KR19990081852A - Control device of construction machinery - Google Patents

Abstract

The present invention relates to a control device for construction machinery such as a hydraulic power shovel for excavating the ground,

Angle detecting means (20 to 22) for detecting the posture of the articulated arm mechanism as angle information, converting means (26) for converting the detected angle information to elastic displacement information of the corresponding cylindrical actuators (120 to 122); The control means 1 which controls the actuators 120-122 to make a predetermined expansion-and-contraction displacement based on the obtained expansion-displacement information makes it possible to reduce the cost and to accurately and stably position the work member 400. To be controlled.

Description

Control device of construction machinery

A construction machine such as a hydraulic power shovel is, for example, as shown in FIG. 12, on an undercarriage 500 having an endless rail portion 500A, and an upper portion of a cabin equipped with a driver operating room 600. The revolving body 100 is provided, and the upper revolving body 100 is equipped with an articulated arm mechanism composed of a boom 200, a stick 300, and a bucket 400.

For example, the boom 200 and the stick 300 are based on the expansion and contraction information of the boom 200, the stick 300, and the bucket 400 obtained by the stroke sensors 210, 220, and 230. By appropriately driving the bucket 400 with the hydraulic cylinders 120, 121, and 122, the excavation work can be carried out by keeping the traveling direction of the bucket or the posture of the bucket 400 constant, thereby enabling the bucket ( It is possible to accurately and stably control the position and posture of the work member as shown in (400).

However, as such a conventional hydraulic power shovel, the stroke sensors 210, 220, and 230 for detecting the expansion and contraction of the boom 200, the stick 300, and the bucket 400 are expensive. There is.

This invention was developed in view of such a subject, and an object of this invention is to provide the control apparatus of the construction machine which can control the position and attitude | position of a work member correctly and stably while reducing cost.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to construction machinery, such as hydraulic shovels, that excavate the ground, and more particularly to a control device for such construction machinery.

1 is a schematic diagram of a hydraulic power shovel equipped with a control device according to an embodiment of the present invention.

2 is a view schematically showing the overall configuration (electric system and hydraulic system) of the control device according to an embodiment of the present invention.

3 is a view schematically showing a control system configuration of a control device according to an embodiment of the present invention.

4 is a block diagram for explaining a functional configuration of the entire control apparatus according to an embodiment of the present invention.

5 is a main control block diagram of a control device according to an embodiment of the present invention.

Fig. 6 is a side view schematically showing an operating part (joint arm mechanism and bucket) of the hydraulic power shovel according to the present embodiment.

7 is a side view schematically showing a hydraulic power shovel for explaining the operation of the hydraulic power shovel according to the present embodiment.

8 is a side view schematically showing a hydraulic power shovel for explaining the operation of the hydraulic power shovel according to the present embodiment.

9 is a side view schematically showing a hydraulic power shovel for explaining the operation of the hydraulic power shovel according to the present embodiment.

10 is a side view schematically showing a hydraulic power shovel for explaining the operation of the hydraulic power shovel according to the present embodiment.

11 is a side view schematically showing a hydraulic power shovel for explaining the operation of the hydraulic power shovel according to the present embodiment.

12 is a side view schematically showing a schematic configuration of a conventional hydraulic power shovel;

To this end, the control device of the construction machine of the present invention includes at least one construction machine body, one end of which is supported by the shaft on the construction machine body, and having a work member on the other end thereof, which is connected to each other through the joints. An articulated arm mechanism having a pair of arm members, a cylindrical actuator mechanism having a plurality of cylindrical actuators for driving the arm mechanism by stretching and contracting, and an angle detection for detecting posture of the arm mechanism with angle information Means for converting the angular information obtained by the angle detecting means into expansion and contraction displacement information of the corresponding cylindrical actuator, and the cylinder based on the expansion and displacement information of the cylindrical actuator converted into the conversion means. It is characterized by comprising a control means for controlling the type actuator to be a predetermined stretching displacement It is.

The articulated arm mechanism includes a boom in which one end is rotatably connected with respect to the construction machine body, and a stick in which one end is rotatably connected through the articulation portion with respect to the boom. One end may be rotatably connected to the stick through the joint portion, and the tip may be configured as a bucket that excavates the ground to accommodate soil therein.

In addition, the cylindrical actuator mechanism is mounted between the construction machine main body and the boom, and the distance between the end and the end is stretched so that the boom hydraulic cylinder rotates the boom with respect to the construction machine main body, and is mounted between the boom and the stick end. It may comprise a stick hydraulic cylinder for rotating the stick with respect to the boom by stretching the distance between the bucket and a bucket hydraulic cylinder mounted between the stick and the bucket and for rotating the bucket with respect to the stick by stretching the distance between the ends.

In addition, the angle detecting means may comprise a first angle sensor for detecting the posture of the boom, a second angle sensor for detecting the posture of the stick, and a third angle sensor for detecting the posture of the bucket. .

Further, the conversion means is provided with calculation means for calculating, by calculation, expansion / displacement information of the cylindrical actuator corresponding to the angle information from the angle information obtained by the angle detection means, or the angle information obtained by the angle detection means. May be provided with a storage means for storing expansion and contraction information of the cylindrical actuator.

Further, the converting means converts the angular information obtained by the first angle sensor into the telescopic displacement information of the boom hydraulic cylinder, converts the angular information obtained by the second angular sensor into the telescopic displacement information of the stick hydraulic cylinder, The angle information obtained by the above-mentioned third angle sensor may be converted into expansion and displacement information of the bucket hydraulic cylinder.

With such a configuration, as the control device of the construction machine of the present invention, the angle information detected by the above-described angle detecting means is converted into expansion and contraction displacement information of the cylindrical actuator that drives the arm mechanism by the converting means, Since it is input, control using the expansion and contraction displacement of the actuator used by the conventional control system can be performed, without using the stroke sensor for detecting the expansion and contraction displacement of each actuator conventionally. Therefore, it is possible to provide a system capable of accurately and stably controlling the position and posture of the work member while lowering the cost.

EMBODIMENT OF THE INVENTION Hereinafter, embodiment of this invention is described, referring drawings.

The hydraulic power shovel as the construction machine according to the present embodiment is, for example, on the lower traveling body 500 having the infinite rail portion 500A on the left and right, as shown schematically in FIG. 1. ) The mounting upper swing structure (construction machine main body) 100 is rotatably installed in the horizontal plane.

Then, a boom (arm member) 200 having one end rotatably connected to the upper swinging body 100 is provided, and one end thereof is connected to the boom 200 via a joint portion. A stick (arm member) 300 is rotatably connected.

In addition, one end of the stick 300 is rotatably connected through the joint portion, and a bucket (work member) 400 is provided in which the tip portion excavates the ground and accommodates soil therein.

As such, one end is mounted to the upper swing body 100 by the boom 200, the stick 300, and the bucket 400, and the bucket 400 is provided on the other end side, and at the same time, through the joint portion. An articulated arm mechanism having at least a boom 200 and a stick 300 as a pair of arm members connected to each other is configured.

In addition, the boom hydraulic cylinder 120, the stick hydraulic cylinder 121, the bucket hydraulic cylinder 122 (henceforth the boom hydraulic cylinder 120 as a cylindrical actuator) is called the boom cylinder 120, or simply the cylinder 120, , The stick hydraulic cylinder 121 is called a stick cylinder 121 or just a cylinder 121, and the bucket hydraulic cylinder 122 is called a bucket cylinder 122 or just a cylinder 122).

Here, the boom cylinder 120 is rotatably connected to one end with respect to the upper swinging body 100, and the other end is rotatably connected to the boom 200, that is, the upper swinging body 100. ), The boom 200 can be rotated with respect to the upper pivot 100 by stretching the distance between the ends mounted between the boom 200 and the boom 200.

Further, the stick cylinder 121 is rotatably connected to one end with respect to the boom 200, and at the same time, the other end is rotatably connected to the stick 300, that is, the boom 200 and the stick. The stick 300 can be rotated with respect to the boom 200 by being mounted between the 300 and stretching the distance between the end portions.

In addition, the bucket cylinder 122 is rotatably connected to one end with respect to the stick 300, while the other end is rotatably connected with respect to the bucket 400, that is, the stick 300 and the bucket. It is mounted between the 400, and by stretching the distance between the ends, it is possible to rotate the bucket 400 relative to the stick (300). Moreover, the link mechanism 130 is provided in the front-end | tip part of the bucket hydraulic cylinder 122. As shown in FIG.

As described above, in each of the cylinders 120 to 122, a cylindrical actuator mechanism having a plurality of cylindrical actuators for driving the arm mechanism is configured.

Moreover, although not shown in figure, the hydraulic motor which drives 500A of left and right infinite rail parts, and the turning motor which pivotally drives the upper swing body 100 are also provided.

By the way, as shown in FIG. 2, the said hydraulic power shovel is provided with the cylinder 120-122, the hydraulic circuit for the said hydraulic motor or the turning motor, and this hydraulic circuit has an engine E, such as a diesel engine. In addition to the variable displacement pumps 51 and 52 driven by the pump, a control valve 13 for the bucket, a control valve 14 for the stick, a control valve 15 for the bucket and the like are mounted. have.

In addition, each of the variable displacement pumps 51 and 52 is configured to change the discharge amount of the hydraulic oil to the hydraulic circuit by adjusting the inclination angle by the engine pump controller 27 which will be described later. In addition, in FIG. 2, when the line connecting each component is a solid line, it shows that the line is an electrical system, and when the line connecting each component is a broken line, it shows that the line is a hydraulic system. have.

In addition, in order to control the main control valves 13, 14, and 15, a pilot hydraulic circuit is provided, and this pilot hydraulic circuit is a pilot pump 50 driven by the engine E and electromagnetic proportional valves 3A and 3B. , 3C), electromagnetic switching valves 4A, 4B, 4C, selector valves 18A, 18B, 8C, and the like.

In addition, the hydraulic power shovel of the present embodiment controls the main control valves 13, 14, and 15 through the electromagnetic proportional valves 3A, 3B, and 3C, and according to the mode to be controlled, the boom 200 and the stick 300. A controller (control means) 120 is installed to control the bucket 400 to a desired stretch displacement. The controller is composed of a microprocessor, a memory such as a ROM or a RAM, an appropriate input / output interface, and the like.

The controller is configured to input detection signals (including setting signals) from various sensors, and the controller is configured to execute the above control based on the detection signals from these sensors. Moreover, although the control by such a controller can be called semi-automatic control, even during excavation by this semi-automatic control (semi-automatic digging mode), fine adjustment of a bucket angle and target surface height can be performed manually.

As such a semi-automatic control mode (semi-automatic excavation mode), a bucket angle control mode (see FIG. 7), a surface excavation mode (bucket straight line drilling mode or a raking mode) (see FIG. 8), a surface excavation mode and a bucket angle control mode are combined One smoothing mode (see FIG. 9), a bucket angle auto return mode (see FIG. 10), and the like.

Here, in the bucket angle control mode, as shown in FIG. 7, even when the stick 300 and the boom 200 are moved, the angle (bucket angle) with respect to the horizontal direction (vertical direction) of the bucket 400 is always kept constant. In this mode, this mode is executed when the bucket angle control switch on the monitor panel 10 described later is turned ON. In addition, when the bucket 400 is moved manually, this mode is released, and the bucket angle at the time when the bucket 400 is stopped is stored as a new bucket holding angle.

As shown in FIG. 8, the front excavation mode is a mode in which the tip 112 (hereinafter referred to as the bucket tip 112) of the bucket 400 moves linearly. However, the bucket cylinder 122 does not move. In addition, the bucket angle ψ changes as the bucket 400 moves.

As shown in FIG. 9, the front excavation mode + bucket angle control mode (smoothing mode) is a mode in which the tip 112 of the bucket 400 moves linearly, and the bucket angle φ is also kept constant during excavation. .

As shown in FIG. 10, the bucket automatic return mode is a mode in which the bucket angle automatically returns to a preset angle, and the return bucket angle is set by the monitor panel 10. As shown in FIG. This mode is started by turning on the bucket automatic return start switch 7 on the boom / bucket operating lever 6. This mode is released when the bucket 400 returns to a preset angle.

Here, in the above-mentioned surface digging mode and smoothing mode, the semi-automatic control switch on the monitor panel is turned on, and the surface digging switch 9 on the stick operating lever 8 is turned on, and the stick operating lever 8 and When either or both of the boom / bucket operating levers 6 are moved, they enter these modes. In addition, the target normal angle is set by the switch operation on the monitor panel 10.

In addition, in the normal digging mode and the smoothing mode, the operation amount of the stick operation lever 8 gives the bucket tip movement speed in the parallel direction with respect to the target surface angle, and the operation amount of the boom / bucket operation lever 6 is the vertical bucket. This end speed is to be given. Therefore, when the stick operation lever 8 is moved, the tip 112 of the bucket 400 starts to move linearly in accordance with the target plane angle, and moves the boom / bucket operation lever 6 during excavation, thereby manually Fine adjustment of the target surface height becomes possible.

In addition, as the normal digging mode and the smoothing mode, the bucket angle during excavation can be finely adjusted by operating the boom / bucket operating lever 6, and the target normal height can also be changed.

In addition, although the manual mode is possible in the said system, operation similar to the conventional hydraulic power shovel is possible in the said manual mode, and the coordinate display of the tooth | tip 112 of the bucket 400 is possible.

In addition, a service mode for servicing and maintaining the entire semi-automatic system of the entire semi-automatic system is also prepared, and this service mode is performed by connecting the external terminal 2 to the controller 251. Then, the control mode is adjusted, the initialization of each sensor, etc. are performed by the service mode.

By the way, as various sensors connected to a controller, as shown in FIG. 2, the pressure switch 16, the pressure sensors 19, 28A, 28B, the resolver (angle sensor) 20-22, and the vehicle tilt angle sensor 24 are shown. ), And the controller includes an engine pump controller 27, an ON-OFF switch (above bucket automatic return start switch) (7), an ON-OFF switch (surface excavation switch (9) described above), a target A display switch panel 10 with a normal angle setter is connected. In addition, the external terminal 2 is connected to the controller at the time of adjusting the control gain or initializing each sensor.

In addition, the engine pump controller 27 receives the engine speed information from the engine speed sensor 23 and controls the inclination rotation angles of the engine E and the above-described discharge variable pumps 51 and 52, and between the controllers. You can send and receive cooperation information.

The pressure sensor 19 is attached to the pilot pipe connected to the main valves 13, 14, and 15 from the operation levers 6 and 8 for the expansion and contraction of the stick 300 and the upper and lower operation levers of the boom 200. Although the pilot oil pressure in the pipe is detected, the pilot oil pressure in the pilot pipe changes according to the operation amount of the operation levers 6 and 8, so that the operation amount of the operation levers 6 and 8 can be estimated by measuring the oil pressure. It is supposed to be.

The pressure sensors 28A and 28B detect the expansion and contraction states of the boom cylinder 120 and the stick cylinder 121.

In the semi-automatic control described above, the stick operation lever 8 is used to determine the bucket tip movement speed in the parallel direction with respect to the set excavation inclined surface, and the boom / bucket operation lever 6 is perpendicular to the set inclined surface. It is used as determining the bucket tip movement speed in the direction. Therefore, when the stick operation lever 8 and the boom / bucket operation lever 6 are operated simultaneously, the moving direction and the speed of the tooth tip 112 of the bucket 400 are combined as the combined vectors in the parallel and vertical directions with respect to the set inclined surface. Is determined.

The pressure switch 16 is mounted to the pilot pipe for the operation levers 6 and 8 for the boom 200, the stick 300, and the bucket 400 via a selector 17, and the operation levers 6 and 8. Is used to detect whether is neutral. That is, when the operation levers 6 and 8 are in the neutral state, the output of the pressure switch 16 is turned OFF, and when the operation levers 6 and 8 are used, the output of the pressure switch 16 is turned ON. The neutral detection pressure switch 16 is also used for abnormality detection of the pressure sensor 19 and for switching between manual and semi-automatic modes.

The resolver 20 functions as a first angle sensor installed at a mounting portion (joint portion) of the boom 200 to the construction machine main body 100 capable of monitoring the posture of the boom 200 to detect the posture of the boom 200. The resolver 21 is provided as a second angle sensor which is installed in a mounting portion (joint portion) of the stick 300 to the boom 200, which can monitor the posture of the stick 300, and detects the posture of the stick 300. To function. In addition, the resolver 22 functions as a third angle sensor that detects the attitude of the bucket 400 provided in the link mechanism mounting portion capable of monitoring the attitude of the bucket 400. Thereby, the angle detection means which detects the attitude | position of a cancer mechanism by angle information is comprised.

The signal converter (converting means) 26 converts the angle information obtained by the resolver 20 into the telescopic displacement information of the boom cylinder 120, and converts the angular information obtained by the resolver 21 into the telescopic displacement information of the stick cylinder 121. Converting the angle information obtained by the resolver 22 into the expansion and contraction displacement information of the bucket cylinder 122, that is, converting the angle information obtained by the resolvers 20 to 22 into the corresponding cylinders 120 to 122. To convert it into displacement information.

For this reason, the signal converter 26 includes the input interface 26A which receives signals from each resolver 20 to 22 and the cylinders 120 to 122 corresponding to the angle information obtained by each resolver 20 to 22. Expansion / displacement information of the cylinders 120-122 corresponding to the memory (storage means) 26B which stored the lookup table 26B-1 which stores expansion-displacement information, and the angle information obtained by each resolver 20-22. And a main computing device 26C (CPU) capable of communicating the cylinder telescopic displacement information to the controller 1, and an output interface 26D for transmitting cylinder telescopic displacement information from the main computing device 26C (CPU). It is configured by.

By the way, the expansion and contraction information λBm, λst, and λBk of the cylinders 120 to 122 corresponding to the angular information θBm, θst, and θbk obtained by each of the resolvers 20 to 22 are respectively expressed by the following formula ( It can obtain | require by 1)-Formula (3).

λbm = (L _101/102 ² + L _101/111 ²

-2L ₁₀₁ / _{102L 101/111} cos (θbm + Axbm)) ^1/2

λst = (L _103/104 ² + L _104/105 ²

-2L ₁₀₃ / 104L _104/105 cosθst) ^1/2

λBk = (L _106/107 ² + L _107/109 ²

-2L ₁₀₆ / _107L 107/109 cosθbk) ^1/2

In formulas (1) to (3), L _{i / j} represents a fixed length, Axbm represents a fixed angle, and the subscript i / j of L has information between nodes (i, j). For example, L _101/102 represents the distance between the node 101 and the node 102. Only the node 101 is the origin of the xy coordinate (see FIG. 6).

Of course, each time the angle information (theta) bm, (theta) st, and (theta) bk) is acquired by each resolver 20-22, you may calculate the said formula by arithmetic means (for example, CPU26C).

In this case, the CPU 26C configures calculation means for calculating, by calculation, expansion and displacement information of the cylinders 120 to 122 corresponding to the angle information from the angle information obtained by the resolvers 20 to 22.

The signal converted by the signal converter 26 is used not only for feedback control during semi-automatic control but also for measuring coordinates for position measurement / display of the bucket tip 112.

The position of the bucket tip 112 in the semi-automatic system (hereinafter referred to as the bucket tip position 112) is calculated from one point where the upper pivot 100 of the hydraulic power shovel is located as the origin, but the upper pivot is When 100 is inclined in the front ring gauge direction, it is necessary to rotate the coordinate system in the control calculation by the vehicle inclination. The vehicle tilt angle sensor 24 is used to correct the rotation of this coordinate system.

As described above, by the electric signal from the controller, the electromagnetic proportional valves 3A to 3C control the hydraulic pressure supplied from the pilot pump 50, so that the controlled hydraulic pressure is switched to the switching valves 4A to 4C or the selector valve 18A. Controlling the spool position of the main control valves 13, 14 and 15 is effected by acting on the main control valves 13, 14 and 15 through the through 18C, but the switching valves 4A to 4C ), The cylinders 120 to 122 can be controlled manually.

In addition, the stick confluence adjustment proportional valve 11 adjusts the confluence ratio of the two pumps 51 and 52 in order to obtain the flow volume according to the target cylinder speed.

Moreover, the stick operation lever 8 is equipped with the above-mentioned ON-OFF switch (surface digging switch) 9, and a semi-automatic mode is selected or unselected by the operator operating this switch 9. And, if the semi-automatic mode is selected, it is possible to linearly move the teeth 112 of the bucket 400.

The boom / bucket operating lever 6 is also equipped with the above-described ON-OFF switch (bucket automatic return start switch) 7 and the operator turns on the switch 7 to set the bucket 400 in advance. It is possible to automatically return to the angle.

The safety valve 5 is for controlling the pilot pressure supplied to the electromagnetic proportional valves 3A to 3C, and the pilot pressure is supplied to the electromagnetic proportional valves 3A to 3C only when the safety valve 5 is ON. It is. Therefore, in the case of semi-automatic control, if there is any trouble, the automatic control of the ring gauge can be stopped quickly by turning off the safety valve 5.

Further, the rotational speed of the engine E depends on the position of the engine throttle set by the operator (set by manipulating a slot dial (not shown)). Furthermore, even if the engine throttle is constant, the engine rotational speed depends on the load. Change. Since the pumps 50, 51, 52 are directly connected to the engine E, when the engine rotational speed changes, the pump discharge amount also changes, so that the spool positions of the main control valves 13, 14, 15 are constant. The cylinder speed changes with the change of the engine rotational speed. In order to correct this, the engine rotation speed sensor 23 is attached, and when the engine rotation speed is low, the target movement speed of the bucket tip 112 is slowed down.

The monitor panel l0 (hereinafter referred to simply as the "monitor panel 10") with the target angle angle setter is used as the target angle angle α (see FIGS. 6 and 11) and the bucket return angle setter. In addition, it is also used as a distance indicator between the coordinates of the bucket tip 112, the measured normal angle, or the measured two-point coordinates. In addition, the monitor panel 10 is provided in the driving operation room 600 together with the operation levers 6 and 8.

That is, in the system according to the present embodiment, the pressure sensor 19 and the pressure switch 16 are incorporated in the conventional pilot hydraulic line, and the amount of operation of the operation levers 6 and 8 is detected so that the resolvers 20, 21, The feedback control is performed using 22), and the control is configured to be able to perform independent multiple degree of freedom feedback control for each of the cylinders 120, 121, and 122. FIG. This makes it unnecessary to add oil containers such as pressure compensation valves. In addition, the vehicle inclination angle sensor 24 is used to correct the influence due to the inclination of the upper swing structure 100, and to drive the cylinders 120, 121, and 122 as an electric signal from the controller. To 3C). The manual / semi-automatic mode changeover switch 9 allows the operator to select a mode arbitrarily, as well as to set a target angle.

Next, although a control algorithm of the semi-automatic system performed by the controller is described, the control algorithm of the semi-automatic control mode (except the bucket automatic return mode) performed by the controller is schematically shown in FIG.

That is, initially, the moving speed and direction of the bucket tip 112 can be obtained from the information of the target oil pressure setting angle, the pilot hydraulic pressure controlling the stick cylinder 121 and the boom cylinder 120, the vehicle inclination angle, and the engine rotation speed. have. Then, the target speeds of the cylinders 120, 121, and 122 are calculated based on the requested information (the moving speed and the moving direction of the bucket tip 112). At this time, the information of the engine rotational speed is necessary when determining the upper limit of the cylinder speed.

In addition, the controller has independent controllers 1A, 1B, 1C for each cylinder 120, 121, 122, as shown in FIGS. 3 and 4, and each control is independent, as shown in FIG. 4. It is configured as a control feedback loop and does not interfere with each other.

Here, the main part of the control device of the present embodiment will be described. As shown in Fig. 5, the compensation structures in the closed loop control shown in Fig. 4 are related to the displacement and the speed. The feedback loop and the feed forward loop have a multiple degree of freedom, and include a feedback loop compensation means 72 of variable control gain (control parameter) and a feed forward loop compensation means 73 of variable control gain (control parameter). It is equipped with.

That is, given the target speed, in the feedback loop type compensation means 72, the target speed and the route of multiplying the deviation of the target speed and the speed feedback information by a predetermined gain Kvp (see symbol 62) and the target speed are integrated once. (See integral element 61 in FIG. 5), a route of multiplying the deviation between the target speed integration information and the displacement feedback information by a predetermined gain Kpp (see symbol 63), and the deviation between the target speed integration information and the displacement feedback information. Is processed by the route of multiplying a predetermined gain Kpi (see reference numeral 64) and integrating (see reference numeral 66), while in the feed forward compensation means 73, a predetermined gain ( The processing by the route multiplied by Kf) (see reference numeral 65) is performed.

Among these, the feedback loop processing will be described in more detail. As shown in Fig. 5, the apparatus is provided with motion information detecting means 91 for detecting motion information of the cylinders 120 to 122, and includes a controller ( In 1), arm members such as the boom 200 and the like are detected information from the motion information detecting means 91 and target motion information (for example, target movement speed) set by the target value setting means 80 as input information. The control signal is set and output so that the bucket (work member) 400 is in a target operation state. In addition, the motion information detecting means 91 is specifically a cylinder position detecting means 83 capable of detecting the position of each cylinder 120 to 122. In this embodiment, the cylinder position detecting means 83 is described above. It consists of one resolver 20 to 22 and a signal converter 26.

In addition, the values of the gains Kvp, Kpp, Kpi, and Kf can be changed by the gain scheduler 70.

In addition, although the nonlinear removal table 71 is provided in order to remove nonlinearity, such as the electromagnetic proportional valves 3A-3C, main control valves 13-15, etc., the process using this nonlinear removal table 71 is a table | surface. By using the lookup method, it is performed by a computer at high speed.

By the configuration as described above, when the surface excavation work of the target normal angle α shown in FIG. 11 is semi-automatically using a hydraulic power shovel, the boom 200 is compared with the conventional manual control system in the system of the present embodiment. The semi-automatic control function as described above can be realized by the electrohydraulic system that automatically adjusts the combined movement amount of the stick and the stick 300 to the excavation speed.

That is, detection signals from the various sensors (including setting information of the target plane angle) are input to the controller mounted on the hydraulic power shovel, and the controller 1 detects the detection signals from these sensors (signal converter 26). The main control valves 13, 14, and 15 via the electromagnetic proportional valves 3A, 3B, and 3C, based on the detection signals from the resolvers 20 to 22 through the boom 200, The stick 300 and the bucket 400 are controlled so as to have a desired stretch displacement, and the semi-automatic control as described above is executed.

In this semi-automatic control, first, the moving speed and the direction of the bucket tip 112 are determined by the target oil pressure setting angle, the pilot oil pressure for controlling the stick cylinder 121 and the boom cylinder 120, the vehicle tilt angle, and the engine rotation speed. It calculates | requires from information and calculates the target speed of each cylinder 120, 121, 122 based on the information. At this time, the information of the engine rotational speed is necessary when determining the upper limit of the cylinder speed. In addition, the control is an independent feedback loop for each cylinder 120, 121, 122, and does not interfere with each other.

In the semi-automatic system, the target angle is set by a method of numerical input by a switch on the monitor panel 10, a two-point coordinate input method, or an input method based on a bucket angle. Although the setting of the bucket return angle in the method is performed by the method of numerical input by the switch on the monitor panel 110 and the method by the bucket movement, any known method is used. Each semi-automatic control mode and its control method are performed as follows on the basis of converting the angle information detected by the resolvers 20 to 22 into cylinder expansion and contraction displacement information by the signal converter 26.

First, as the bucket angle control mode, the length of the bucket cylinder 122 is controlled so that the bucket 400 and the angle (bucket angle) phi having the x-axis are fixed at an arbitrary position. At this time, the bucket cylinder length [lambda] bk can be calculated | required if the boom cylinder length (lambda) bm, the stick cylinder length (lambda) st, and said angle (phi) are determined.

In the smoothing mode, since the bucket angle φ is kept constant, the bucket tip 112 and the node 108 move in parallel. First, considering the case where the node 108 moves parallel to the x axis (horizontal excavation), it becomes as follows.

That is, in this case, the coordinates of the nodes 108 in the ring gauge attitude to start excavation are (x ₁₀₈ , y ₁₀₈ ), and the boom cylinder 120 and the stick cylinder (in the ring gauge attitude at this time) Obtain the cylinder length of 121 and the speed of the boom 200 and the stick 300 so that x ₁₀₈ moves horizontally. In addition, the moving speed of the node 108 is determined by the operation amount of the stick operation lever 8.

In addition, when the parallel movement of the node 108 is considered, the coordinate of the node 108 after the minute time Δt is represented by (x108 + Δx, y ₁₀₈ ). Δx is a micro displacement determined by the moving speed. Therefore, by considering Δx at x ₁₀₈ , the length of the target boom and stick cylinder after Δt is required.

As the normal excavation mode, the same control as in the smoothing mode is performed, but the moving point is changed from the node 108 to the bucket tip position 112, and the control takes into account that the bucket cylinder length is fixed.

In addition, regarding the correction | amendment of the final inclination angle by the vehicle inclination-angle sensor 24, calculation of a front ring gauge position is performed in the xy coordinate system which made the node 101 the origin of FIG. Therefore, when the vehicle body is inclined with respect to the xy plane, the xy coordinates rotate and the target inclination angle with respect to the ground changes. In order to correct this, the vehicle inclination angle sensor 24 is attached to the vehicle, and when the vehicle inclination angle sensor 24 detects that the vehicle body is rotated by β with respect to the xy plane, the vehicle inclination angle sensor 24 is added to the value added by β. You can correct it by fixing it.

The prevention of deterioration of the control accuracy by the engine rotation speed sensor 23 is as follows. That is, regarding the correction of the target bucket tipping speed, the target bucket tipping speed is determined from the positions of the stick operating lever 8 and the boom / bucket operating lever 6 and the engine rotational speed. In addition, since the hydraulic pumps 51 and 52 are directly connected to the engine E, when the engine rotation speed is low, the pump discharge amount also decreases, and the cylinder speed decreases. Therefore, the engine rotational speed is detected and the target bucket tipping speed is calculated to match the change of the pump discharge amount.

In addition, regarding the correction of the maximum value of the target cylinder speed, the target cylinder speed is changed by the attitude of the ring gauge and the target inclination angle, and when the pump discharge amount decreases as the engine rotation speed decreases, the maximum cylinder speed is also reduced. Correction in consideration of the need is made. In addition, when the target cylinder speed exceeds the maximum cylinder speed, the target bucket tip speed decreases, so that the target cylinder speed does not exceed the maximum cylinder speed.

Although various control modes and control methods have been described above, all of them are performed based on the expansion and contraction information of the cylinder, and the control contents by this method are well known. That is, in the system according to the present embodiment, after the angle information is detected by the resolvers 20 to 22, the angle information is converted into the expansion and contraction information of the cylinder by the signal converter 26. It can be.

In this way, although various control is performed by the controller 1, in the system according to the present embodiment, the angle information signal detected by the resolvers 20 to 22 is converted into the cylinder displacement information by the signal converter 26. In order to detect the expansion and contraction of the cylinders for the boom 200, the stick 300, and the bucket 400, as in the conventional case, since they are input to the controller 1, even if an expensive stroke sensor is not used, The control using the expansion and contraction of the cylinder used in the control system can be executed. This can provide a system capable of precisely and stably controlling the position and attitude of the bucket 400 while reducing the cost.

In addition, since the feedback control loop is independent for each cylinder 120, 121, and 122, and the control algorithm is multi-free control of displacement, speed, and feed forward, the control system can be simplified and the Since nonlinearity can be linearized at high speed by the table lookup method, it also contributes to the improvement of control precision.

In addition, the vehicle inclination angle sensor 24 corrects the influence of the vehicle inclination or reads the engine rotation speed, thereby correcting the deterioration of the control accuracy due to the position of the engine throttle and the load variation. Contribute.

Moreover, since the gain adjustment etc. can also be maintained using the external terminal 2, it also has the advantage that adjustment is easy. Moreover, since the operation amount of the operation levers 7 and 8 is calculated | required by the change of pilot pressure using the pressure sensor 19 etc., and the conventional open center valve hydraulic system is used as it is, a pressure compensation valve etc. In addition to the advantage of not requiring addition, the bucket tip coordinates can be displayed in real time with the monitor panel 10 with the target angle setting. Moreover, by the structure using the safety valve 5, system abnormal operation | movement at the time of a system abnormality can also be prevented.

Moreover, although the above-mentioned embodiment demonstrates the case where this invention is applied to a hydraulic power shovel, this invention is not limited to this, The tractor, the rotor, and the browser which have an articulated arm mechanism driven by a cylindrical actuator are mentioned. If it is a construction machine, it applies similarly, and the above-mentioned effect can be acquired also in any construction machine.

In addition, this invention is not limited to the above-mentioned embodiment, It can variously deform and implement in the range which does not deviate from the meaning of this invention.

As described above, according to the control device of the construction machine of the present invention, as described above, by performing the control using the expansion and contraction information of the actuator used in the conventional control system, the position of the arm mechanism of the construction machine can be reduced, Since the posture can be controlled accurately and stably, it is considered to greatly contribute to the reduction of the cost of equipment investment at the desired work site such as the construction site, the reduction of the construction period, and the usefulness thereof.

Claims (7)

Construction machine body 100, An articulated arm having one end supported on the shaft on the construction machine main body 100, having a working member on the other end side, and having at least one pair of arm members 200 and 300 connected to each other via a joint part. Appliance, A cylindrical actuator mechanism having a plurality of cylindrical actuators 120 to 122 for driving the female mechanism by stretching and expanding, Angle detecting means (20 to 22) for detecting the posture of the cancer mechanism as angle information; Conversion means 26 for converting the angle information obtained by the angle detecting means 20 to 22 into expansion and contraction displacement information of the corresponding cylindrical actuator; The control means 1 for controlling the cylindrical actuators 120 to 122 to have a predetermined expansion and contraction displacement based on the expansion and displacement information of the cylindrical actuators 120 to 122 converted into the conversion means 26. The control apparatus of the construction machine characterized by the above-mentioned. According to claim 1, The articulated arm mechanism and the boom 200, one end rotatably connected to the construction machine body 100, The work member 400 is configured to include a stick 300 at which one end is rotatably connected to the boom 200 through the joint portion, and the work member 400 has one end at the stick 300. The control device of the construction machine of the construction machine which is rotatably connected through the joint part, and the tip part is configured as a bucket 400 which excavates the ground and accommodates the earth and sand therein. 3. The boom hydraulic pressure according to claim 2, wherein the cylindrical actuator mechanism is mounted between the construction machine body 100 and the boom 200 to rotate the boom with respect to the construction machine body by stretching the distance between ends. Cylinder 120, A stick hydraulic cylinder 121 mounted between the boom 200 and the stick 300 to rotate the stick 300 with respect to the boom 200 by stretching the distance between end portions; Is mounted between the stick 300 and the bucket 400, the distance between the end is stretched, the control of the construction machine characterized in that it comprises a bucket hydraulic cylinder 122 for rotating the bucket 400 relative to the stick Device. The method of claim 2, wherein the angle detecting means is a first angle sensor 20 for detecting the attitude of the boom 200, A second angle sensor 21 for detecting a posture of the stick 300, And a third angle sensor (22) for detecting the attitude of the bucket (400). 2. The calculation method according to claim 1, wherein the conversion means (26) calculates, by calculation, expansion and displacement information of the cylindrical actuators (120 to 122) corresponding to the angle information from the angle information obtained by the angle detection means (20 to 22). A computing device (26C) is provided, characterized in that the control device for a construction machine. The storage means (26B) according to claim 1, wherein said converting means (26) stores expansion and contraction information of said cylindrical actuators (120 to 122) corresponding to the angle information obtained by said angle detecting means (20 to 22). The control apparatus of the construction machine characterized by the above-mentioned. 4. The converting means (26) according to claim 3, wherein the converting means (26) converts the angular information obtained by the first angular sensor (20) into expansion and contraction information of the boom hydraulic cylinder (120) to the second angular sensor (21). Configured to convert the obtained angle information into expansion and contraction displacement information of the stick hydraulic cylinder 121 and convert the angle information obtained from the third angle sensor 22 into extension and displacement information of the bucket hydraulic cylinder 122. The control device of the construction machine.