KR950019129A - 유압식 건설기계의 엔진-펌프 제어장치 및 방법 - Google Patents

유압식 건설기계의 엔진-펌프 제어장치 및 방법 Download PDF

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Publication number
KR950019129A
KR950019129A KR1019930031450A KR930031450A KR950019129A KR 950019129 A KR950019129 A KR 950019129A KR 1019930031450 A KR1019930031450 A KR 1019930031450A KR 930031450 A KR930031450 A KR 930031450A KR 950019129 A KR950019129 A KR 950019129A
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South Korea
Prior art keywords
signal
pump
control
flow rate
operation command
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KR1019930031450A
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English (en)
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송명훈
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김무
삼성중공업 주식회사
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Priority to KR1019930031450A priority Critical patent/KR950019129A/ko
Priority to US08/334,217 priority patent/US5527156A/en
Priority to JP06298983A priority patent/JP3114151B2/ja
Priority to DE4440304A priority patent/DE4440304C2/de
Publication of KR950019129A publication Critical patent/KR950019129A/ko

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F15B2211/20553—Type of pump variable capacity with pilot circuit, e.g. for controlling a swash plate
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6655—Power control, e.g. combined pressure and flow rate control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/75—Control of speed of the output member

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

본 발명은 굴삭기,로다,도자등과 같은 유압식 건설기계의 제어에 관한 것으로, 특히 유압식 건설기계를 자동화하기 위해 제어장치 및 그의 제어방법에 관한 것이다.
본 발명의 구성은 유압식 작업장치 조작 지령부(10)와, 동력원인 엔진(80)과, 상기 엔진(80)에 의해 구동되는 복수개의 가변 용량형 유압펌프(25a,25b)와, 상기 작업장치 조작 지령부(10)의 조작량에 비례하는 유량의 합을 공급하도록 제어하는 복수개의 전자비례밸브(35a,35b)와, 회전수 데이타를 검출할 엔진 회전수 검출장치(45)와, 상기 복수개의 가변용량형 유압펌프(25a,25b)의 토출유량을 측정하는 복수개의 펌프 토출 유량 검출장치(55a,55b)와 상기 복수개의 가변용량형 유압펌프의(25a,25b) 토출 압력을 측정하는 복수개의 펌프 토출압력 검출장치(65a,65b)와, 상기 작업장치 조작 지령부(10)의 입력신호를 받아서 전체 동작을 제어하는 콘트롤러(85)와, 상기 콘트롤러의 전기적 신호를 받아서 유량을 제어하는 복수개의 전자비례 유량 제어밸브(95a,95b)와, 상기 복수개의 전자비례 유량 제어밸브(95a,95b)의 출력에 의해 동작하는 유압실린더(105a,105b)로 구성되는 전자-유압시스템이다.
상기한 구성에 의한 본 발명은 작업환경 및 부하압력의 변동에 관계없이 작업장치의 작동 속력 및 속도비가 작동지령신호의 조작량과 조작비와 일치하도록제어하여 작업을 자동화할 수 있고, 작업성을 향상시킬 수 있다.

Description

유압식 건설기계의 엔진-펌프 제어장치 및 방법
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명에 따른 전체 시스템의 구성도.
제2도는 제1도에 따른 제어장치의 블럭도.
제3도는 제2도에 따른 엔진-펌프를 제어하는 흐름도.

Claims (2)

  1. 운전자에 의한 데이타를 입력하는 작업장치 조작지령부(10)와, 동력원인 엔진(80)과, 상기 엔진(80)에 의해 구동되는 복수개의 가변 용량형 유압펌프(25a ,25b)와, 상기 작업장치 조작지령부(10)의 조작량에 비례하는 유량의 합을 공급하도록 제어하는 복수개의 전자비례밸브(35a,35b)와, 회전수 데이타를 검출할 엔진 회전수 검출 장치(45)와, 상기 복수개의 가변 용량형 유압펌프(25a,25b)의 토출유량을 측정하는 복수개의 펌프 토출 유량 검출장치(55a,55b)와 상기 복수개의 가변 용량형 유압펌프의 (25a,25b) 토출 압력을 측정하는 복수개의 펌프 토출압력 검출장치(65a,65b)와, 상기 작업장치 조작지령부(10)의 입력신호를 받아서 전체 동작을 제어하는 콘트롤러(85)와, 상기 콘트롤러의 전기적 신호를 받아서 유량을 제어하는 복수개의 전자비례 유량 제어밸브(95a,95b)와, 상기 복수개의 전자비례 유량 제어밸브(95a,95b)의 출력에 의해 동작하는 유압실린더(105a,106b)로 구성되는 전자-유압 시스템에 있어서, 상기 작업장치 조작지령부(10)의 작동 지령신호를 감지하여 상기 작동 지령신호의 조작량에 비례하는 펌프 토출 유량 요구치를 연산하는 조작연산부(20)와; 상기 조작연산부(20)의 출력 신호인 펌프 유량 제어 기준 입력신호(QREF)와 작업장치 속도제어 기준 입력신호(VREF)를 입력으로 받아들이는 속도 및 펌프유량 조절부(30)와; 엔진 회전수 제어 기준 입력신호(NREF)와 실제 엔진 회전수 신호(NREAL)와의 오차(EN)를 이용한 제어연산과 펌프 토출 압력의 변화율 신호(PVAR)를 통하여 현재 펌프 토출 가능 최대유량신호(QMAX)를 상기 속도 및 펌프 유량 조절부(30)로 출력하는 엔진-펌프 제어부(70)와; 상기 엔진-펌프 제어부(70)의 출력을 제어 연산하여 상기 복수개의 전자비례밸브(35a,35b)로 펌프 토출 유량을 제어하는 펌프유량 제어부(50)와; 상기 속도 및 펌프 유량 조절부(30)의 출력신호를 제어연산하여 상기 복수개의 전자비례밸브(95a,95b)로 작업 장치의 속도를 제어하는 작업장치 속도제어부(40)로 구성되는 것을 특징으로 하는 유압식 건설기계의 엔진-펌프 제어장치.
  2. 유압식 건설계계에 있어서, 작업장치 작동지령부(10)로부터 작동 지령신호의 유무를 판별하는 단계(S1)과, 상기 작동 지령신호가 없으면 현재 펌프 토출가능 유량(QMAX)를 펌프가 기계적으로 토출할 수 있는 최소유량치(Qmin)로 결정하는 단계(S2)와, 상기 작동 지령신호가 있으면 엔진 회전수 제어 기준 입력신호(NREF)와 실제 엔진 회전수신호(NREAL)및 펌프 토출압력(P)를 입력받아 펌프 토출압력의 시간변화율 신호(PVAR)를 연산하는 단계(S3)와 상기 단계(S3)에서 입력된 엔진 회전수 제어 기준 입력신호(NREF)와 실제 엔진 회전수 신호(NREAL)와의 오차신호(EN=NREF- NREAL)를 연산하는 단계(S4)와, 상기 단계(S4)에서 연산된 오차신호(EN)와 제어함수(f)를 이용하여 제어신호 (C=f(EN))를 연산하는 단계(S5)와, 펌프 토출 압력의 시간 변화율신호 (PVAR)를 상기 제어신호(C)를 이용하여 제어신호(D=C+PVAR)를 조정, 연산하는 단계 (S6)와, 상기 제어신호(D)를 이용하여 현재 펌프 토출가능 최대 유량치(QMAX=Qmin- D)를 연산하는 단계(S7)와, 상기 단계(S7)에서 연산된 현재 펌프 토출가능 최대 유량치(QMAX)가 최소 유량치(Qmin)보다 작은 경우 현재 펌프 토출가능 최대 유량치(QMAX)가 최대 유량치(QMAX)보다 큰 경우 현재 펌프 토출가능 최대 유량신호(QMAX)를 최대 유량치(QMAX)로 결정하는 단계(S8)와, 상기 단계(S8)와 상기 단계(S2)에서 연산된 현재 펌프 토출가능 최대와 상기유량 신호(QMAX)를 속도 및 펌프유량 조절부(30)로 출력하는 단계를 포함하는 것을 특징으로 하는 유압식 건설기계의 엔진-펌프 제어방법.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019930031450A 1993-12-30 1993-12-30 유압식 건설기계의 엔진-펌프 제어장치 및 방법 KR950019129A (ko)

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KR1019930031450A KR950019129A (ko) 1993-12-30 1993-12-30 유압식 건설기계의 엔진-펌프 제어장치 및 방법
US08/334,217 US5527156A (en) 1993-12-30 1994-11-04 Apparatus for and method of controlling engine and pumps of hydraulic construction equipment
JP06298983A JP3114151B2 (ja) 1993-12-30 1994-11-08 油圧式建設機械のエンジン−ポンプ制御装置及び制御方法
DE4440304A DE4440304C2 (de) 1993-12-30 1994-11-11 Gerät und Verfahren zur Steuerung eines Hydrauliksystems

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KR1019930031450A KR950019129A (ko) 1993-12-30 1993-12-30 유압식 건설기계의 엔진-펌프 제어장치 및 방법

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JP (1) JP3114151B2 (ko)
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DE4440304C2 (de) 2001-08-02
JPH07208404A (ja) 1995-08-11
US5527156A (en) 1996-06-18
DE4440304A1 (de) 1995-07-06
JP3114151B2 (ja) 2000-12-04

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