KR960012407B1 - Flow control method of hydraulic machine - Google Patents

Abstract

The flow control method, comprising a variable delivery hydraulic pump driven by an engine and a plurality of hydraulic actuators connected to the pump, delays the output of the pump rather than the output of the hydraulic actuators to reduce the hydraulic shock caused when starting the actuators by sensing speed variations of the actuators, controlling flow rates of the actuators and the pump, limiting the maximum flow rate of the pump by using the load pressure of the pump and the rotary velocity of the engine. The flow control method improves an energy efficiency of the hydraulic system, and an operability of the actuators.

Description

Flow control method of hydraulic equipment

1 is a block diagram schematically showing the configuration of a hydraulic system for realizing the present invention.

2 is a graph showing the relationship between the discharge amount of the hydraulic pump and the discharge pressure.

3 is a flow chart for explaining the present invention.

4 is a graph showing the relationship between the discharge flow rate of the hydraulic pump and the operation amount of the operation lever according to the load pressure of the right pressure pump.

The present invention relates to a hydraulic device comprising a variable delivery oil hydraulic pump driven by an engine and a plurality of hydraulic actuators connected to the pump. By controlling the flow rate of each actuator and the rate of flow of the pump and limiting the maximum discharge flow rate of the pump by using the load pressure of the pump and the rotational speed of the prime mover. The present invention relates to a flow control method that reduces the hydraulic shock when the actuator is started by appropriately delaying.

Hydraulic equipment, specifically, for example, work performed by excavators can range from light load operations (e.g. leveling on flat or sloped) to heavy loads (e.g. digging). In spite of the operation mode, in order to compensate for the irrationality that the same flow rate is discharged from the pump each time the operation of each mode is performed regardless of the operation mode, the discharge amount of the hydraulic pump is controlled in proportion to the operation amount of the operation lever. By adopting a negative control method (hereinafter abbreviated as negacon), a method of reducing energy discharge by reducing the discharge flow rate of the hydraulic pump when the operating lever is not operated at maximum is proposed and utilized. have.

However, according to the conventional method of adopting the above negative control method, the discharge flow rate of the hydraulic pump can be effectively controlled in the low pressure region, but there is a defect that the discharge flow rate of the hydraulic pump cannot be effectively controlled in the high pressure region.

2 is a negacon diagram showing the relationship between the discharge flow rate Q and the discharge pressure P of the hydraulic pump.

In FIG. 2, the point denoted by the reference numeral J1 indicates the state in which the operation lever is operated at the maximum.

In addition, at the point indicated by J2, the standard work mode (hereinafter abbreviated as S mode) as well as the light work mode (hereinafter abbreviated as L mode) and heavy work mode (hereinafter referred to as H mode). (Abbreviated to mode), the discharge flow rate of the pump is the same as q1.

On the other hand, when the discharge flow rates of the pumps in the H, S, and L modes for the predetermined pressure Ph belonging to the high pressure range are represented by q1, q2, and q3, respectively, these discharge amounts are the maximum that the pump can produce for each working mode under the pressure Ph. Discharge amount.

At this time, looking at the operation amount of the operation lever, it can be seen that the discharge amount of the pump can not be controlled in the high pressure region.

For example, in the case of the H mode, only about half of the operating lever is operated, but for the reason that the maximum discharge amount of the hydraulic pump is limited to q1, even if the operating lever is operated at maximum, the discharge amount is also limited to q1.

Therefore, in this case, when the operation amount of the operation lever is more than half, there is a problem that the same flow rate is always discharged from the pump.

An object of the present invention is to improve the operability of the equipment by adjusting the discharge flow rate of the pump to the external load in the hydraulic equipment to prevent the loss of flow rate and ensure the independent operability of each hydraulic actuator to the operator's operation request.

In order to achieve the above object, the present invention provides at least one variable displacement hydraulic pump driven by the rotational force of the prime mover, a speed detecting means for detecting the number of revolutions of the prime mover, and a load pressure of the pump. A prime mover load pressure detecting means, a plurality of actuators operated by the discharge flow rate of the pump, a plurality of flow control valves for controlling the flow direction and the flow rate of the hydraulic oil provided to each of the actuators from the pump, and the actuators Actuator speed detecting means for detecting each actual operating speed, equipment operating means for converting the driver's operation amount into an electrical signal, and outputting a predetermined selection mode signal indicative of a selected one of a plurality of working modes. In response to the output selection means and operation signals provided from the output selection means and the operation means; In the hydraulic system including at least a control means for adjusting the discharge flow rate of the pump according to the load amount, the method for controlling the flow rate according to the present invention includes a mode value M according to any one operation mode selected by the output selection means; The manipulated variable data φ [i] generated corresponding to the manipulated variable (operating angle) of the operating means, the actual speed v [i] of the actuators provided from the actuator speed detecting means, and the pump provided from the pump pressure detecting means A first step of reading the load pressure P [i] and the prime mover revolution speed N provided from said revolution detection means; (Where v (i) is the actual speed of the i-th actuator, φ [i] is the operating angle of the control lever for the i-th actuator, and P [j] is the load pressure of the j-th pump).

The output horsepower of the pump is limited by using the mode value M and the prime mover speed N, and each of the hydraulic pumps is discharged based on the pump load pressure P (i) within the limited output horsepower. Calculating a maximum dischargeable flow rate QMax [j] that can be performed; (Where QMax [j] is the maximum dischargeable flow of the j th pump)

A third step of calculating an input request flow rate qa [i] of the operation means by linking the maximum dischargeable flow rate of the pump corresponding to the operation means with input operation amounts respectively inputted from operation levers for controlling the flow rate of the pumps; Investigate whether any of the hydraulic pumps are operated alone or several pumps are operated together by the operating means, and if it is determined that the single operation is performed, the input demand flow rate qa [i] of the operating means is the output flow rate QOUT [j]. And a fourth step of making the output flow rate qOUT [j] of the actuator; If it is determined that the operation is not a single operation, the sum qTot [j] of the input demand flow rates qa [i] [j] requiring each of the actuators connected to the at least one or more pumps to be input is obtained (where qa [i] [j]. ] Indicates the required flow rate of the i th actuator among the actuators connected to the j th pump.) The fifth step of redistributing the flow rate of the actuator and the flow rate of the pump, respectively, depending on whether the flow rate discharge condition of the pump is a confluence condition or a non-confluence condition. Wow; Using the output demand flow rate qOut [i] of each actuator obtained in the fourth and fifth steps and the output demand velocity upstream K [i], the output demand velocity vOut [i] of each actuator is obtained, and After reading the actual speed v [i] of the actuator, the error Av [i] between the output required speed vOut [i] and the actual speed v [i] is obtained, and based on this error value Av [i], the flow rate of each actuator A sixth step of generating voltage signals by calculating a voltage VaOut [i] for controlling? The actual discharge flow rate Q [j] of each pump is calculated using the actual speed v [i] of each of the actuators, and the error Δ between the output demand flow rate QOut [j] and the actual discharge flow rate Q [j] of each pump. A seventh step of calculating Q [j] (S23) to calculate voltage VpOut [j] for controlling the discharge amount of each pump to generate voltage signals; The voltage signals VaOut [i] and VpOut [j] are respectively output to the electromagnetic proportional valves for controlling the flow rates of the actuators and the electromagnetic proportional valves for controlling the regulators connected to the pumps, respectively. In order to reduce the hydraulic shock generated during startup, the actuator voltage VaOut [i] and the pump voltage VpOut [j] may include an eighth step of outputting at a predetermined time interval Td.

According to a preferred embodiment of the present invention, in the fifth step, in order to calculate the discharge flow rate for each pump, if the pump flow rate discharge condition is the non-confluence condition, each pump may have a maximum dischargeable flow rate QMax [j] for each pump. Investigate whether or not the sum of the flow rates required by the actuators connected to the pump is greater than qTot [j], and if each pump's maximum dischargeable flow rate QMax [j] is not greater than the sum of the flows required by the actuators connected to it, qTot [j], Comparing the sums of the required flow rates (qTot [1], qTot [2], ... qTot [j]) with respect to each other to obtain the sum of the largest required flow rates qTotMax; By modifying the input demand flow rate qa [i] [j] of each of the actuators connected to each pump by setting the maximum demand flow rate qTotMax as a reference, the modified actuator input demand flow rate is outputted to each actuator output qout [i]. Set as [j] to redistribute the actuator flow rate, modify the sum qTot [j] of the input demand flow rates qa [i] [j] of each actuator connected to each pump, and modify the actuators to the sum of the input demand flow rates qTot setting [j] as the output flow rate QOut [j] of the pump; If the maximum dischargeable flow rate QMax [j] of each pump is greater than the sum qTot [j] of the flow rates required by the actuators connected thereto, the required flow rate qTot [j] of the actuators connected to each pump is converted to the output flow rate QOUT [ j] and setting the input demand flow rate qa [i] of each of the operation means to the output flow rate qOut [j] of each of the actuators; If the pump discharge flow rate condition is the confluence condition, the sum of the required flow rates of each actuator included in the system (∑qa [i]) is set as the total required flow rate qTot required by all the actuators, and the total required flow rate qTot is Investigate whether the pumpable flow rate QMax [j] of each of the pumps included in the system is smaller than the sum (∑QMax [j]). Set the required flow rate (that is, the sum of the input flow rates) qTot [j] to the discharge flow rate QOut [j] of each pump, and set the input flow rate qa [i] of each of the operation means to each operation means. Setting the output flow rate qOut [i] of the actuator corresponding to the; If it is determined that the total required flow rate qTot is not smaller than the sum of the pump ejectable flow rates QMax [j] that can be discharged by each of the pumps including the system (∑QMax [j]), the maximum ejectable flow rates of each of the pumps Find the largest dischargeable flow rate QMax among QMax [j], modify the input demand flow rate qa [i] of each of the actuators included in the system at the same rate based on the flow rate QMax, and then modify each of the modified actuators. Set the input required flow rate qa [i] as the output flow rate qOut [i] of each actuator, and set the maximum dischargeable flow rate QMax [j] of each pump included in the system as the output flow rate QOut [j] of each pump. Characterized in that it comprises a step.

The present invention will now be described in detail with reference to the accompanying drawings.

1 shows the configuration of a hydraulic system to which the present invention is applied. In the drawing, reference numeral 1 denotes a prime mover obtaining a rotational force corresponding to the amount of fuel injected from the fuel injection means, and reference numeral 2 denotes a prime mover 1 The prime mover for detecting the number of revolutions of the?

In FIG. 1, reference numerals 3 and 3a respectively denote variable displacement hydraulic pumps driven by the rotational force of the prime mover 1, and 4 are driven by the rotational force of the prime mover 1 to assist in supplying pilot pressure oil. Pumps 5 and 5a are pump regulators that change the discharge flow rate of the pump by adjusting the oblique angle of the swash plate of each of the two variable displacement hydraulic pumps 3 and 3a. Are respectively represented, 6 represents a hydraulic motor and 6a to 6c represent hydraulic cylinders, respectively.

In FIG. 1, reference numerals 7 and 7a to 7c denote the flow direction of the hydraulic oil transferred from the pumps 3 and 3a to the hydraulic motors 6 and the hydraulic cylinders 6a to 6c, which are actuators, and Flow control valves for adjusting the flow amount, reference numeral 8 denotes a solenoid valve for regulator driving to drive the pump regulators 5 and 5a in accordance with the amount of electricity inputted, and 9 and 9a denote inputs. The solenoid valves for driving the valve which control the flow rate control valves 7, 7a to 7c by generating a pilot pressure proportional to the electric quantity are shown.

Reference numeral 10 denotes a prime mover speed detecting means for detecting the revolution speed of the prime mover 1, 11 and 11a show pump load pressure detecting means for detecting the load pressure of each of the pumps 3 and 3a, 12 and 12a represent logic valves which prevent the center bypass flow to the tank through the flow control valves 7, 7a-7c when the actuators 6, 6a-6c are driven, 13 and 13a to 13c show actuator speed (or actuator position) detecting means for detecting the speed (or position) of each of the actuators 6 and 6a to 6c, respectively.

In FIG. 1, reference numeral 14 denotes a control circuit which collectively controls the operation of the above-described electronic components by predetermined electrical control signals, and 15 and 15a denote operating levers, respectively. Output selection means for generating a predetermined mode signal corresponding to the selected working mode to select the output horsepower size of the prime mover and the hydraulic pump according to each of the working modes (L, S, H) and providing them to the control circuit (14). It is shown.

The control circuit 14 is typically constituted by a high performance microprocessor or a microcomputer or the like.

The flow control method according to the present invention applied to the hydraulic system having the above configuration will be described in detail below with reference to the flowchart of FIG.

First, the control circuit 14 which directly performs the control function according to the present invention includes the mode value M according to any one of the operation modes L, S, and H selected by the output selecting means 16, and the operation levers. Actual amount of the manipulated variable data φ [i] generated corresponding to the manipulated variable (operating angle) of (15, 15a) and the actuators 6, 6a to 6c provided from the actuator speed detecting means 13, 13a to 13c. Speed v [i], load pressure P [j] of pumps 3, 3a provided from pump pressure detection means 11, 11a and prime mover speed provided from prime mover speed detection means 2; Each of N is read (S1).

Where v [i] is the actual speed of the i-th actuator,? [I] is the operating angle of the operating lever for the i-th actuator, and P [j] is the load pressure of the j-th pump, respectively.

Subsequently, the control circuit 14 limits the output horsepower of the pumps 3 and 3a by using the mode value M and the prime mover speed N representing the selected mode, and the pump within this limited output horsepower range. The maximum dischargeable flow rate QMax [j] that each of the hydraulic pumps can discharge is calculated based on the load pressure P [j] (S2), where QMax [j] represents the maximum dischargeable flow rate of the j-th pump. .

The input required flow rate qa [i] of each of the operating means is calculated by linking the maximum dischargeable flow rate of each of the pumps corresponding to each of the operating levers and the input operation amounts respectively inputted from the operating levers for controlling the flow rate of the pumps. (S3).

This will be described in detail with reference to FIG. 4 as follows.

For example, if the output mode (i.e. working mode) is H mode and the load pressure of one pump is P1, the maximum dischargeable flow rate of that pump is determined as q1 based on the output diagram of the system.

Based on the maximum dischargeable flow rate q1 thus obtained, the flow rate requirement line c1 is determined according to the previously stored information.

At this time, if the operation amount of the operation lever related to the operation of the pump is deg1, the input demand flow rate qr1 is obtained based on the required flow rate diagram c1.

When the input demand flow rate qa [i] of each of the operating means is obtained by performing the above calculation, the operation of the lever is examined to determine whether the hydraulic pump operates alone or the pumps operate together (S4). ), If it is determined to be a single operation (if Y4 in S4), the input demand flow rate qa [i] of the operating lever becomes the output flow rate QOUT [j] of the pump and the output flow rate qOUT [i] of the actuator (S5). Proceed to the step to calculate the output demand speed of the actuator.

On the other hand, if it is determined that the operation is not a single operation (NO in S4), first, a sum qTot [j] of the input demand flow rates qa [i] [j], which requires each of the actuators connected to each pump to be inputted, is obtained (S6). ).

Here, qa [i] [j] represents the required flow rate of the i th actuator among the actuators connected to the j th pump.

Then, it is examined whether or not the flow rate discharge condition of the pump (this condition is determined according to the internal structure of the flow control valve, the characteristics of the hydraulic actuator, or all the work) indicates the confluence of the hydraulic pump discharge flow rates (S7). To calculate the back flow (if NO in S7), first check whether the maximum dischargeable flow rate QMax [J] of each pump is greater than the sum qTot [J] of the flow rates required by the actuators connected to each pump. (S8).

At this time, if the maximum dischargeable flow rate QMax [j] of each pump is not greater than the sum qTot [j] of the flow rates required by the actuators connected thereto, the sum of the required flow rates for each pump (qTot [i]). , qTot [2], ... qTot [j]) are compared with each other, and the sum qTotMax of the largest required flow rate is obtained (S9).

Subsequently, the input demand flow rate qa [i] [j] of each actuator connected to each pump is modified by setting the calculated maximum demand flow rate qTotMax as follows.

qa [i] [j] * (qa [i] [j] / qTotMax * QMax [j]

The actuator input demand flow rate thus performed is set as the output demand flow rate qOut [i] [j] of each actuator (S10). The sum qTot of the input demand flow rates qa [i] [j] of each actuator connected to each pump is set. After modifying [j] as follows,

qTot [j] * (qTot [j] / qTotMax) * QMax [j]

The sum qTot [j] of the input required flow rates of the actuators thus modified is set as the output flow rate QOut [j] of the pump (S11).

In step S8 above, if the maximum dischargeable flow rate QMax [j] of each pump is greater than the sum qTot [j] of the flow rates required by the actuators connected thereto (if YES in S8), the required flow rate qTout of the actuators connected to each pump [j] is set to the output flow rate QOUT [j] of each pump, and the input demand flow rate qa [i] of each of the operating means is set to the output flow rate qOut [i] of each of the actuators (S12).

In step S7, if the joining condition (YES), the sum of the required flow rates (? Qa [i]) of all the actuators included in the system is set as the total required flow rate qTot required by all the actuators (S13).

Subsequently, it is determined whether the total required flow rate qTot is smaller than the sum of the pump ejectable flow rates QMax [j] that can be discharged by each of the pumps included in the system (∑QMax [j]) (S14). If determined (YES in S14), set the required flow rate (that is, the sum of each input flow rate) of each actuator connected to each pump to qTot [j] as the discharge flow rate QOut [j]. The input request flow rate qa [j] of each of the operation means is set to the output flow rate qOut (i) of the actuator corresponding to each operation means (S15).

Here, for example, in the case of a system including two pumps, when calculating the discharge flow rate of the pumps, the pump discharge flow rate is allocated to both pumps in half according to the required flow rate (that is, the two pumps discharge the same flow rate, or Alternatively, one pump may discharge the maximum flow rate that can be discharged, and a flow rate of the insufficient amount may be discharged from the other pump.

In step S14, if it is determined that the total required flow rate qTot is the sum of the pump ejectable flow rates QMax [j] that can be discharged by each of all pumps included in the system (if NO in S14), (Ie, when the pumps do not meet the required flow rate) and have the largest dischargeable flow rate value QMax among the maximum dischargeable flow rates QMax [j] of each of the pumps (S16) and the system at the same rate according to this flow rate QMax After modifying the input demand flow rate qa [i] of each of these actuators as follows:

qa [i] * (qa [i] / qTot) * QMax

The input required flow rate qa [i] of each of these modified actuators is set as the output flow rate qOut [i] of each actuator (S17), and the maximum dischargeable flow rate QMax [j] of each of the pumps included in the system is set to each pump. Is set as the output flow rate QOut [j] (S18).

Subsequently, the control circuit 14 obtains the output required speed vOut [i] of each actuator according to the following equation (S19),

vOut [i] = qOut [i] * K [i]

Where K [i] is the output demand speed constant for the i th actuator.

After reading the actual speed v [i] of each actuator from the respective speed detecting means 13, 13a to 13c, the error? V [i] between the output demand speed vOUT [i] and the actual speed v [i] is read. Obtained (S20). Based on the error value? V [i], voltage VaOut [i] for controlling the flow rate of each actuator is calculated to generate voltage signals (S21).

Further, the actual discharge flow rate Q [j] of each pump is calculated using the actual speed v [i] of each of the actuators (S22), and the output demand flow rate QOut [j] and the actual discharge flow rate Q [j of each pump are calculated. ] Is calculated (S23), and the voltage VpOut [j] for controlling the discharge amount of each pump is calculated to generate voltage signals (S24).

The voltage signals VaOut [i] and VpOut (j) generated as described above are typically converted into current signals by a signal weighting means (not shown) configured inside the control circuit 14 and amplified. And the solenoid proportional valves 9 and 9a for controlling the flow rate supplied from the pumps 3 and 3a to the actuators and the regulators 5 and 5a connected to the pumps 3 and 3a, respectively. Each of them is provided to the electromagnetic proportional valve 8 for controlling, but the actuator voltage VaOut [i] and the pump voltage VpOut [j] are output at a predetermined time interval Td in order to reduce the hydraulic shock generated when the actuator is started. (S25-S27).

Accordingly, the actuator proportional control valves 9 and 9a generate pilot pressures to the flow control valves 7, 7a and 7c, respectively, corresponding to the input current signals to move the spools of the flow control valves. The flow rate supplied to each of the fields 6, 6a to 6c is adjusted, and the solenoid valve 8 for controlling the pump regulator controls the swash plates of the regulators 5 and 5a at predetermined angles to correspond to the input electric signals. By rotating, the flow rate discharged from each of the pumps is controlled.

At this time, as described above, all the hydraulic fluid discharged from the pumps 3 and 3a is closed by closing the logic valve 12 or 12a (or both logic valves 12 and 12a) on which the at least one hydraulic actuator is driven. It is delivered to at least one actuator in operation.

Thus, the sum of the flow rates to each actuator obtained through the actual operating speed of each actuator becomes equal to the flow rate actually discharged from the pumps.

In addition, by calculating the error between the output required speed of each actuator and its actual operating speed, and by compensating the output voltage through it to adjust the flow rate outputted from the pump to achieve the desired work.

According to the present invention described in detail through the hydraulic system of the excavator in the above it can be obtained the following advantages in controlling the flow rate of the hydraulic equipment.

First, by efficiently adjusting the discharge flow rate of the hydraulic pumps according to the load it is possible to efficiently drive the equipment according to the working mode, resulting in an energy saving effect.

Second, by adjusting the automatic speed of each actuator in accordance with the operation amount of the operation lever can improve the operability and ensure the operability even in the case of fine work.

Third, the discharge amount of the pump and the output flow rate of the hydraulic actuator are determined in consideration of the relationship between the dischargeable flow rate of the pump and the operation amount of the operating lever at the same time to provide the most suitable control conditions for the set working mode.

Fourth, it is possible to send all the discharge flow rate of the pump to the actuator by pulling the logic valve when the actuator is driven to enable efficient use of the pump and to reduce the loss of fuel.

Fifth, by appropriately delaying the output of the pump at the start of the actuator compared to the output of the actuator, it is possible to reduce the shock generated at the start of the actuator to improve operability.

Claims (2)

At least one variable displacement hydraulic pump driven by the rotational force of the prime mover, a plurality of actuators driven by the at least one provided hydraulic oil, and a flow direction and a flow rate of the hydraulic oil provided from the pump to each of the actuators Output selection means for outputting a plurality of flow control valves for controlling, actuator speed detection means, equipment operation means, pump load pressure detection means, and a predetermined selection mode signal indicative of a selected one of a plurality of working modes And control means for adjusting the discharge flow rate of the at least one pump according to the load in response to the output selection means and predetermined operation signals provided from the operation means. In; The mode value M from the output selecting means, the manipulated variable data? [I] from the operating means, the actual speed v [i] of each actuator from the actuator speed detecting means, and the pump A first step of reading the pump load pressure P [j] from the load pressure detecting means and the prime mover rotation speed N from the rotation speed detecting means, respectively, the mode value M and the prime mover rotation; The number N is used to limit the output horsepower of the pump, and the maximum dischargeable flow rate QMax [j that each of the hydraulic pumps can discharge based on the pump load pressure P [j] within this limited output horsepower range. A second step of calculating], the input request flow rate qa [i of the operation means by linking the maximum dischargeable flow rate of the pump corresponding to the operation means with the input operation amounts respectively inputted from the operation levers for controlling the flow rate of the pumps; Calculating a third step; Investigate whether any hydraulic pump is operated alone or several pumps are operated by means, and if it is determined to be a single operation, the input demand flow rate qa [i] of the operating means is the output flow rate QOUT [j] of the pump and the actuator. A fourth step of outputting the output flow rate qOUT [i], and if it is found to be not a single operation, the sum of the input demand flow rates qa [i] [j] that require each of the actuators respectively connected to the at least one pump to be input. a fifth step of obtaining qTot [j] and redistributing the flow rate of the actuator and the flow rate of the pump, respectively, depending on whether the flow rate discharge condition of the pump is a confluence condition or a non-confluence condition, and each of the actuators obtained in the fourth and fifth steps. Using the output demand flow rate qOut [i] and the output request speed constant K [i], the output demand speed vOut [i] of each actuator is obtained, and the actual speed v [i] of each actuator is read from the speed detection means. The error Av [i] between the output required speed vOut [i] and the actual speed v [i] is obtained, and the voltage VaOut [i] for controlling the flow rate of each actuator is calculated based on the error value Δv [i]. Generating a voltage signal by calculating the actual discharge flow rate Q [j] of each pump using the actual speed v [i] of each of the actuators, and outputting output flow rate QOut [j] of each pump; Calculating an error ΔQ [j] between the actual discharge flow rates Q [j] (S23), calculating a voltage VpOut [j] for controlling the discharge amount of each pump, and generating voltage signals; The voltage signals VaOut [i] and VpOut [j] are respectively output to the electromagnetic proportional valves for controlling the flow rates of the actuators and the electromagnetic proportional valves for controlling the regulators respectively connected to the pumps. And an eighth step of causing the actuator voltage VaOut [i] and the pump voltage VpOut [j] to be output at a predetermined time interval Td in order to reduce the hydraulic shock generated at the start-up. The actuator of claim 1, wherein the fifth step comprises: an actuator in which the maximum dischargeable flow rate QMax [j] of each of the pumps is first connected to each pump to calculate the discharge flow rate for each pump if the pump flow rate discharge condition is the non-confluence condition; Determine whether the pump's maximum dischargeable flow rate QMax [j] is greater than the sum of the flowrates required by the actuators connected to it, if the sum of the flow rates qTot [j] is greater than the required qTot [j]. Comparing the sums of flow rates qTot [1], qTot [2], ... qTopt [j] with each other to obtain qTotMax of the largest required flow rate; The input demand flow rate qa [i] [j] of each of the actuators connected to each pump is modified by setting the maximum demand flow rate qTotMax as a reference, and then the corrected actuator input demand flow rate is outputted to each actuator qOut [i]. Set as [j] to redistribute the actuator flow rate, modify the sum qTot [j] of the input demand flow rate qa [i] [j] of each actuator connected to each pump, and add the input flow rate of the modified actuators qTot setting [j] as the output flow rate QQut [j] of the pump; If the maximum dischargeable flow rate QMax [j] of each pump is greater than the sum qTot [j] of the flow rates required by the actuators connected thereto, the required flow rate qTot [j] of the actuators connected to each pump is converted to the output flow rate QOUT [ j], and setting an input demand flow rate qa [i] of each of the operation means to an output flow rate qOut [i] of each of the actuators; If the pump discharge flow rate condition is the confluence condition, the sum of the required flow rates of each of the actuators included in the system (∑qa [i]) is set as the total demand oil Tot required by all the actuators, and the total demand flow rate qTot. Checks whether each of the pumps included in the system is less than the sum of the pumpable discharge flow rates QMax [j] (∑QMax [j]), and if it is determined that each of the actuators Set the required flow rate qTot [j] to the discharge flow rate QOut [j] of each pump and set the input demand flow rate qa [i] of each of the operating means to the output flow rate qOut [corresponding to each operation means. i]; If it is determined that the total required flow rate qTot is not smaller than the sum of the pump dischargeable flow rates QMax [j] that each of the pumps included in the system can discharge (∑QMax [j]), the maximum dischargeable flow rates of each of the pumps Find the largest dischargeable flow rate QMax among QMax [j], modify the input demand flow rate qa [i] of each of the actuators included in the system at the same rate based on the flow rate QMax, and then modify each of the modified actuators. Set the input demand flow rate qa [i] as the output flow rate qOut [i] of each actuator, and set the maximum dischargeable flow rate QMax [j] of each pump included in the system as the output flow rate QOut [j] of each pump. Flow control method of the hydraulic equipment comprising the step of.