flowchart illustrating a control signal output process according to a second output setting according to an embodiment of the present invention.

As shown in FIG. 5, the controller 3 according to the present invention checks the number of tuning operations currently in progress, and loads a second output setting among a plurality of stored control signal output settings when performing tuning for the second time. Accordingly, the first control signal and the second control signal are output.

8 is an explanatory diagram of a second output setting according to an embodiment of the present invention. As shown in FIG. 8, the second output setting according to the present invention starts outputting the first control signal when the pressure of the large chamber and the small chamber is the same in the absence of all the operation signals, and sets the pressure of the small chamber. When the pressure is below the pressure, the output of the first control signal is set to end. Further, the second output setting according to the present invention starts outputting the second control signal after 1/4 * PL_period has elapsed from the peak of the large chamber after the first control signal is output, When the pressure is lower than the set pressure, the output of the second control signal is set to end.

Therefore, the controller 3 according to the present invention determines whether the pressure signal Pi according to the driver's manipulation output from the pilot pressure sensor is equal to or less than the preset value Pi_set, and when the controller 3 is below the preset value, the manipulation signal according to the driver's manipulation. The large chamber pressure value PL outputted from the large chamber pressure sensor 4 and the small chamber pressure sensor 5 is compared with the small chamber pressure value PS. As a result of comparison, when the pressure values of the large chamber and the small chamber are the same, the controller 3 starts to output the first control signal as described above to the main control valve 2, and the pressure PS of the small chamber is increased. When less than the set value PS_set, the output of the first control signal is terminated.

After the output of the first control signal is finished, the controller 3 monitors the large chamber pressure value PL and the small chamber pressure value PS so that the pressure value of the large chamber is 1/4 * PL_period from the peak. After the elapsed time, the second control signal is outputted, and when the pressure value of the small chamber becomes less than the set value, the output of the second control signal is terminated.

Upon completion of the output of the second control signal, the controller 3 calculates / stores the above-described system factor and proceeds to the next step.

An output start condition of various second control signals may be applied through the phase calculator S209, and may be configured to allow the driver to directly input the output start condition. According to an embodiment of the present invention, the output of the second control signal may be set to start at an appropriate time between the second control signal output time of the first output setting and the second control signal output time of the second output setting. .

The control signal output setting according to the first embodiment of the present invention, as described above, according to a preferred embodiment of the present invention, and the control signal output setting is mounted on the construction machine through a variety of control signal output settings through an appropriate test process at the time of construction machine construction. The driver may be provided to the driver, and further control signal output settings may be provided to the driver through a system upgrade to be used in the tuning process.

In addition, it will be apparent to those skilled in the art that the driver may directly input a desired control signal output setting according to the present invention, and perform the above-described tuning process according to the input control signal output setting.

Preferred embodiments of the present invention are disclosed for purposes of illustration, and those skilled in the art will be able to make various modifications, changes, and additions within the spirit and scope of the present invention. Additions should be considered to be within the scope of the following claims.

1 is a schematic diagram of a hydraulic system to which a learning type hydraulic cylinder vibration control method according to an embodiment of the present invention is applied.

2 is a flowchart illustrating a system identification process according to an embodiment of the present invention.

3 is a flowchart illustrating a process of performing a tuning mode according to an embodiment of the present invention.

4 is a flowchart illustrating a control signal output process according to a first output setting according to an embodiment of the present invention.

5 is a flowchart illustrating a control signal output process according to a second output setting according to an embodiment of the present invention.

6 is an explanatory diagram of a system factor according to an embodiment of the present invention.

7 is an explanatory diagram of a first output setting according to an embodiment of the present invention;

8 is an explanatory diagram of a second output setting according to an embodiment of the present invention;

Explanation of symbols on the main parts of the drawings

1: Hydraulic pump 2: Main valve

3: controller 4: large chamber pressure sensor

5: Small chamber pressure sensor 6: Valve driving device

7: Pilot pressure sensor 8: Operation lever

9: instrument panel 10: mode switch

Claims (5)

In the hydraulic cylinder vibration control method of construction machinery, (a) Measure the system parameters (final pressure value PL_end of the large chamber, free vibration period value PL_peroid) of the large chamber, and amplitude (Mag (PL)) of the large chamber pressure to control the hydraulic cylinder. Storing; (b) Control signal output setting for controlling the pressure supply of the large chamber and the small chamber by detecting the pressure of the large chamber and the small chamber after performing the specific work according to the driver's operation, and after the driver's operation is finished. Outputting to the valve driving apparatus according to the present invention; (c) measuring system factors after the output of all control signals is finished according to the control signal output setting; (d) selecting / storing the control signal output setting as the optimum control signal output setting of the operation when the measured Mag (PL) value is equal to or smaller than the set value; And (e) If the measured Mag (PL) value is greater than or equal to the set value, it is determined whether the current number of tuning has reached the set number of times. If the set number of times is not reached, the control signal output setting is changed through a phase calculator and step (b) is performed. Returning to, and selecting and storing the control signal output setting having the smallest Mag (PL) value among the measured Mag (PL) values as the optimum control signal output setting of the operation when the set number of times is reached. The tuning frequency is a learning-type hydraulic cylinder vibration control method, characterized in that the tuning the output setting for the control signal for the vibration control of the hydraulic cylinder. The method of claim 1, The control signal output setting may include a plurality of output settings including an output start condition and an output end condition of the first control signal and the second control signal, using a phase calculator, The first control signal is a control signal for supplying pressurized oil to the large chamber and returning the pressurized oil of the small chamber to the tank for a set time, and the second control signal is to supply pressurized oil to the small chamber for the set time and the large chamber The learning type hydraulic cylinder vibration control method, characterized in that the control signal for controlling to return the pressure oil of the tank. 3. The method of claim 2, The control signal output setting When the pressure of the large chamber and the small chamber is the same, the output of the first control signal is started, and when the pressure of the small chamber is less than the set pressure, the output of the first control signal is terminated. When the pressure of the large chamber decreases and the pressure of the small chamber increases, the output of the second control signal is started at the time when the pressure of the large chamber is equal to the final pressure value PL_end of the large chamber which is a system factor. And a first output setting for terminating the output of the second control signal when the pressure of the pressure becomes less than the set pressure. The method of claim 3, The control signal output setting When the pressure of the large chamber and the small chamber is the same, the output of the first control signal is started, and when the pressure of the small chamber is less than the set pressure, the output of the first control signal is terminated. After the output of the first control signal, the output of the second control signal is started after 1/4 * PL_period has elapsed from the highest point. When the pressure of the small chamber is less than the set pressure, the output of the second control signal is terminated. The learning-type hydraulic cylinder vibration control method further comprising a second output setting. The method of claim 1, The learning hydraulic cylinder vibration control method, Among the stored control signal output settings, the optimal control signal output setting corresponding to the work type according to the driver's selection is read out, and the hydraulic cylinder is output by outputting the control signal according to the optimum control signal output setting read out in the course of the work performed by the driver's operation. Learning-type hydraulic cylinder vibration control method further comprising the step of controlling the vibration of the.

Images