WO2006016655A1 - キャブマウント制御装置、キャブマウント制御方法、建設機械 - Google Patents
キャブマウント制御装置、キャブマウント制御方法、建設機械 Download PDFInfo
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- WO2006016655A1 WO2006016655A1 PCT/JP2005/014764 JP2005014764W WO2006016655A1 WO 2006016655 A1 WO2006016655 A1 WO 2006016655A1 JP 2005014764 W JP2005014764 W JP 2005014764W WO 2006016655 A1 WO2006016655 A1 WO 2006016655A1
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- Prior art keywords
- mount
- cap
- cab
- damping force
- stationary component
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D33/00—Superstructures for load-carrying vehicles
- B62D33/06—Drivers' cabs
- B62D33/0604—Cabs insulated against vibrations or noise, e.g. with elastic suspension
- B62D33/0608—Cabs insulated against vibrations or noise, e.g. with elastic suspension pneumatic or hydraulic suspension
-
- 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
- E02F9/16—Cabins, platforms, or the like, for drivers
- E02F9/166—Cabins, platforms, or the like, for drivers movable, tiltable or pivoting, e.g. movable seats, dampening arrangements of cabins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/16—Mounting of vehicle body on chassis
- B60G2204/162—Cabins, e.g. for trucks, tractors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/09—Construction vehicles, e.g. graders, excavators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/206—Body oscillation speed; Body vibration frequency
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/90—Other conditions or factors
- B60G2400/91—Frequency
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/18—Automatic control means
- B60G2600/184—Semi-Active control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/18—Automatic control means
- B60G2600/187—Digital Controller Details and Signal Treatment
- B60G2600/1875—Other parameter or state estimation methods not involving the mathematical modelling of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
- B60G2800/162—Reducing road induced vibrations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/916—Body Vibration Control
Definitions
- the present invention relates to a cap mount control device, a cap mount control method, and a construction machine including such a cap mount control device.
- a so-called liquid-sealed mount is known as a cap mount for supporting a cap.
- the liquid-sealed mount includes a movable body slidably provided in a container enclosing a viscous fluid such as silicone oil, and an elastic body such as a coil panel that deforms as the movable body reciprocates. It has the structure.
- the liquid-filled mount has a mount body mounted on the body frame side of the construction machine, a movable body is attached to the cap side, and vibrations acting on the body frame are absorbed by the elastic body, and the movable body reciprocates. As the viscous fluid is agitated by the movement, the vibration of the cap caused by the restoring force of the elastic body can be quickly damped.
- Patent Document 1 Japanese Patent Laid-Open No. 7-164877
- Patent Document 2 Japanese Patent Laid-Open No. 2002-372095
- a crawler belt in which a plurality of shoes are connected by links and pins is used in a bulldozer traveling apparatus.
- the link constituting the crawler belt reaches the idler while traveling, a predetermined part is held on the outer periphery of the idler.
- the contact surface slips, and the contact surface of the link that was originally formed flat is repeated over a long period of time, so that the aforementioned part is traced to the outer periphery of the idler. It wears out like a step, and becomes depressed in a stepped manner compared to the surrounding worn part (stepped wear). The same thing happens with track rollers. Then, the track roller rolls on the worn surface, so that a tremendous vibration is generated and transmitted to the cap.
- Such vibration is constantly generated at a relatively fast period during traveling.
- the damping force is increased in order to suppress the vibration caused by the vibration.
- the cap mount is stiff and the feeling of stiffness is transmitted to the operator, impeding ride comfort. Therefore, while such vibrations are occurring, the damping force of the cab mount is kept small and the vibrations are softly absorbed, while for other vibrations, the damping force is quickly increased to increase the capacity of the cap.
- the shaking is suppressed, control is desired.
- An object of the present invention is to provide a cap mount control device, a cap mount control method, and a construction machine that can reliably absorb steady vibrations and can also reliably suppress vibration of the cap.
- the cab mount control device comprises:
- a cap mount control device for controlling a variable damping cap mount that supports a cap at least at three points
- State change detection means for detecting a state change of the cap
- a stationary component separation unit that estimates a stationary component having the maximum amplitude from the detection result of the state change detection unit and removes the stationary component from the detection result
- a state quantity estimating means for estimating the vibration of the cap based on the detection result obtained by removing the steady component by the steady component separating means; Based on the estimation result of the state quantity estimating means, and a damping force calculating means for calculating a damping force generated by the cab mount;
- a command output transmitting means for generating a control command for the variable damping cap mount and transmitting the output to the variable cap mount based on the damping force calculated by the damping force calculating means.
- high frequency means a frequency that is at least 2 1/2 times the resonance frequency of the cap. The same applies to the following.
- the stationary component separation means estimates the stationary component having the maximum amplitude using an autocorrelation function.
- a method for controlling a cab mount according to a third invention is as follows:
- a control method for a cap mount that controls a variable damping cap mount that supports the cap at at least three points
- State change detection result force Estimating a stationary component having the maximum amplitude and removing it from the detection result
- a control method for a cab mount according to a fourth invention is the method according to the third invention.
- the stationary component having the maximum amplitude is estimated using an autocorrelation function.
- a construction machine according to a fifth invention is characterized in that the cab mount device according to the first invention or the second invention is mounted.
- the detection result force of the change in the state of the cap removes the high-frequency steady component separately, so that, for example, the steps described in the background art
- the component force of the entire vibration obtained from the detection result is removed, and only the component related to step wear is removed, and the damping force corresponding to the vibration due to step wear This calculation is not performed and control that hardens the mount is not performed.
- the damping force when the cab mount is not controlled at all is set to a relatively small value, the vibration is reliably absorbed while the vibration due to stepped wear or the like is occurring.
- the cap mount is hardened with the damping force corresponding to the shaking. If you do this, shaking can be reliably suppressed.
- the damping force is calculated for the vibration of the component close to the resonance frequency. Suppresses vibration caused by resonance.
- FIG. 1 is an external side view showing a construction machine according to an embodiment of the present invention.
- Fig. 2 is a side view schematically showing a cap mounted on the construction machine and a cap mount for supporting the cap.
- FIG. 3 is a plan view schematically showing the cap and the cap mount in FIG. 2.
- FIG. 4 is a block diagram showing a cab mount control means (device).
- FIG. 5 is a flow chart for explaining processing by each functional means constituting this embodiment.
- FIG. 6 is a schematic diagram for explaining acceleration mode separation in the present embodiment.
- FIG. 7 is a schematic diagram showing coordinates in the present embodiment.
- FIG. 8 is a schematic diagram for explaining the control system design roll model in the present embodiment.
- FIG. 9 is a schematic diagram for explaining the attenuation gain in the present embodiment.
- FIG. 10 is a side view showing components of the crawler belt.
- FIG. 11 is a flow chart showing processing by steady component separation means according to the first to third embodiments.
- FIG. 12 is a flowchart showing processing by high-frequency component extraction means.
- FIG. 13 is a flowchart showing another process of the high-frequency component extracting unit.
- FIG. 14 is a flow chart showing processing by a steady component separating means according to the first embodiment.
- FIG. 15 is a conceptual diagram showing a storage method in a memory according to the second embodiment.
- FIG. 16 is a conceptual diagram showing a method for calculating an autocorrelation function by a stationary component separation unit according to the second embodiment.
- FIG. 17 is a flow chart showing processing by a steady component separating means according to the second embodiment.
- FIG. 18 is a flow chart showing processing by steady component separation means according to the third embodiment.
- FIG. 19 is a diagram for explaining the function of the steady component separating means.
- FIG. 20 is a diagram for explaining another function of the steady component separating means.
- FIG. 1 is a side view showing a schematic appearance of a bulldozer (construction machine) 1 according to the present embodiment, and FIGS. 2 and 3 schematically show a cap 3 provided on the bulldozer 1 and a cap mount 30 that supports the cap 3. It is a side view and a top view.
- FIG. 4 is a block diagram showing a cab mount control device (hereinafter simply referred to as control means) 50 for controlling the cab mount 30.
- the bulldozer 1 is a construction machine that performs operations such as excavation, earthing, spreading, banking, and the like, and includes a vehicle body 2 and a cap 3 provided on the vehicle body 2.
- the vehicle body 2 includes a vehicle body frame 4, a traveling device 5, and a work machine 6.
- the cap 3 is supported by the body frame 4 at four points via four cap mounts 30. As long as the number of support points for Cab 3 is 3 or more, the support is not limited to 4 points.
- the body frame 4 is a portion on which an engine (not shown) is mounted, and a cap 3 is provided on the rear side of the engine.
- the traveling device 5 is a crawler type provided on both sides of the lower part of the vehicle body frame 4 and includes a crawler belt 70.
- a sprocket 5A for driving is provided on the rear side of the traveling device 5
- an idler 5B is provided on the front side, and the crawler belt 70 is wound around the sprocket 5A and the idler 5B.
- the work machine 6 is a part that performs operations such as digging ij and embankment, and includes a frame 7, a blade 8, a lift cylinder 9, and a tilt cylinder 10.
- the frame 7 is an arm-like member extending forward in the traveling direction of both side forces of the traveling device 5, and is provided so as to be swingable.
- the blade 8 is a portion to which soil or sand hits when the bulldozer 1 is run, and is provided at the tip of the frame 7.
- the lift cylinder 9 is a hydraulic actuator for moving the blade 8 up and down
- the tilt cylinder 10 is a hydraulic actuator for changing the inclination of the blade 8 in the width direction.
- the cab mounts 30 are provided at a total of four locations, two on both the front sides (left and right sides) of the bulldozer 1 in the running direction and two on the rear sides (left and right sides) in the running direction.
- the cab mount 30 provided on the front side is fixed to the body frame 4 and the auxiliary frame 3A of the cab 3 via rubber bushes at positions far apart from each other in the left-right direction, and the cab mount 30 provided on the rear side. Is fixed to the upper and lower ends of the mount via rubber bushes at a position (high mount) higher than the front side.
- the cab mount 30 is a variable damping cab mount capable of changing the damping force.
- a detailed description of the configuration is omitted, but a type using a magnetic fluid.
- a cylinder 31 supported on the side of the cylinder 4 and a movable member 32 which is provided so as to be movable forward and backward relative to the cylinder 31 and whose upper end is fixed to the cap 3 are provided.
- the lower end side of the movable member 32 is a coil panel for absorbing vibration. Received at 33.
- the magnetic fluid described above is sealed in the space on the head side and the bottom side in the cylinder 31, and when a magnetic field is applied to the magnetic fluid through the communication path for going back and forth between the spaces, the magnetic fluid It is possible to change the damping force when the shearing force changes and functions as a damper.
- An exciting coil 34 schematically shown on the outer peripheral side of the cylinder 31 generates a magnetic field by a current signal from a control means 50 described later.
- variable damping cab mount used in the present invention is not limited to the one using the magnetic fluid as in the present embodiment, and the type using the electrorheological fluid, the space on the head side and the bottom side are communicated.
- Arbitrary structures such as a variable orifice type in which the cross-sectional area of the communication path is variable and the damping force is changed can be adopted.
- control unit 50 includes an acceleration sensor (state change detection unit) 51, an input / output unit 52, and a calculation unit 53.
- the input / output unit 52 and the calculation unit 53 are configured by an MPU or the like. ing.
- the input / output unit 52 includes an acceleration signal input unit 54 and a damping force command output transmission unit 58.
- the calculation unit 53 includes a mode separation unit 55, a state quantity estimation unit 56, a damping force calculation unit 57, and a steady component separation. Means 59 are provided. The steady component separating means 59 will be described later.
- the acceleration sensor 51 is provided at each of the front center, left rear, and right rear in the cap 3, and when the cap 3 is shaken, The vertical acceleration at each part is detected.
- a stroke sensor may be used instead of the acceleration sensor 51, or a stroke sensor may be further added to the acceleration sensor 51, and instead of the acceleration sensor or the stroke sensor.
- a gyro may be used.
- the calculation in the calculation unit 53 can be simplified.
- the acceleration sensor 51 alone is better in terms of control. Is enough for practical use.
- the acceleration signal input means 54 has a function of inputting the detection signal output from the acceleration sensor 51, performing a predetermined conversion, and outputting it to the calculation unit 53.
- the mode separation means 55, state quantity estimation means 56, damping force calculation means 57, damping force command transmission means 58, and steady component separation means 59 described above share and execute the processing shown in the flowchart shown in FIG. To do.
- the mode separation means 55 calculates the pitch acceleration, roll acceleration, and bounce acceleration from the acceleration signal at each point detected by the acceleration sensor 51, and the state quantity estimation means 56 calculates the pitch acceleration, roll acceleration, Bounce acceleration force Calculates front / rear and left / right relative speeds, and damping force calculation means 57 calculates front / rear and left / right control forces.
- Each acceleration calculated by the mode separation unit 55 is processed by the state quantity estimation unit 56 and the damping force calculation unit 57 after the high frequency component is removed by the steady component separation unit 59.
- the mode separation means 55 performs mode separation into the components of the acceleration signal force pitch, roll and bounce in the vertical direction of the three-point force.
- mode separation related to displacement will be described here, but mode separation can be performed in the same way for both speed and acceleration.
- the behavior of the cap is expressed by the addition of each mode based on the assumption that the behavior force of three degrees of freedom of pitch, roll, and noise is also obtained.
- the amount of each mode is calculated from the displacement signals Zl, Z2, and Z3 from the sensors attached at three locations.
- the coordinate system is defined by an orthogonal coordinate system consisting of X—Y—Z.
- the rotation around the X axis is the roll
- the rotation around the Y axis is the pitch.
- Let the coordinates for be (xl, yl), (x2, y2) and (x3, y3), respectively. If the bounce displacement around the center of gravity is Zb, the pitch displacement is ⁇ pitch, and the pitch displacement is ⁇ roll, the vertical displacement at each sensor point is given by the following equations (1) to (3).
- the displacement (acceleration) of pitch, roll, and bounce can be calculated by using the equations (4) to (6) based on the three points of displacement (acceleration) and coordinates detected by each acceleration sensor 51. Equations (4) to (6) are defined as the calculation formulas for mode separation.
- the state quantity estimation means 56 uses a Kalman filter that estimates the movement under the panel when a predetermined acceleration (copt, ⁇ , abt) occurs, and uses the relative angular velocity ⁇ in the pitch direction, which is the state quantity, Calculate the relative angular velocity cor and the relative velocity ⁇ in the bounce direction.
- the one-degree-of-freedom Kalman filter can be used independently in the same way for the roll, bounce, and pitch modes, with one freedom for each mode of pitch, bounce, and pitch.
- Force estimating state quantity using Kalman filter of degree system Here, the method to estimate the relative velocity in the roll direction using Kalman filter of one degree of freedom system is explained.
- the one-degree-of-freedom Kalman filter that estimates the state quantity in the roll direction uses a one-degree-of-freedom rigid body model for the role as shown in Fig. 8 as the control system design model, and the front-rear and left-right stiffness We do not consider sex.
- the vertical deformation amount of the mount is ⁇ for the left front deformation amount and ⁇ for the right front deformation amount.
- ⁇ is a symbol with a dot and the right rear deformation amount is a symbol with a dot on ⁇ , rl rr
- the mounting force is defined as the vertical spring stiffness of the mount k and the vertical damping coefficient c.
- equation (13) can be expressed as the following equation (14).
- each coefficient of the equation (17) is expressed by the following equation (20).
- a Kalman filter of the following equation (21) is configured for the state variable to be estimated.
- the Kalman filter gain L can be calculated by assuming the noise covariance data by the following equation (22) and solving the Ritsukachi equation.
- control input u and the measured quantity v can be described by a state equation using ⁇ u y as an input, and can be incorporated into the controller.
- the state variable estimated by the Kalman filter is given by the following equation (25).
- the relative displacement and relative speed of the roll can be estimated by the Kalman filter.
- the damping force calculation means 57 is based on the damping force required for pitch, roll and bounce.
- the damping force calculation means 57 in the present embodiment is a 4-axis based on the detection signal from the acceleration signal input means 54 as shown in FIG.
- the absolute acceleration (al, a2, a3, a4) is calculated and integrated, and the absolute velocity (VI, V2, V3, V4) as the state quantity is calculated and estimated.
- C is the attenuation gain (damping force Z speed) on each axis.
- the damping force command output transmission means 58 generates a current signal as a control command according to the damping forces fl to f4 calculated by the damping force calculation means 57 and outputs the current signal to the excitation coil 34 of each cap mount 30. become.
- the crawler belt 70 includes a shoe 71 having a protrusion 71A that protrudes outwardly, as shown in FIG. 10 and a portion of the lower side in FIG. 1 (near the encircled circle in FIG. 1).
- 71 is provided with a link 72 fixed by a shear bolt 71B and a shear nut 71C.
- a pair of links 72 are provided in the width direction of the crawler belt 70 (the front and back direction in FIG. 10). Only one force is shown here. And a plurality of links 72 along the moving direction Don't show me! By connecting with pins, a series of crawler belts 70 is formed.
- the pair of round hole openings 72A and 72B drilled in the link 72 is for pin insertion, and the position in the width direction is offset in consideration of the coupling with the adjacent link.
- An upper surface 72C in the drawing of the link 72 is a rolling surface of a track roller (TZR) (not shown), and is also a contact surface in contact with the idler 5B.
- the portion indicated by the arrow A in the figure is a stepped wear portion, and the step wear occurs substantially uniformly in all the links 72 of the crawler belt 70.
- the steady state having the maximum amplitude.
- the steady component separating means 59 includes a high frequency component extracting means 61, an autocorrelation function calculating means 62, a steady component estimating means 63, an unsteady component estimating means 64, and a control signal calculating means 65. The following processing is performed by each means.
- the high-frequency component extraction means 61 extracts the high-frequency component from the acceleration signal separated into the pitch, roll, and bounce modes using a low-pass or high-pass filter.
- the autocorrelation function calculation means 62 uses FFT or autocorrelation function to determine the characteristics related to the stationary signal of lag lmax or autocorrelation function maximum value AacKlmax that maximizes the autocorrelation function.
- the stationary component estimation means 63 estimates the stationary signal in real time. (4) Further, an unsteady signal is calculated by the unsteady component estimation means 64.
- control signal calculation means 65 calculates the control signal by adding the low frequency signal and the non-stationary signal separated in (1) and outputs them to the state quantity estimation means 56.
- the steady component estimation processing by the autocorrelation function calculating means 62 and the steady component estimating means 63 is performed in the first embodiment Rl, the second embodiment R2, and the third embodiment. Since various methods can be adopted as in the state R3, each of the embodiments R1 to R3 will be described below.
- a high frequency component extraction unit 61 is used to extract a predetermined high frequency signal from the signal coming from the mode separation unit.
- X (t) is representative of the acceleration signal at time t.
- the acceleration signal is treated as a discrete time series.
- the acceleration at an arbitrary time t0 is expressed as X (n) as the nth signal
- the discretized time series is expressed as X (1), X (2), ..., X (n), ... ⁇ , X (N) and table
- the first-order low-pass filter is expressed in the form of a digital filter as the filtered signal X (n).
- x LP (n) A ⁇ 0 (n) + A 2 x 0 (n-l) + B x x LP (n-1)... ( 3 o) [0084] where For example, if sampling time is 10msec, each coefficient A, A, B is 2Hz, 6Hz.
- Equation 24 is the coefficients of the low-pass filter with the cut-off frequency.
- the filtered signal X (n) is expressed by the following equation (33). It will be in the form of a digital filter as shown.
- the coefficients A, A, and B are 2 Hz and 6 Hz high-pass filters, respectively, as shown in the following equations (34) and (35).
- FIG. 12 shows a flowchart showing the processing of the high-frequency component extraction means 61 when the low-pass is used
- FIG. 13 shows the processing of the high-frequency component extraction means 61 when the high-pass is used. A flow chart is shown.
- the autocorrelation function is calculated directly using the following equation (37) without having to store in the memory.
- the algorithm represented by the following formula (38) can be used to calculate with only one past time series history, and the memory capacity can be reduced. Can be calculated.
- This mean square value means a sum component of the stationary component and the non-stationary component at each time. Therefore, since the ratio of the magnitude of the stationary component to the magnitude of the input time series is expressed by Equation (41) at each time, the stationary component X (t) is separated from the time series x (t). Then the formula (
- the unsteady component is a component obtained by removing the original time series force steady component.
- the autocorrelation function calculating means 62 calculates an autocorrelation function in the lag with respect to the target frequency (processing S1), and based on the calculated autocorrelation function.
- the maximum autocorrelation function is calculated (process S2).
- the autocorrelation function calculating means 62 calculates the root mean square value of the time series with a short time constant in parallel with this (processing S3).
- the steady component estimation means 63 estimates the steady component based on the calculated maximum autocorrelation function and the mean square value of the time series (processing S4).
- the non-stationary component estimating means 64 calculates a non-steady component by taking the difference between the steady components in which the detection result force is also estimated (processing S5), and based on the result, the control signal calculating means 65 determines the control signal. And the calculation result is output to the state quantity estimation means 56.
- the sequentially sent data is stored sequentially in the direction of increasing n in variable a (n) with N areas, and variable a (Na C l) is stored. If it exceeds, return to a (l) and store again.
- the discretized time series is represented as x (0), x (l), ⁇ , x (n), ⁇ , x (N), and variables a (0), a (l ), ⁇ , a (n), ⁇ , a (N).
- the steady signal at lag lmax is approximated as the following equation (46) with the average of the signals at the same phase point of the signal acquired in the past.
- V ave zo 0
- the non-stationary component Since the non-stationary component has no correlation, it becomes relatively small by averaging the past signals, and the stationary signal remains emphasized by this estimation.
- Nave is the number of samples to be averaged and is given by the following equation (47).
- the autocorrelation function calculating means 62 calculates the autocorrelation function at lag 1 with respect to the target frequency based on the N pieces of data stored in the memory (processing S7), and further calculates the lag lmax that maximizes the autocorrelation function. Calculate (process S8).
- the steady component estimation means 63 estimates the steady component by calculating an average value at the same phase point in the memory (processing S9), and the unsteady component estimation means 64 detects The unsteady component is calculated by taking the difference between the steady components where the resultant force is also estimated (processing S10) Based on the result, the control signal calculating means 65 calculates a control signal and outputs the calculation result to the state quantity estimating means 56.
- the processing by the steady component separating means 59 according to the third embodiment is characterized in that the autocorrelation function is calculated by FFT among the algorithms of the second embodiment. Since the FFT is used, it is necessary to store the time series in the memory as in the second embodiment, and it is desirable to set the number of storages to a power of 2 in order to increase the calculation speed.
- X (k) represents a spectrum value in the frequency domain.
- the largest amplitude X (kmax) is obtained from this spectrum.
- the frequency fmax at that time is determined from kmax by the following formula (49).
- the stationary component can be estimated by equation (51) using an estimation algorithm similar to equation (46) of the second embodiment.
- the CPU calculation time for performing FFT is large.
- the high frequency component extraction unit 61 When the processing by the steady component separation means 59 according to the third embodiment as described above is summarized, as shown in the flowchart of FIG. 18, first, the high frequency component extraction unit 61 outputs it at regular time intervals. High frequency signals are sequentially stored in the memory (processing Sl l).
- the autocorrelation function calculating means 62 calculates a vibration spectrum by FFT based on the data stored in the memory (processing S12), and calculates a lag lmax that maximizes the autocorrelation function (processing S13). ).
- the average value in the same phase in the memory is calculated to estimate the steady component (processing S14), and the unsteady component calculation 64 is The unsteady component is calculated by taking the difference between the steady components in which the detection result force is also estimated (processing S15), and based on the result, the control signal calculating means 65 calculates the control signal, and the calculated result is used as the state quantity estimating means. Output to 56.
- the steady component separation means 59 is provided between the mode separation means 55 of the calculation unit 53 and the state quantity estimation means 56.
- This steady component separating means 59 removes the high frequency steady component caused by the stepped wear in the crawler belt 70 from the total vibration component generated in the cab 3, and with respect to this constantly generated vibration. Therefore, the processing in the state quantity estimation means 56 or less is not performed.
- the high-frequency component extraction means 61 is a component of the entire vibration that has acted on the cap 3 for each mode separated by the mode separation means 55 (FIG. 4).
- the low frequency component and the high frequency component are extracted from each other and are separated from each other.
- Such extraction and separation are performed by a general low-pass filter or the like.
- the steady component separating means 59 extracts a high frequency component force and further a steady component and separates other components.
- extraction can extract high-frequency components, stationary vibration components using an autocorrelation function, and the rest as other shock and random components.
- the vibration components other than the steady component are output to the state quantity estimation means 56 after being extracted in many cases where the discontinuous force of the terrain is also generated.
- the damping force calculation means 57 performs the damping force fl ⁇ Calculates f4 and suppresses shaking of cap 3. Then, the steady component is not output to the state quantity estimating means 56, but is excluded from the controlled object cover.
- the control means 50 for controlling the cab mount 30 is provided with a steady component separating means 59, and the detection result force of the change in the state of the cab 3 is also the steady state of the high frequency generated by the vibration force due to step wear. Since the components are separated, it is possible to eliminate the calculation of the damping force fl to f4 by limiting only to the vibration due to stepped wear, and it is possible to avoid the control that hardens the mount 30. Therefore, the damping force of the cab mount 30 can be made small depending on the panel characteristics of the coil panel 33 itself, and the vibration can be reliably absorbed by the coil panel 33 while vibration due to stepped wear or the like is occurring.
- the high frequency component extraction means 61 of the steady component separation means 59 a steady component that is 21/2 times or more the resonance frequency of the cap 3 is limitedly removed as a component due to step wear, and the Since the component close to the resonance frequency of 3 is extracted, the vibration due to resonance of the cap 3 can be prevented by calculating the damping force fl to f4 based on the extracted component.
- the present invention can be applied not only to construction machines such as bulldozers and power shovels that travel on a crawler track, but also to any construction machine equipped with an engine, as well as transportation trucks.
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- Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Chemical & Material Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Body Structure For Vehicles (AREA)
- Component Parts Of Construction Machinery (AREA)
- Vehicle Body Suspensions (AREA)
- Vibration Prevention Devices (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2004-235522 | 2004-08-12 | ||
JP2004235522A JP2007276497A (ja) | 2004-08-12 | 2004-08-12 | キャブマウント制御装置、キャブマウント制御方法、建設機械 |
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WO2006016655A1 true WO2006016655A1 (ja) | 2006-02-16 |
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PCT/JP2005/014764 WO2006016655A1 (ja) | 2004-08-12 | 2005-08-11 | キャブマウント制御装置、キャブマウント制御方法、建設機械 |
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JP (1) | JP2007276497A (ja) |
WO (1) | WO2006016655A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020125595A (ja) * | 2019-02-01 | 2020-08-20 | 株式会社小松製作所 | 建設機械の制御システム、建設機械、及び建設機械の制御方法 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100152978A1 (en) * | 2008-12-15 | 2010-06-17 | Caterpillar, Inc. | Machine Employing Cab Mounts and Method for Controlling Cab Mounts to Maintain Snubbing Height and Provide Mount Diagnostics |
JP2019048546A (ja) * | 2017-09-08 | 2019-03-28 | Kyb株式会社 | 作業車両のキャビン制振システム |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04215515A (ja) * | 1990-12-10 | 1992-08-06 | Mitsubishi Motors Corp | サスペンション制御方法 |
JPH07228114A (ja) * | 1994-02-16 | 1995-08-29 | Toyota Motor Corp | ショックアブソーバのための電気制御装置 |
JPH09202271A (ja) * | 1996-01-29 | 1997-08-05 | Unisia Jecs Corp | キャブサスペンション制御装置 |
JPH1095214A (ja) * | 1996-09-19 | 1998-04-14 | Aisin Seiki Co Ltd | サスペンション制御装置 |
JP2002002531A (ja) * | 2000-06-23 | 2002-01-09 | Hino Motors Ltd | 車両のサスペンション装置 |
JP2004175125A (ja) * | 2002-11-22 | 2004-06-24 | Toyota Motor Corp | ショックアブソーバ作動油温度の高温化を抑制する減衰力特性制御装置および減衰力関連量取得プログラム |
-
2004
- 2004-08-12 JP JP2004235522A patent/JP2007276497A/ja not_active Withdrawn
-
2005
- 2005-08-11 WO PCT/JP2005/014764 patent/WO2006016655A1/ja active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04215515A (ja) * | 1990-12-10 | 1992-08-06 | Mitsubishi Motors Corp | サスペンション制御方法 |
JPH07228114A (ja) * | 1994-02-16 | 1995-08-29 | Toyota Motor Corp | ショックアブソーバのための電気制御装置 |
JPH09202271A (ja) * | 1996-01-29 | 1997-08-05 | Unisia Jecs Corp | キャブサスペンション制御装置 |
JPH1095214A (ja) * | 1996-09-19 | 1998-04-14 | Aisin Seiki Co Ltd | サスペンション制御装置 |
JP2002002531A (ja) * | 2000-06-23 | 2002-01-09 | Hino Motors Ltd | 車両のサスペンション装置 |
JP2004175125A (ja) * | 2002-11-22 | 2004-06-24 | Toyota Motor Corp | ショックアブソーバ作動油温度の高温化を抑制する減衰力特性制御装置および減衰力関連量取得プログラム |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020125595A (ja) * | 2019-02-01 | 2020-08-20 | 株式会社小松製作所 | 建設機械の制御システム、建設機械、及び建設機械の制御方法 |
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JP2007276497A (ja) | 2007-10-25 |
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