KR950002126B1 - Shock-absorbing control method for excavator - Google Patents

Abstract

The method enables to control the actuator in an excavator driven by a hydraulic pump. The hydraulic system has an electronic manipulating means (16), electromagnetic proportional valves (14,15a,15b), actuators (6-11), sensors (S1-S6) and control means (17) mounted on the actuators. The method is composed of a step (ST1) for reading the manipulating degree by the menas (16), a step (ST2) for calculating the seting speed according to the degree; a step (ST3) for reading the operating position of the actuators by the sensors (S2-S6); a step (ST4) for calculating the operating speed (Vs); a step (ST5) for judging acceleration / deceleration state by the means (16); a step (ST6) for calculating optimized acceleration speed in the acceleration state.

Description

Control Method for Impact Prevention of Excavator Actuator

1 is a schematic hydraulic circuit diagram of an excavator to which a control method according to the present invention is applied.

2 is an optimum control diagram according to the control method of the present invention.

3 is a flowchart for explaining step by step a control method according to the present invention.

* Explanation of symbols for main parts of the drawings

1: Engine 2, 3: Hydraulic Pump

4: control pump 5: multiple control valve stage

6, 7, 8, 9, 10, 11: actuators S1 to S6: sensors

12, 13: swash plate angle adjusting mechanism 14, 15a, 15b: electromagnetic proportional valve

16 electronic control means 17 control unit

[Industrial use]

The present invention relates to a method for controlling an actuator such as an excavator operated by a discharge flow rate of a hydraulic pump driven by a prime mover, and more particularly, to an actuator anti-shock control method capable of preventing an impact generated during operation of an actuator.

[Traditional Technology and Problems]

In conventional excavators, in general, by operating a hydraulic operation lever (or pedal), the discharge flow rate of the hydraulic pump for operating each actuator is adjusted.

However, in such a conventional excavator, when operating a stationary actuator or operating in a direction opposite to the operating direction of the actuator, the movement speed of the discharge flow rate from the hydraulic pump changes rapidly, so that an impact is generated between the operating pressure oil and the actuator. Will occur.

That is, since the actuator in the stationary state is about to stop and the actuator in operation is inertia to continue to move in the same direction, an impact occurs between the operating pressure oil for operating each actuator and the actuator.

In order to prevent such a shock, an experienced driver relieves the impact of the actuator by avoiding the rapid operation of the operation lever (or the pedal) during operation and by slowing down the operating speed so that the initial moving speed of the operating pressure oil does not increase. However, an inexperienced driver cannot perform such a delicate operation, and even if it is operated delicately, its working efficiency is not high, and even a skilled worker has a lot of troublesome work, and can not completely eliminate the impact.

As described above, in the conventional excavator, there is a problem that an impact occurs in the actuator during operation, which shortens the service life of the equipment and decreases the work efficiency due to careful operation of the driver to reduce the impact.

[Purpose of invention]

The present invention has been made in view of the above-described object, and an object thereof is to provide an anti-shock control method of an actuator capable of automatically controlling a moving speed of operating pressure oil so that an impact does not occur in the actuator.

[Configuration of Invention]

In order to achieve the above object, the impact control method of the actuator of the present invention includes an electronic operation means 16, electromagnetic proportional valves 14, 15a, 15b, and actuators 6, 7, 8, 9, 10, and 11. In the excavator device provided with the sensors S1 to S6 and the control unit 17 installed in the actuators 6, 7, 8, 9, 10, and 11, respectively, the operation amount is read by the electronic operation means 16. Is a step ST1; Calculating a set speed according to the manipulation amount (ST2); Reading operation positions of the respective actuators (6,7,8,9,10,11) from the sensors (S1 to S6) (ST3); Calculating an operating speed Vs (ST4); Determining whether the electronic operation means (16) is in an acceleration state or a deceleration state (ST5); Calculating an optimum acceleration speed according to a standard acceleration curve when it is determined that the electronic operation means 16 is in an acceleration state (ST6); Comparing the acceleration speed and the set speed calculated in this step ST6 (ST7); If it is determined that the acceleration speed is smaller than the set speed, making the acceleration speed from the step ST6 an output speed (ST8); If it is determined that the electronic operation means 16 is in the deceleration state, it is determined whether the operating speed is "0" or not, and if the operating speed is "0", the processing is terminated. Step ST9; Calculating the optimum deceleration speed according to the deceleration curve when it is determined that the operating speed is not '0' (ST10); Determining whether the deceleration speed calculated in this step ST10 is larger or smaller than the set speed (ST11); If the deceleration speed is determined to be greater than the set speed, making the deceleration speed an output speed (ST13); Setting the set speed as an output speed when it is determined in step ST7 that the acceleration speed is greater than or equal to the set speed, or when it is determined in step ST11 that the deceleration speed is less than or equal to the set speed (ST12); Calculating an output amount of the operating pressure oil according to the output speed from each of the steps ST8, ST12, and ST13 (ST14); It is characterized in that it comprises a step ST15 for controlling the output oil as much as the output quantity calculated in this step ST14.

EXAMPLE

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

First, the operation of the excavator to which the control method of the present invention is applied will be described with reference to FIG. 1. In the figure, the first and second hydraulic pumps 2 and 3 and the control pump 4 are driven by the engine 1 as a power source, so that the hydraulic pumps 2 and 3 are actuators 6, 7, 8 and 9 The operating pressure oil is supplied to and 10 and 11, and the control pump 4 supplies the internal pilot pressure oil to the electromagnetic proportional valves 14, 15a and 15b. The electromagnetic proportional valves 15a and 15b supply the internal pilot pressure oil from the control pump 4 to the multiple control valve stage 5 in accordance with the control signal of the control unit 17 to supply the spool in the valve stage 5. By moving the actuator (not shown). In addition, the electromagnetic proportional valve 14 similarly supplies the internal pilot pressure oil to the swash plate angle adjusting mechanisms 12 and 13 according to the control signal of the control unit 17 to adjust the swash plate angles in the hydraulic pumps 2 and 3. It is to control the working pressure flow through the actuator.

On the other hand, the control unit 17 receives a signal from the operation means 16 (lever or pedal) and a signal from the sensors (S1, S2, S3, S4, S5, S6) provided in each actuator, based on the signal The electromagnetic proportional valves 14, 15a, and 15b are controlled so that the working flow flows as shown in the optimum control curve of FIG. 2 so that no impact occurs during operation of the furnace actuator.

Here, the optimum control curve shown in FIG. 2 is obtained by experiment, which shows the change of the operating flow rate per unit time of the actuator with time. Taking the change in the operating flow rate at high speed as an example, the operating flow rate is gradually increased so that the impact of the actuator as the acceleration zone does not occur from the time when the acceleration starts to ts. At the next deceleration, i.e., when the actuator is operated in the opposite direction, the flow direction of the working flow is reversed, so that the speed is reduced while gradually increasing the working flow in the opposite direction so that no impact occurs.

Next, the control method of the present invention processed by the control unit 17 will be described with reference to the flowchart in FIG.

First, in step ST1, the hydraulic oil operation amount Qi of the actuator is input from the electronic operation means 16. In step ST2, the set speed Vi of the actuator according to the manipulation amount Qi in the step ST1 is calculated, and in step ST3, the current operating position Si of each actuator is calculated from each sensor S1-. Input from S6). Next, in step ST4, the optimum operating speed Vs of the actuator is calculated and calculated based on the set speed Vi and the operating position Si. Next, in step ST5, it is determined whether the operation means 16 is in an acceleration state or in a deceleration state, and when it is determined that it is in an acceleration state, the processing is shifted to step ST6, and when it is determined that it is in a deceleration state. The process proceeds to step ST9.

Here, the processing in the case where it is determined that the acceleration state is first described will be described.

In step ST6, the optimum acceleration speed according to the standard acceleration curve of FIG. 2 is calculated and output. Next, in step ST7, the output acceleration speed is compared with the set speed, and if the acceleration speed is less than the set speed, the process moves to step ST8, and if the acceleration speed is equal to or greater than the set speed, the process goes to step ST12. . In step ST8, the acceleration speed in step ST6 is the output speed, and in step ST12, the set speed is the output speed.

On the other hand, in step ST9, it is judged whether or not the operating speed is "0", and when it is determined as "0", the processing ends, and when it is determined that it is not "0", the processing is carried out to step ST10. . Next, in step ST10, the optimum deceleration speed according to the deceleration curve of FIG. 2 is calculated and output. In step ST11, it is judged whether or not this output deceleration speed is larger or smaller than the set speed. If the deceleration speed is larger than the set speed, the process proceeds to step ST13, otherwise the process goes to step ST12.

In step ST12, as in the case of the acceleration state, the set speed is the output speed, and in step ST13, the deceleration speed from the step ST11 is the output speed.

Next, in step ST14, the output amount of the working pressure oil according to the output speed from each of the steps ST8, ST12, ST13 is calculated, and in step ST15, the operation amount is supplied by the calculated output amount.

In this way, by controlling the electromagnetic proportional valves 14, 15a, and 15b so that the working flow rate flows as shown in the optimum control curve in FIG. 2, it is possible to prevent the shock from occurring during the operation of the actuator.

[Effects of the Invention]

As described above, according to the present invention, it is possible to prevent the shock from occurring during the operation of the actuator as the sudden flow or the flow direction of the hydraulic oil is changed, thereby not only preventing the equipment from being damaged quickly, It becomes more convenient, so it is more efficient.

Claims (1)

To the electronic operation means 16, the electromagnetic proportional valves 14, 15a, 15b, the actuators 6, 7, 8, 9, 10, 11, and the actuators 6, 7, 8, 9, 10, 11, respectively. In the excavator device provided with the sensors (S1 ~ S6) and the control unit 17, the step (ST1) for reading the operation amount by the electronic operation means (16); Computing the setting speed according to the operation amount ( Reading the operating positions of the respective actuators (6,7,8,9,10,11) from the sensors (S1 to S6) (ST3); Calculating an operating speed Vs (ST4); Determining whether the electronic operation means (16) is in an acceleration state or a deceleration state (ST5); Calculating an optimum acceleration speed according to a standard acceleration curve when it is determined that the electronic operation means 16 is in an acceleration state (ST6); Comparing the acceleration speed and the set speed calculated in this step ST6 (ST7); If it is determined that the acceleration speed is smaller than the set speed, making the acceleration speed from the step ST6 an output speed (ST8); If it is determined that the electronic operation means 16 is in the deceleration state, it is determined whether the operating speed is "0" or not, and if the operating speed is "0", the processing is terminated. Step ST9; Calculating the optimum deceleration speed according to the deceleration curve when it is determined that the operating speed is not '0' (ST10); Determining whether the deceleration speed calculated in this step ST10 is larger or smaller than the set speed (ST11); If the deceleration speed is determined to be greater than the set speed, making the deceleration speed an output speed (ST13); Setting the set speed as an output speed when it is determined in step ST7 that the acceleration speed is greater than or equal to the set speed, or when it is determined in step ST11 that the deceleration speed is less than or equal to the set speed (ST12); Calculating an output amount of the working pressure oil according to the output speed from each of the steps ST8, ST12, and ST13 (ST14); And controlling (ST15) to output the hydraulic fluid corresponding to the output amount calculated in this step (ST14). The control method for the impact prevention of the actuator of the excavator characterized by the above-mentioned.