WO2011096435A1 - 油圧システムのポンプ制御装置 - Google Patents
油圧システムのポンプ制御装置 Download PDFInfo
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- WO2011096435A1 WO2011096435A1 PCT/JP2011/052150 JP2011052150W WO2011096435A1 WO 2011096435 A1 WO2011096435 A1 WO 2011096435A1 JP 2011052150 W JP2011052150 W JP 2011052150W WO 2011096435 A1 WO2011096435 A1 WO 2011096435A1
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- pump
- torque
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- pressure
- hydraulic
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- 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
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- 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
-
- 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
- E02F9/2282—Systems using center bypass type changeover valves
-
- 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
- E02F9/2285—Pilot-operated systems
-
- 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
- E02F9/2292—Systems with two or more pumps
-
- 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
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- 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
-
- 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
- F15B2211/20553—Type of pump variable capacity with pilot circuit, e.g. for controlling a swash plate
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20576—Systems with pumps with multiple pumps
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/265—Control of multiple pressure sources
- F15B2211/2654—Control of multiple pressure sources one or more pressure sources having priority
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/31—Directional control characterised by the positions of the valve element
- F15B2211/3105—Neutral or centre positions
- F15B2211/3116—Neutral or centre positions the pump port being open in the centre position, e.g. so-called open centre
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- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
Definitions
- the present invention relates to a pump control device for a hydraulic system provided in a construction machine such as a hydraulic excavator, and in particular, in a hydraulic drive system for a construction machine having an upper swing body, controls torque distribution of a plurality of hydraulic pumps according to work conditions.
- the present invention relates to a pump control device.
- a hydraulic excavator As a typical example of a construction machine having an upper rotating body.
- a pump control device in which a torque control function is added to a regulator that controls the displacement of the hydraulic pump is often used.
- a pump control device with a torque control function added to the regulator leads the hydraulic pump discharge pressure to the regulator, and when the hydraulic pump discharge pressure rises and the absorption torque of the hydraulic pump reaches the set maximum absorption torque, the hydraulic pressure is increased.
- control is performed to reduce the displacement of the hydraulic pump so that the absorption torque of the hydraulic pump does not exceed the set maximum absorption torque. Stalls are prevented.
- a pump control device that performs torque control called total horsepower control is generally used.
- the discharge pressures of both the first hydraulic pump and the second hydraulic pump are led to respective regulators of two hydraulic pumps (hereinafter referred to as a first hydraulic pump and a second hydraulic pump),
- a first hydraulic pump and a second hydraulic pump two hydraulic pumps
- the actuator related to each of the first and second hydraulic pumps is driven independently by this, the total horsepower assigned to the first and second hydraulic pumps is used. This enables effective use of the motor output.
- Patent Document 2 there is a device described in Patent Document 2 as a pump control device when there are two or more hydraulic pumps. If it is determined that the operation is to simultaneously operate two of the plurality of actuators based on the electrical signals from the plurality of operation levers, each of the two actuators depends on the combination of the two actuators.
- the distribution ratio of the engine output distributed to the plurality of hydraulic pumps connected to is set, and the tilt angles of the plurality of hydraulic pumps are controlled so as to be the distribution ratio.
- JP 2000-73960 A Japanese Patent No. 3576064
- the upper swing body is an actuator at the time of swing start (including the acceleration immediately after the swing start, hereinafter the same) when starting from a state where the upper swing body is stopped Since the swing motor has a large inertia load, the discharge pressure of the hydraulic pump rises rapidly and reaches the maximum pressure (relief pressure) determined by the relief valve, causing energy loss due to pressure oil relief from the relief valve. To do. At this time, if the discharge flow rate of the hydraulic pump is too large, energy loss increases and energy efficiency decreases.
- a plurality of hydraulic cylinders and hydraulic motors are provided in addition to the swing motor, and work is performed by a combined turning operation that simultaneously drives the swing motor and other actuators.
- the first object of the present invention is to improve energy efficiency by reducing energy loss due to relief at the start of turning, and at the same speed transition process after turning start, the necessary flow rate is supplied to the turning motor to smoothly turn at constant speed. It is to provide a pump control device for a hydraulic system that can achieve the above and improve the working efficiency.
- the second object of the present invention is to reduce energy loss due to relief at the time of turning start and improve energy efficiency, and at the time of turning start in turning combined operation, increase the speed of actuators other than the turning motor, To provide a pump control device for a hydraulic system capable of improving the combined operability and work efficiency by supplying a necessary flow rate to a swing motor in a constant speed transition process so as to smoothly reach a constant speed swing.
- the present invention is driven by variable displacement type first and second hydraulic pumps driven by a prime mover, and pressure oil discharged from the first hydraulic pump.
- a plurality of actuators including a boom cylinder for driving a boom of a hydraulic excavator; and a plurality of actuators including a swing motor driven by pressure oil discharged from the second hydraulic pump to drive an upper swing body of the hydraulic excavator;
- a plurality of operation means including first and second operation means for operating the boom cylinder and the swing motor, respectively, and a relief valve for determining the maximum pressure of the pressure oil discharged from the first and second hydraulic pumps.
- pressure detecting means for detecting a discharge pressure of the second hydraulic pump, and a maximum absorption torque of the first hydraulic pump
- first pump torque control means for controlling the displacement of the first hydraulic pump so that the absorption torque of the first hydraulic pump does not exceed the maximum absorption torque, and the maximum absorption torque of the second hydraulic pump.
- second pump torque control means for controlling the displacement volume of the second hydraulic pump so that the absorption torque of the second hydraulic pump does not exceed the maximum absorption torque, and the second pump torque control means comprises: A maximum torque value that can be consumed by the second hydraulic pump and a torque value smaller than the maximum torque value are preset, and the discharge pressure of the second hydraulic pump detected by the pressure detecting means is determined by the relief valve.
- the maximum torque value is set as the maximum absorption torque of the second hydraulic pump, and the pressure detection means When the discharge pressure of the second hydraulic pump detected in step 2 rises to the maximum pressure determined by the relief valve, a torque value smaller than the maximum torque value is set as the maximum absorption torque of the second hydraulic pump. To do.
- the discharge pressure of the second hydraulic pump suddenly rises to the maximum pressure determined by the relief valve at the time of turning start (including acceleration immediately after turning start, hereinafter the same).
- the second pump torque control means sets a torque value smaller than the maximum torque value as the maximum absorption torque of the second hydraulic pump, controls to reduce the maximum absorption torque of the second hydraulic pump, and controls the second hydraulic pump.
- the displacement volume is reduced.
- the second pump torque control means sets the maximum torque value as the maximum absorption torque of the second hydraulic pump, and increases the maximum absorption torque of the second hydraulic pump as the discharge pressure of the second hydraulic pump decreases. Control (control to change the maximum absorption torque of the second hydraulic pump according to the discharge pressure of the second hydraulic pump) is performed, and the displacement volume of the second hydraulic pump gradually increases. As a result, as the turning speed increases, the discharge flow rate of the second hydraulic pump increases, and the necessary flow rate is supplied to the turning motor, smoothly leading to constant speed turning, and work efficiency can be improved.
- the first pump torque control means can be consumed by the first hydraulic pump and the second hydraulic pump.
- a value obtained by subtracting the maximum absorption torque of the second hydraulic pump set in the second pump torque control means from the total pump torque value is set as the maximum absorption torque of the first hydraulic pump.
- the second pump torque control means is as described above at the time of turning start in a turning combined operation in which the turning operation and operations other than the turning are combined, for example, a combined turning and boom raising operation. Then, a torque value smaller than the maximum torque value is set as the maximum absorption torque of the second hydraulic pump, and the maximum absorption torque of the second hydraulic pump is controlled to be reduced, so that the displacement volume of the second hydraulic pump decreases.
- the first pump torque control means subtracts the maximum absorption torque of the second hydraulic pump set in the second pump torque control means from the total pump torque value that can be consumed by the first hydraulic pump and the second hydraulic pump.
- the result is that the decrease in the maximum absorption torque of the second hydraulic pump is added to the maximum absorption torque of the first hydraulic pump, and the maximum of the first and second hydraulic pumps
- the distribution of the absorption torque is changed so as to increase the maximum absorption torque of the first hydraulic pump, and the displacement volume of the first hydraulic pump increases.
- control for distributing the reduced torque of the second hydraulic pump to the first hydraulic pump that drives an actuator (for example, a boom cylinder) other than the swing motor the reduced torque by the torque reduction control of the second hydraulic pump related to the swing motor.
- the speed of the actuator other than the swing motor becomes faster at the start of swing in the combined swing operation, and the combined operability and work efficiency are improved. To do.
- the second pump torque control means uses the maximum torque value as the maximum absorption torque of the second hydraulic pump. Is set to increase the absorption torque of the second hydraulic pump as the discharge pressure of the second hydraulic pump decreases, and the displacement volume of the second hydraulic pump gradually increases. As a result, as the turning speed increases, the discharge flow rate of the second hydraulic pump increases and the necessary flow rate is supplied to the turning motor, so that the uniform turning is smoothly achieved.
- an operation amount detection means for detecting an operation amount of a second operation means for operating the turning motor is further provided, and the second pump torque control means When the operation amount of the second operation means detected by the operation amount detection means exceeds a predetermined value and the discharge pressure of the second hydraulic pump detected by the pressure detection means rises to the maximum pressure determined by the relief valve When a torque value smaller than the maximum torque value is set as the maximum absorption torque of the second hydraulic pump, and the operation amount of the second operation means detected by the operation amount detection means is less than a predetermined value, Regardless of the discharge pressure of the second hydraulic pump detected by the pressure detection means, the maximum torque value is set as the maximum absorption torque of the second hydraulic pump.
- the operation amount of the second operation means exceeds a predetermined value, so that the second pump torque control means has a torque value smaller than the maximum torque value or a maximum torque value according to the discharge pressure of the second hydraulic pump.
- the torque reduction of the second hydraulic pump related to the turning motor The control unit distributes the reduced torque by the control to the first hydraulic pump related to the actuator other than the swing motor, and increases the speed of the actuator other than the swing motor. Supply and smoothly reach a uniform speed.
- the operation amount of the second operation means is not more than a predetermined value.
- the maximum torque value is set as the maximum absorption torque of the second hydraulic pump, and as a result, the second hydraulic pump does not change regardless of the change in the discharge pressure of the second hydraulic pump.
- the maximum absorption torque of the hydraulic pump is controlled to be constant, a change in the speed of the actuator due to a change in the maximum absorption torque of the second hydraulic pump is prevented, and a decrease in operability and workability is avoided.
- control when turning is started, control is performed to change the maximum absorption torque of the second hydraulic pump in accordance with the discharge pressure of the second hydraulic pump, thereby reducing energy loss due to relief at the time of turning start and energy efficiency.
- the required flow rate can be supplied to the turning motor in the acceleration process after the start of turning to smoothly reach the constant speed turning, and the working efficiency can be improved.
- the turning motor is controlled by distributing the reduced torque of the second hydraulic pump to the first hydraulic pump related to the actuator other than the turning motor.
- the speed of the other actuators can be increased, and the combined operability and work efficiency can be improved.
- control for changing the maximum absorption torque of the second hydraulic pump and the reduced torque of the second hydraulic pump are performed only when the second operating means for operating the swing motor is operated more than a predetermined value. Since control is performed to distribute to the first hydraulic pump related to the actuator other than the swing motor, the actuator speed change due to the change in the maximum absorption torque of the second hydraulic pump is prevented during the operation of driving the actuator other than the swing motor. Therefore, it is possible to avoid a decrease in operability and workability.
- FIG. 1 is a hydraulic circuit diagram of a hydraulic system including a pump control device according to an embodiment of the present invention.
- FIG. 2 is an enlarged view of first and second regulator portions of the hydraulic system shown in FIG. 1. It is a figure which shows the whole structure of the pump control apparatus by this Embodiment. It is a functional block diagram which shows the processing content of a controller. It is a figure which expands and shows the relationship between the discharge pressure of the 2nd hydraulic pump of a pump discharge pressure corresponding
- FIG. 1 is a hydraulic circuit diagram of a hydraulic system including a pump control device according to an embodiment of the present invention.
- a hydraulic system according to the present embodiment includes a prime mover such as a diesel engine (hereinafter simply referred to as an engine) 1 and a plurality of variable displacement hydraulic pumps driven by the engine 1, such as first and second hydraulic pumps 2, 3, a relief valve 4 that determines the maximum pressure of the hydraulic oil discharged from the first and second hydraulic pumps 2, 3 (maximum pressure of the hydraulic supply circuit), and discharge from the first and second hydraulic pumps 2, 3
- a plurality of actuators including an arm cylinder 5, a boom cylinder 6, a swing motor 7, and a bucket cylinder 8 driven by the pressurized oil, and the arm cylinder 5, boom cylinder 6, swing from the first and second hydraulic pumps 2 and 3.
- a plurality of control valves including control valves 11 to 14 for controlling the flow rate and direction of the pressure oil supplied to the motor 7 and the bucket cylinder 8 , And a pilot pump 15 driven by the engine 1, and an operating lever device 16 to 19 to generate a control pilot pressure for operating the control valves 11 to 14 based on the oil discharged from the pilot pump 15.
- the control valves 11 to 14 are of a center bypass type, the control valves 11 and 12 are disposed on the center bypass line 21, and the control valves 13 and 14 are disposed on the center bypass line 22.
- the upstream side of the center bypass line 21 is connected to the discharge oil passage 2 a of the first hydraulic pump 2, the downstream side is connected to the tank T, and the upstream side of the center bypass line 22 is connected to the discharge oil passage 3 a of the second hydraulic pump 3.
- the downstream side is connected to the tank T.
- the control valves 11 and 12 are for the arm and the boom, respectively, are connected in parallel to the discharge oil passage 2a of the first hydraulic pump 2, and constitute the first hydraulic circuit together with the arm cylinder 5 and the boom cylinder 6.
- the control valves 13 and 14 are for swing and bucket, respectively, connected in parallel to the discharge oil passage 3a of the second hydraulic pump 3, and constitute a second hydraulic circuit together with the swing motor 7 and the bucket cylinder 8.
- the arm cylinder 5 is an actuator that pushes and pulls the arm of the hydraulic excavator
- the boom cylinder 6 is an actuator that moves the boom up and down
- the swing motor 7 is an actuator that rotates the upper swing body
- the bucket cylinder 8 is the bucket. It is an actuator that pushes and pulls.
- the first hydraulic pump 2 includes a first regulator 201, and the second hydraulic pump 3 includes a second regulator 301.
- the first regulator 201 adjusts the tilt angle (the displacement volume or capacity) of the swash plate 2b, which is the displacement capacity variable member of the first hydraulic pump 2, according to the required flow rate (the operation amount of the operation lever devices 16 and 17).
- the tilt angle of the first hydraulic pump 2 is controlled so that the absorption torque of the first hydraulic pump 2 does not exceed a set maximum absorption torque (described later).
- the tilt angle (displacement volume or capacity) of the swash plate 3b which is a displacement volume variable member of the second hydraulic pump 3 is set according to the required flow rate (the operation amount of the operation lever devices 18 and 19).
- the pump discharge flow rate is adjusted to control the tilt angle of the second hydraulic pump 3 so that the absorption torque of the second hydraulic pump 3 does not exceed a set maximum absorption torque (described later).
- first hydraulic pump 2 drives the arm cylinder 5 and the boom cylinder 6 and the second hydraulic pump 3 drives the swing motor 7 and the bucket cylinder 8
- the first hydraulic pump can drive the bucket cylinder and the boom cylinder
- the second hydraulic pump can drive the swing motor and the arm cylinder.
- Shuttle valves 23a, 23b, and 23c are connected to the control pilot circuit that guides the control pilot pressure generated by the operation lever devices 16 and 17 to the control valves 11 and 12, and the control pilot pressure generated by the operation lever devices 16 and 17 is reduced.
- the highest pressure is selected by the shuttle valves 23a, 23b, and 23c, and is given to the first regulator 201 as a control signal pressure that indicates the required flow rate of the first hydraulic pump 2.
- FIG. 2 is an enlarged view of the first and second regulators 201 and 301 of the hydraulic system shown in FIG.
- the first regulator 201 includes a tilt control actuator 211 that tilts the swash plate 2b of the first hydraulic pump 2, a pump flow rate control valve 212 that controls the position of this actuator 211 (a position of a control piston described later), and a pump.
- These control valves 212 and 213 are configured as servo valves.
- the tilt control actuator 211 includes a control piston 211a linked to the swash plate 2b and having different pressure receiving areas of pressure receiving portions provided at both ends, a pressure receiving chamber 211b positioned on the small area pressure receiving portion side of the control piston 211a, and a large pressure receiving chamber 211b. And a pressure receiving chamber 211c located on the area pressure receiving portion side, and the control piston 211a is operated by the pressure balance of the pressure receiving chambers 211b and 211c to control the tilt angle of the swash plate of the first hydraulic pump 2.
- the pressure receiving chamber 211b is connected to the discharge line 15a of the pilot pump 15 via the oil passage 215, and the pressure receiving chamber 211c is connected to the discharge line 15a of the pilot pump 15 with the oil passage 215 and the oil passage 216, the pump flow rate control valve 212, and the pump torque. It is connected via a control valve 213.
- the pressure receiving chamber 211c is connected to the tank T via a pump flow rate control valve 212, a pump torque control valve 213, and oil passages 217 and 218.
- the pump flow control valve 212 includes a flow control spool 212a, a weak spring 212b for holding a position located on one end side of the flow control spool 212a, and a pressure receiving chamber 212c located on the other end side of the flow control spool 212a. Yes.
- the maximum pressure of the operating pilot pressure of the operating lever devices 16 and 17 selected by the shuttle valves 23a, 23b and 23c is guided to the pressure receiving chamber 212c as the control signal pressure of the first hydraulic pump 2 via the oil passage 219. Yes.
- the pump torque control valve 213 includes a torque control spool 213a, a spring 213b located on one end side of the torque control spool 213a, a PQ control pressure receiving chamber 213c and a reduced torque control pressure receiving chamber 213d located on the other end side of the torque control spool 213a. And.
- the PQ control pressure receiving chamber 213 c is connected to the discharge line 2 a of the first hydraulic pump 2 via the oil passage 221, the discharge pressure of the first hydraulic pump 2 is guided, and the reduced torque control pressure receiving chamber 213 d is connected via the oil passage 222. Connected to the output port of the first electromagnetic proportional valve 31, the control pressure output from the first electromagnetic proportional valve 31 is guided.
- the spring 213b and the reduced torque control pressure receiving chamber 213d are located opposite to each other, and the right biasing force shown in the figure provided by the spring 213b is set to be larger than the left biasing force generated by the reduced torque control pressure receiving chamber 213d, and the spring 213b.
- the maximum absorption torque of the first hydraulic pump 2 is set by the rightward biasing force in the figure, which is the difference between the biasing force of the torque reducing pressure control pressure receiving chamber 213d. This maximum absorption torque is adjusted by the control pressure from the first electromagnetic proportional valve 31 guided to the reduced torque control pressure receiving chamber 213d.
- the pump flow rate control valve 212 displaces the flow rate control spool 212 a to the right in the figure, and the pressure receiving chamber 211 c on the large area side of the tilt control actuator 211 is moved.
- the pressure in the pressure receiving chamber 211c is reduced.
- the tilt control actuator 211 moves the control piston 211a to the left in the figure due to the decrease in the pressure in the pressure receiving chamber 211c, and increases the tilt amount (displacement volume) of the swash plate 2b of the first hydraulic pump 2 to increase the first hydraulic pressure.
- the discharge flow rate of the pump 2 is increased.
- the pump flow rate control valve 212 displaces the flow rate control spool 212a to the left in the drawing, and the pressure receiving chamber 211c on the large area side of the tilt control actuator 211 is moved to the pilot pump 15.
- the pressure in the pressure receiving chamber 211c is increased by communicating with the discharge line 15a.
- the tilt control actuator 211 moves the control piston 211a to the right in the figure as the pressure in the pressure receiving chamber 211c increases, thereby reducing the tilt amount (displacement volume) of the swash plate 2b of the first hydraulic pump 2, thereby reducing the first hydraulic pressure.
- the discharge flow rate of the pump 2 is decreased.
- the pump flow rate control valve 212 changes the pressure of the pressure receiving chamber 211c on the large area side of the tilt control actuator 211 in accordance with the control signal pressure (required flow rate) guided to the pressure receiving chamber 212c, and the first hydraulic pump 2
- the pump discharge flow rate is controlled by adjusting the tilt angle of the swash plate 2b.
- the discharge pressure of the first hydraulic pump 2 guided to the PQ control pressure receiving chamber 213c increases, and the leftward biasing force generated in the PQ control pressure receiving chamber 213c is controlled by the biasing force of the spring 213b and the torque reduction control.
- the torque control spool 213a is displaced to the left in the figure, and the pressure receiving chamber 211c on the large area side of the tilt control actuator 211 is moved to the pilot pump 15.
- the pressure in the pressure receiving chamber 211c is increased by communicating with the discharge line 15a.
- the tilt control actuator 211 moves the control piston 211a to the right in the figure as the pressure in the pressure receiving chamber 211c increases, thereby reducing the tilt amount (displacement volume) of the swash plate 2b of the first hydraulic pump 2, thereby reducing the first hydraulic pressure.
- the discharge flow rate of the pump 2 is decreased.
- the discharge pressure of the first hydraulic pump 2 decreases, and the leftward biasing force generated in the PQ control pressure receiving chamber 213c is the difference between the biasing force of the spring 213b and the biasing force of the reduced torque control pressure receiving chamber 213d.
- the pump torque control valve 213 When less than the rightward biasing force, the pump torque control valve 213 displaces the torque control spool 213a to the right in the figure, and the pressure receiving chamber 211c on the large area side of the tilt control actuator 211 is communicated with the tank T, whereby the pressure receiving chamber The pressure of 211c is reduced.
- the tilt control actuator 211 moves the control piston 211a to the left in the figure due to the decrease in the pressure in the pressure receiving chamber 211c, and increases the tilt amount (displacement volume) of the swash plate 2b of the first hydraulic pump 2 to increase the first hydraulic pressure.
- the discharge flow rate of the pump 2 is increased.
- the pump torque control valve 213 increases the discharge pressure of the first hydraulic pump 2, and the first hydraulic pump 2.
- the maximum absorption torque set by the rightward biasing force in the figure, which is the difference between the biasing force of the first hydraulic pump 2 and the biasing force of the reduced torque control pressure receiving chamber 213d. Control not to exceed.
- the maximum absorption torque is adjusted by the control pressure from the first electromagnetic proportional valve 31 guided to the reduced torque control pressure receiving chamber 213d.
- the second regulator 301 includes a tilt control actuator 311 that tilts the swash plate 3 b of the second hydraulic pump 3, and a pump flow rate control valve 312 and a pump torque control valve 313 that control driving of the actuator 311. ing.
- These control valves 312 and 313 are configured as servo valves.
- the tilt control actuator 311, the pump flow control valve 312 and the pump torque control valve 313 are configured in the same manner as the tilt control actuator 211, the pump flow control valve 212 and the pump torque control valve 213 of the first regulator 201.
- the reference numerals in the 200s are changed to the 300s.
- the pressure receiving chamber 311b of the tilt control actuator 311 is connected to the discharge line 15a of the pilot pump 15 via the oil passage 315 and the oil passages 215 and 216, and the pressure receiving chamber 311c is connected to the discharge line 15a of the pilot pump 15 with the pump flow rate control valve 312.
- the pump torque control valve 313 is connected to the oil passage 316 and the oil passages 215 and 216.
- the pressure receiving chamber 311 c is connected to the tank T via a pump flow rate control valve 312, a pump torque control valve 313, an oil passage 317, and an oil passage 218.
- the highest pressure of the operation pilot pressure of the operation lever devices 18 and 19 selected by the shuttle valves 24 a, 24 b and 24 c is controlled by the second hydraulic pump 3 via the oil passage 319. Guided as signal pressure.
- the PQ control pressure receiving chamber 313c of the pump torque control valve 313 is connected to the discharge line 3a of the second hydraulic pump 3 through the oil passage 321, and the discharge pressure of the second hydraulic pump 3 is guided, and the reduced torque control pressure receiving chamber 313d is The control pressure output from the second electromagnetic proportional valve 32 is guided to the output port of the second electromagnetic proportional valve 32 via the oil passage 322.
- the pump flow rate control valve 312 is similar to the pump flow rate control valve 212 of the first regulator 201 in accordance with the control signal pressure (required flow rate) guided to the pressure receiving chamber 312c, in the pressure receiving chamber 311c on the large area side of the tilt control actuator 311.
- the pump discharge flow rate is controlled by changing the pressure and adjusting the tilt angle of the swash plate 3b of the second hydraulic pump 3.
- the pump torque control valve 313 is a second hydraulic pump that is driven by a rightward biasing force in the figure, which is the difference between the biasing force of the spring 313b and the biasing force of the reduced torque control pressure receiving chamber 313d. 3, and when the discharge pressure of the second hydraulic pump 3 rises and the absorption torque of the second hydraulic pump 3 increases, the absorption torque of the second hydraulic pump 3 becomes the biasing force of the spring 313b. Reduced torque control Control is performed so as not to exceed the maximum absorption torque set by the rightward biasing force in the figure, which is the difference from the biasing force of the pressure receiving chamber 313d.
- FIG. 3 is a diagram showing the overall configuration of the pump control apparatus according to the present embodiment provided in the hydraulic system as described above.
- the pump control device of the present embodiment is connected to the discharge line 3a of the second hydraulic pump 3, and is connected to the pressure sensor 35 for detecting the discharge pressure of the second hydraulic pump 3 and the output side of the shuttle valve 24a.
- the pressure sensor 36 detects a control pilot pressure generated by the lever device 18 as a turning operation pressure, an engine speed command operation device 37 such as an engine control dial, a controller 38, and a control current output from the controller 38.
- the controller 38 receives the detection signals from the pressure sensors 35 and 36 and the command signal from the engine speed command operating device 37, performs a predetermined calculation process, and controls the first and second electromagnetic proportional valves 31 and 32 with a control current. , The pump torque control valves 213 and 313 are controlled, and the maximum absorption torque of the first and second hydraulic pumps 2 and 3 is controlled.
- FIG. 4 is a functional block diagram showing the processing contents of the controller 38.
- the controller 38 includes an overall pump torque calculation unit 41, a second pump assigned torque calculation unit 42, a pump discharge pressure compatible pump torque calculation unit 43, a turning operation pressure compatible pump torque calculation unit 44, a maximum value selection unit 45, and a minimum value selection unit. 46, a subtractor 47, a first torque control pressure calculator 48, and a second torque control pressure calculator 49.
- the total pump torque calculation unit 41 is a total pump that can be consumed by the two pumps of the first and second hydraulic pumps 2 and 3 according to the target rotational speed Nr of the engine 1 commanded by the engine rotational speed command operating device 37.
- Torque (hereinafter referred to as overall pump torque) Tr0 is calculated. This calculation is performed by inputting a command signal of the target rotation speed Nr from the engine rotation speed command operating device 37, referring to the table stored in the memory, and calculating the corresponding overall pump torque Tr0.
- the total pump torque Tr0 is set as a value within the range of the output torque of the engine 1, and the memory table shows that the target rotational speed Nr is near the rated maximum rotational speed corresponding to the change of the output torque of the engine 1.
- the total pump torque Tr0 is the maximum value Ta, and the relationship between the target speed Nr and the total pump torque Tr0 is set so that the total pump torque Tr0 decreases as the target speed Nr decreases. Yes.
- the second pump assigned torque calculation unit 42 calculates an assigned maximum pump torque Tp2max that can be consumed by the second hydraulic pump 3 in accordance with the target speed Nr of the engine 1 instructed by the engine speed command operating device 37. This calculation is performed by inputting a command signal of the target rotation speed Nr from the engine rotation speed command operating device 37, referring to the table stored in the memory, and calculating the corresponding assigned maximum pump torque Tp2max.
- the assigned maximum pump torque Tp2max is, for example, the maximum value Tb, and the target rotational speed Nr.
- the relationship between the target rotational speed Nr and the assigned maximum pump torque Tp2max is set so that the assigned maximum pump torque Tp2max decreases as the value decreases.
- the pump discharge pressure corresponding pump torque calculation unit 43 calculates the first absorption torque Tp21 that can be consumed by the second hydraulic pump 3 in accordance with the discharge pressure of the second hydraulic pump 3 detected by the pressure sensor 35.
- a detection signal of the discharge pressure of the second hydraulic pump 3 is inputted from the pressure sensor 35, and this is referred to a table stored in the memory, and the discharge pressure of the second hydraulic pump 3 indicated by the detection signal is set. This is performed by calculating the corresponding first absorption torque Tp21.
- FIG. 5 is an enlarged view showing the relationship between the discharge pressure of the second hydraulic pump 3 and the first absorption torque Tp21 of the pump torque calculation unit 43 corresponding to the pump discharge pressure.
- the first absorption torque Tp21 is set as a value equal to or less than the maximum value Tb of the assigned maximum pump torque Tp2max, and the discharge pressure of the second hydraulic pump 3 is determined by the relief valve 4 in the memory table.
- the torque value Tc is obtained and set in advance as the minimum torque value required for turning start.
- the first absorption torque Tp21 is changed between Tb and Tc using the first pressure value Pp2a and the second pressure value Pp2b as thresholds.
- the first absorption torque Tp21 may be changed between Tb and Tc using the second pressure value Pp2b as a threshold value.
- the second pressure value Pp2b is a value near the maximum pressure Pmax determined by the relief valve 4, but may be the maximum pressure Pmax itself.
- the turning operation pressure corresponding pump torque calculation unit 44 calculates the second absorption torque Tp22 that can be consumed by the second hydraulic pump 3 according to the turning operation pressure detected by the pressure sensor 36. This calculation is performed by inputting a detection signal of the turning operation pressure from the pressure sensor 36, referring to the table stored in the memory, and calculating the second absorption torque Tp22 corresponding to the turning operation pressure indicated by the detection signal. By doing.
- FIG. 6 is an enlarged view showing the relationship between the turning operation pressure of the turning operation pressure corresponding pump torque calculation unit 44 and the second absorption torque Tp22.
- the pressure value Pca is a value at which it can be determined that the operator has fully operated the operation lever of the operation lever device 18 for turning intended to start turning, and is, for example, a value of 80% or more of the maximum turning operation pressure.
- the maximum value selection unit 45 selects the larger one of the first absorption torque Tp21 calculated by the pump discharge pressure corresponding pump torque calculation unit 43 and the second absorption torque Tp22 calculated by the turning operation pressure corresponding pump torque calculation unit 44, 3 is output as absorption torque Tp23.
- the minimum value selector 46 selects the smaller of the allocated maximum pump torque Tp2max of the second hydraulic pump 3 calculated by the second pump allocated torque calculator 42 and the third absorption torque Tp23 selected by the maximum value selector 45, The maximum absorption torque Tp2 for control of the second hydraulic pump 3 is output.
- the subtraction unit 47 subtracts the maximum absorption torque Tp2 selected by the minimum value selection unit 46 from the total pump torque Tr0 calculated by the total pump torque calculation unit 41 to calculate the maximum absorption torque Tp1 for control of the first hydraulic pump 2. To do.
- the first torque control pressure calculation unit 48 outputs the output pressure of the first electromagnetic proportional valve 31 necessary for setting the maximum absorption torque Tp1 for control of the first hydraulic pump 2 calculated by the subtraction unit 47 in the first regulator 201.
- Control pressure is calculated
- the maximum absorption torque Tp1 is referred to a table stored in the memory
- the control pressure Pc1 corresponding to the maximum absorption torque Tp1 is calculated.
- the maximum absorption torque Tp1 increases in consideration of the fact that the control pressure Pc1 from the first electromagnetic proportional valve 31 is input to the reduced torque control pressure receiving chamber 213d facing the spring 213b (negative control).
- the relationship between the maximum absorption torque Tp1 and the control pressure Pc1 is set so that the control pressure Pc1 decreases.
- This control pressure Pc1 takes into account that the first electromagnetic proportional valve 31 is configured to generate the maximum control pressure based on the discharge pressure of the pilot pump 15 when the control current applied to the solenoid is minimum. It is converted and amplified to a control current of the first electromagnetic proportional valve 31 through a current conversion / amplifying unit (not shown) in which characteristics are set, and is output to the first electromagnetic proportional valve 31.
- the second torque control pressure calculation unit 49 sets the second electromagnetic proportional valve 32 necessary for setting the maximum absorption torque Tp2 for control of the second hydraulic pump 3 selected by the minimum value selection unit 46 in the second regulator 301.
- the output pressure (control pressure) is calculated.
- the maximum absorption torque Tp2 is referred to a table stored in the memory, and the control pressure Pc2 corresponding to the maximum absorption torque Tp2 is calculated. In the memory table, the maximum absorption torque Tp2 is increased in consideration of the fact that the control pressure Pc2 from the second electromagnetic proportional valve 32 is input to the reduced torque control pressure receiving chamber 313d positioned opposite to the spring 313b (negative control).
- the relationship between the maximum absorption torque Tp2 and the control pressure Pc2 is set such that the control pressure Pc2 decreases.
- This control pressure Pc2 is a characteristic that takes into account that the second electromagnetic proportional valve 32 is configured to generate the maximum control pressure based on the discharge pressure of the pilot pump 15 when the control current applied to the solenoid is minimum. Is converted and amplified to the control current of the second electromagnetic proportional valve 32 through a current conversion / amplification unit (not shown) in which is set, and output to the second electromagnetic proportional valve 32.
- the pressure sensor 35 constitutes a pressure detecting means for detecting the discharge pressure of the second hydraulic pump 3, and the engine speed command operating device 37, the overall pump torque calculating unit 41, the subtracting unit 47, the first of the controller 38.
- the torque control pressure calculation unit 48, the first electromagnetic proportional valve 31, and the pump torque control valve 213 of the first regulator 201 set the maximum absorption torque Tp1 of the first hydraulic pump 2, and the absorption torque of the first hydraulic pump 2 is
- the first pump torque control means for controlling the displacement of the first hydraulic pump 2 so as not to exceed the maximum absorption torque Tp1 is configured, and the pump discharge pressure corresponding pump torque calculating unit 43 and the turning operation pressure corresponding pump torque calculating unit of the controller 38 44, maximum value selection unit 45, minimum value selection unit 46, second torque control pressure calculation unit 49, second electromagnetic proportional valve 32, second legi
- the pump torque control valve 313 of the oscillator 301 sets the maximum absorption torque Tp2 of the second hydraulic pump 3, and the displacement volume of the second hydraulic pump 3 so that the absorption torque
- the second pump torque control means for controlling And the 2nd pump torque control means (the controller 38, the pump torque calculation part 43 corresponding to pump discharge pressure, the 2nd torque control pressure calculation part 49, the 2nd electromagnetic proportional valve 32, the pump torque control valve 313 of the 2nd regulator 301) Is preset with a maximum torque value Tb that can be consumed by the second hydraulic pump 3 and a torque value Tc smaller than the maximum torque value Tb, and the second hydraulic pump 3 detected by the pressure detection means (pressure sensor 35).
- the maximum torque value Tb is set as the maximum absorption torque Tp2 of the second hydraulic pump 3, and the first detected by the pressure detection means 2
- the maximum suction of the second hydraulic pump 3 To set the maximum torque value Tb is smaller than the torque value Tc as a torque Tp2.
- the first pump torque control means (the subtraction unit 47 of the controller 38) sets the second pump torque control means from the total pump torque value Tr0 that can be consumed by the first hydraulic pump 2 and the second hydraulic pump 3. 2 A value obtained by subtracting the maximum absorption torque Tp2 of the hydraulic pump 3 is set as the maximum absorption torque Tp1 of the first hydraulic pump 2.
- the shuttle valve 24a and the pressure sensor 36 constitute an operation amount detection means for detecting the operation amount of the second operation means (operation lever device 18) for operating the turning motor 7, and the second pump torque control means (controller 38).
- the swing operation pressure corresponding pump torque calculation unit 44 and the maximum value selection unit 45) of the second operation means detected by the operation amount detection means exceed the predetermined values Pca to Pcb and are detected by the pressure detection means.
- FIG. 7 is a view showing an external appearance of a hydraulic excavator on which the hydraulic system shown in FIG. 1 is mounted.
- the hydraulic excavator includes a lower traveling body 100, an upper swing body 101, and a front work machine 102.
- the lower traveling body 100 has left and right crawler traveling devices 103a and 103b, and is driven by left and right traveling motors 104a and 104b.
- the upper turning body 101 is mounted on the lower traveling body 100 so as to be turnable, and is turned by the turning motor 7.
- the front work machine 102 is attached to the front part of the upper swing body 101 so as to be able to be raised and lowered.
- the upper swing body 101 is provided with an engine room 106 and a cabin (operating room) 107.
- the engine room 106 and hydraulic devices such as the first and second hydraulic pumps 2 and 3 and the pilot pump 15 are arranged in the cabin.
- the operation lever devices 16 to 19 and the engine speed command operation device 37 are arranged in 107.
- the front work machine 102 has an articulated structure having a boom 111, an arm 112, and a bucket 113.
- the boom 111 rotates in the vertical direction by expansion and contraction of the boom cylinder 6.
- the bucket 113 is rotated up and down and back and forth by the expansion and contraction of the bucket cylinder 8.
- actuators such as the left and right traveling motors 104a and 104b and their operation systems are omitted.
- the turning operation pressure acts on the tilt control spool 312 a of the second regulator 301 of the second hydraulic pump 3, and the second hydraulic pump 3.
- the turning control valve 13 moves to the left in the figure, so that the circuit from the second hydraulic pump 3 to the tank T is cut off. Pressure oil is sent.
- the upper swing body 101 is stopped and a large inertia load is applied to the swing motor 7, so that the discharge pressure of the second hydraulic pump 3 rapidly increases and is the maximum pressure of the hydraulic pressure supply circuit determined by the relief valve 4. (Relief pressure) is reached.
- the controller 38 executes each calculation in FIG.
- the controller 38 executes the calculation in FIG. 4 from each value of the turning operation pressure and the discharge pressure of the second hydraulic pump 3.
- the turning operation pressure is maximum and the discharge pressure of the second hydraulic pump 3 is lower than the maximum pressure (relief pressure) of the hydraulic supply circuit determined by the relief valve 4, the discharge pressure of the second hydraulic pump 3 And the swing operation pressure corresponding to the pump discharge pressure corresponding pump torque calculation unit 43, the swing operation pressure corresponding pump torque calculation unit 44, and the maximum value selection unit 45 of FIG.
- the control pressure output from the second electromagnetic proportional valve 32 increases the absorption torque of the second hydraulic pump 3 as the discharge pressure of the second hydraulic pump 3 decreases.
- the control of changing the maximum absorption torque of the second hydraulic pump 3 according to the discharge pressure of the second hydraulic pump 3) is performed, and the displacement volume of the second hydraulic pump 3 gradually increases.
- the discharge flow rate of the second hydraulic pump 3 increases, and the necessary flow rate is supplied to the turning motor 7 so as to smoothly turn at a constant speed.
- the turning operation pressure is controlled to tilt the second regulator 301 of the second hydraulic pump 3.
- the boom operating pressure acts on the spool 312a and the boom operating pressure acts on the tilt control spool 212a of the first regulator 201 of the first hydraulic pump 2
- the displacement volume of both the first and second hydraulic pumps 2 and 3 increases.
- the control valve 13 for turning and the control valve 12 for boom move to the left in the figure, respectively, so that the circuit from both the first and second hydraulic pumps 2 and 3 to the tank T is cut off.
- Pressure oil is sent to the boom cylinder 6 and the turning motor 7 through the 13 meter-in throttles.
- the controller 38 executes each calculation in FIG. 4 from each value of the turning operation pressure and the discharge pressure of the second hydraulic pump 3.
- the controller 38 performs an operation of subtracting the maximum absorption torque Tp2 of the second hydraulic pump 3 from the total pump torque Tr0 by the subtracting unit 47, and therefore, the decrease in the maximum absorption torque of the second hydraulic pump 3 is used as the first hydraulic pump 2. As a result, the distribution of the maximum absorption torque of the first and second hydraulic pumps 2 and 3 is changed.
- the control pressure output from the first electromagnetic proportional valve 31 is controlled to increase the maximum absorption torque of the first hydraulic pump 2, and the displacement volume of the first hydraulic pump 2 increases.
- control for distributing the reduced torque of the second hydraulic pump 3 to the first hydraulic pump 2 that drives the boom cylinder 6, which is an actuator other than the swing motor 7 (reduced torque of the second hydraulic pump 3 related to the swing motor 7).
- the control for distributing the reduced torque by the control to the first hydraulic pump 2 related to the actuator other than the swing motor 7) the discharge flow rate of the second hydraulic pump 3 is reduced and the relief flow rate from the relief valve 4 is reduced.
- the boom cylinder speed is increased, and composite operability and work efficiency are improved.
- the controller 38 executes the calculation in FIG. 4 from each value of the turning operation pressure and the discharge pressure of the second hydraulic pump 3.
- the turning operation pressure is maximum and the discharge pressure of the second hydraulic pump 3 is lower than the maximum pressure (relief pressure) of the hydraulic supply circuit determined by the relief valve 4, the discharge pressure of the second hydraulic pump 3 and Since each of the swing operation pressures becomes maximum, the pump discharge pressure corresponding pump torque calculation unit 43, the swing operation pressure corresponding pump torque calculation unit 44, and the maximum value selection unit 45 in FIG.
- the control pressure output from the second electromagnetic proportional valve 32 is a control result that increases the maximum absorption torque of the second hydraulic pump 3 (the second hydraulic pressure according to the discharge pressure of the second hydraulic pump 3).
- the control of changing the maximum absorption torque of the pump 3) is performed, and the displacement volume of the second hydraulic pump 3 is controlled in the increasing direction.
- a necessary flow rate is supplied to the turning motor 7 so as to smoothly turn at a constant speed.
- the calculation unit 44 and the maximum value selection unit 45 obtain a calculation result that raises the maximum absorption torque of the second hydraulic pump 3 to Tb.
- the control pressure output from the proportional valve 32 is controlled to increase the maximum absorption torque of the second hydraulic pump 3.
- the maximum absorption torque of the second hydraulic pump 3 is controlled to be constant regardless of the change in the discharge pressure of the second hydraulic pump 3, and the speed of the bucket cylinder 8 due to the change of the maximum absorption torque of the second hydraulic pump 3 changes. A change is prevented, and the fall of operativity and workability
- the total pump torque Tr0 calculated by the general pump torque calculating unit 41 of the controller 38 is the maximum value.
- the maximum value Tb set in advance as the assigned maximum pump torque Tp2max of the second hydraulic pump 3 can be fully utilized.
- the total pump torque Tr0 of the controller 38 of the controller 38 is the total pump torque Tr0.
- the minimum value selecting unit 46 A value smaller than the maximum value Tb calculated by the second pump assigned torque calculation unit 42 is selected, and control is performed so as to reduce the maximum absorption torque of the second hydraulic pump 3.
- the maximum absorption torque Tp2 selected by the minimum value selector 46 is subtracted from the value smaller than the maximum value Ta calculated by the overall pump torque calculator 41 to control the first hydraulic pump 2.
- the maximum absorption torque Tp1 for control of the first hydraulic pump 2 is also a small value corresponding to the value calculated by the overall pump torque calculation unit 41, and the maximum absorption torque of the first hydraulic pump 2 is Control to lower.
- the discharge flow rates of the first and second hydraulic pumps 2 and 3 are limited, and fine manipulation work can be performed smoothly.
- the maximum absorption torque of the second hydraulic pump 3 is changed to Tb and Tc according to the discharge pressure of the second hydraulic pump 3.
- the required flow rate is supplied to the turning motor 7 in the acceleration process after turning is started to smoothly reach constant speed turning to improve work efficiency. be able to.
- control for distributing the reduced torque of the second hydraulic pump 3 to the first hydraulic pump 2 related to the actuator other than the turning motor 7 is performed.
- the speed of the machine can be increased, and the combined operability and work efficiency can be improved.
- the control for changing the maximum absorption torque of the second hydraulic pump 3 according to the discharge pressure of the second hydraulic pump 3 and the second hydraulic pump 3 Since the control to distribute the reduced torque to the first hydraulic pump 2 related to the actuator other than the swing motor 7 is performed, the maximum absorption torque of the second hydraulic pump 3 changes during the operation of driving the actuator other than the swing motor 7. It is possible to prevent a change in the speed of the actuator due to the above, and to avoid a decrease in operability and workability.
- the maximum absorption torque of the first and second hydraulic pumps 2 and 3 is controlled so that the discharge flow rates of the first and second hydraulic pumps 2 and 3 are reduced. Is limited, and fine manipulation can be performed smoothly.
- the hydraulic system has the first and second hydraulic pumps 2 and 3 as the main pump.
- a third system is used.
- the first and second hydraulic pumps are each one hydraulic pump, at least one of the hydraulic pumps may be two hydraulic pumps controlled at full horsepower. Even when the number of hydraulic pumps is changed in this way, the same effect as in the above embodiment can be obtained.
- the controller 38 is provided with the maximum value selection unit 45, and the maximum value of the output of the pump discharge pressure corresponding pump torque calculation unit 43 and the output of the turning operation pressure compatible pump torque calculation unit 44 is selected.
- the purpose of installing the turning operation pressure corresponding pump torque calculating unit 44 and the maximum value selecting unit 45 is that the second operation according to the discharge pressure of the second hydraulic pump 3 is performed only when the operation lever of the turning operation lever device 18 is operated. Since the control to change the maximum absorption torque of the hydraulic pump 3 is performed, a calculation unit that outputs an ON signal when the swing operation pressure becomes a predetermined value or more instead of the swing operation pressure corresponding pump torque calculation unit 44.
- a switch unit that is switched by the ON signal is provided, and the swing operation pressure corresponding pump torque calculation unit 44 and the minimum value selection unit 46 are switched. It may be connected via the part.
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Abstract
Description
<全体構成>
図1は、本発明の一実施の形態によるポンプ制御装置を備えた油圧システムの油圧回路図である。本実施の形態に係わる油圧システムは、原動機例えばディーゼルエンジン(以下、単にエンジンという)1と、このエンジン1によって駆動される可変容量型の複数の油圧ポンプ、例えば第1及び第2油圧ポンプ2,3と、第1及び第2油圧ポンプ2,3から吐出される圧油の最大圧力(油圧供給回路の最大圧力)を決定するリリーフ弁4と、第1及び第2油圧ポンプ2,3から吐出された圧油により駆動されるアームシリンダ5、ブームシリンダ6、旋回モータ7、バケットシリンダ8を含む複数のアクチュエータと、第1及び第2油圧ポンプ2,3からアームシリンダ5、ブームシリンダ6、旋回モータ7、バケットシリンダ8に供給される圧油の流量及び方向を制御するコントロールバルブ11~14を含む複数のコントロールバルブと、エンジン1によって駆動されるパイロットポンプ15と、パイロットポンプ15からの吐出油に基づいてコントロールバルブ11~14を操作するための制御パイロット圧を生成する操作レバー装置16~19とを備えている。
<ポンプレギュレータ>
図2は、図1に示した油圧システムの第1及び第2レギュレータ201,301の拡大図である。
<ポンプ制御装置>
図3は、以上のような油圧システムに設けられた本実施の形態によるポンプ制御装置の全体構成を示す図である。本実施の形態のポンプ制御装置は、第2油圧ポンプ3の吐出ライン3aに接続され、第2油圧ポンプ3の吐出圧力を検出する圧力センサ35と、シャトル弁24aの出力側に接続され、操作レバー装置18が生成する制御パイロット圧を旋回操作圧力として検出する圧力センサ36と、エンジンコントロールダイヤル等のエンジン回転数指令操作装置37と、コントローラ38と、コントローラ38から出力される制御電流により作動する上述した第1及び第2電磁比例弁31,32とを有している。コントローラ38は、圧力センサ35,36からの検出信号とエンジン回転数指令操作装置37からの指令信号を入力し、所定の演算処理を行い、第1及び第2電磁比例弁31,32に制御電流を出力することにより、ポンプトルク制御弁213,313を制御し、第1及び第2油圧ポンプ2,3の最大吸収トルクを制御する。
<コントローラ>
図4は、コントローラ38の処理内容を示す機能ブロック図である。コントローラ38は、全体ポンプトルク演算部41、第2ポンプ割り当てトルク演算部42、ポンプ吐出圧力対応ポンプトルク演算部43、旋回操作圧対応ポンプトルク演算部44、最大値選択部45、最小値選択部46、減算部47、第1トルク制御圧力演算部48、第2トルク制御圧力演算部49の各演算機能を有している。
<油圧ショベル>
図7は、図1に示した油圧システムを搭載した油圧ショベルの外観を示す図である。油圧ショベルは下部走行体100と上部旋回体101とフロント作業機102を備えている。下部走行体100は左右のクローラ式走行装置103a,103bを有し、左右の走行モータ104a,104bにより駆動される。上部旋回体101は下部走行体100上に旋回可能に搭載され、旋回モータ7により旋回駆動される。フロント作業機102は上部旋回体101の前部に俯仰可能に取り付けられている。上部旋回体101にはエンジンルーム106、キャビン(運転室)107が備えられ、エンジンルーム106にエンジン1や第1及び第2油圧ポンプ2,3、パイロットポンプ15等の油圧機器が配置され、キャビン107内には上記操作レバー装置16~19やエンジン回転数指令操作装置37が配置されている。
<動作>
<旋回単独操作>
まず、旋回単独操作時の動作について説明する。
<旋回とブーム上げの複合操作>
次に、旋回とブーム上げの複合操作時の動作について説明する。
<旋回とブーム下げ、旋回とアームの複合操作>
以上に旋回とブーム上げの複合操作時における動作を述べたが、旋回とブーム下げの複合操作、旋回とアームの複合操作を行ったときも同様の動作になる。
<バケットの単独操作、或いはブーム又はアームとバケットの複合操作>
第2油圧ポンプ3に係わるアクチュエータのうち、旋回モータ7以外のアクチュエータであるバケットシリンダ8を駆動する操作時の動作について説明する。
<目標回転数Nrの変更>
エンジン回転数指令操作装置37によって指令されたエンジン1の目標回転数Nrが定格の最大回転数付近にあるときは、コントローラ38の全体ポンプトルク演算部41で演算される全体ポンプトルクTr0は最大値Taであり、第2ポンプ割り当てトルク演算部42で演算される第2油圧ポンプ3の割り当て最大ポンプトルクTp2maxは最大値Tb(Tb=Ta/2)である。したがって、コントローラ38の最小値選択部46では、ポンプ吐出圧力対応ポンプトルク演算部43、旋回操作圧対応ポンプトルク演算部44、最大値選択部45により演算された吸収トルクが最大値Tbであるときを含め、その値がそのまま選択される演算結果となり、上述した動作において、第2油圧ポンプ3の割り当て最大ポンプトルクTp2maxとして事前に設定した最大値Tbをフルに活用することができる。
<効果>
以上のように本実施の形態によれば、旋回起動時は、第2油圧ポンプ3の吐出圧力に応じて第2油圧ポンプ3の最大吸収トルクをTbとTcとに変更する制御を行うことにより、旋回起動時のリリーフによるエネルギーロスを減らしエネルギー効率を向上するとともに、旋回起動後の加速過程では必要な流量を旋回モータ7に供給してスムーズに等速旋回に到達させ、作業効率を向上することができる。
2 第1油圧ポンプ
3 第2油圧ポンプ
4 リリーフ弁
5 アームシリンダ
6 ブームシリンダ
7 旋回モータ
8 バケットシリンダ
11~14 コントロールバルブ
15 パイロットポンプ
16~19 操作レバー装置
21,22 センタバイパスライン
23a,23b,23c シャトル弁
24a,24b,24c シャトル弁
31 第1電磁比例弁
32 第2電磁比例弁
35 圧力センサ
36 圧力センサ
37 エンジン回転数指令操作装置
38 コントローラ
41 全体ポンプトルク演算部
42 第2ポンプ割り当てトルク演算部
43 ポンプ吐出圧力対応ポンプトルク演算部
44 旋回操作圧対応ポンプトルク演算部
45 最大値選択部
46 最小値選択部
47 減算部
48 第1トルク制御圧力演算部
49 第2トルク制御圧力演算部
100 下部走行体
101 上部旋回体
102 フロント作業機
103a,103b クローラ式走行装置
104a,104b 左右走行モータ
106 エンジンルーム
107 キャビン
111 ブーム
112 アーム
113 バケット
201 第1レギュレータ
211 傾転制御アクチュエータ
211a 制御ピストン
211b,211c 受圧室
212 ポンプ流量制御弁
212a 流量制御スプール
212b バネ
212c 受圧室
213 ポンプトルク制御弁
213a トルク制御スプール
213b バネ
213c PQ制御受圧室
213d 減トルク制御受圧室
215~219,221,222 油路
301 第2レギュレータ
311 傾転制御アクチュエータ
311a 制御ピストン
311b,311c 受圧室
312 ポンプ流量制御弁
312a 流量制御スプール
312b バネ
312c 受圧室
313 ポンプトルク制御弁
313a トルク制御スプール
313b バネ
313c PQ制御受圧室
313d 減トルク制御受圧室
315~317,319,321,322 油路
Claims (3)
- 原動機によって駆動される可変容量型の第1及び第2油圧ポンプと、前記第1油圧ポンプから吐出された圧油により駆動され、油圧ショベルのブームを駆動するブームシリンダを含む複数のアクチュエータと、前記第2油圧ポンプから吐出された圧油により駆動され、油圧ショベルの上部旋回体を駆動する旋回モータを含む複数のアクチュエータと、前記ブームシリンダ及び旋回モータをそれぞれ操作する第1及び第2操作手段を含む複数の操作手段と、前記第1及び第2油圧ポンプから吐出される圧油の最大圧力を決定するリリーフ弁とを備える油圧システムのポンプ制御装置において、
前記第2油圧ポンプの吐出圧力を検出する圧力検出手段と、
前記第1油圧ポンプの最大吸収トルクを設定し、前記第1油圧ポンプの吸収トルクがその最大吸収トルクを超えないよう前記第1油圧ポンプの押しのけ容積を制御する第1ポンプトルク制御手段と、
前記第2油圧ポンプの最大吸収トルクを設定し、前記第2油圧ポンプの吸収トルクがその最大吸収トルクを超えないよう前記第2油圧ポンプの押しのけ容積を制御する第2ポンプトルク制御手段とを備え、
前記第2ポンプトルク制御手段は、前記第2油圧ポンプで消費可能な最大トルク値とこの最大トルク値より小さいトルク値が予め設定されており、前記圧力検出手段で検出した前記第2油圧ポンプの吐出圧力が、前記リリーフ弁が決定する最大圧力に達しない所定の圧力より低いときは前記第2油圧ポンプの最大吸収トルクとして前記最大トルク値を設定し、前記圧力検出手段で検出した前記第2油圧ポンプの吐出圧力が、前記リリーフ弁が決定する最大圧力まで上昇したときは、前記第2油圧ポンプの最大吸収トルクとして前記最大トルク値より小さいトルク値を設定することを特徴とする油圧システムのポンプ制御装置。 - 請求項1記載の油圧システムのポンプ制御装置において、
前記第1ポンプトルク制御手段は、前記第1油圧ポンプと前記第2油圧ポンプとで消費可能な全体ポンプトルク値から前記第2ポンプトルク制御手段に設定した前記第2油圧ポンプの最大吸収トルクを差し引いた値を前記第1油圧ポンプの最大吸収トルクとして設定することを特徴とする油圧システムのポンプ制御装置。 - 請求項1又は2記載の油圧システムのポンプ制御装置において、
前記旋回モータを操作する第2操作手段の操作量を検出する操作量検出手段を更に備え、
前記第2ポンプトルク制御手段は、前記操作量検出手段で検出した第2操作手段の操作量が所定の値を超えかつ前記圧力検出手段で検出した前記第2油圧ポンプの吐出圧力が、前記リリーフ弁が決定する最大圧力まで上昇したときに、前記第2油圧ポンプの最大吸収トルクとして前記最大トルク値より小さいトルク値を設定し、前記操作量検出手段で検出した第2操作手段の操作量が所定の値以下であるときは、前記圧力検出手段で検出した前記第2油圧ポンプの吐出圧力如何に係わらず、前記第2油圧ポンプの最大吸収トルクとして前記最大トルク値を設定することを特徴とする油圧システムのポンプ制御装置。
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