WO2005100793A1 - 傾転制御信号の補正方法、傾転制御装置、建設機械および傾転制御信号補正用プログラム - Google Patents
傾転制御信号の補正方法、傾転制御装置、建設機械および傾転制御信号補正用プログラム Download PDFInfo
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- WO2005100793A1 WO2005100793A1 PCT/JP2005/002578 JP2005002578W WO2005100793A1 WO 2005100793 A1 WO2005100793 A1 WO 2005100793A1 JP 2005002578 W JP2005002578 W JP 2005002578W WO 2005100793 A1 WO2005100793 A1 WO 2005100793A1
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- Prior art keywords
- pressure
- tilt
- tilt control
- control signal
- target
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
- F04B17/05—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by internal-combustion engines
-
- 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
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
- F04B49/065—Control using electricity and making use of computers
Definitions
- the present invention relates to a tilt control signal correction method for correcting a pump tilt of a hydraulic pump, a tilt control device, a construction machine, and a tilt control signal correction program.
- Patent Document 1 JP-A-8-302755
- a tilt control signal correction method is a correction method for correcting a tilt control signal output based on predetermined reference characteristics of tilt change means.
- the tilt control pressure corresponding to the tilt is calculated, and the procedure of deriving the characteristic of the correction pressure based on the deviation between the tilt control pressure and the corresponding measured pressure, and the procedure based on the characteristic of the correction pressure Calculating a correction pressure corresponding to the target tilt, and correcting the tilt control signal according to the corrected pressure.
- the method of correcting a tilt control signal provides a target tilt based on a reference characteristic.
- the method includes calculating a corresponding tilt control pressure, and correcting the tilt control signal by feedback control so as to reduce a deviation between the tilt control pressure and a corresponding measured pressure.
- the method of correcting a limit control signal includes the steps of: setting a reference tilt control signal and a reference tilt control pressure corresponding to a reference tilt based on a reference characteristic; And a relationship between the measured pressure when the displacement control signal is output and the measured pressure.
- the displacement control signal for generating the reference displacement control pressure is calculated based on the derived relationship.
- a tilt control device includes a tilt change unit that generates a tilt control pressure according to a tilt control signal, an input unit that inputs a target tilt, and reference characteristics of a predetermined tilt change unit.
- Pressure calculating means for calculating a tilt control pressure corresponding to the target tilt based on the pressure
- pressure detecting means for detecting a pressure corresponding to the tilt control pressure
- a tilt control pressure calculated by the pressure calculating means for correcting a tilt control signal corresponding to the target tilt input by the input means based on the actually measured pressure detected by the pressure detecting means.
- the tilt control signal is corrected based on the corresponding second measured pressure.
- Pressure characteristic setting means for setting a corrected pressure characteristic for the target displacement based on a deviation between the displacement control pressure calculated by the pressure calculating means and the actually measured pressure detected by the pressure detecting means; and Correction pressure calculating means for calculating a correction pressure corresponding to the target tilt input by the input means, and a tilt control signal such that the actual tilt becomes the target tilt in accordance with the calculated correction pressure. You may try to compensate for.
- the tilt control signal is corrected by feedback control so as to reduce the deviation between the tilt control pressure calculated by the pressure calculating means and the measured pressure detected by the pressure detecting means. I'm sorry.
- a tilt control device detects a tilt corresponding to a tilt control pressure, a tilt change unit that generates a tilt control pressure according to a tilt control signal, an input unit that inputs a target tilt.
- Pressure detection means for outputting a tilt control signal corresponding to the target tilt to the tilt change means based on predetermined reference characteristics of the tilt change means, and a reference signal based on the reference characteristics.
- Setting means for setting a reference tilt control signal and a reference tilt control pressure corresponding to the tilt, and an actual measured pressure detected by the pressure detecting means when the tilt control signal is output from the signal output means. Based on the calculated deviation, a tilt control signal for generating the reference tilt control pressure is calculated, and a deviation between the tilt control signal and the reference tilt control signal is calculated.
- the above-described displacement control device may further include a filtering unit that performs a filtering process on a value detected by the pressure detection unit so that a vibration component is removed from the measured pressure.
- Such a control device is preferably applied to a construction machine.
- a tilt control signal correction program is a program for executing, on a computer, a process of correcting a tilt control signal output based on a predetermined reference characteristic of a tilt change unit, the reference characteristic being a reference characteristic.
- a tilt control pressure corresponding to a reference tilt is calculated based on the calculated tilt pressure, and a process of deriving a characteristic of the correction pressure based on a deviation between the tilt control pressure and a corresponding measured pressure; and
- a correction pressure corresponding to the target displacement is calculated based on the characteristic, and a process of correcting the displacement control signal in accordance with the corrected pressure is executed on the computer device.
- the tilt control signal correction program calculates a tilt control pressure corresponding to a target tilt based on the reference characteristic, and calculates the tilt control pressure and the actually measured pressure corresponding thereto.
- the tilt control signal correcting program further comprises: setting a reference tilt control signal and a reference tilt control pressure corresponding to a reference tilt based on the reference characteristic; The relationship between the tilt control signal and the measured pressure when the tilt control signal is output is derived, and based on the derived relationship, a tilt control signal for generating the reference tilt control pressure is calculated, and the tilt control signal is calculated.
- the tilt control can be accurately performed without using the tilt angle sensor, and the tilt control device can be configured at low cost.
- FIG. 1 is a diagram showing a configuration of a tilt control device according to a first embodiment of the present invention.
- FIG. 2 is a side view of a hydraulic shovel to which the present invention is applied.
- FIG. 3 is a characteristic diagram of the proportional solenoid valve of FIG. 1.
- FIG. 4 is a diagram showing the relationship between the command pressure of the proportional solenoid valve and the displacement of the pump.
- FIG. 5 is a flowchart showing an example of processing in the controller according to the first embodiment.
- FIG. 6 is a flowchart showing details of a pump displacement learning calculation process in FIG. 5;
- FIG. 7 is a flowchart showing details of a learning value calculation value check process in FIG. 6;
- FIG. 8 is a flowchart showing details of a pump displacement correction formula calculation process in FIG. 5;
- FIG. 9 is a view showing a relationship between a target pump displacement and a target command pressure according to the present invention.
- FIG. 10 is a graph showing a relationship between a target command pressure and a target drive current according to the present invention.
- FIG. 11 is a diagram showing a relationship between a target pump displacement and a corrected pressure according to the present invention.
- FIG. 12 is a graph showing a relationship between a positive pump pressure and a target pump displacement according to the present invention.
- FIG. 13 is a block diagram showing processing in a controller according to the second embodiment.
- FIG. 16 is a flowchart showing an example of processing (sampling processing) in the controller according to the third embodiment.
- FIG. 17 is a view showing the relationship between the secondary pressure of the proportional solenoid valve and the drive current.
- FIG. 18 is a graph showing reference characteristics of pump displacement and current.
- FIG. 19 is a view showing the relationship between the reference characteristic and the correction characteristic in FIG. 18.
- FIG. 20 is a view showing current-pressure characteristics of a proportional solenoid valve according to a fourth embodiment.
- FIG. 21 is a diagram showing a timing chart at the time of learning control by the displacement control device according to the fourth embodiment.
- FIG. 1 is a diagram illustrating a configuration of a tilt control device according to a first embodiment of the present invention.
- This tilt control device is mounted on, for example, a hydraulic excavator shown in FIG.
- the hydraulic excavator includes a traveling body 101, a revolving revolving body 102, and a working device 103 including a boom BM, an arm AM, and a packet BK rotatably supported by the revolving body.
- pressure oil from a variable displacement hydraulic pump 1 driven by an engine (not shown) is supplied to a hydraulic actuator such as a cylinder for driving the working device 103 via a control valve 11.
- the control valve 11 is driven by operating the operation lever 12, and the flow of the pressure oil to the hydraulic actuator is controlled according to the operation amount of the operation lever 12.
- the operating lever 12 also commands the target pump displacement 0 of the hydraulic pump 1 as described later.
- the pressure oil from the pumps 1 and 2 is guided to one oil chamber (rod chamber 3a) of the regulator 3 and the other oil chamber (bottom chamber 3b) from the pumps 1 and 2 via the hydraulic switching valve 6. Pressure oil is led.
- the regulator 3 is driven in accordance with the hydraulic pressure acting on the rod chamber 3a and the bottom chamber 3b, and the tilting of the hydraulic pump 1 is controlled.
- a pilot pressure (secondary pressure Pa) from the sub-pump 2 acts on the hydraulic switching valve 6 via the proportional solenoid valve 4, and the hydraulic switching valve 6 is switched according to the secondary pressure Pa. That is, when the secondary pressure Pa of the proportional solenoid valve 4 increases, the hydraulic switching valve 6 switches to the position i. As a result, the hydraulic pressure acting on the bottom chamber 3b increases, and the tilt of the pump increases. On the other hand, when the secondary pressure Pa decreases, the hydraulic switching valve 6 switches to the position opening side. As a result, the hydraulic pressure acting on the bottom chamber 3b decreases, and the tilting of the pump decreases.
- the secondary pressure Pa of the proportional solenoid valve 4 is detected by the pressure sensor 5.
- FIG. 3 shows an example of the input / output characteristics of the proportional solenoid valve 4
- FIG. 4 shows an example of the characteristics of the pump tilt with respect to the command pressure P (secondary pressure Pa) of the proportional solenoid valve 4.
- the characteristic AO is a reference characteristic
- the command pressure P increases as the drive current i to the proportional solenoid valve 4 increases.
- the characteristics of such a proportional solenoid valve 4 vary within the allowable tolerance ⁇ with respect to the reference characteristic AO. Therefore, the actual characteristic ⁇ is shifted from the reference characteristic AO as shown in the figure.
- the control signal i output to the proportional solenoid valve 4 is corrected as follows.
- the controller 10 includes a pressure sensor 5, a key switch 7, and a learning mode Z normal mode described later.
- a mode switch 8 for switching the mode and a pressure sensor 9 for detecting a control pressure (for example, a positive control pressure Pn) according to the operation amount of the operation lever 12 are connected.
- the controller 10 executes the following processing according to these input signals, and outputs a control signal to the proportional solenoid valve 4. That is, in the present embodiment, the displacement of the pump is controlled based on the signals from the pressure sensors 5 and 9 without using the displacement angle sensor.
- FIG. 5 is a flowchart illustrating an example of processing in the controller 10 according to the first embodiment. This flowchart starts when the power switch is turned on by turning on the key switch 7.
- step S1 the signal (mode signal) from the mode switch 8 is read.
- step S2 it is determined whether or not the mode signal is an on-force force, that is, whether or not the learning mode is selected. If step S2 is affirmed, the process corresponding to the learning mode (learning control) is executed, and if negative, the process corresponding to the normal mode (normal control) is executed.
- the learning mode is a mode in which a correction formula for pump displacement control is calculated. After the correction formula is calculated, the normal mode is executed by switching the mode switch 8. Instead of switching the mode switch 8, the mode may be switched to the normal mode a fixed time after the start of the learning mode.
- step S200 the process waits until the engine speed reaches a predetermined stable speed. This prevents learning control from being performed in an unstable state immediately after the engine is started.
- step S300 a control signal is output to the proportional solenoid valve 4 so that the pump displacement becomes the minimum displacement. This is a process for performing a constant initial state force learning control so that the pump tilt does not vary due to rattling of the swash plate of the hydraulic pump 1.
- step S400 a pump displacement learning calculation process of step S400 is executed.
- FIG. 6 is a flowchart showing a pump displacement learning calculation process.
- step S401 the reference displacement ⁇ 01 for learning control is substituted for the target pump displacement ⁇ 0, and the initial value 0 is substituted for the execution counter C3.
- 001 and 002 shown in FIG. 9 are preset as reference tilts.
- the execution counter C3 counts the number of executions of a series of processes from step S402 to step S500.
- step S402 the initial value 0 is substituted for the waiting time counter C4.
- step S405 a drive current i corresponding to the target drive current iO is output to the proportional solenoid valve 4.
- step S406 1 is added to the waiting time counter C4, and in step S407, it is determined whether or not the waiting time counter C4 has reached a predetermined set value R4.
- the set value R4 is set to the time required for the pump displacement to become the target pump displacement ⁇ 0 (for example, 2 seconds). If the result in step S407 is negative, the process returns to step S405, and the same processing is repeated until C4 ⁇ R4.
- step S407 When step S407 is affirmed, the process proceeds to step S408, and the initial value 0 is substituted for the reading counter C5.
- step S409 the secondary pressure Pa of the proportional solenoid valve 4 detected by the pressure sensor 5 is read and stored in the memory of the controller 10.
- step S410 1 is added to the reading number counter C5, and in step S411, it is determined whether the reading number counter C5 has reached a predetermined number of times R5 (for example, 10 times). If step S411 is denied, the process returns to step S409, and the same processing is repeated until C5 ⁇ R5.
- step S411 If step S411 is affirmed, the process proceeds to step S412, in which the sum of the secondary pressure Pa stored in step S409 is divided by R5 to calculate an average value (average secondary pressure) Paa of the secondary pressure Pa.
- step S500 a learning calculation value check process for checking whether or not the force for which the deviation ⁇ has been properly calculated is performed.
- FIG. 7 is a flowchart showing a learning operation value check process.
- step S501 the reference displacement ⁇ 01 is substituted for the target pump displacement ⁇ 0.
- step S502 the initial value 0 is substituted for the waiting time counter C6.
- step S505 Calculates the target drive current iO according to the target command pressure PO based on the target drive current characteristic in FIG.
- step S507 1 is added to the holding time counter C6, and in step S508, it is determined whether the waiting time counter C6 has reached a predetermined set value R6 (for example, 2 seconds) or not.
- step S508 When step S508 is affirmed, the process proceeds to step S509, and the secondary pressure Pa detected by the pressure sensor 5 is read. Then, in step S510, the difference between the secondary pressure Pa and the target command pressure PO in step S504 is determined whether the force is within a predetermined allowable value Px, that is, whether PO—Px ⁇ Pa ⁇ P0 + Px is satisfied. Is determined. If step S510 is affirmed, the process proceeds to step S511, in which a predetermined control signal is output to a display device (for example, an LED) (not shown) to display that learning is successful. If step S510 is denied, the process proceeds to step S512, where a predetermined control signal is output to the display device to display that learning has failed.
- a predetermined control signal is output to the display device to display that learning has failed.
- step S500 when the learning process in step S500 starts, the LED blinks. When the learning process is successful, the LED is turned off, and when the learning process fails, the LED is turned on. If the learning process succeeds, the process proceeds to step S414 in FIG. 6, and if the learning process fails, the process ends. If the learning process has failed, the worker issues a command to restart the learning control, or checks whether the pressure sensors 5, 9 and the proportional solenoid valve 6 are out of order.
- step S414 1 is added to the execution counter C3.
- step S415 it is determined whether or not the force has reached the predetermined number R3 of C3.
- step S415 is affirmed, the pump displacement learning calculation processing is terminated, and the pump displacement correction in step S600 (FIG. 5) is performed. Performs formula operation processing.
- FIG. 8 is a flowchart showing a pump displacement correction formula calculation process.
- the correction equation is a linear equation that passes through two points, a point P (001, ⁇ 1) and a point Q (0O2, ⁇ 2), and is expressed by the following equation (I).
- ⁇ 0 (( ⁇ 02- ⁇ 01) / ( ⁇ 02- ⁇ 01)) ⁇ 0 + C (I)
- the correction equation (I) is stored in the controller 10 in step S602.
- the constant of proportionality ( ⁇ 02- ⁇ ⁇ 01) ⁇ (002-001) and the constant C should be stored instead of being stored in the form of a linear expression.
- the target command pressures P01 and, 02 corresponding to the predetermined reference tilts 001 and 002 are obtained (step S403), and the target drive current iOl, corresponding to the target command pressures P01 and P02 is obtained.
- i02 is output to the proportional solenoid valve 4 (step S405), the secondary pressure Paa at that time is detected (step S409), and the differences ⁇ ⁇ and ⁇ 02 between the target command pressures P01 and P02 and the secondary pressure Paa are respectively determined. Ask for it (step S413).
- step S101 the positive control pressure Pn detected by the pressure sensor 9 is read. In the following description, it is assumed that the positive control pressure detection value is Pn3.
- step S104 a correction pressure ⁇ 0 ( ⁇ 03 in FIG.
- the secondary pressure of the proportional solenoid valve 4 becomes P3c as shown in FIG. This is equal to the secondary pressure corresponding to the drive current i3 based on the reference characteristic AO.
- the secondary pressure P3c corresponding to the positive control pressure Pn3 can be generated regardless of the variation in the characteristics of the proportional solenoid valve 4.
- the pump displacement can be controlled to the target pump displacement 3c as shown in FIG.
- the correction formula (I) for pump displacement control is obtained using the detection value of the pressure sensor 5, and during normal control, the target drive current i is corrected based on the correction formula (I), and the proportional electromagnetic Valve 4 was controlled.
- the pump tilt can be controlled accurately regardless of the variation in the characteristics of each proportional solenoid valve 4.
- the fine operability and operation feeling of the hydraulic working machine can be improved, and the working efficiency can be improved.
- the secondary pressure Pa of the proportional solenoid valve 4 is detected by the pressure sensor 5 and the correction formula (I) is calculated according to the deviation ⁇ PO between the secondary pressure Pa (average value Paa) and the target command pressure PO. Is obtained, the correction formula (I) can be obtained without using the tilt angle sensor, and the tilt control device can be configured at low cost.
- FIG. 13 is a block diagram showing the contents of calculations performed in the controller 10 according to the second embodiment.
- the positive control pressure Pn detected by the pressure sensor 9 is taken into the target pump displacement calculating circuit 21.
- the target pump displacement calculation circuit 21 computes a target pump displacement ⁇ 0 corresponding to the positive control pressure Pn based on the previously set characteristics similar to FIG.
- the target pump displacement ⁇ 0 is taken into the target command pressure calculating circuit 22, and the target command pressure calculating circuit 22 sets the target command pressure corresponding to the target pump displacement ⁇ 0 based on the same characteristics as previously set in FIG. 9.
- Calculate PO The target command pressure PO is taken into the target drive current calculation circuit 23 and the subtraction circuit 24.
- the target drive current calculation circuit 23 calculates the target drive current iO corresponding to the target command pressure PO based on the previously set characteristics similar to those in FIG.
- the deviation ⁇ is taken into the current value correction operation circuit 25, and the current value correction operation circuit 25 calculates the correction current ⁇ i corresponding to the deviation ⁇ P based on the previously set characteristics similar to FIG.
- the target drive current iO and the correction current Ai are taken into the addition circuit 26, and the addition circuit 26 calculates the corrected target drive current ix by adding the correction current ⁇ i to the target drive current iO.
- the amplifier 27 amplifies the target drive current ix and outputs it to the proportional solenoid valve 4.
- the proportional solenoid valve 4 is feedback-controlled so that the secondary pressure Pa becomes equal to the target command pressure PO.
- the deviation ⁇ is larger than 0 and the target drive current ix is larger than the target drive current iO.
- the proportional solenoid valve 4 is feedback-controlled so that the secondary pressure Pa becomes equal to the target command pressure PO.
- the proportional solenoid valve 4 is feedback-controlled so that the secondary pressure Pa becomes equal to the target command pressure PO, so that the characteristics of the proportional solenoid valve 4 vary.
- the displacement of the pump can be controlled with high accuracy even if there is a problem.
- the tilt control device can be configured at low cost. In the case of feedback control, there is no need to perform learning control before performing normal control. It is possible.
- the proportional solenoid valve 4 is configured to always vibrate to prevent the spool from sticking (so-called dither vibration). For this reason, the secondary pressure Pa detected by the pressure sensor 5 varies, and this variation causes a deterioration in the accuracy of the pump tilt correction.
- the third embodiment takes this point into consideration.
- the third embodiment differs from the first embodiment in the processing in the controller 10, and the following mainly describes the differences from the first embodiment.
- the controller 10 includes a design secondary pressure (reference control pressure Pmin) of the proportional solenoid valve 4 corresponding to the pump minimum displacement ⁇ min and a corresponding drive current (reference control signal) of the proportional solenoid valve 4.
- iAmin, the secondary pressure (reference control pressure Pmax) and the drive current (reference control signal) iAmax corresponding to the maximum displacement ⁇ max of the pump are stored in advance (see FIGS. 17 and 18).
- FIG. 14 is a flowchart illustrating an example of learning control executed in the controller 10 of the tilt control device according to the third embodiment
- FIG. 15 is a flowchart illustrating an example of normal control.
- learning control is started when the mode switch 8 is turned on. That is, first, the drive current il l (for example, iAmin) corresponding to the pump minimum tilt ⁇ min or tilt ⁇ ⁇ near the pump is determined by the design characteristic (fO in FIG. 18) of the proportional solenoid valve 4 determined in advance in step S701. And outputs the driving current il to the proportional solenoid valve 4. Next, in step S702, a predetermined time (for example, 5 seconds) is counted until the secondary pressure data is stabilized, and after the predetermined time has elapsed, the secondary pressure Pas obtained by the following sampling processing is read.
- a predetermined time for example, 5 seconds
- FIG. 16 is a flowchart showing a sampling process of the secondary pressure. This flowchart is always executed after the power switch is turned on.
- step S801 the secondary pressure Pa of the proportional solenoid valve 4 detected by the pressure sensor 5 is read.
- step S802 a moving average value of the secondary pressure Pa is determined.
- the moving average is a predetermined number (for example, 4) of newly read secondary pressures. The sum of the data can be obtained by dividing the sum by the predetermined number.
- the moving average value is (Pal + Pa2 + Pa3 + Pa4) Z4, and when Pa5 is sampled at the next moment, the moving average value is (Pa2 + Pa3 + Pa4 + Pa5) / 4.
- step S803 the moving average value is subjected to a low-pass filter (low-pass filter processing), and the filtered value is set as the secondary pressure Pas after the sampling processing in step S804. Thereby, the data force vibration component detected by the pressure sensor 5 is removed.
- the secondary pressure Pas thus obtained is read in step S703 in FIG. 14 and stored in the memory as the measured secondary pressure P11.
- step S704 the drive current il2 (eg, iAmax) corresponding to the pump maximum displacement ⁇ max or the displacement ⁇ max in the vicinity thereof obtained from the design characteristics (fO in FIG. 18) of the proportional solenoid valve 4 is calculated. Output to proportional solenoid valve 4.
- step S705 a predetermined time (for example, 5 seconds) is counted until the secondary pressure data is stabilized.
- step S706 after a lapse of a predetermined time, the secondary pressure Pas obtained by the above-described sampling processing is read and stored in the memory as the measured secondary pressure P12. As a result, the relationship (actually measured value) between the secondary pressure and the control signal (current) is obtained as shown in FIG.
- step S707 the driving currents imin, imax corresponding to the predetermined reference control pressures Pmin, Pmax are calculated using the relationship in FIG.
- the operation expression is as follows (II).
- the imin, imax obtained here means a drive current corresponding to the minimum tilt ⁇ min and the maximum tilt ⁇ max of each proportional solenoid valve 4. That is, when the current imin, imax is output to the proportional solenoid valve 4, the actual pump displacement becomes 0 min, ⁇ max.
- step S708 predetermined drive currents iAmin and iAmax are subtracted from imin and imax, respectively, to calculate current correction values A imin and A imax shown in FIG. 18 and stored in the memory. I do.
- the correction characteristic fl of the proportional solenoid valve 4 can be obtained as shown in FIG.
- the learning control is completed.
- a lamp in the driver's seat may be turned on to notify the worker of the end of the learning control.
- Target pump The deviation (correction value A ia) between the reference characteristic fO and the correction characteristic fl with respect to the tilt ⁇ 0 can be calculated by the following equation (III).
- ⁇ ia ⁇ imin + ( ⁇ a— ⁇ min) X, ⁇ imax— ⁇ imin no / ( ⁇ max— ⁇ mm no (III)
- step S751 the positive control pressure Pn (for example, Pn3 in FIG. 12) detected by the pressure sensor 9 is read.
- step S753 the drive current iO corresponding to the target pump displacement ⁇ 0 is calculated based on the reference characteristic fO of the proportional solenoid valve 4 (FIG. 19).
- step S754 a current correction value ⁇ ) corresponding to the target pump displacement ⁇ 0 is calculated by the above equation (III) using the current correction values ⁇ imin and ⁇ imax obtained by the learning control.
- step S755 the target drive current i is calculated by adding the current correction value ⁇ iO to the drive current iO, and this target drive current i is output to the proportional solenoid valve 4 in step S756. The above processing is repeated under normal control.
- the moving average of the detected value Pa of the pressure sensor 5 is obtained, and the low-pass filter is used to remove the vibration component of the detected value Pa (sampling process).
- the current correction values ⁇ i min and ⁇ imax serving as the references of the proportional solenoid valve 4 are obtained (learning control), and the current correction value ⁇ iO corresponding to the target pump displacement ⁇ 0 is calculated. (Normal control). That is, the value Pas after the sampling process is read instead of directly reading the detection value Pa of the pressure sensor 5 in the learning control.
- the secondary pressure Pas during learning control is stabilized, and the current correction value ⁇ imin, ⁇ imax can be accurately obtained, and the pump displacement can be accurately controlled to the target pump displacement ⁇ 0.
- the influence of the dither vibration of the proportional solenoid valve 4 is considered.
- the influence of the hysteresis of the proportional solenoid valve 4 is further considered. That is, the current pressure characteristic of the proportional solenoid valve 4 has a hysteresis as shown in FIG. 20, and the secondary pressure detected in the process of increasing the current, for example, the secondary pressure P11 a corresponding to the minimum displacement ⁇ min of the pump. And the secondary pressure P12a corresponding to the pump maximum displacement ⁇ max is smaller than the secondary pressure (PI lb, P12b) detected in the process of decreasing the current.
- the value of the measured secondary pressure as a reference depends on how to output the drive current il l, il2 to the proportional solenoid valve 4 during the learning control, that is, how the current is output in steps S701 and S704 in FIG. Differently, the current correction values A imin and A imax are affected.
- step S701 after the learning control starts, the drive current is increased to il 1 as shown in FIG. 21! ] And output.
- the actual measured pressure PI1 step S703 after the elapse of the predetermined time (time point tl) becomes the minimum secondary pressure PIla corresponding to the pump minimum displacement ⁇ min.
- step S704 the drive current is set to a maximum value exceeding ⁇ 2 and then reduced to il2 for output.
- the measured pressure P12 step S706 after the elapse of the predetermined time (time point t2) becomes the maximum secondary pressure P12b corresponding to the maximum pump displacement ⁇ max.
- the drive current to the proportional solenoid valve 4 is increased to output the current ill corresponding to the pump minimum displacement ⁇ min, and the drive current is set to the maximum value. After that, the current was decreased to output a current il 2 corresponding to the maximum displacement ⁇ max of the pump.
- the pressures Pl l and P12 which are reference values actually measured during the learning control, correspond well to the pump minimum displacement 0 min and the pump maximum displacement ⁇ max, and the hysteresis of the proportional solenoid valve 4 is reduced.
- the pump displacement can be accurately corrected in consideration of the characteristics.
- the measured pressure P11 (first measured pressure) corresponding to the minimum displacement ⁇ min detected in the process of increasing the displacement and the displacement in the process of decreasing the displacement are detected.
- the displacement control signal imin, i max was calculated based on the measured pressure P12 (second measured pressure) corresponding to the maximum displacement ⁇ max.
- Pressure Pa ( Step S409) may be detected! That is, the displacement control signal i may be corrected based on the measured pressure Pa detected in the process of increasing the displacement and the measured pressure Pa detected in the process of decreasing the displacement.
- the pressure detection value Pa may be subjected to the filtering process as in the third embodiment. This eliminates the need for the processing in step S410 and step S413.
- the tilt control device that controls the tilt of the hydraulic pump 1 has been described.
- other hydraulic devices eg, a hydraulic motor
- the pump displacement is controlled by the secondary pressure Pa from the proportional solenoid valve 4
- other displacement changing means for generating a displacement control pressure may be used. Therefore, the reference characteristics of the proportional solenoid valve 4 as the tilt changing means are not limited to those shown in FIGS.
- the target pump displacement ⁇ 0 is set at two points ( ⁇ 01, 002), and the characteristic of the correction pressure ⁇ P0 is obtained by the linear equation (I).
- the characteristic of the correction pressure ⁇ ⁇ which can be set by setting ⁇ 0 at only one point or three or more points, is not always the linear equation (I).
- the target pump displacement ⁇ 0 may be set to only one point or three or more points.
- a force for generating the positive control pressure Pn by operating the operation lever 12 and inputting the target pump tilt ⁇ 0 as a command value or other input means may be used.
- the pressure Pa corresponding to the target command pressure PO is detected by the pressure sensor 5, other pressure detecting means may be used.
- the target command pressure PO corresponding to the target pump displacement ⁇ 0 is calculated based on the predetermined characteristics of FIG. 9, and the target pump displacement ⁇ 0 is calculated based on the characteristics of FIG.
- the corresponding target drive current iO is calculated, but the configurations of the pressure calculation means and the signal calculation means are not limited thereto. If the target drive current iO is corrected based on the target command pressure PO and the actually measured pressure Pa, the processing in the controller 10 as the correction means is not limited to the above. In addition, the controller 10 performs learning control to set the correction formula (I) and calculates the correction pressure ⁇ based on the correction formula (I) during normal control. The configuration of the means is not limited to this.
- the controller 10 is controlled based on the predetermined reference characteristic fO of FIG.
- the control signals il l and il2 are output according to the target pump displacement ⁇ 0, the configuration of the signal output means is not limited to this.
- the reference control signals iAmin, iAmax and the reference control pressures Pmin, Pmax corresponding to the reference pump displacement ⁇ min, ⁇ max are stored in the memory in advance, but the reference control signals iAmin, iAmax, and the reference control pressures Pmin, Pmax are set. Is not limited to this.
- the controller 10 will set the current (design value) and pressure (design value) corresponding to this pump displacement based on the reference characteristic fO. May be calculated, and these may be used as a reference control signal and a reference control pressure. If the control signal is corrected based on the deviation ⁇ imin, A imax (current correction value) between the current imin, imax obtained from the measured pressures P11, P12 and the reference control signals iAmin, iAmax, the configuration of the correction means is also described above. It is not limited to what you have done.
- the present invention is not limited to the tilt control device of the embodiment as long as the features and functions of the present invention can be realized.
- the above description is merely an example, and the interpretation of the invention is not limited or restricted by the correspondence between the items described in the above embodiment and the items described in the claims.
- the present invention can also be applied to other construction machines having a variable displacement hydraulic pump, a hydraulic motor, or the like.
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- Civil Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Computer Hardware Design (AREA)
- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
- Control Of Fluid Pressure (AREA)
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Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
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KR1020067019818A KR101056135B1 (ko) | 2004-03-26 | 2005-02-18 | 경전제어방법, 경전제어장치, 경전제어프로그램을 기록한 컴퓨터로 판독가능한 기록매체 및 건설기계 |
JP2006516878A JP4422723B2 (ja) | 2004-03-26 | 2005-02-18 | 傾転制御方法、傾転制御装置、傾転制御プログラム、および建設機械 |
US10/594,083 US7979229B2 (en) | 2004-03-26 | 2005-02-18 | Displacement control signal correction method, displacement control device, construction machine and displacement control signal correction program |
AU2005233407A AU2005233407B2 (en) | 2004-03-26 | 2005-02-18 | Method for correcting tilt control signal, tilt controller, construction machine, and program for correcting tilt control signal |
EP05710411.9A EP1757810B1 (en) | 2004-03-26 | 2005-02-18 | Method for correcting tilt control signal, tilt controller and construction machine |
CN2005800097612A CN1938518B (zh) | 2004-03-26 | 2005-02-18 | 倾转控制信号的校正方法、倾转控制设备和工程机械 |
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JP2004091228 | 2004-03-26 | ||
JP2004-091228 | 2004-03-26 |
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WO2005100793A1 true WO2005100793A1 (ja) | 2005-10-27 |
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PCT/JP2005/002578 WO2005100793A1 (ja) | 2004-03-26 | 2005-02-18 | 傾転制御信号の補正方法、傾転制御装置、建設機械および傾転制御信号補正用プログラム |
Country Status (7)
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US (1) | US7979229B2 (ja) |
EP (1) | EP1757810B1 (ja) |
JP (1) | JP4422723B2 (ja) |
KR (1) | KR101056135B1 (ja) |
CN (1) | CN1938518B (ja) |
AU (1) | AU2005233407B2 (ja) |
WO (1) | WO2005100793A1 (ja) |
Cited By (5)
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JP2007177635A (ja) * | 2005-12-27 | 2007-07-12 | Hitachi Constr Mach Co Ltd | 傾転制御信号の補正方法、傾転制御装置、建設機械および傾転制御信号補正用プログラム |
JP2012513575A (ja) * | 2008-12-23 | 2012-06-14 | キャタピラー インコーポレイテッド | 流体力を補償する油圧制御システム |
JP2013040487A (ja) * | 2011-08-16 | 2013-02-28 | Hitachi Constr Mach Co Ltd | 作業機械 |
WO2014010222A1 (ja) * | 2012-07-10 | 2014-01-16 | 川崎重工業株式会社 | 傾転角制御装置 |
WO2020162377A1 (ja) * | 2019-02-08 | 2020-08-13 | 川崎重工業株式会社 | 液圧ポンプ流量較正システム |
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DE502006003019D1 (de) * | 2006-08-31 | 2009-04-16 | Integrated Dynamics Eng Gmbh | Aktives Schwingungsisolationssystem mittels hysteresefreier pneumatischer Lagerung |
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DE102008027076A1 (de) * | 2007-07-03 | 2009-01-08 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Verfahren und Anordnung zum Ansteuern von Getriebefunktionen bei einem Getriebe eines Fahrzeuges |
WO2009114003A1 (en) * | 2008-03-10 | 2009-09-17 | Deere & Company | Hydraulic system calibration method and apparatus |
US20110262125A1 (en) * | 2010-04-22 | 2011-10-27 | Facevsion Technology Inc. | Camera |
CN102582540A (zh) * | 2012-03-09 | 2012-07-18 | 三一重机有限公司 | 一种智能行走马达控制装置及其控制方法 |
JP6147564B2 (ja) * | 2013-05-14 | 2017-06-14 | 住友重機械工業株式会社 | 建設機械用油圧システム |
KR20160000009A (ko) | 2014-06-23 | 2016-01-04 | (주)위너스라이팅 | 광 반도체 조명장치 |
KR20160000010A (ko) | 2014-06-23 | 2016-01-04 | (주)위너스라이팅 | 광 반도체 조명장치 |
WO2015030265A1 (ja) * | 2014-09-05 | 2015-03-05 | 株式会社小松製作所 | 油圧ショベル |
WO2016103032A1 (en) * | 2014-12-22 | 2016-06-30 | Smith & Nephew Plc | Negative pressure wound therapy apparatus and methods |
JP2022076550A (ja) * | 2020-11-10 | 2022-05-20 | キャタピラー エス エー アール エル | 可変容量型油圧ポンプの較正システム |
IT202100004760A1 (it) * | 2021-03-01 | 2022-09-01 | Cnh Ind Italia Spa | Metodo di controllo di una trasmissione idraulica di un veicolo agricolo o una macchina movimento terra e veicolo agricolo o macchina movimento terra implementante il metodo |
IT202100009980A1 (it) * | 2021-04-20 | 2022-10-20 | Cnh Ind Italia Spa | Metodo ed apparato per controllare la portata di una pompa di veicolo |
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- 2005-02-18 JP JP2006516878A patent/JP4422723B2/ja not_active Expired - Fee Related
- 2005-02-18 US US10/594,083 patent/US7979229B2/en not_active Expired - Fee Related
- 2005-02-18 EP EP05710411.9A patent/EP1757810B1/en not_active Expired - Fee Related
- 2005-02-18 CN CN2005800097612A patent/CN1938518B/zh not_active Expired - Fee Related
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JP2007177635A (ja) * | 2005-12-27 | 2007-07-12 | Hitachi Constr Mach Co Ltd | 傾転制御信号の補正方法、傾転制御装置、建設機械および傾転制御信号補正用プログラム |
JP2012513575A (ja) * | 2008-12-23 | 2012-06-14 | キャタピラー インコーポレイテッド | 流体力を補償する油圧制御システム |
JP2013040487A (ja) * | 2011-08-16 | 2013-02-28 | Hitachi Constr Mach Co Ltd | 作業機械 |
WO2014010222A1 (ja) * | 2012-07-10 | 2014-01-16 | 川崎重工業株式会社 | 傾転角制御装置 |
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Also Published As
Publication number | Publication date |
---|---|
AU2005233407A1 (en) | 2005-10-27 |
CN1938518A (zh) | 2007-03-28 |
KR20070010134A (ko) | 2007-01-22 |
US20070193263A1 (en) | 2007-08-23 |
KR101056135B1 (ko) | 2011-08-10 |
JP4422723B2 (ja) | 2010-02-24 |
US7979229B2 (en) | 2011-07-12 |
CN1938518B (zh) | 2012-05-09 |
EP1757810A4 (en) | 2010-07-21 |
AU2005233407B2 (en) | 2009-06-04 |
JPWO2005100793A1 (ja) | 2007-08-16 |
EP1757810A1 (en) | 2007-02-28 |
EP1757810B1 (en) | 2013-04-10 |
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