Classifications

• • E—FIXED CONSTRUCTIONS
  • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
  • E02F—DREDGING; SOIL-SHIFTING
  • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
  • E02F9/20—Drives; Control devices
• • E—FIXED CONSTRUCTIONS
  • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
  • E02F—DREDGING; SOIL-SHIFTING
  • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
  • E02F9/20—Drives; Control devices
  • E02F9/22—Hydraulic or pneumatic drives
  • E02F9/2278—Hydraulic circuits
  • E02F9/2296—Systems with a variable displacement pump
• • E—FIXED CONSTRUCTIONS
  • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
  • E02F—DREDGING; SOIL-SHIFTING
  • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
  • E02F9/20—Drives; Control devices
  • E02F9/22—Hydraulic or pneumatic drives
  • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
• • E—FIXED CONSTRUCTIONS
  • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
  • E02F—DREDGING; SOIL-SHIFTING
  • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
  • E02F9/20—Drives; Control devices
  • E02F9/22—Hydraulic or pneumatic drives
  • E02F9/2221—Control of flow rate; Load sensing arrangements
  • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
  • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
  • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
  • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
  • F15B21/08—Servomotor systems incorporating electrically operated control means
  • F15B21/087—Control strategy, e.g. with block diagram

Definitions

• the present invention uses a joystick device in which an operation system of a construction machine, in particular, an operation lever device generates an electric operation signal (electric signal) according to an operation amount of an operation lever, and the operation signal is used in response to the operation signal.
• the present invention relates to a hydraulic circuit control device for construction machinery that controls a flow control valve to control the operation of an actuator.
• a hydraulic excavator must be a machine that can operate the work equipment according to the operator's will, from work that emphasizes the amount of work such as excavation work to operations that require delicate adjustment such as leveling work. Therefore, the operating lever device is an electric joystick that generates an electric operation signal according to the operation amount, and the operation signal is processed electronically, and the signal is used to control the flow control valve.
• Equipment is being used. The following are known as such control devices.
• Patent No. 2509311 1 Wood machine control method for construction machinery
• a circuit pressure rise and a fall and a pump discharge amount are controlled by operating an operating valve.
• control is performed to prevent the cavitation that occurs when the variable pump device is operated. It also shows that a plurality of modulation valves for operation valves are prepared, and manual or automatic setting is performed according to the work state according to the operator's selection.
• the hydraulic pump controls the discharge rate of the hydraulic pump with the operation signal to control the actuator speed, and a hydraulic circuit that regulates the maximum operation speed of the variable pump capacity mechanism.
• the following are known control devices.
• a closed circuit system hydraulic circuit control device that controls the speed of the actuator to the speed specified by the operating device by controlling the hydraulic pump discharge amount (position of the pump volume variable mechanism), the pump volume variable mechanism It is shown that when the operating speed is regulated to be equal to or less than the set maximum speed, the acceleration / deceleration of the factor is controlled by changing the set maximum speed according to the operation amount of the operation lever.
• JP-B-62-39295 “Hydraulic circuit device control system”
• the operating device operating lever
• the set maximum speed is set higher than the maximum speed set during acceleration. Disclosure of the invention
• the first problem is that the set value that limits the maximum operation speed (maximum change speed of the operation signal) of the operation valve (flow control valve) should be set during acceleration, deceleration, stop, and reverse lever operation. It is not set correspondingly for each case, and it is not always possible to control the operating valve at the optimum maximum change speed according to the operating condition of the construction machine.
• the second problem is that the processing of the dead zone near the neutral position of the flow control valve during reverse lever operation is not appropriate or no processing has been performed. It can happen, or the actiyue can't move and feel breathless.
• the third problem is that a fixed modulation pattern only regulates the maximum change speed of the operation valve regardless of the operation amount of the operation lever, so that an appropriate feeling of acceleration and deceleration can be obtained according to the operation amount. There is no point.
• the maximum operating speed of the control valve during acceleration, deceleration and stop is set as a modulation pattern.
• the reverse lever operation is an operation to suddenly change the operation direction of the working device, for example, when the packet is dropped, when the boom is used for soil blowing, or when danger is evacuated. A quick response is desired until the time is changed.
• Japanese Patent Application Publication No. JP-A-07-0779 discloses a method for improving the response in the reverse lever operation described in Japanese Patent No. 2509311. Since the modulation control up to that point is turned off and the modulation control in the reverse direction is started, taking into account the delay in the operation of the actuator in response to the operation signal, the operation is not controlled at the moment the operation direction changes. And the operation direction switches. In the meantime, a large shock may occur (second problem).
• the modulation pattern is a fixed pattern, and the maximum operation valve can be operated regardless of the operation amount of the operation lever. Since the operating speed is always limited by the modulation pattern, an appropriate feeling of acceleration and deceleration cannot be obtained according to the operation amount (third problem). For example, when returning the operation lever, if the operation is performed so that the operation valve speed is faster than the modulation pattern, regardless of how the operation lever is returned, the maximum change speed of the operation valve can be obtained with a fixed modulation pattern. As a result, the maximum change speed of the control valve cannot be adjusted.
• the maximum operating speed of the operating valve is not set according to the operating condition of the construction machine, and the operating valve is operated at the optimum maximum changing speed according to the operating condition. Control is not possible (first problem), and appropriate acceleration and deceleration sensations cannot be obtained according to the amount of operation (third problem). No consideration has been given to reverse lever operation (second problem).
• Japanese Patent Publication No. Sho 62-135354 and Japanese Patent Publication No. Sho 62-39295 control the discharge rate of the pump by controlling the position of the pump displacement mechanism by the instruction of the operating lever. It controls the speed of the factory and does not control the driving of the work equipment of the construction machine through the flow control valve.
• a plurality of maximum changing speeds of the operation signal are set as a function of the operation signal.
• the control target by the operating lever is a variable pump volume mechanism, no consideration is given to the dead zone near the neutral position of the flow control valve.
• a first object of the present invention is to control the operation of the actuator by controlling the flow control valve with an electric operation signal, and it is possible to control the operation state during acceleration, deceleration / stop, and reverse lever operation.
• the flow control valve can be controlled at the optimum maximum change speed
• An object of the present invention is to provide a hydraulic circuit control device for a construction machine that enables a quick reversing operation during a sudden reverse lever operation.
• the second object of the present invention is to appropriately perform processing for a dead zone near the neutral position of the flow control valve at the time of operating the reverse lever, so that there is little shock during sudden reverse lever operation and no delay is felt.
• a third object of the present invention is to provide a hydraulic circuit control device for a construction machine capable of obtaining an appropriate acceleration feeling and a deceleration feeling according to the operation amount of an operation lever.
• the present invention provides a hydraulic actuator that drives a working device, a hydraulic pump that is driven by a prime mover to generate hydraulic oil, the hydraulic actuator and the hydraulic pump.
• a flow control valve provided between the hydraulic pumps for controlling the flow rate of the pressure oil; and an operation signal generating means for generating an electric operation signal for instructing the flow rate of the flow control valve.
• a hydraulic circuit controller for a construction machine that calculates a control signal regulated to be equal to or less than a preset maximum change speed and controls the flow control valve by the control signal determines an operation state of the construction machine based on the operation signal.
• An optimal maximum change rate of the control signal of the flow control valve is set in advance for each operation state of the construction machine, and based on the determination result of the first determination means, And a first calculating means for determining an optimum maximum change speed corresponding to the operation state of the construction machine, and setting the optimum maximum change speed of the control signal of the flow control valve.
• the first determining means determines the operating condition of the construction machine
• the first calculating means determines the optimum maximum change speed corresponding to the operating condition of the construction machine at that time based on the determination result, and
• the change speed of the control signal for controlling the flow rate of the flow control valve is regulated to the maximum change speed or less.
• the flow control valve can be controlled at the optimum maximum rate of change in any operating condition during operation.
• A During acceleration / deceleration, there is little shock even if the operating lever is suddenly operated, and no delay is felt.
• B During acceleration / deceleration operation with backlash
• C When the operation lever is suddenly operated during the stop operation, there is little shock and no delay is felt.
• D When the reverse lever is operated suddenly, the operation is completed. Enables quick reversal operation, and improves work efficiency and safety.
• the present invention provides the hydraulic circuit control device according to (1), wherein it is determined whether or not the value of the control signal of the flow control valve is within a neutral range.
• a second judging means that performs a control signal in accordance with the operation signal without performing an operation for regulating a change speed of the control signal based on the maximum change speed when the value of the control signal of the flow control valve is within a neutral range.
• second calculation means for calculating ensures that the dead zone near the neutral position of the flow control valve when the reverse lever is operated is properly processed, and that when the reverse lever is operated suddenly, there is little shock, no delay, and at the same time no breathing near the neutral position. Operability at the time of reverse lever is greatly improved.
• the first judging means judges from the state of the operation signal whether the operation state of the construction machine is any of acceleration, deceleration / stop, and reverse lever.
• the first calculation means determines the optimum maximum change speed corresponding to the operation state of the construction machine at that time from the optimum maximum change speed of the control signal preset for each operation state of the acceleration, deceleration, stop, and reverse lever. I do.
• the flow control valve can be controlled at the optimum maximum change speed in any of the operation states of acceleration, deceleration, stop, and reverse lever operation.
• the first determination means determines the operation state of the construction machine from the operation signal and the control signal of the flow control valve previously output. I do.
• the first determination means can determine the operation state of the construction machine including acceleration, deceleration, stop, and reverse lever operation without using a special sensor signal.
• the present invention provides the method according to any one of (1), (3) and (4), wherein the optimum maximum change speed of the control signal of the flow control valve is provided. Is set in advance as a function of the operation signal for each operation state of the construction machine; The calculation means calculates the optimum maximum change speed from a function of an operation signal corresponding to the operation state determined by the first determination means and the operation signal at that time. As a result, the optimum maximum change speed of the control signal according to the value of the operation signal is set, and an appropriate feeling of acceleration and deceleration according to the operation amount of the operation lever can be obtained.
• the optimum maximum change speed of the control signal of the flow control valve is the aforementioned operation signal or the previously output flow rate. It is preset for each operation state of the construction machine as a function of the control signal of the control valve, and the first arithmetic means is an operation signal corresponding to the operation state determined by the first determination means or the flow control previously output. The optimum maximum change speed is calculated from the function of the valve control signal and the operation signal at that time or the previously output flow control valve control signal.
• FIG. 1 is a diagram illustrating an overall configuration of a hydraulic circuit control device for a construction machine according to a first embodiment of the present invention.
• FIG. 2 is a block diagram showing the configuration of the control unit shown in FIG.
• FIG. 3 is a flowchart showing a control calculation performed by the control unit shown in FIG.
• FIG. 4 is a characteristic diagram showing the relationship between the valve command value Y calculated by the control unit and the flow rate Q of hydraulic oil flowing through the flow control valve controlled by the valve command value.
• FIG. 5 is a flowchart showing details of the “neutral dead zone valve command value calculation process” of the control calculation shown in the flowchart of FIG.
• FIG. 6 is a flowchart showing details of the “drive range valve command value calculation process” of the control calculations shown in the flowchart of FIG.
• FIG. 7 is (a) a characteristic diagram of a function for obtaining the maximum set distance during acceleration, and (b) is another example of the characteristic diagram.
• FIG. 8 is a characteristic diagram of a function for obtaining the maximum set distance at the time of deceleration / stop.
• FIG. 9 is a characteristic diagram of a function for obtaining the maximum set distance at the time of the reverse lever.
• FIG. 10 is a time chart showing an example of the operation at the time of acceleration. (A) shows a case where the operation lever is operated suddenly, and (b) shows a case where the operation lever is operated slowly.
• FIG. 11 is a time chart showing an example of the operation at the time of deceleration and stop.
• FIG. 12 is a time chart showing an example of the operation at the time of the reverse lever.
• FIG. 13 is a diagram showing the control calculation shown in the flowcharts of FIGS. 3, 5, and 6 by a functional block.
• FIG. 14 is a flowchart showing details of “drive range valve command value calculation processing” in the hydraulic circuit control device for construction machinery according to the second embodiment of the present invention, similar to FIG.
• FIG. 15 is a characteristic diagram of a function for obtaining the maximum set distance at the time of deceleration / stop according to the second embodiment.
• FIG. 16 is a time chart showing an example of the operation at the time of deceleration / stop in the second embodiment.
• FIG. 1 shows an embodiment in which the present invention is applied to a hydraulic circuit control device of a hydraulic shovel, which is a typical example of a construction machine.
• FIG. 1 shows a partial hydraulic circuit control device related to a hydraulic cylinder that drives an arm of a hydraulic shovel for simplification of description.
• the hydraulic circuit control device of the present embodiment controls a hydraulic pump 1, an actuator 2 such as a hydraulic cylinder, and a flow direction and a flow rate of hydraulic oil discharged from the hydraulic pump 1 into the hydraulic cylinder.
• An operation that has a flow control valve 3, a proportional solenoid valve 3a, 3b for driving the flow control valve 3, and an operation lever 4a, and outputs an electric operation signal for instructing the flow rate of the flow control valve 3.
• a control unit 5 that outputs a drive signal to the solenoid valves 3 a and 3 b according to the operation signal of the lever device 4 and the operation lever device 4 to drive the flow control valve 3. It is composed of Although FIG. 1 shows that the actuator 2 is a hydraulic cylinder that drives the arm 6a during the operation of the hydraulic shovel 6, the actuator 2 may be an actuator that drives another operation device.
• Fig. 2 shows the configuration of the control unit 5.
• the control unit 5 stores a program for instructing a control procedure of the entire control unit 5, a ROM memory 54, which controls the entire control unit in accordance with a program stored in the ROM memory 54.
• Multiplexer (MPX) 51 that switches and outputs the signal output from 4 and AZD converter 52 that converts the signal input to multiplexer 51 into a digital signal, temporarily stores numerical values during control calculation, etc.
• the DAM converter 55 which converts the digital command value from the CPU 53 into an analog signal and outputs it, amplifies the signal output from the DZA converter 56, and amplifies the signal output from the proportional solenoid valves 3a and 3b. It consists of amplifiers 57a and 57b that output drive signals.
• FIG. 3 is a flowchart showing a control procedure (program) of the CPU 53 stored in the ROM 54 of the control unit 5.
• control procedure program
• an operation signal (hereinafter, appropriately referred to as a lever signal) of the operation lever device 4 is read via the A / D converter 52 and temporarily stored in the RAM 55.
• the read lever signal 0 is converted into the lever command value X.
• the previously output valve command value Y-1 which is the currently output command value is used, and this valve command value Y-1 does not include the boundary values ⁇ on both sides of the neutral region.
• valve command value Y-l calculated twice is the valve command value calculated in the calculation process one cycle before the flowchart shown in FIG. 3, and the drive signal of this valve command value Y- The spool position is controlled by this valve command value Y-1.
• Fig. 4 shows an example of the relationship between the valve command value Y and the pressure oil flow rate Q flowing through the flow control valve 3.
• the flow rate Q of the flow control valve 3 is 0 within the neutral range (soil ⁇ ) of the valve command value Y. Beyond the neutral range, the flow rate Q increases as the absolute value of the valve command value ⁇ increases.
• the relationship between the valve command value ⁇ and the flow rate q in Fig. 4 shows a general relationship, and there is an optimal relationship for each of the target factories. In addition, different characteristics may be given depending on the operation direction.
• block 400 since the valve command value Y-1 (current operation command value) calculated previously in block 300 (see Fig. 3) is determined to be in the neutral range, the valve command in the neutral range is determined. Performs an operation on the value Y.
• the lever command value X (current lever operation command value) is within the range of soil ⁇ including the boundary value soil ⁇ on both sides of the neutral region (hereinafter, “neutral region (soil ⁇ ) ”)), That is, one ⁇ ⁇ ⁇ one.
• the semi-IJ constant is Yes
• the valve command value Y-1 current operation command value
• the lever command value X current lever operation command value
• the flow proceeds to block 4300.
• the valve command value ⁇ is used as the lever command value X.
• the valve command value ⁇ -1 current operation command value
• the lever command value X current operation command value
• valve command value ⁇ is used as the lever command value X as it is.
• lever command value X has exceeded the neutral range (soil ⁇ )
• the flow proceeds to block 420.
• the sign of the lever command value X that is, the direction in which the operating lever 4a is operated is determined.
• lever command value X is 0 or more
• go to block 450 and set valve command value Y .
• X is determined to be the (1) side, go to block 440.
• Block 400 is completed as described above, and the process proceeds to block 700.
• valve command value Y-1 current operation command value
• the process proceeds to block 521.
• the current operation direction of the actuator is determined by the sign of the previously calculated valve command value Y-1 (current operation command value). If it is determined that the previously calculated valve command value Y-1 is (+) (Y-1 ⁇ 0), the processing moves to block 5 23.
• the operation direction of the operation lever 4a is determined based on whether or not the lever command value X is on the (+) side from the neutral range (X ⁇ —H). If it is determined that the lever command value X is on the (+) side, the processing moves to block 531.
• Block 5 3 1 calculates the maximum set speed ⁇ during deceleration and stop.
• ⁇ is a function of the lever command value X
• another method such as a method of storing the function expression and substituting the lever command value X for calculation may be used.
• the relationship between the lever command value X and the maximum set speed ⁇ is, as shown in Fig. 8, the absolute value of the lever command value X, that is, the lever operation amount decreases, and as the lever approaches the neutral range, the maximum set speed ⁇ Y
• the relationship where the absolute value is large is preferable for operational feeling.
• this relationship may be a relationship in which ⁇ gradually increases as IXI decreases.
• the minimum value of the maximum set speed ⁇ Ymin2 is set to be smaller than the minimum value of the maximum set speed during acceleration ⁇ Yminl in order to make it possible to stop quickly when stopping.
• ⁇ Ymim2 ⁇ A Yminl is preferable.
• the relationship between the lever command value X and the maximum set speed ⁇ Y at this time is preferably a constant large maximum set speed ⁇ regardless of the value of the lever command value X, as shown in FIG. However, this relationship may be such that ⁇ changes gradually or stepwise according to the value of X.
• the minimum value of the maximum set speed ⁇ Ymin3 at this time is ⁇ ⁇ ⁇ ⁇ 3 less than the minimum value of the maximum set speed at deceleration and stop ⁇ Ymin2 so that the operation direction can be reversed with good response by the reverse lever operation.
• it is Ymin2.
• the processing moves to block 522.
• the operation direction of the operation lever 4a is determined based on whether the lever command value X is on the (1) side from the neutral range (X ⁇ a). If it is determined that the lever command value X is on the (1) side, the processing moves to block 533.
• the maximum set speed ⁇ during deceleration and stop is calculated.
• the absolute value of the lever command value X that is, the lever operation amount is reduced, and
• the relationship in which the absolute value of the maximum set speed ⁇ ⁇ ⁇ ⁇ increases as approaching the range is preferable in terms of operation feeling.
• this relationship does not need to be a function in which the sign of fmax21 is reversed, and may be an optimal relationship in terms of operational feeling.
• the maximum value of the maximum set speed ⁇ Ymax2 is set to ⁇ Ymax2> ⁇ Ymaxl with respect to the maximum value of the maximum set speed during acceleration ⁇ Ymax1 so that the vehicle can be stopped quickly when stopping. Is preferred.
• this function does not need to be a function with the sign of f max31 reversed, and may be the best function in terms of operation feeling. Further, the relationship may be such that ⁇ ⁇ ⁇ ⁇ changes gradually or stepwise according to the value of X.
• the calculation method may be either tabulation or calculation. In this case, the maximum value of the maximum set speed ⁇ Ymax3 is larger than the maximum value AYmax2 of the maximum set speed at the time of deceleration and stop so that the operation direction can be reversed with good response by the reverse lever operation. A Ymax2 is preferred.
• the valve command value Y is calculated using the change speed ⁇ or the maximum set speed ⁇ X of the lever command value X obtained earlier.
• the lever command value change speed ⁇ is compared with the maximum set speed ⁇ .
• I ⁇ Y I ⁇ I ⁇ I it is determined that the lever operation is not steep, and the process proceeds to block 541.
• the valve command value Y is set to the lever command value X.
• valve command value ⁇ ⁇ is converted into a valve drive signal for the electromagnetic proportional valves 3a and 3b and output to control the flow control valve 3.
• FIGS. 10 (a) and (b) show time charts when the operation lever 4a is operated from the neutral state to the (+) side.
• the solid line is the signal of the operation lever 4a (lever Command value X), and a one-point line indicates the valve command value Y by this control calculation.
• the lever command value X is in the neutral range (one ⁇ )
• the valve command value Y-1 is neutral.
• the valve command value Y lever command value by the block 430 processing of the previous block 400 “Neutral dead zone valve command value calculation processing”
• the state of X is maintained.
• FIG. 10 (a) shows the case where the operating lever 4a is suddenly operated, that is, the case of
• the processing of the block 542 in the block 500 is performed, and the valve command value Y increases according to the value of ⁇ ⁇ after the time t1, as indicated by the one-dot chain line. Even if operated, the rate of change of the valve command value is suppressed to ⁇ Y or less, and the actuator 2 can be started (accelerated) at a speed with no shock and no delay.
• ⁇ is a function of the lever command value X
• an optimum maximum change speed is set according to the lever command value X (operation signal value), and an appropriate maximum change speed is set according to the operation amount of the operation lever 4 a.
• a feeling of acceleration is obtained
• the valve command value Y-1 is in the neutral range, the regulation based on the maximum change speed is not performed, so that the delay in the rise of the valve passing flow rate relative to the lever command value X can be eliminated.
• FIG. 10 (b) shows a case where the operation lever 4a is operated gently.
• the change speed ⁇ ⁇ ⁇ ⁇ of the lever signal due to the lever operation is smaller than the maximum set speed ⁇ (I ⁇ YI ⁇ I ⁇ I)
• the processing of the block 541 in the block 500 is performed.
• the valve command value Y matches the lever command value X. Therefore, it is possible to start (accelerate) the actuator 2 with a feeling of acceleration desired by the operator. Return the operation lever 4a from the maximum operation position to the neutral position suddenly as shown in Fig. 11 and —Indicates a case where you try to stop evening.
• Fig. 12 shows a case where the operating lever 4a is suddenly operated from the maximum value on the (+) side to the minimum value on the (1) side (the absolute value is maximum) from time t ⁇ to t2.
• the change of the valve command value Y is regulated by the maximum set speed ⁇ according to the above, and the processing of the block 542 in the block 500 reduces the valve command value ⁇ ⁇ ⁇ ⁇ according to the value of ⁇ .
• the reverse lever state is an operation when the operating direction of the working device needs to be suddenly changed, for example, when the packet is muddy, the boom is used to beat the earth, or danger avoidance is performed.
• a quick response is desired before changing direction. After the operation direction and the working direction of the work equipment match, it is desirable to have characteristics that are not slow and have no shock as in normal work.
• the minimum value ⁇ Ymin3 of the maximum set speed ⁇ Y at this time is ⁇ Ymim3 ⁇ Ymin2 compared to the minimum value ⁇ Ymin2 of the maximum set speed at the time of deceleration and stop. Can be inverted.
• FIG. 13 is a functional block diagram showing the control calculation of the control unit 5.
• the “lever command value calculation” of the block 900 corresponds to the blocks 100 and 200 in FIG.
• the block 910 indicated by a dashed line corresponds to the block 300 in FIG. 3, and is constituted by the “neutral dead zone determination” of the block 9110a and the processing switching switch 810b.
• the “neutral dead zone valve command value calculation” of the lock 911 corresponds to the block 400 in FIG.
• Block 9 12 of the one-dot chain line corresponds to block 500 in FIG. 3, and “Lever command value change speed calculation” of block 9 20 in that corresponds to block 5 10 in FIG.
• the “operation status judgment” of block 9 21 corresponds to the block 5 0 to 5 2 3 in FIG.
• the “valve command maximum setting speed calculation” of block 9 22 corresponds to the block 5 3 in FIG. 0 to 5334
• the block command change speed judgment of block 923 corresponds to block 540 in Fig. 6
• the drive range valve command value calculation of block 924 correspond to blocks 5 4 1 and 5 4 2 in 6.
• the “valve command value storage” of the block 940 corresponds to the block 700 in FIG. 3
• the block 950 corresponds to the block 800 in FIG.
• Block 9 21 in FIG. 13 corresponds to first determination means for determining the operation state of the construction machine based on the operation signal
• block 9 22 corresponds to the flow control for each operation state of the construction machine.
• the optimum maximum change speed of the valve control signal is set in advance, and based on the judgment result of the first judgment means, the optimum maximum change speed corresponding to the operation state of the construction machine at that time is determined.
• the first calculating means is set to the maximum change speed of the control signal.
• a block 910 (block 910a and a process switching switch 910b) in FIG. 13 is a second determining means for determining whether the value of the control signal of the flow control valve is within the neutral range.
• the block 911 does not perform the operation for regulating the change speed of the control signal based on the maximum change speed, and the operation signal
• a second calculating means for calculating a control signal according to the following.
• the operation of the actuator 2 is controlled by controlling the flow control valve 3 with an electric operation signal, and the acceleration control, deceleration / stop, and reverse lever operation are performed.
• the flow control valve 3 can be controlled at the optimum maximum change speed
• FIG. 14 shows a second embodiment of the present invention. This embodiment is obtained by replacing the block 500 in FIG. 3 of the first embodiment with a block 500B shown in FIG. In the figure, components that perform the same functions as the sub-blocks shown in detail of the block 500 in FIG. 6 are denoted by the same reference numerals.
• blocks 531 B and 533 B have different functions from the blocks 531 and 533 in FIG.
• Blocks 53 1 B and 533 B are the “deceleration / stop maximum set speed calculation” blocks that are executed when the operation state is deceleration or stop.
• the absolute value of the maximum set speed I ⁇ I force is set to a smaller value as the previous value Y-1 of the valve command value returns to neutral.
• Figure 16 shows the actual operation using this function.
• the valve command value Y changes at a slower rate as it returns to the neutral range.
• the work equipment reduces the shock just before stopping. As the speed is slow, and the initial speed is high, stop without any delay.
• the operation of the actuator is controlled by controlling the flow control valve with an electrical operation signal. Since the operation state is determined and the optimum maximum set speed is calculated, the acceleration and deceleration are performed.
• the flow control valve can be controlled at the optimum maximum change speed regardless of the operating condition, either when stopped or when the reverse lever is operated.
• the optimum maximum change speed is set according to the value of the operation signal, an appropriate feeling of acceleration and deceleration can be obtained according to the operation amount of the operation lever.
• the present invention it is possible to perform an operation without any shock and no delay before and after the reversal of the operation speed at the time of the reverse lever, and at the same time, no breathing near the neutral position. Further, according to the present invention, since the optimum maximum change speed is set according to the value of the operation signal and the control signal output last time, an appropriate acceleration feeling and a deceleration feeling according to the operation amount of the operation lever can be obtained.

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• Fluid-Pressure Circuits (AREA)

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• 1999
  • 1999-07-29 JP JP21482599A patent/JP3940242B2/ja not_active Expired - Fee Related
• 2000
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