US20190003148A1 - Actuator Drive Control System in Construction Machine - Google Patents

Actuator Drive Control System in Construction Machine Download PDF

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Publication number
US20190003148A1
US20190003148A1 US16/062,703 US201616062703A US2019003148A1 US 20190003148 A1 US20190003148 A1 US 20190003148A1 US 201616062703 A US201616062703 A US 201616062703A US 2019003148 A1 US2019003148 A1 US 2019003148A1
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United States
Prior art keywords
map
speed
actuator
sub
operation amount
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Abandoned
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US16/062,703
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English (en)
Inventor
Hiroaki Andou
Yozo Nakamoto
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Caterpillar SARL
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Caterpillar SARL
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Assigned to CATERPILLAR SARL reassignment CATERPILLAR SARL ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: NAKAMOTO, Yozo, ANDOU, HIROAKI
Publication of US20190003148A1 publication Critical patent/US20190003148A1/en
Abandoned legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • 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
    • E02F9/2004—Control mechanisms, e.g. control levers
    • 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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • 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
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • 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
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45012—Excavator

Definitions

  • the present invention relates to a technical field of an actuator drive control system in a construction machine for performing drive control of an actuator such as a hydraulic cylinder, in a construction machine such as a hydraulic shovel.
  • a construction machine such as hydraulic shovel is provided with a plurality of actuators for driving a work device, and operation members operated so as to drive these actuators.
  • a hydraulic shovel is provided with a front working machine including a boom, a stick, a bucket, as well as a plurality of hydraulic actuators (boom cylinder, stick cylinder, and bucket cylinder) for operating these boom, stick, and bucket, and operation members (operation levers) for driving these hydraulic actuators, and is configured to perform various types of works such as excavation, by performing combined operation of the hydraulic actuators by the operation members.
  • an operation member operation amount versus control value map that represents correlations between operation member operation amounts (lever strokes) detected by an operation member detection unit, and control values (e.g., target supply flow rate values to the hydraulic actuators, command values to control valves for hydraulic actuators) for controlling the drive speeds of the hydraulic actuators, and performing drive control of the hydraulic actuators based on the control values that are output from the operation member operation amount versus control value map constitutes a conventional practice that is commonly performed.
  • Patent Literature 2 for example.
  • Patent Literature 1 Japanese Patent Application Laid-open No. H11-350536
  • Patent Literature 2 Japanese Patent Application Laid-open No. 2010-7264
  • Patent Literature 1 has a problem in that, because of a configuration of making a correction by switching to a learning correction mode, in performing correction of the command electric current versus control amount characteristics, and actually operating the hydraulic actuators in the learning correction mode, the correction may or may not be appropriate correction in regards to various operations or conditions other than operations actually performed. Furthermore, there is also a problem in that time and labor for executing the learning correction mode are needed, and the learning correction mode must be implemented on regular basis, in order to cope with performance decline of the hydraulic equipment due to, for example, deterioration over time.
  • the technology disclosed in the Patent Literature 2 is a technology for selecting either map from among a plurality of maps preset, in correcting an output characteristics map of actuators with respect to operation amounts, and has problems with the inability to perform correction of maps other than the preset maps, besides the inability to perform correction corresponded to various factors such as individual operation/combined operation, loads acting on the hydraulic actuators such as described above, since this correction was only correction relating to responsiveness of the hydraulic actuators with respect to operations, and there are issues to be solved by the present invention in these problems.
  • the present invention has been created with the aim of solving these issues, in view of actual circumstances as described above.
  • the invention of claim 1 relates to an actuator drive control system in a construction machine wherein, in a construction machine provided with an actuator, an operation member configured to be operated so as to drive said actuator, and an operation amount versus control value map for outputting a control value for controlling a drive speed of the actuator based on an input of an operation amount, and configured to perform drive control of the actuator based on said control value output from said operation amount versus control value map, a control system configured to determine an operation amount input into the operation amount versus control value map is provided, and said control system is provided with an operation detecting means for detecting an operation of an operation member, a speed requirement computing unit for computing a speed requirement of the actuator based on a detected value from said operation detecting means, a main map for representing correlations between speed requirement and operation amount in order to determine an operation amount from the speed requirement of the actuator, an actual speed computing unit for computing a current drive speed of the actuator, a main map
  • the invention of claim 2 relates to the actuator drive control system in a construction machine according to claim 1 , wherein the main map updating means, in updating the main map based on the speed difference between the speed requirement of the actuator and the current drive speed of the actuator, makes the weighting of the speed difference to the speed requirement to be small, and updates the main map so as to decrease said small-weighted speed difference.
  • the invention of claim 3 relates to the actuator drive control system in a construction machine according to claim 1 or claim 2 , wherein the sub-map updating means, in updating the sub-map based on the speed difference between the speed requirement of the actuator and the current drive speed of the actuator, makes the weighting of the speed difference to the speed requirement to be small, and updates the sub-map so as to decrease said small-weighted speed difference.
  • the invention of claim 4 relates to the actuator drive control system in a construction machine according to claim 3 citing claim 2 , wherein the weighting of the speed difference in updating of the sub-map is set greater than the weighting of the speed difference in updating of the main map.
  • the invention of claim 5 relates to the actuator drive control system in a construction machine according to any one of claim 1 to claim 4 , wherein an influencing factor for use in correction of an operation amount in the sub-map is at least either one out of a load acting on the actuator, individual operation/combined operation in case a plurality of actuators is provided, and an engine revolution speed.
  • the invention of claim 6 relates to the actuator drive control system in a construction machine according to any one of claims 1 to 5 , wherein a construction machine is provided with a bendable articulated working arm composed of a plurality of arms, a work attachment attached to the distal end portion of said working arm, as well as provided with a plurality of hydraulic cylinders for arms for driving the plurality of arms respectively, and a hydraulic actuator for the work attachment serving as actuators.
  • the invention of claim 7 relates to the actuator drive control system in a construction machine according to claim 6 , wherein a construction machine is provided with right and left operation members operable in front-back, and right-left directions serving as operation members for a working arm, and an operation mode selecting means selectable by an operator, wherein in case an attachment position control mode for controlling a work attachment position by operations of the right and left operation members by said operation mode selecting means is selected, the control system computes a desired work attachment position based on detected values from an operation detecting means for detecting operations of the right and left operation members, and computes speed requirements of a plurality of hydraulic cylinders for arms respectively in order to control the work attachment position based on said computation result, wherein a main map and a sub-map are provided in correspondence to each hydraulic cylinder for arm respectively.
  • the invention of claim 8 relates to the actuator drive control system in a construction machine according to claim 6 , wherein a construction machines is provided with one operation member operable in front-back, and up-down directions serving as an operation member for a working arm, wherein the control system computes a desired work attachment position based on detected values from the operation detecting means for detecting an operation of the operation member, and computes speed requirements of a plurality of hydraulic cylinders for arms respectively in order to control the work attachment position based on said computation result, and wherein the main map and the sub-map are provided in correspondence to each hydraulic cylinder for arm respectively.
  • drive speed control of an actuator can be performed with a high accuracy by using a main map and a sub-map, and the similar operation accuracy to that during an initial service stage can be retained, even when characteristic of a machine body has been changed due to deterioration over time, because the main map and the sub-map can be updated at any time, as well as the need for calibration job of the maps can be eliminated.
  • updating of the main map is less influenced by protruding data of current drive speeds of an actuator, which may be temporarily, accidentally generated like noises.
  • updating of the sub-map is less influenced by protruding data of current drive speeds of an actuator, which may be temporarily, accidentally generated like noises.
  • updating of the main map can be performed effectively on characteristics that change little by little in a long period of time like deterioration over time of hydraulic components, and on the other hand, correction to short-term speed difference generated by influencing factors that have an influence on the drive speed of the actuator, can be performed promptly by updating the sub-map.
  • drive speed control of the actuator corresponding to loads acting on the actuator, individual operation/combined operation, or engine revolution speeds can be performed.
  • positional control of a work attachment attached to the distal end portion of an articulated working arm can be performed accurately.
  • the work attachment position in the control system configured to control the work attachment position by operations of right and left operation members when an attachment position control mode is selected by an operator, the work attachment position can be controlled accurately.
  • the work attachment position in the control system configured to control the work attachment position by operation of one operation member, the work attachment position can be controlled accurately.
  • FIG. 1 is a schematic side view of a hydraulic shovel.
  • FIG. 2 is a view illustrating the interior of a driver's cab.
  • FIG. 3 is a hydraulic circuit diagram of a hydraulic shovel.
  • FIG. 4 is a block diagram illustrating input/output of a controller.
  • FIG. 5 is a control block diagram of an operation amount control unit.
  • FIG. 6A is a diagram illustrating a main map
  • FIG. 6B is an explanatory diagram of updating of the main map
  • FIG. 6C is a diagram illustrating long-term change of the main map.
  • FIG. 7 illustrates a sub-map
  • FIG. 8 illustrates the interior of the driver's cab in a second embodiment.
  • FIG. 1 is a side view illustrating a hydraulic shovel 1 as an example of a construction machine embodying the present invention.
  • Said hydraulic shovel 1 is constituted of a crawler type lower body 2 , an upper slewing body 3 slewably supported above said lower traveling body 2 , a front working machine 4 fit to said upper slewing body 3 and other components.
  • said front working machine 4 is constituted of a boom 5 swingably supported in an upward-downward direction by the upper slewing body 3 at a base end portion, a stick 6 swingably supported in a front-back direction at a distal end portion of said boom 5 , a bucket 7 swingably attached at the distal end portion of said stick 6 , and other components, and further is provided with a boom cylinder 8 , a stick cylinder 9 , and a bucket cylinder 10 for swinging the boom 5 , the stick 6 , and the bucket 7 respectively, and right and left travel motors 18 , 19 , for traveling the lower traveling body 2 , a slewing motor 20 for slewing the upper slewing body 3 , and other components.
  • the boom 5 and the stick 6 correspond to a plurality of arms constituting a bendable articulated working arm of the present invention
  • the bucket 7 corresponds to a working attachment of the present invention
  • the boom cylinder 8 , the stick cylinder 9 , and the bucket cylinder 10 corresponds to actuators of the present invention
  • the boom cylinder 8 and the stick cylinder 9 correspond to hydraulic cylinders for arm of the present invention
  • the bucket cylinder corresponds to a hydraulic actuator for working attachment of the present invention.
  • FIG. 2 is a view illustrating the inside of an driver's cab 12 mounted on the upper slewing body 3 , and in the inside of said driver's cab 12 , joystick type right and left operation levers (corresponding to operation members of the present invention) 14 , 15 operable in front, back, right and left directions are disposed on both front right and left sides of the driver's seat 13 with an operator being seated thereon.
  • an operation mode selecting means (not illustrated) described below, operation members for traveling (traveling lever and traveling pedal) to be operated for performing traveling, various switches and dials, monitoring device and others are disposed within the driver's cab 12 , but their illustrations will be omitted.
  • the operation mode selecting means is incorporated in the monitoring device, and is provided as switch and dial, but said operation mode selecting means allows the operator to arbitrarily select operation modes of the right and left operation levers 14 , 15 .
  • any of “standard control” mode and “attachment position control” mode can be selected by the operation mode selecting means, in the “standard control” mode, but respective operations in front-back direction, and in right-left direction of the right and left operation levers 14 , 15 are set so as to correspond to respective drives of the boom cylinder 8 , the stick cylinder 9 , and the bucket cylinder 10 , and the slewing motor 20 .
  • the stick cylinder 9 is set to be driven in correspondence to an operation in front-back direction of the left-side operation lever 14
  • the slewing motor 20 is driven in correspondence to an operation in right-left direction of the left-side operation lever 14
  • the boom cylinder 8 is set to be driven in correspondence to an operation in front-back direction of the right-side operation lever 15
  • the bucket cylinder 10 is set to be driven in correspondence to an operation in right-left direction of the right-side operation lever 15 .
  • the slewing motor 20 can be simultaneously driven by combined operations (operations in forward-leftward, forward-rightward, backward-leftward, backward-rightward directions of the right and left operation levers 14 , 15 , or simultaneous operation of the right and left operation levers 14 , 15 ) of the right and left operation levers 14 , 15 .
  • the bucket cylinder 10 respectively are similar to the “standard control” mode, but an operation in forward-backward direction of the left-side operation lever 14 and the right-side operation lever 15 is set to drive the boom cylinder 8 and the stick cylinder 9 in order to move the bucket 7 position (being an attachment position of the bucket 7 swingably attached to the distal end portion of the stick 6 , and corresponding to the working attachment position of the present invention) in correspondence to that operation.
  • an operation in forward-backward direction of the left-side operation lever 14 is set to correspond to movement in forward-backward direction (X direction illustrated in FIG. 1 ) of the bucket 7 position
  • an operation in forward-backward direction of the right-side operation lever 15 is set to correspond to movement in upward-downward direction (Y direction illustrated in FIG. 1 ) of the bucket 7 position.
  • FIG. 3 illustrates a hydraulic circuit provided in the hydraulic shovel 1 .
  • the hydraulic circuit comprises first, second hydraulic pumps 16 A, 16 B driven by an engine E, an oil tank 17 , right and left traveling motors 18 , 19 , a slewing motor 20 , the boom cylinder 8 , the stick cylinder 9 , and the bucket cylinder 10 .
  • the hydraulic circuit further comprises control valves 21 to 28 for right and left traveling, for slewing, for the first boom cylinder, for the second boom cylinder, for the first stick cylinder, for the second stick cylinder, for the bucket that perform oil supply- and discharge-control respectively to the right and left traveling motors 18 , 19 , the slewing motor 20 , the boom cylinder 8 , the stick cylinder 9 , and the bucket cylinder 10 .
  • These respective control valves 21 to 28 at a neutral position N in which pilot pressure is not input to pilot ports 21 a , 21 b to 28 a , 28 b , are positioned at neutral position N in which oil supply- and discharge-control to the corresponding hydraulic actuators 18 , 19 , 20 , 8 , 9 , 10 is not performed, but are configured to be switched to operating positions X, Y at which oil supply- and discharge-control to the corresponding hydraulic actuators 18 , 19 , 20 , 8 , 9 , 10 is performed based on the pilot pressure being input to the pilot ports 21 a , 21 b to 28 a , 28 b.
  • electromagnetic proportional valves 31 A, 31 B to 38 A, 38 B are provided for left traveling forward, for left traveling reverse, for right traveling forward, for right traveling reverse, for left slewing, for right slewing, for first boom ascending, for first boom descending, for second boom ascending, for first stick IN, for first stick OUT, for second stick IN, for second stick OUT, for bucket IN, and for bucket OUT.
  • These respective electromagnetic proportional valves 31 A, 31 B to 38 A, 38 B are configured to output pilot pressures to respective pilot ports 21 a , 21 b to 28 a , 28 b of the control valves 21 to 28 for right and left travelling, for slewing, for the first boom cylinder, for the second boom cylinder, for the first stick cylinder, for the second stick cylinder, for the bucket, based on control signals from the controller 40 described below.
  • pilot pressures output from the electromagnetic proportional valves 31 A, 31 B to 38 A, 38 B are increased or decreased according to control values output from the controller 40 , and movement strokes of the respective control valves 21 to 28 are increased or decreased according to the increase or decrease of said pilot pressures, such that supply flow rates to the corresponding hydraulic actuators 18 , 19 , 20 , 8 , 9 , and 10 are increased or decreased, thereby controlling the drive speeds of the hydraulic actuators 18 , 19 , 20 , 8 , 9 , and 10 .
  • the controller 40 outputs control signals to the electromagnetic proportional valves 31 A, 31 B to 38 A, 38 B, in order to control the drive speeds of the hydraulic actuators 18 , 19 , 20 , 8 , 9 , and 10 .
  • the present invention is actually implemented for the drive control of the boom cylinder 8 , the stick cylinder 9 , and the bucket cylinder 10 , when a portion relating to the drive controls of the boom cylinder 8 , the stick cylinder 9 , and the bucket cylinder 10 , out of the controls performed by the controller 40 is described, as illustrated in the block diagram of FIG.
  • a lever operation detecting means (corresponding to the operation detecting means of the present invention) 41 for detecting operations of the right and left operation levers 14 , 15 , a boom angle sensor 42 , a stick angle sensor 43 , a bucket angle sensor 44 for detecting a boom angle ⁇ (swing angle of the boom 5 relative to the machine body (see FIG. 1 )), a stick angle ⁇ (swing angle of the stick 6 relative to the boom 5 (see FIG. 1 )), a bucket angle ⁇ (swing angle of the bucket 7 relative to the stick 6 (see FIG.
  • a traveling operation detecting means 45 for detecting operations of an operation member for traveling an engine revolution speed detecting means 47 for detection engine revolution speeds, a pressure sensor for boom 48 , a pressure sensor for stick 49 , and a pressure sensor for bucket 50 for detecting pressures of head-side oil chambers rod-side oil chambers of the boom cylinder 8 , the stick cylinder 9 , and the bucket cylinder 10 respectively are connected to an input side of the controller 40 , and the electromagnetic proportional valves 34 A, 34 B to 38 A, 38 B for the first boom ascending, for the first boom descending, for the second boom ascending, for the first stick IN, for the first stick OUT, for the second stick IN, for the second stick OUT, for the bucket IN, and for the bucket OUT are connected to an output side of the controller 40 .
  • the controller 40 is provided with an operation amount control unit (corresponding to the control system of the present invention) 51 , and respective operation amount versus control value mapping units 52 A, 52 B to 56 A, 56 B for first boom ascending, for first boom descending, for second boom ascending, for first stick IN, for first stick OUT, for second stick IN, for second stick OUT, for bucket IN, for bucket OUT.
  • the operation amount control unit 51 determines operation amounts in a manner described below based on input signals from the detecting unit or sensors to be input to the controller 40 , and outputs the operation amounts determined by said operation amount control unit 51 to operation amount versus control value mapping units 52 A, 52 B to 56 A, 56 B.
  • Said operation amount versus control value mapping units 52 A, 52 B to 56 A, 56 B each store therein an operation amount versus control value map in which correlations between the operation amounts and the control values to the respective electromagnetic proportional valves 34 A, 34 B to 38 A, 38 B have been preset, and by using said operation amount versus control value map, the operation amount control unit 51 outputs control values to the respective electromagnetic proportional valves 34 A, 34 B to 38 A, 38 B based on the operation amounts determined by the operation amount control unit 51 . Then, by the control values output to said electromagnetic proportional valves 34 A, 34 B to 38 A, 38 B, the drive speeds of the boom cylinder 8 , the stick cylinder 9 , and the bucket cylinder 10 are controlled as described above.
  • said operation amount control unit 51 is configured to include a speed requirement computing unit (corresponding to a speed requirement computing means of the present invention) 60 described below, an actual speed computing unit (corresponding to an actual speed computing means of the present invention) 61 , a map updating flag creating unit 62 , a load computing unit 63 , a main mapping unit 64 , a main map updating means for boom cylinder 65 , a main map updating means for stick cylinder 66 , a main map updating means for bucket cylinder 67 , a first operation amount computing unit 68 , a sub-mapping unit 69 , a sub-map updating means for boom cylinder 70 , a sub-map updating means for stick cylinder 71 , a sub-map updating means for bucket cylinder 72 , a second operation amount computing unit 73 , and other components.
  • the present invention is implemented when an “attachment position control” mode is selected by
  • the speed requirement computing unit 60 computes a current position of the bucket 7 (attachment position of the bucket 7 at a distal end portion of the stick 6 ), based on a boom angle ⁇ , a stick angle ⁇ input from the boom angle sensor 42 , and the stick angle sensor 43 . Furthermore, the speed requirement computing unit 60 , based on operation amounts (lever strokes) of the forward-backward operation (the operation of moving a position of the bucket 7 in front-back direction (X direction illustrated in FIG. 1 ) of the left-side operation lever 14 and the forward-backward operation (operation of moving a position of the bucket 7 in the up-down direction (Y direction illustrated in FIG.
  • the speed requirement computing unit 60 computes the respective speed requirements Vr of the boom cylinder 8 and the stick cylinder 9 based on differences between computed current positions of the bucket 7 and desired positions of the bucket 7 .
  • the data (boom length L 1 , stick length L 2 , etc. illustrated in FIG. 1 ) necessary for said computation is stored in advance on a memory (not illustrated) provided in the controller 40 .
  • the speed requirement computing unit 60 computes a speed requirement Vr of the bucket cylinder 10 , based on an operation amount (lever stroke) of the leftward-rightward operation of the right-side operation lever 15 . Then, the speed requirement computing unit 60 outputs the computed speed requirements Vr of the boom cylinder 8 , the stick cylinder 9 , and the bucket cylinder 10 to the main mapping unit 64 , the first operation amount computing unit 68 , and the sub-mapping unit 69 .
  • the actual speed computing unit 61 computes current actual speeds Vp of the boom cylinder 8 , the stick cylinder 9 , and the bucket cylinder 10 respectively, based on change amounts of the boom angle ⁇ , the stick angle ⁇ , and the bucket angle ⁇ input from the boom angle sensor 42 , the stick angle sensor 43 , and the bucket angle sensor 44 . Then, the actual speed computing unit 61 outputs the computed current actual speeds Vp of the boom cylinder 8 , the stick cylinder 9 , and the bucket cylinder 10 to the main mapping unit 64 and the sub-mapping unit 69 .
  • the map updating flag creating unit 62 creates ON/OFF flags of map updating, based on a boom angle ⁇ , a stick angle ⁇ , and a bucket angle ⁇ to be input from the boom angle sensor 42 , the stick angle sensor 43 , and the bucket angle sensor 44 , and traveling operation, slewing operation (the leftward-rightward operation of the left-side operation lever 14 ), engine revolution speed to be input respectively from the traveling operation detecting means 45 , the lever operation detecting means 41 , and the engine revolution speed detecting means 47 .
  • Said map updating flags are created in such a manner that, in case traveling operation or the slewing operation is performed (during traveling or during slewing), OFF flag is created in either case of the case in which the engine revolution speed is lower than the set revolution speed that is preset, and the case in which the boom cylinder 8 , the stick cylinder 9 , and the bucket cylinder 10 reach the cylinder end (at the time of maximum extending or maximum contracting), and ON flag is created in neither case.
  • the map updating flag creating unit 62 outputs said created ON/OFF flags of the map updating output to the main map updating means 65 , 66 , and 67 for boom cylinder, for stick cylinder, and for bucket cylinder of the main mapping unit 64 described below and the sub-map updating means 70 , 71 , and 72 for boom cylinder, for stick cylinder, and for bucket cylinder of the sub-mapping unit 69 .
  • the OFF flag to be output by the boom cylinder 8 reaching the cylinder end is output only to the main map updating means 65 and the sub-map updating means 70 for boom cylinder
  • the OFF flag to be output by the stick cylinder 9 reaching the cylinder end is output only to the main map updating means 66 and the sub-map updating means 71 for stick cylinder
  • the OFF flag to be output by the bucket cylinder 10 reaching the cylinder end is output only to the main map updating means 67 and the sub-map updating means 72 for bucket cylinder.
  • the load computing unit 63 computes rates of loading (%) acting on the boom cylinder 8 , the stick cylinder 9 , and the bucket cylinder 10 , based on pressures of head-side, rod-side oil chambers of the boom cylinder 8 , the stick cylinder 9 , and the bucket cylinder 10 to be input from the pressure sensor for boom 48 , the pressure sensor for stick 49 , and the pressure sensor for bucket 50 .
  • Said computation is performed in such a manner that, data for computations is created in advance, for example, assuming differential pressure between the head-side oil chamber and the rod-side oil chamber of the boom cylinder 8 when the bucket 7 is fully loaded to be the rate of loading (100%), assuming differential pressure between the head-side oil chamber and the rod-side oil chamber of the boom cylinder 8 when the bucket 7 touches the ground to be the rate of loading (0%), and assuming differential pressure between the head-side oil chamber and the rod-side oil chamber of the boom cylinder 8 when the bucket 7 is strongly pressed against the ground surface to be the rate of loading ( ⁇ 100%), and rates of loading (%) of the boom cylinder 8 are computed by using said data for computation. Then, the load computing unit 63 outputs said computed rates of loading (%) of the boom cylinder 8 , the stick cylinder 9 , and the bucket cylinder 10 to the sub-mapping unit 69 , and the second operation amount computing unit 73 .
  • the main mapping unit 64 stores therein the main maps for the boom cylinder, for the stick cylinder, and for the bucket, and is provided with the main map updating means 65 , 66 , and 67 for boom cylinder, for stick cylinder, and for bucket for updating the main maps at any time.
  • the main map for boom cylinder is a map representing correlations between speed requirements Vr and operation amounts (%) of the boom cylinder 8 , and is used to determine an operation amount (%) from the speed requirement Vr of the boom cylinder 8 computed by the speed requirement computing unit 60 , in the first operation amount computing unit 68 described below.
  • the maps are created, assuming speed requirement Vr, operation amount (%) on an extending side (ascending side of the boom 5 ) of the boom cylinder 8 to be (+), and assuming speed requirement Vr, operation amount (%) on a contracting side (descending side of the boom 5 ) of the boom cylinder 8 to be ( ⁇ ).
  • the main map for the stick cylinder is a map representing correlations between speed requirements Vr and operation amounts (%) of the stick cylinder 9
  • the main map for the bucket cylinder is a map representing correlations between speed requirements Vr and operation amounts (%) of the bucket cylinder 10
  • these main maps for the stick cylinder, and for the bucket cylinder, similar to the main map for the boom cylinder, are used to determine the operation amount (%) from the speed requirement Vr in the first operation amount computing unit 68 .
  • These main maps though an initial main map (original main map) is mounted at the time of the shipment of products, are updated at any time by the main map updating means 65 , 66 , and 67 for boom cylinder, for stick cylinder, and for bucket.
  • the weighting of the speed difference to the speed requirement Vr is made small, and the main map is updated so that said small-weighted speed difference is decreased.
  • the main map updating means 65 , 66 , and 67 for boom cylinder, for stick cylinder, and for bucket are configured such that updating of the main maps for boom cylinder, for stick cylinder, and for bucket not to be performed, in either case of a case in which traveling operation or slewing operation is being operated (during traveling or during slewing), a case in which the engine revolution speed is lower than the set revolution speed that has been preset, a case in which the boom cylinder 8 reaches the cylinder end in the main map updating means 65 for boom cylinder, a case in which the stick cylinder 9 reaches the cylinder end in the main map updating means 66 for stick cylinder, and a case in which the bucket cylinder 10 reaches the cylinder end in the main map updating means 67 for bucket cylinder.
  • the latest main maps that have been updated by the main map updating means 65 , 66 , and 67 for boom cylinder, for stick cylinder, and for bucket are designed to be output to the first operation amount computing unit 68 .
  • a speed requirement Vr of the boom cylinder 8 computed by the speed requirement computing unit 60 is assumed to be (100 mm/sec)
  • an actual speed Vp of the boom cylinder 8 computed by the actual speed computing unit 61 is assumed to be (90 mm/sec).
  • an operation amount is (50%) when the speed requirement Vr is (100 mm/sec)
  • the main map will be updated to increase an operation amount (%) in order to increase the actual speed Vp.
  • new main map is obtained by rewriting in such a manner that the operation amount for the portion of the speed requirement Vr (100 mm/sec) be increased from (50%) to (50.1%).
  • Vr 100 mm/sec
  • FIG. 6B the amount of an increase of the operation amount is displayed in an enlarged size for easy recognition.
  • the weighting to the actual speed Vp is set smaller than weighting to the speed requirement Vr and are weighted-averaged to obtain an operation amount by using said weighted average value.
  • a ratio of the weighting of the actual speed Vp to that of the speed requirement Vr is set at a ratio (1/100):(99/100)
  • the speed requirement Vr and the actual speed Vp are weighted-averaged in a manner as given in the following formula (1).
  • an operation amount (%) when the speed requirement is (100 mm/sec) in the new map is determined, in a manner as given in the formula (2) by using the above-described weighted average value.
  • the new map is updated so that an operation amount when the speed requirement is (100 mm/sec) to be (50.1%).
  • the weighting to the actual speed Vp is set smaller than the weighting to the speed requirement Vr and the actual speed Vp and the speed requirement Vr are weighted-averaged, to obtain an operation amount by using said weighted average value.
  • this computation method is by way of one example.
  • the weighting to the speed difference is set smaller than the weighting to the speed requirement Vr, and a percentage of said weighted-smaller speed difference to the speed requirement Vr is computed, thereby enabling a value of an operation amount in a new main map to be determined by using said percentage.
  • the first operation amount computing unit 68 determines operation amounts (%) for boom, for stick, and for bucket from the speed requirements Vr for the boom cylinder 8 , for the stick cylinder 9 , and for the bucket cylinder 10 input from the speed requirement computing unit 60 , by using the latest main maps for boom cylinder, for stick cylinder, and for bucket input from the main mapping unit 64 . Then, the first operation amount computing unit 68 outputs said operation amounts (%) for boom, for stick, and for bucket, to the sub-mapping unit 69 , and the second operation amount computing unit 73 .
  • the sub-mapping unit 69 stores the sub-maps for boom cylinder, for stick cylinder, and for bucket, and is provided with the sub-map updating means 70 , 71 , and 72 for boom cylinder, for stick cylinder, and for bucket for updating these sub-maps at any time.
  • These sub-maps for boom cylinder, for stick cylinder, and for bucket are maps for correcting operation amounts (%) for boom, for stick, and for bucket obtained by the first operation amount computing unit 68 in correspondence to loads acting on the boom cylinder 8 , the stick cylinder 9 , and the bucket cylinder 10 , individual/combined operations, engine revolution speeds, or the like.
  • the sub-map for the boom cylinder is taken as an example in case of correction in correspondence to a rate of loading (%) of the boom cylinder 8 computed by the load computing unit 63 , and is illustrating in FIG. 7 , then, in said sub-map of FIG.
  • corrected operation amount (%) can be obtained based on an operation amount (%) for boom obtained by the first operation amount computing unit 68 , and a rate of loading (%) of the boom cylinder 8 computed by the load computing unit 63 .
  • corrected operation amount (5%) is obtained from the sub-map in illustrated in FIG. 7 .
  • FIG. 7 two-dimensional sub-map only in a case of the correction in correspondence to a rate of loading (%) for easy recognition is illustrated.
  • the weighting of the speed difference to the speed requirement Vr is made small, and the sub-map will be updated so as to decrease said small-weighted speed difference, but the weighting of the speed difference in said sub-map is set greater than the weighting of the speed difference in the above-described main map.
  • the sub-map updating means 70 , 71 , and 72 are configured in a manner that updating of the sub-maps for boom cylinder, for stick cylinder, and for bucket not to be performed in either case of a case in which the boom cylinder 8 reaches the cylinder end in the sub-map updating means 70 for boom cylinder, a case in which the stick cylinder 9 reaches the cylinder end in the sub-map updating unit 71 for stick cylinder, and a case in which the bucket cylinder 10 reaches the cylinder end in the sub-map updating means 72 for bucket cylinder. Then, the latest sub-maps that have been updated by the sub-map updating means 70 , 71 , and 72 for boom cylinder, for stick cylinder, and for bucket will be output to the second operation amount computing unit 73 .
  • a speed requirement Vr of the boom cylinder 8 computed by the speed requirement computing unit 60 is (100 mm/sec)
  • an actual speed Vp of the boom cylinder 8 computed by the actual speed computing unit 61 is (90 mm/sec)
  • the corrected operation amount (%) in order to increase the actual speed Vp is updated to increase the corrected operation amount (%) in order to increase the actual speed Vp.
  • a new sub-map is obtained, for example, by rewriting in such a manner as to increase from (5%) to (5.6%) the corrected operation amount of the part where an operation amount for boom is (50%), and the rate of loading is (50%).
  • the weighting to the actual speed Vp is set smaller than the weighting to the speed requirement Vr, and the actual speed Vp and the speed requirement Vr are weighted-averaged, thereby determining the operation amount by using said weighted average value.
  • a ratio of the weighting of the actual speed Vp to that of the speed requirement Vr is set greater than a ratio when the main map is updated described above.
  • the speed requirement Vr and the actual speed Vp are weighted-averaged in such a manner as given in the following formula (3), when the speed requirement Vr is (100 mm/sec), and the actual speed Vp is (90 mm/sec).
  • a corrected operation amount (%) in the new map is determined as given in the following formula (4), by using the above weighted average value.
  • the new map is updated in such a manner that corrected operation amount at the time of operation amount (50%), and the rate of loading (50%) for the boom becomes (5.6%).
  • the second operation amount computing unit 73 determines corrected operation amounts (%) by using the latest sub-maps for boom cylinder, for stick cylinder, and for bucket input from the sub-mapping unit 69 , and adds said corrected operation amounts (%) to operation amounts (%) for boom, for stick, and for bucket input from the first operation amount computing unit 68 . Then, the second operation amount computing unit 73 determines operation amounts (%) for boom, for stick, and for bucket for use with operation amount versus control value map.
  • operation amounts (%) for boom, for stick, and for bucket obtained by said second operation amount computing unit 73 are configured to be output from the operation amount control unit 51 , and are input respectively into the above-described operation amount versus control value mapping units 52 A, 52 B to 56 A, 56 B for first boom ascending, for first boom descending, for second boom ascending, for first stick IN, for first stick OUT, for stick IN, for second stick OUT, for bucket IN, and for bucket OUT, and to be converted into control values to the electromagnetic proportional valves 34 A, 34 B to 38 A, 38 B for first boom ascending, for first boom descending, for second boom ascending, for first stick IN, for first stick OUT, for second stick IN, for second stick OUT, for bucket IN, and for bucket OUT in said operation amount versus control value mapping unit 52 A, 52 B to 56 A, 56 B, and to be output to the electromagnetic proportional valves 34 A, 34 B to 38 A, 38 B.
  • the second operation amount computing unit 73 is conditioned such that, when operation amounts (%) for boom, for stick, and for bucket to be input from the first operation amount computing unit 68 are zero, directly outputs a value of operation amount (%) zero to each of the operation amount versus control value mapping units 52 A, 52 B to 56 A, 56 B, without performing correction by the sub-maps.
  • the hydraulic shovel 1 is provided with the boom cylinder 8 , the stick cylinder 9 , and the bucket cylinder 10 serving as actuators, the operation levers 14 , 15 operated to drive these actuators, and the operation amount versus control value mapping units 52 A, 52 B to 56 A, 56 B that output control values for controlling drive speeds of the actuators based on the input of operation amounts.
  • the drive control of the actuators will be performed based on the control values output from said operation amount versus control value mapping units 52 A, 52 B to 56 A, 56 B.
  • operation amounts input into the operation amount versus control value mapping units 52 A, 52 B to 56 A, 56 B are obtained by the operation amount control unit 51 , and said operation amount control unit 51 is provided with the speed requirement computing unit 60 that computes the speed requirements of the actuators based on detected values from the lever operation detecting means 41 for detecting operations of the operation levers 14 , 15 , the main mapping unit 64 that stores therein the main map representing correlations between the speed requirements and the operation amounts so as t determine operation amounts from the speed requirements of the actuators, the actual speed computing unit 61 that computes current drive speeds of the actuators, the main map updating means 65 , 66 , and 67 for updating the main map at any time based on the speed difference between the actuator speed requirement and the current actuator drive speed, the sub-mapping unit 69 that stores therein the sub-map that corrects operation amounts based on the influencing factors that influence the drive speeds of the actuators, and the sub-map updating means 70 , 71 , and 72 for updating the sub-maps at any time
  • operation amounts obtained by the operation amount control unit 51 will be used, rather than detected values of the lever operation detecting means 41 for detecting operations of the operation levers 14 , 15 , for operation amounts used for the control of drive speeds of the actuators (for the boom cylinder 8 , for the stick cylinder 9 , and for the bucket cylinder 10 ).
  • said operation amount control unit 51 there are provided two kinds of maps: the main maps representing correlations between speed requirements and operation amounts of the actuators computed based on the detected values of the lever operation detecting means 41 , and the sub-maps for correcting operation amounts based on the influencing factors that influence the drive speeds of the actuators, such as loads acting on the actuators, and the like.
  • operation amounts are obtained according to detected values of the lever operation detecting means 41 , by the main maps, and operation amounts are corrected based on the influencing factors such as loads acting on the actuators, by the sub-maps, and thus control of the drive speeds of the actuators will be performed with high accuracy.
  • these main maps and sub-maps will be updated at any time based on the speed requirements of the actuators and the current drive speeds of the actuators.
  • the main map updating means 65 , 66 , 67 and the sub-map updating means 70 , 71 , 72 are configured to update the main maps and sub-maps, in such a manner that the weighting of the speed difference to the speed requirement is made small, and said small-weighted speed difference be decreased, in updating the main maps and sub-maps based on the speed differences between the speed requirements of the actuators and the current the drive speeds (actual speeds) of the actuators. Therefore, the updating of the main map and the sub-maps becomes less influenced by the protruding data of the current drive speeds of the actuators generated temporarily, accidentally like noises, and thus stable drive control of the actuator s can be performed.
  • the weighting of the speed difference in the updating of the sub-maps is set to be greater than the weighting of the speed difference in the updating of the main map, such that the updating of the main maps can be effectively performed to characteristics (difference) that change little by little in a long period of time like deterioration over time of hydraulic components.
  • the updating of the sub-maps enables correction to short-term speed difference generated by the influencing factors that have an influence on the drive speeds of the actuators, including loads acting on the actuators and individual operation/combined operations, the engine revolution speeds, and the like to be performed promptly.
  • the influencing factors to be used for the correction of the operation amounts in the sub-maps are supposed to include loads acting on the actuators, and individual operation/combined operations, and the engine revolution speeds when a plurality of the actuators is provided.
  • loads acting on the actuators significantly fluctuate depending on work contents, and drive speeds of the actuators are increased or decreased depending on individual operation/combined operations and the engine revolution speeds.
  • highly accurate drive control of the actuators can be performed by correcting operation amounts based on these influencing factors.
  • the present invention in the present embodiment, is implemented on a construction machine (the hydraulic shovel 1 ) provided with a bendable articulated working arm that is constituted of a plurality of arms (the boom 5 and the stick 6 ), and the work attachment (the bucket 7 ) attached to the distal end portion of said working arm, as well as provided with the hydraulic cylinders for a plurality of arms (the boom cylinder 8 , the stick cylinder 9 ) and the hydraulic actuator for the work attachment (the bucket cylinder 10 ) for driving the above plurality of arms respectively as actuators.
  • the hydraulic shovel 1 provided with a bendable articulated working arm that is constituted of a plurality of arms (the boom 5 and the stick 6 ), and the work attachment (the bucket 7 ) attached to the distal end portion of said working arm, as well as provided with the hydraulic cylinders for a plurality of arms (the boom cylinder 8 , the stick cylinder 9 ) and the hydraulic actuator for the work attachment (the bucket cylinder 10 ) for driving the above plurality of arms respectively
  • positional control of the work attachment attached to the distal end portion of such an articulated working arm requires drive-speed control of a plurality of arms to be performed with a high accuracy, and as a result, positional control of the work attachment can be performed with a high accuracy by implementing the present invention on such a actuator drive control of construction machines.
  • the right and left operation levers 14 , 15 operable in front, rear right and left directions serving as operation members for the working arm, and the operation mode selecting means selectable by the operator are provided, by said operation mode selecting means in case an attachment position control mode for controlling a work attachment position (position of the bucket 7 ) by operations of the right and left operation levers 14 , 15 is selected, the operation amount control unit 51 computes a desired work attachment position based on detected values from the lever operation detecting means 41 for detecting the operations of the right and left operation lever 14 , 15 , and computes respectively the speed requirements of the hydraulic cylinders for a plurality of arms (the boom cylinder 8 , and the stick cylinder 9 ) in order to control the work attachment position based on said computation results.
  • the main maps and the sub-maps are provided respectively, in correspondence to the hydraulic cylinders for arms. Then, when the attachment position control mode is selected by the operator in this manner, the work attachment position can be controlled with a high accuracy by implementing the present invention on the configuration for controlling the work attachment position by operations of the right and left operation members.
  • the present invention is not limited to the embodiment (first embodiment).
  • the bright and left operation levers 14 , 15 operable in right and left front, rear directions are provided as the operation members for the working arm.
  • one working machine operation lever (corresponding to operation members of the present invention) 74 operable in front-back, and up-down directions as the operation members for the working arm may be provided.
  • the working machine operation lever 74 of the second embodiment is attached substantially parallel to the floor of the driver's cab 12 and is designed to be operable in front and rear, up and down directions, and is further constituted in a manner that the forward-downward operation thereof corresponds to the front-back direction (X direction illustrated in FIG.
  • the operation amount control unit 51 being constituted to compute a desired work attachment position based on detected values from the operation detecting means that detects operations of the working machine operation lever 74 , as well as to compute respectively the speed requirements of the hydraulic cylinders (for the boom cylinder 8 , for the stick cylinder 9 ) for a plurality of arms in order to control the work attachment position based on said computed results, and with the main maps and the sub-maps being provided respectively in correspondence to the hydraulic cylinders for respective arms, then the work attachment position can be controlled accurately.
  • the above working machine operation lever 74 is constituted to be turned in a direction around the machine axis, and by turning said working machine operation lever 14 forward in a direction around the machine axis, the bucket cylinder 10 is drive-controlled in order to swing (the bucket OUT) the bucket 7 forward. On the other hand, by turning backward in a direction around the machine axis, the bucket cylinder 10 is drive-controlled in order to swing (the bucket IN) the bucket 7 backward.
  • reference numeral 75 denotes a slew operation lever, and said slew operation lever 75 is attached in a vertical direction relative to the floor of the driver's cab 12 .
  • the slewing motor is drive-controlled so that slewing in right-left direction of the upper slewing body 3 is performed
  • the sub-maps can be created by using, for example, high or low oil temperatures for the drive of the actuators, difference in work contents performed by construction machines as the influencing factors.
  • the present invention can be implemented on various types of construction machines, without limiting to the hydraulic shovels.
  • the present invention can be utilized for drive control of actuators such as hydraulic cylinders provided in construction machines such as the hydraulic shovel.

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  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
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  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Operation Control Of Excavators (AREA)
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JP2015251160A JP6573319B2 (ja) 2015-12-24 2015-12-24 建設機械におけるアクチュエータ駆動制御装置
PCT/EP2016/080505 WO2017108455A1 (en) 2015-12-24 2016-12-09 Actuator drive control system in construction machine

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WO2020065739A1 (ja) * 2018-09-25 2020-04-02 日立建機株式会社 作業機械
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DE112016005381T5 (de) 2018-08-02
CN108368690A (zh) 2018-08-03

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