WO2011114974A1 - 建設車両の作業機の制御装置及び制御方法 - Google Patents
建設車両の作業機の制御装置及び制御方法 Download PDFInfo
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- WO2011114974A1 WO2011114974A1 PCT/JP2011/055574 JP2011055574W WO2011114974A1 WO 2011114974 A1 WO2011114974 A1 WO 2011114974A1 JP 2011055574 W JP2011055574 W JP 2011055574W WO 2011114974 A1 WO2011114974 A1 WO 2011114974A1
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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
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
- E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
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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
- E02F9/2004—Control mechanisms, e.g. control levers
- E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
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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
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/046—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member
- F15B11/048—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member with deceleration control
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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
- F15B2211/20—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
-
- 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
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
-
- 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
- F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
-
- 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
- F15B2211/665—Methods of control using electronic components
- F15B2211/6656—Closed loop control, i.e. control using feedback
-
- 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
- F15B2211/665—Methods of control using electronic components
- F15B2211/6657—Open loop control, i.e. control without feedback
-
- 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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/755—Control of acceleration or deceleration of the output member
-
- 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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/765—Control of position or angle of the output member
- F15B2211/7656—Control of position or angle of the output member with continuous position control
-
- 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
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/85—Control during special operating conditions
- F15B2211/853—Control during special operating conditions during stopping
-
- 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
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/86—Control during or prevention of abnormal conditions
- F15B2211/8606—Control during or prevention of abnormal conditions the abnormal condition being a shock
Definitions
- the present invention relates to a control device and a control method for a construction machine working machine.
- a wheel loader as an example of a construction vehicle excavates, for example, by rushing a bucket into a mountain such as earth and sand while the bucket is horizontal with respect to the ground. Therefore, it is important to make the bucket horizontal. Therefore, a technique has been proposed in which the bucket angle can be kept within a certain range by controlling the cylinder length of the bucket cylinder (Patent Document 1).
- the ground angle of the bucket when the boom is lowered and the bucket is grounded is maintained at a desired value.
- the flow rate of the hydraulic oil supplied to the bucket cylinder is gradually reduced, and the cylinder length is stopped at the target value.
- the amount of hydraulic oil supplied to the bucket cylinder is controlled by an open loop, so that the accuracy of the stop position is low. If the operation of the bucket cylinder is stopped at the moment when the cylinder length reaches the target value in order to increase the accuracy, a stop shock is generated. Furthermore, when trying to control the position using feedback control, a hunting phenomenon may occur near the target value.
- An object of the present invention is to provide a control device and a control method for a working machine for a construction vehicle that can alleviate a shock when the hydraulic cylinder is stopped and can increase the stopping accuracy of the hydraulic cylinder. is there.
- Another object of the present invention is to provide a working machine for a construction vehicle in which feedback control and open loop control can be properly used, and the position of the hydraulic cylinder can be controlled in consideration of a load applied to the hydraulic cylinder.
- the present invention provides a control device and a control method. Further objects of the present invention will become clear from the description of the embodiments described later.
- a control device is a control device for controlling a cylinder length of a predetermined hydraulic cylinder used in a work machine of a construction vehicle, and detects a cylinder length of the predetermined hydraulic cylinder.
- a detection unit and a cylinder length control unit that controls the cylinder length of a predetermined hydraulic cylinder, and the cylinder length is a set value that is set before the target value after a start instruction that instructs the start of control is input.
- the cylinder length is feedback-controlled by supplying hydraulic oil to a predetermined hydraulic cylinder based on the preset control characteristics and the cylinder length detected by the cylinder length detector.
- hydraulic oil is supplied to a predetermined hydraulic cylinder while decreasing the control signal at a predetermined rate. Accordingly, open-loop control of the cylinder length, and a cylinder length control unit.
- the cylinder length is feedback-controlled in the first region relatively far from the target value, and the cylinder length is open-loop controlled in the second region relatively close to the target value.
- the cylinder length can be accurately stopped at the target value, and the shock at the time of stop can be reduced.
- control characteristics include a first control characteristic used when the cylinder length at the start of control is equal to or less than the control threshold, and the cylinder length at the start of control exceeds the control threshold.
- the cylinder length control unit performs feedback control based on the first control characteristic when the cylinder length when the start instruction is input is equal to or less than the control threshold value.
- feedback control is performed based on the second control characteristic.
- the predetermined ratio includes a first ratio corresponding to the first control characteristic and a second ratio corresponding to the second control characteristic.
- the second area uses the first ratio to perform open loop control of the hydraulic oil supplied to the predetermined hydraulic cylinder, and the second control characteristic is used in the first area.
- the hydraulic oil supplied to the predetermined hydraulic cylinder is subjected to open loop control using the second ratio in the second region.
- FIG. 1 is an explanatory diagram showing an overall outline of the present embodiment.
- FIG. 2 is an enlarged side view showing the working machine.
- FIG. 3 is a hydraulic circuit of the bucket cylinder.
- FIG. 4 shows a table for obtaining the bucket cylinder length.
- FIG. 5 shows control characteristics for controlling the bucket cylinder length.
- FIG. 6 is a flowchart of the detent control process.
- FIG. 7 is a flowchart of bucket attitude control processing.
- FIG. 8 relates to the second embodiment and is a block showing the configuration of the controller and the like.
- FIG. 9 is a graph showing how the load on the bucket cylinder changes according to the boom angle.
- FIG. 10 is a flowchart of the bucket attitude control process.
- FIG. 11 shows a table for adjusting the correction amount according to the load of the bucket cylinder.
- FIG. 12 is a flowchart illustrating a bucket attitude control process according to the fourth embodiment.
- FIG. 1 shows an outline of the present embodiment.
- the wheel loader 10 includes a vehicle body 11, wheels 12 attached to the front, rear, left and right of the vehicle body 11, a machine room 13 provided at the rear part of the vehicle body 11, a work implement 14 provided at the front part of the vehicle body 11, and the center of the vehicle body 11. And a cab 15 provided in the section.
- the cab 15 is provided with a controller 100 that controls the wheel loader 10 and an operation lever device 16 that operates the work implement 14.
- the work implement 14 includes a boom 20 that is pivotably provided so as to extend forward from the front portion of the vehicle body 11, a bucket 30 that is pivotally provided on the distal end side of the boom 20, and the boom 20 is pivoted up and down.
- the center portion 32 ⁇ / b> C of the bell crank 32 is rotatably supported at the center of the boom 20, and one end portion 32 ⁇ / b> A of the bell crank 32 is a cylinder of the bucket cylinder 31.
- the other end 32B of the bell crank 32 is rotatably attached to the rear part of the bucket 30 via a tilt rod.
- the expansion / contraction force of the bucket cylinder 31 is converted into rotational motion by the bell crank 32 and transmitted to the bucket 30.
- One mounting portion 20A of the boom 20 is rotatably attached to the front portion of the vehicle body 11, and the other mounting portion 20B of the boom 20 is rotatably attached to the rear portion of the bucket 30.
- the tip of the cylinder rod 21A of the boom cylinder 21 is rotatably attached to the central attachment portion 20C of the boom 20.
- the boom angle sensor 22 is provided, for example, on one mounting portion 20 ⁇ / b> A of the boom 20, detects the boom angle ⁇ a between the center line of the boom 20 and the horizontal line H, and detects the detection signal. Is output.
- the center line of the boom 20 is a line that connects one attachment portion 20A of the boom 20 and the other attachment portion 20B.
- the bell crank angle sensor 33 is provided at the center portion 32C of the bell crank 32, and detects the bell crank angle ⁇ b between the line connecting one end 32A of the bell crank 32 and the center 32C and the center line of the boom 20. And outputs a detection signal.
- the controller 100 can be configured as a computer system including a microprocessor, a memory, an input / output circuit, and the like.
- the controller 100 includes, for example, a bucket cylinder length detection unit 101, a bucket cylinder length table 102, a bucket attitude control unit 103, and a cylinder length control table 104.
- the bucket cylinder length detection unit 101 calculates the current bucket cylinder length Lc by referring to the bucket cylinder length table 102 based on, for example, the boom angle ⁇ a and the bell crank angle ⁇ b.
- the configuration of the bucket cylinder length table 102 will be described later with reference to FIG.
- the bucket cylinder length detector 101 can also detect the bucket cylinder length by a method other than the method using the boom angle ⁇ a and the bell crank angle ⁇ b. For example, a configuration in which a sensor for directly measuring the bucket cylinder length may be provided.
- the bucket attitude control unit 103 as a “cylinder length control unit” refers to the cylinder length control table 104 based on the detected cylinder length and outputs a control signal to the direction control valve 202.
- a setting button 16A and a bucket lever 16B are connected to the bucket attitude control unit 103.
- the discharge amount of the hydraulic pump 201 (pump oil amount 201A) is also input to the bucket posture control unit 103.
- the bucket attitude control unit 103 is configured to output a control signal to the detent mechanism 16C.
- FIG. 3 is a circuit diagram showing the hydraulic control circuit 200.
- the circuit relating to the bucket cylinder 31 is mainly shown.
- a circuit for operating the boom cylinder 21 is also included in the hydraulic control circuit 200.
- the hydraulic control circuit 200 includes, for example, a swash plate type hydraulic pump 201, a direction control valve 202, and a relief valve 203.
- the discharge pressure of the hydraulic pump 201 is detected by the pressure sensor 204 and transmitted to the controller 100.
- the direction control valve 202 is configured as a 2-port 3-position switching valve, for example.
- the directional control valve 202 is controlled in its switching position and opening area in accordance with a control signal (current value) given to solenoids positioned on the left and right of the directional control valve 202 in FIG.
- a control signal current value
- the direction control valve 202 is switched to the position (a)
- the hydraulic oil discharged from the hydraulic pump 201 is supplied to the oil chamber on the top side of the bucket cylinder 31 located on the right side in FIG.
- the cylinder rod 31 ⁇ / b> A contracts and a force in the dumping direction acts on the bucket 30.
- the operating lever device 16 is provided in the cab 15 and is operated by an operator.
- the operation signal is transmitted to the controller 100.
- the controller 100 adjusts the amount of hydraulic oil supplied to the bucket cylinder 31 by controlling the switching position and opening area of the direction control valve 202 in accordance with an operation signal from the operation lever device 16.
- the detent mechanism 16C in the operation lever device 16 is activated to fix the operation position of the operation lever 16B.
- the operation lever device 16 is provided with a setting button 16A for setting a target value of the cylinder length of the bucket cylinder 31.
- the setting button 16A By operating the setting button 16A, the operator can set the angle of the bucket 30 with respect to the horizontal plane at the time of ground contact to an arbitrary value between ⁇ 5 degrees and +5 degrees, for example. Then, the operator can store the stop position of the bucket 30 by pressing the setting button 16A.
- the bucket cylinder length table 102 is a table used for obtaining the cylinder length Lc of the bucket cylinder 31.
- cylinder lengths for respective combinations of a plurality of reference boom angles and a plurality of reference bell crank angles are registered in advance.
- the reference boom angle is a boom angle that is set in advance within a predetermined angle range represented by the output value of the boom angle sensor 22 determined by design. For example, from the boom angle (lower limit angle, for example, ⁇ 50 degrees) when the boom 20 is in the bottom position (the boom cylinder 21 is mechanically most contracted), the boom 20 is in the top position (the boom cylinder 21 is mechanically
- the reference boom angle is set in increments of 5 degrees within a range up to a boom angle (upper limit angle, for example, 50 degrees).
- the reference bell crank angle is set in advance within a range from another lower limit angle (for example, 0 degree) represented by the output value of the bell crank angle sensor 33 determined by design to another upper limit angle (for example, 65 degree). It is a bell crank angle.
- the reference bell crank angle is set, for example, in increments of 5 degrees in the range from the lower limit value to the intermediate value (for example, 25 degrees), and is set, for example, in increments of 3 degrees in the region from the intermediate value to the upper limit value. In the vicinity of the upper limit value, the reference bell crank angle is set in increments of 4 degrees or 5 degrees. That is, the reference bell crank angle is set more finely in the region where the bucket 30 is located near the horizontal.
- the bucket cylinder length Lc is set in advance corresponding to the combination of each reference boom angle and each reference bell crank angle. Therefore, if the boom angle ⁇ a and the bell crank angle ⁇ b are known, the bucket cylinder length Lc can be calculated from the bucket cylinder length table 102 by performing an interpolation calculation.
- the bucket 30 is horizontal when the boom angle ⁇ a is ⁇ 40 degrees and the bell crank angle ⁇ b is 46 degrees in an ideal state with no manufacturing errors and sensor errors.
- the reference cylinder length in this embodiment is 2056 mm.
- the ideal state means a case where the boom angle sensor 22 and the bell crank angle sensor 33 output signals according to the design specifications, and there is no manufacturing error or assembly error in the work machine 14 or the like. To do. In the following, it is expressed in the form of (boom angle ⁇ a, bell crank angle ⁇ b, bucket cylinder length Lc).
- the bucket 30 becomes horizontal when the bucket 30 is grounded.
- the cylinder length Lc can be obtained.
- FIG. 5 is an explanatory diagram showing control characteristics for setting the bucket cylinder length Lc to the target value Ls1.
- the horizontal axis indicates the cylinder length of the bucket cylinder 31, and the vertical axis indicates the ratio of the control signal output to the direction control valve 202 for operating the bucket cylinder 31 to the tilt side.
- FIG. 5A shows the first control characteristic 104A
- FIG. 5B shows the second control characteristic 104B.
- the first control characteristic 104A is shown as a first table
- the second control characteristic 104B is shown as a second table.
- the current value input to the proportional solenoid of the directional control valve 202 is expressed as a control signal.
- the set value L1 is set before ⁇ L1 of the target value Ls1.
- the set value L1 is a target value in feedback control. Therefore, for example, Ls1 can be called “final target value”, and L1 can be called “feedback control target value” or “intermediate target value”.
- a control threshold L2 is provided before ⁇ L2 of the set value L1.
- the control threshold L2 is used to determine which of the first control characteristic 104A illustrated in FIG. 5A and the second control characteristic 104B illustrated in FIG.
- Detent release point P1 is set at a position ahead of control threshold L2 by ⁇ L3.
- the detent release point P1 is a position where the fixation by the electromagnet of the detent mechanism 16C included in the bucket lever 16B is released.
- the specific value Ls1 can be set to 2056 mm, the set value L1 to 2050 mm, the control threshold L2 to 1970 mm, ⁇ L1 to 6 mm, and ⁇ L2 to 80 mm.
- P1 is set slightly longer than L2 by about several mm.
- bucket attitude control is started.
- Operating the bucket lever 16B by a predetermined amount Th1 or more corresponds to “input of start instruction”.
- the cylinder length of the bucket cylinder 31 is controlled in accordance with the operation of the bucket lever 16B by the operator.
- operating the bucket lever 16B by a predetermined amount Th1 or more also serves as an instruction to start detent.
- a plurality of control methods are switched according to the bucket cylinder length.
- One control method is feedback control
- the other control method is open loop control. Feedback control is performed in the first region until the cylinder length reaches the set value L1 from the control threshold L2. In the second region until the cylinder length reaches the target value Ls1 from the set value L1, open loop control is performed.
- the magnitude of the control signal output to the direction control valve 202 is controlled according to the detected bucket cylinder length. That is, the control signal to the direction control valve 202 is controlled so that the valve opening area of the direction control valve 202 decreases according to the characteristic indicated by the solid line. Specifically, the characteristic indicated by the solid line in the first region of FIG. 5 is stored in the cylinder length control table 104, and a control signal according to the characteristic is output to the directional control valve 202. The magnitude of the control signal when the bucket cylinder length reaches the set value L1 is V1.
- the bucket cylinder length is changed from the set value L1 to the target value Ls1 by decreasing the control signal when the set value L1 is reached from V1 to 0% at a constant rate.
- the reduction rate is set in advance so that the control signal becomes 0%.
- the timing for decreasing the control signal at a constant rate is determined based on a signal from a clock (not shown) in the controller 100. As a result, when a predetermined time elapses, the control signal becomes 0%.
- the first control characteristic 104A will be described.
- the first control characteristic 104A When the bucket cylinder length Lc at the start of control is less than the control threshold L2 (Lc ⁇ L2), the first control characteristic 104A is selected. Since the bucket cylinder length at the start of the control is short and the distance to the set value L1 that is the target value of the feedback control is long, the control signal is lowered relatively slowly from 100% of the maximum value to V1.
- the second control characteristic 104B will be described.
- the second control characteristic 104B is selected.
- the second control characteristic 104B has a larger control signal in the first half (the range less than L4 in FIG. 5B) and the second half (the range from L4 to Ls1).
- the control signal is set to be small.
- the control signal is decreased to V2 ( ⁇ V1) after maintaining V3, which is a value smaller than 100%, for a predetermined period.
- the gradient for decreasing the control signal from V3 to V2 is larger than the gradient for decreasing the control signal from 100% to V1 in the first control characteristic 104A.
- the second control characteristic 104B is set so that the moving speed (extension speed) of the bucket cylinder length is faster than the moving speed of the first control characteristic 104A in the first half of the feedback control.
- the bucket cylinder length can be changed with a sense of speed, and the feeling of operation can be improved.
- the control signal is lowered from the first control characteristic 104A, so that the moving speed of the bucket cylinder length is reduced to reach the set value L1.
- FIG. 6 is a flowchart of the detent control process.
- the bucket lever 16B is fixed by an electromagnet provided in the detent mechanism 16C by a signal from the controller 100.
- the temporary fixing of the bucket lever 16B is called detent.
- the controller 100 determines whether or not the current bucket cylinder length Lc is in front of the detent release position P1 (Lc ⁇ P1) (S10). As described above, the detent release position P1 is set slightly larger than the control threshold L2.
- the controller 100 determines whether or not the operation amount of the bucket lever 16B is equal to or greater than the threshold value Th1 (S11).
- the controller 100 When the operation amount of the bucket lever 16B is equal to or greater than the threshold Th1 (S11: YES), the controller 100 energizes the electromagnet of the detent mechanism 16C and fixes the bucket lever 16B (S12). On the other hand, when the bucket cylinder length Lc is larger than the detent release position P1 (S10: NO), or when the operation amount of the bucket lever 16B is less than the threshold Th1 (S11: NO), Detent is not performed (S13). When it is determined NO in either S10 or S11, the detent that has already been performed is also released (S13).
- the bucket lever 16B is fixed only when the bucket cylinder length is shorter than P1 and the bucket lever 16B is operated Th1 or more. Therefore, when the first control characteristic 104A shown in FIG. 5A is selected, the detent control is turned on. This is because the bucket cylinder length at the start of control is smaller than P1. On the other hand, when the second control characteristic 104B shown in FIG. 5B is selected, the detent control is turned off. This is because the bucket cylinder length at the start of control is larger than P1.
- FIG. 7 is a flowchart showing a process for controlling the bucket attitude.
- the controller 100 determines whether or not the operation amount LO of the bucket lever 16B is equal to or greater than the threshold value Th1 (S20).
- the threshold value Th1 is set to about 90%, for example. However, it is not limited to the value.
- the controller 100 ends the automatic control of the bucket leveling and shifts to a manual operation according to the operation amount of the bucket lever 16B.
- the controller 100 determines whether or not the current bucket cylinder length Lc is less than the target value Ls1 (S21). When the current bucket cylinder length Lc is equal to or greater than the target value Ls1 (S21: NO), the automatic control of the bucket leveling is not performed and the process proceeds to manual operation as described above. When the operation amount LO of the bucket lever 16B is less than the target value Ls1 (S21: YES), the controller 100 determines whether the current bucket cylinder length Lc is less than the control threshold L2 (S22).
- the controller 100 sets the control output to 100% (S23). If it is determined YES in S22, the position of the bucket lever 16B is fixed by the electromagnet by the detent process shown in FIG. Therefore, the control signal is 100%. As a result, hydraulic oil is supplied to the bottom side of the bucket cylinder 31, the cylinder rod 31A extends, and the bucket cylinder length Lc increases.
- the controller 100 determines whether or not the bucket cylinder length Lc has reached L2 (S24).
- the controller 100 starts feedback control according to the first control characteristic 104A (first table) (S25).
- the bucket cylinder length Lc gradually increases and approaches the set value L1 while decreasing the extension speed.
- Controller 100 determines whether or not the detent is turned off (S26). For example, in the processing shown in FIG. 6, if a flag for managing the on / off state of the detent is set, it is possible to determine whether or not the detent is in the off state by referring to the flag.
- the controller 100 determines whether or not the operation amount LO of the bucket lever 16B is equal to or less than the threshold Th2 (S27).
- the threshold value Th2 is a neutral determination threshold value for determining whether or not the bucket lever 16B is in the neutral position.
- the threshold value Th2 is set to about 5% control output, for example.
- the controller 100 determines whether or not the bucket cylinder length Lc has reached the set value L1 (S28). When the bucket cylinder length Lc reaches the set value L1 (S28: YES), the controller 100 ends the feedback control and shifts to the open loop control (S29). The controller 100 extends the bucket cylinder length Lc toward the target value Ls1 by lowering the control signal at a preset first ratio (S29). When the control signal becomes 0%, S29 ends, and this process also ends. The feedback control in S25 is continued until the bucket cylinder length Lc reaches the set value L1 (S28: NO, S25).
- the controller 100 waits until the elapsed time after the detent is turned off reaches a predetermined time PT (S30).
- the predetermined time PT is set to a value of about 100 ms, for example. However, it is not limited to the value. If the lever operation amount LO still exceeds the neutrality determination threshold value L2 even after the predetermined time PT has elapsed after the detent is turned off (S30: YES), this process ends and the process proceeds to manual operation.
- the controller 100 determines that the bucket lever 16B is operated by the operator's intention.
- the direction control valve 202 is controlled according to the operation of the bucket lever 16B.
- the controller 100 performs feedback control until the bucket cylinder length Lc reaches the set value L1 according to the second control characteristic 104B (second table) (S31).
- the controller 100 determines whether or not the operation amount LO of the bucket lever 16B is equal to or less than the threshold value Th2 (S32).
- the operation amount LO of the bucket lever 16B is equal to or less than the threshold value Th2 (S32: YES)
- Feedback control is performed until the bucket cylinder length Lc reaches the set value L1 (S33: NO, S31).
- the controller 100 reduces the control signal by a second ratio associated with the second control characteristic 104B, thereby setting the bucket cylinder length Lc to the target. It is expanded toward the value Ls1 (S34).
- the control signal becomes 0%, S34 ends, and this processing is also ended.
- the controller 100 determines whether or not the predetermined time PT has passed (S35). The controller 100 performs feedback control until the predetermined time PT has elapsed (S35: NO, S31). If the operation amount LO of the bucket lever 16B still exceeds the threshold value Th2 even after the predetermined time PT has elapsed (S35: YES), the feedback control in S31 is terminated and the process proceeds to manual operation.
- the predetermined time PT of S30 is an elapsed time after the bucket cylinder length Lc passes the control threshold L2, In addition, it may be set as a time sufficient for releasing the detent (for example, about 150 ms). In this case, the determination step of S26 can be omitted. As described above, there may be a plurality of timings at which the measurement of the predetermined time PT is started, and a plurality of values of the predetermined time PT may be set. Any one timing and value is used depending on the situation.
- feedback control is performed until the cylinder length of the bucket cylinder 31 reaches the set value L1, and open loop control is performed after the cylinder length reaches the set value L1.
- the cylinder length is set to the target value Ls1. Therefore, in this embodiment, the cylinder length of the bucket cylinder 31 can be set to the set value without causing hunting and at high speed.
- the stop precision of the bucket cylinder 31 can be made high and the ground angle of the bucket 30 can be controlled with high precision.
- feedback control is performed until the bucket cylinder length sufficiently approaches the target value Ls1, and when the bucket cylinder length approaches the target value Ls1 (Lc ⁇ L1), the feedback control is stopped, Change the bucket cylinder length at a rate. Therefore, the occurrence of hunting due to feedback control can be suppressed, and the stop accuracy can be increased.
- the bucket cylinder length is extended at a constant rate, so that the shock at the time of stop can be alleviated and the operability can be improved.
- either one of the first control characteristic 104A and the second control characteristic 104B is selected according to the bucket cylinder length at the start of control, and feedback control is performed based on the selected control characteristic. . Therefore, operability can be improved. In particular, even when the control is started in a state where the bucket cylinder length is relatively close to the target value, the displacement speed of the bucket cylinder length can be made relatively fast, and the operability for the operator can be improved.
- a second embodiment will be described with reference to FIGS.
- Each of the following embodiments including this embodiment corresponds to a modification of the first embodiment. Therefore, the difference from the first embodiment will be mainly described.
- the control characteristic is selected according to the load applied to the bucket cylinder 31.
- FIG. 8 is a block diagram of the controller 100A. Similar to the controller 100, the controller 100A of this embodiment includes a bucket cylinder length detection unit 101, a cylinder length detection table 102, a bucket attitude control unit 103, and a cylinder length control table 104.
- the controller 100A of this embodiment includes a bucket cylinder load detection unit 105 for detecting the load of the bucket cylinder 31.
- a method for detecting the load on the bucket cylinder 31 will be described later with reference to FIGS.
- the cylinder length control table 104 of the present embodiment includes a first control characteristic 104A (first table) and a second control characteristic 104B (second table), respectively, according to a plurality of load stages of the bucket cylinder 31. ing.
- the first control is performed for each of the load stages “high load 104H”, “medium load 104M”, and “low load 104L”.
- a characteristic 104A and a second control characteristic 104B are prepared.
- the first control characteristic 104A used in the case of the high load 104H is given a code 104HA
- the second control characteristic 104B is given a code 104HB.
- the code 104MA is given to the first control characteristic 104A used in the case of the medium load 104M
- the code 104MB is given to the second control characteristic 104B.
- reference numeral 104LA is given to the first control characteristic 104A used in the case of the low load 104L
- reference numeral 104LB is given to the second control characteristic 104B.
- the first control characteristic 104MA and the second control characteristic 104MB of the medium load are the characteristics shown in FIG. 5
- the first control characteristic 104HA and the second control characteristic 104HB of the high load are more than the case of the medium load.
- the first control characteristic 104LA and the second control characteristic 104LB of low load are set so that the control signal is smaller than that in the case of medium load.
- FIG. 9 is a graph showing the relationship between the attitude of the work implement and the load on the bucket cylinder 31.
- the vertical axis represents the load on the bucket cylinder 31, and the horizontal axis represents the bucket cylinder length.
- FIG. 9 shows the relationship between the bucket cylinder length and the bucket cylinder load for each of the three states, ie, the state where the boom 20 is horizontal, the state where the boom 20 is raised 30 degrees, and the state where the boom 20 is raised to the top position. It is shown.
- the bucket cylinder load detection unit 105 can detect or calculate the load of the bucket cylinder 31 based on the boom angle at the start of control.
- the bucket cylinder load is proportional to the cylinder pressure of the bucket cylinder 31 and the discharge pressure of the pump 201, respectively. Therefore, the bucket cylinder load detection unit 105 can detect the load of the bucket cylinder 31 based on one or both of the cylinder pressure of the bucket cylinder 31 and the discharge pressure of the hydraulic pump 201.
- the bucket cylinder load detection unit 105 can also detect the bucket cylinder load based on the posture of the work implement 14, the cylinder pressure of the bucket cylinder 31, and the discharge pressure of the hydraulic pump 201.
- FIG. 10 is a flowchart of bucket attitude control processing according to this embodiment.
- the controller 100A detects the load of the bucket cylinder 31 (S40), and selects a table set (a set of first control characteristics and second control characteristics) according to the detected load (S41).
- This embodiment configured as described above also has the same effect as the first embodiment. Furthermore, in this embodiment, since the set of control characteristics used for feedback control is switched according to the load on the bucket cylinder 31, the stopping accuracy can be improved as compared with the first embodiment.
- a third embodiment will be described with reference to FIG.
- the control amount of the feedback control is adjusted according to the load of the bucket cylinder 31, but also the “predetermined ratio” used in the open loop control is corrected according to the load of the bucket cylinder 31.
- the first ratio is corrected between S28 and S29 in FIG. 10 based on the bucket cylinder load detected in S40.
- the second ratio is corrected between S33 and S34 in FIG. 10 based on the bucket cylinder load detected in S40.
- the controller 100A extends the bucket cylinder length to the target value Ls1 using the corrected first ratio or second ratio (S29, S34).
- FIG. 11 shows the characteristics of a table for correcting the control amount (first ratio, second ratio) at the time of open loop control according to the bucket cylinder load.
- the vertical axis represents the difference amount (decrease amount) from the control amount before one processing cycle, and the horizontal axis represents the discharge amount of the hydraulic pump 201.
- One processing cycle means a cycle for controlling the control signal, and is set to a value of about 10 msec, for example.
- the amount subtracted from the previous control amount decreases as the load on the bucket cylinder 31 increases, and the amount subtracted from the previous control amount increases as the load on the bucket cylinder 31 decreases.
- This embodiment configured as described above also has the same effect as the first embodiment and the second embodiment. Furthermore, in this embodiment, the control amount during open loop control is corrected according to the bucket cylinder load, so that the stopping accuracy can be further increased.
- a fourth embodiment will be described with reference to FIG.
- a predetermined arithmetic expression shown in the following expression 1 is used (S50, S51).
- y is the control amount
- x is the bucket cylinder length
- xa is the stop target
- m is the bucket cylinder load
- m ' is the time differential value of the bucket cylinder load m.
- a (m, m ') represents a proportional gain
- b (m, m') represents a differential gain
- c (m, m ') represents an integral gain.
- the bucket cylinder length is feedback-controlled based on the above formula 1 (S50, S51).
- the proportional gain, the differential gain, and the integral gain are adjusted according to the load (m) of the bucket cylinder 31 and the load fluctuation amount (m ′).
- m load
- m ′ load fluctuation amount
- PD control proportional control and differential control
- PI control proportional control and integral control
- Equation 1 X aim in Equation 1 corresponds to xa in Equation 1
- m dot in Equation 1 corresponds to m ′ in Equation 1.
- the control amount control signal
- the position x at the start of control is 100, and the control signal is 100% before the start of control.
- “35000” is a bucket cylinder load (reference load) when the boom 20 is horizontal. Therefore, as the current bucket cylinder load increases, the value of (35000 / m) decreases, the denominator of the proportional gain decreases, and the control output increases.
- (M ′ / 10 ⁇ 6 ) is for adjusting the gain according to the variation of the bucket cylinder load. When the boom 20 descends, the bucket cylinder load decreases, and (m ′ / 10 ⁇ 6 ) becomes a negative value. As a result, the denominator of the proportional gain is increased, and the control amount is reduced.
- This embodiment configured as described above also has the same effect as the first embodiment and the second embodiment. Furthermore, in this embodiment, since the control amount of feedback control is calculated based on the arithmetic expression, it is not necessary to prepare a table set. Therefore, memory in the controller can be saved.
- Q is the amount of hydraulic oil flowing into the bucket cylinder 31 (or the estimated flow rate of hydraulic oil supplied to the bucket cylinder 31)
- x0 is the cylinder length of the bucket cylinder 31 at the start of open loop control (that is, L1) and y0 in FIG. 5 are control amounts at the start of the open loop control (that is, V1 or V2 in FIG. 5).
- Formula 3 is a more specific formula shown as Formula 3. For example, when the control amount y0 at the start of the open loop control is 45% and the flow rate of the hydraulic oil supplied to the bucket cylinder 31 is 5000 cc / sec, the control amount is increased by 2.4% for each processing cycle. Reduce.
- control amount for feedback control and the control amount for open loop control are calculated based on the arithmetic expression, so that the stop accuracy can be further improved.
- a first modification of the fourth embodiment will be described.
- the bucket cylinder length is subjected to open loop control in S29 in FIG. 12 according to another predetermined arithmetic expression shown in Expression 2 above.
- the bucket cylinder length is subjected to open loop control in accordance with another predetermined arithmetic expression shown in Expression 2.
- the predetermined decrease rate (first rate) is adjusted according to the load both between S28 and S29 and between S33 and S34 in FIG. That is, the ratio for decreasing the control amount is determined according to the table shown in FIG.
Abstract
Description
(S33:YES)、コントローラ100は、第2制御特性104Bに対応付けられている第2割合で制御信号を低下させることにより、バケットシリンダ長Lcを目標値Ls1に向けて伸長させる(S34)。制御信号が0%になった時点でS34は終了し、本処理も終了する。
Claims (11)
- 建設車両(10)の作業機(14)に使用される所定の油圧シリンダ(31)のシリンダ長を制御するための制御装置(100)であって、
前記所定の油圧シリンダのシリンダ長を検出するシリンダ長検出部(101)と、
前記所定の油圧シリンダのシリンダ長を制御するシリンダ長制御部(103)であって、
(A)前記シリンダ長が、制御の開始を指示する開始指示が入力されてから、目標値(Ls1)の手前に設定される設定値(L1)に到達するまでの第1領域では、予め設定される制御特性(104)と前記シリンダ長検出部により検出されるシリンダ長とに基づいて前記所定の油圧シリンダに作動油を供給することにより、シリンダ長をフィードバック制御し、
(B)前記シリンダ長が前記設定値から前記目標値に到達するまでの第2領域では、所定の割合で制御信号を減少させながら前記所定の油圧シリンダに作動油を供給することにより、シリンダ長をオープンループ制御する、
シリンダ長制御部(103)と、
を備える建設車両の作業機の制御装置。 - 前記制御特性には、制御開始時のシリンダ長が制御閾値(L2)以下の場合に使用される第1制御特性(104A)と、制御開始時のシリンダ長が前記制御閾値を超えている場合に使用される第2制御特性(104B)とが含まれており、
前記シリンダ長制御部は、前記開始指示が入力されたときのシリンダ長が前記制御閾値以下の場合に前記第1制御特性に基づいて前記フィードバック制御を行い、前記開始指示が入力されたときのシリンダ長が前記制御閾値を超えている場合に前記第2制御特性に基づいて前記フィードバック制御を行う、
請求項1に記載の建設車両の作業機の制御装置。 - 前記制御特性には、制御開始時のシリンダ長が制御閾値(L2)以下の場合に使用される第1制御特性(104A)と、制御開始時のシリンダ長が前記制御閾値を超えている場合に使用される第2制御特性(104B)とが含まれており、
前記所定の割合には、前記第1制御特性に対応する第1割合と、前記第2制御特性に対応する第2割合とが含まれており、
前記シリンダ長制御部は、
前記第1領域で前記第1制御特性が使用された場合、前記第2領域では前記第1割合を用いて前記所定の油圧シリンダに供給する作動油をオープンループ制御し、
前記第1領域で前記第2制御特性が使用された場合、前記第2領域では前記第2割合を用いて前記所定の油圧シリンダに供給する作動油をオープンループ制御する、
請求項1に記載の建設車両の作業機の制御装置。 - 前記所定の油圧シリンダに加わる負荷を検出する負荷検出部(105)を備え、
前記シリンダ長制御部は、前記負荷検出部により検出される負荷に応じて、前記フィードバック制御を実行する、
請求項3に記載の建設車両の作業機の制御装置。 - 前記シリンダ長制御部は、前記負荷検出部により検出される負荷に応じて、前記オープンループ制御を実行する、
請求項4に記載の建設車両の作業機の制御装置。 - 前記第1制御特性及び前記第2制御特性は、負荷に応じてそれぞれ複数ずつ用意されており、
前記シリンダ長制御部は、
前記複数の第1制御特性の中から負荷に応じた所定の第1制御特性を選択し、かつ、前記複数の第2制御特性の中から負荷に応じた所定の第2制御特性を選択し、
選択された前記所定の第1制御特性または前記所定の第2制御特性に基づいて、前記フィードバック制御を実行する、
請求項4に記載の建設車両の作業機の制御装置。 - 前記シリンダ長制御部は、前記フィードバック制御の制御量を求めるための第1演算式に含まれる、比例ゲインまたは積分ゲインまたは微分ゲインのうち少なくともいずれか一つまたは複数の値を、前記負荷の値と前記負荷の微分値とに基づいて調整することにより、前記フィードバック制御を実行する、
請求項4に記載の建設車両の作業機の制御装置。 - 前記第1割合と前記第2割合とを、負荷に応じて補正するための補正テーブルをさらに備え、
前記シリンダ長制御部は、前記補正テーブルを使用して前記第1割合または前記第2割合を補正することにより、前記オープンループ制御を実行する、
請求項5に記載の建設車両の作業機の制御装置。 - 前記第1制御特性は、前記所定の油圧シリンダに作動油を供給するための制御弁への制御信号を最大値から第1所定値まで所定の第1特性線に従って連続的に低下させるように設定されており、
前記第2制御特性は、前記第1領域の前半部分の殆どの部分で前記第1特性線よりも大きい制御信号が得られ、かつ、前記第1領域の後半部分では前記第1特性線よりも小さい制御信号が得られるように設定されている、
請求項2に記載の建設車両の作業機の制御装置。 - 建設車両(10)の作業機(14)に使用される所定の油圧シリンダ(31)のシリンダ長を制御するための制御方法であって、
前記所定の油圧シリンダのシリンダ長を検出し、
前記シリンダ長が、制御の開始を指示する開始指示が入力されてから、目標値(Ls1)の手前に設定される設定値(L1)に到達するまでの第1領域では、予め設定される制御特性(104)と検出されるシリンダ長とに基づいて前記所定の油圧シリンダに作動油を供給することにより、シリンダ長をフィードバック制御し、
前記シリンダ長が前記設定値から前記目標値に到達するまでの第2領域では、所定の割合で制御信号を減少させながら前記所定の油圧シリンダに作動油を供給することにより、シリンダ長をオープンループ制御する、
建設車両の作業機の制御方法。 - さらに、前記所定の油圧シリンダに加わる負荷を検出し、
検出される負荷に応じて前記フィードバック制御を実行する、
請求項10に記載の建設車両の作業機の制御方法。
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US20120330515A1 (en) | 2012-12-27 |
EP2505722B1 (en) | 2014-05-14 |
EP2505722A4 (en) | 2013-11-06 |
CN102652200B (zh) | 2014-10-15 |
US8548693B2 (en) | 2013-10-01 |
EP2505722A1 (en) | 2012-10-03 |
CN102652200A (zh) | 2012-08-29 |
JPWO2011114974A1 (ja) | 2013-06-27 |
JP5048169B2 (ja) | 2012-10-17 |
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