WO2022168477A1 - 油圧式作業機械 - Google Patents
油圧式作業機械 Download PDFInfo
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- WO2022168477A1 WO2022168477A1 PCT/JP2021/047443 JP2021047443W WO2022168477A1 WO 2022168477 A1 WO2022168477 A1 WO 2022168477A1 JP 2021047443 W JP2021047443 W JP 2021047443W WO 2022168477 A1 WO2022168477 A1 WO 2022168477A1
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- hydraulic
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Images
Classifications
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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
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
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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
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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
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
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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
- E02F9/2278—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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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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
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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
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
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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
- F15B2211/30—Directional control
- F15B2211/31—Directional control characterised by the positions of the valve element
- F15B2211/3144—Directional control characterised by the positions of the valve element the positions being continuously variable, e.g. as realised by proportional valves
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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
- F15B2211/30—Directional control
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
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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
- F15B2211/30—Directional control
- F15B2211/35—Directional control combined with flow control
- F15B2211/351—Flow control by regulating means in feed line, i.e. meter-in 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
- F15B2211/30—Directional control
- F15B2211/35—Directional control combined with flow control
- F15B2211/353—Flow control by regulating means in return line, i.e. meter-out 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
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/632—Electronic controllers using input signals representing a flow rate
- F15B2211/6326—Electronic controllers using input signals representing a flow rate the flow rate being an output member flow rate
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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
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
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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
- F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
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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
- F15B2211/665—Methods of control using electronic components
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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
- F15B2211/665—Methods of control using electronic components
- F15B2211/6652—Control of the pressure source, e.g. control of the swash plate angle
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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
- F15B2211/665—Methods of control using electronic components
- F15B2211/6654—Flow rate 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
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6658—Control using different modes, e.g. four-quadrant-operation, working mode and transportation mode
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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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/75—Control of speed of the output member
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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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/76—Control of force or torque of the output member
- F15B2211/761—Control of a negative load, i.e. of a load generating hydraulic energy
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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
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/87—Detection of failures
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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
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/875—Control measures for coping with failures
Definitions
- the present invention relates to a hydraulic working machine equipped with a control device that controls a controlled object.
- Patent Literature 1 discloses a hydraulic actuator control device including current control means, and this hydraulic actuator control device reduces response delay when starting a hydraulic actuator from a stopped state to improve operability. Secondly, at the start of the drive operation from the neutral position, a current larger than the target current corresponding to the operation amount of the control lever is supplied to the electromagnetic proportional flow control valve for a predetermined short period of time.
- Patent Document 2 discloses a construction machine equipped with a control device that outputs a command current for driving a solenoid proportional valve in accordance with an operation signal from an operating device. In order to ensure the response, it has a correction function that corrects the command current so that it becomes larger than the target current corresponding to the amount of operation of the operating device for a predetermined time when the operating device is started from the neutral position.
- Patent Document 3 discloses a hydraulic work machine equipped with a control device for improving the initial response of a hydraulic actuator while ensuring energy saving.
- This control device adds a predetermined correction flow rate larger than the pump minimum flow rate of the first hydraulic pump to the pump target flow rate until a predetermined correction time elapses after the first operation lever is operated from the neutral position. This corrects the pump target flow rate.
- Patent Document 4 discloses a construction machine equipped with control means for maintaining a constant relationship between the amount of boom operation and the amount of vertical movement of the tip of the attachment during vertical movement work performed by vertically moving the tip of the attachment, regardless of changes in reach. Disclose. This control means corrects the pump flow rate determined by the boom-up operation amount according to the reach during the boom-up operation, which is the time of operation in the load direction, thereby decreasing the pump flow rate at a large reach and increasing it at a small reach. On the other hand, when the attachment's own weight acts on the boom lowering, the secondary pressure of the proportional valve installed in the pilot line on the boom lowering side is corrected according to the reach. do.
- the input/output characteristics of the controlled object including the proportional valve to which the command from the control device is input and the actuator that operates the movable part such as the boom, are affected by, for example, the replacement of the tip attachment, aging deterioration of parts in the working machine, etc. factors may vary greatly.
- changes in the input/output characteristics of the controlled object are not taken into consideration.
- the output does not match the amount of operation.
- the object to be controlled differs, for example, between a powering operation such as a boom raising operation and a non-powering operation such as a boom lowering operation. Therefore, even when the input/output characteristics of the controlled object fluctuate greatly, it is required that the powering operation and the non-powering operation of the movable portion are approximated to the ideal operation corresponding to the operation amount.
- An object of the present invention is to provide a hydraulic working machine that can be approached.
- a hydraulic work machine includes a support, a movable part capable of relative displacement with respect to the support, a hydraulic pump that discharges hydraulic oil, and the movable part that receives the supply of the hydraulic oil.
- a control valve that is interposed between the hydraulic pump and the actuator and that opens and closes to change the flow rate of the hydraulic oil supplied to the actuator; and the movable portion. and an operation of the movable portion performed in response to the operation received by the operation device, the movable portion operates so as to resist the load acting on the movable portion.
- a motion determiner for determining whether the motion is a powering motion or a non-powering motion in which the movable portion moves in a direction along the direction of the load acting on the movable portion; and a discharge amount of the hydraulic pump is adjusted.
- a pump control device for adjusting the opening of the control valve; and an output detector for detecting a control output, which is the output of the actuator, wherein the pump control device controls the operation
- a pump command calculator that calculates a control command for operating a controlled object including the hydraulic pump and the actuator using the manipulated variable and at least one pump control parameter, and inputs the control command to the controlled object; an ideal output calculator for pump control that calculates an ideal output that is an ideal output of the actuator associated with the operation amount; and a pump control parameter adjuster that adjusts the at least one pump control parameter so that the difference between the A valve command calculator for calculating a control command for operating a controlled object including the control valve and the actuator, and inputting the control command to the controlled object; an ideal output calculator for valve control that
- FIG. 6 is a diagram showing another example of the hydraulic circuit and control unit of the hydraulic working machine
- FIG. 5 is a diagram showing still another example of the hydraulic circuit and control unit of the hydraulic working machine
- 7A and 7B are graphs showing other examples of the relationship between the amount of operation received by the operating device of the hydraulic working machine and time, the relationship between electrical output and time, and the relationship between control output and time.
- FIG. 5 is a diagram showing still another example of the hydraulic circuit and control unit of the hydraulic working machine
- 7A and 7B are graphs showing still other examples of the relationship between the amount of operation received by the operating device of the hydraulic working machine and time, the relationship between electrical output and time, and the relationship between control output and time.
- FIG. 1 is a side view showing a hydraulic excavator 20 as an example of a hydraulic working machine according to this embodiment.
- FIG. 2 is a diagram showing an example of a hydraulic circuit and a control unit in the hydraulic excavator 20. As shown in FIG.
- the hydraulic excavator 20 includes a self-propelled lower traveling body 21, an upper revolving body 22 rotatably supported by the lower traveling body 21, a work device 23, and a plurality of hydraulic pressure actuators.
- An actuator a plurality of hydraulic pumps, a pilot pump 47, a plurality of control valves, a plurality of operating devices, a plurality of proportional valves, an output detector 12 (see FIG. 3), and a control unit 1. .
- the upper revolving body 22 includes an upper frame 30 rotatably supported by the lower traveling body 21 , a cabin 31 supported by the upper frame 30 , and a counterweight 32 arranged behind the cabin 31 .
- the lower running body 21 and the upper revolving body 22 are an example of a support.
- the working device 23 includes a boom 24 that is supported by the upper frame 30 so as to be able to rise and fall, an arm 25 that is rotatably supported at the tip of the boom 24, and a bucket that is rotatably supported at the tip of the arm 25. 26 and .
- Boom 24 is an example of a movable part.
- the plurality of hydraulic actuators include boom cylinders 27 , arm cylinders 28 , bucket cylinders 29 and swing motors 33 .
- Each of the plurality of hydraulic pumps is a hydraulic pump for supplying hydraulic oil to at least one of the plurality of hydraulic actuators.
- the plurality of hydraulic pumps include a variable displacement hydraulic pump 41 shown in FIG.
- the pilot pump 47 is a hydraulic pump for supplying pilot pressure to each of the plurality of control valves.
- Each of the plurality of hydraulic pumps and pilot pumps 47 is driven by an engine (not shown).
- the boom cylinder 27 is a hydraulic cylinder that receives supply of hydraulic oil from the hydraulic pump 41 shown in FIG. As shown in FIG. 1, the base end of the cylinder tube of the boom cylinder 27 is rotatably attached to the upper frame 30 of the upper rotating body 22, and the tip of the piston rod of the boom cylinder 27 is rotatably attached to the boom 24. movably mounted. As shown in FIG. 2, the boom cylinder 27 has a rod chamber 27R and a head chamber 27H.
- the arm cylinder 28 is a hydraulic cylinder that receives supply of hydraulic oil from any one of the plurality of hydraulic pumps and operates to rotate the arm 25 .
- the bucket cylinder 29 is a hydraulic cylinder that receives supply of hydraulic oil from any one of the plurality of hydraulic pumps and operates to rotate the bucket 26 .
- the swing motor 33 is a hydraulic motor that receives supply of hydraulic oil from any one of a plurality of hydraulic pumps and operates to swing the upper frame 30 of the upper swing structure 22 with respect to the lower traveling structure 21 . .
- the plurality of control valves include the boom control valve 42 shown in FIG. 2, an unillustrated arm control valve, an unillustrated bucket control valve, and an unillustrated swing control valve.
- Each of the multiple control valves has a spool and a pair of pilot ports that receive pilot pressure from the pilot pump 47 .
- the boom control valve 42 is interposed between the hydraulic pump 41 and the boom cylinder 27 and opens and closes so as to change the direction and flow rate of hydraulic oil supplied to the boom cylinder 27 .
- the arm control valve is interposed between any hydraulic pump and the arm cylinder 28 and opens and closes so as to change the direction and flow rate of hydraulic oil supplied to the arm cylinder 28 .
- the bucket control valve is interposed between any hydraulic pump and the bucket cylinder 29 and opens and closes so as to change the direction and flow rate of hydraulic oil supplied to the bucket cylinder 29 .
- the swing control valve is interposed between any hydraulic pump and the swing motor 33 and opens and closes so as to change the direction and flow rate of hydraulic oil supplied to the swing motor 33 .
- the plurality of operating devices include a boom operating device 43 (see FIG. 2) that receives an operation for operating the boom 24, an unillustrated arm operating device that receives an operation for operating the arm 25, and the bucket 26. and a turning operation device (not shown) for turning the upper turning body 22 with respect to the lower traveling body 21 .
- Each of the plurality of operating devices has an operating lever that can be operated by an operator.
- Each of the plurality of operating devices is an electric lever device that outputs a command signal (electrical signal) corresponding to the operation received by the operating lever and the amount of operation. The output command signal is input to the control unit 1 .
- the boom operating device 43 can receive a boom raising operation for causing the boom 24 to perform a boom raising operation and a boom lowering operation for causing the boom 24 to perform a boom lowering operation.
- the boom raising operation is an operation of the boom 24 such that the tip of the boom 24 leaves the ground
- the boom lowering operation is an operation of the boom 24 such that the tip of the boom 24 approaches the ground.
- the boom raising operation is an operation that requires adjustment of the discharge amount of the hydraulic pump 41 in order to displace the working device 23 in a direction against gravity as shown in FIG.
- the boom raising operation is an example of a power running operation in which the boom 24 operates to resist the load acting on the work device 23 including the boom 24 .
- the boom lowering operation is an operation that requires adjusting the opening degree of the boom control valve 42 in order to displace the work device 23 at a desired operating speed in the direction along the direction of gravity acting on the work device 23 .
- the boom lowering operation is an example of a non-powered operation in which the boom 24 operates in the direction of the load acting on the work device 23 including the boom 24 .
- a boom raising operation is an example of a powering operation
- a boom lowering operation is an example of a non-powering operation (regenerative operation).
- the boom operating device 43 When the boom operating device 43 receives a boom raising operation, it inputs a boom raising command signal corresponding to the boom raising operation and the amount of operation to the control unit 1 . When receiving the boom lowering operation, the boom operating device 43 inputs a boom lowering command signal corresponding to the boom lowering operation and the amount of operation to the control unit 1 . Since the basic configurations and functions of the arm operation device, the bucket operation device, and the swing operation device are the same as those of the boom operation device 43, detailed description thereof will be omitted.
- Each of the plurality of proportional valves depressurizes and outputs the pressure oil of the pilot pump 47 according to the control command input from the control unit 1 .
- Each of the plurality of proportional valves is composed of, for example, an electromagnetic proportional valve.
- the plurality of proportional valves include a pair of boom proportional valves 44 and 45, an unillustrated pair of arm proportional valves, an unillustrated pair of bucket proportional valves, an unillustrated pair of swing proportional valves, and a pump proportional valve 46. and including.
- each of the pair of boom proportional valves 44 and 45 reduces pressure oil from the pilot pump 47 in response to a control command (command current) input from the control unit 1, and reduces pilot pressure corresponding to the control command. is output to the boom control valve 42 .
- a pair of boom proportional valves 44 and 45 are provided in a pair of pilot lines connecting the pilot pump 47 and a pair of pilot ports of the boom control valve 42, respectively.
- a control command from the control unit 1 is input to the boom proportional valve 44 .
- the boom proportional valve 44 generates pilot pressure according to the control command, and the generated pilot pressure is supplied to one pilot port of the boom control valve 42 (the left port of the boom control valve 42 in FIG. 2). be done.
- the spool of the boom control valve 42 shifts by a displacement amount (a shift amount from the neutral position) corresponding to the supplied pilot pressure.
- the boom control valve 42 is adjusted to an opening degree (opening amount) corresponding to the displacement amount, and hydraulic oil discharged from the hydraulic pump 41 flows into the rod chamber 27R of the boom cylinder 27 at a flow rate corresponding to the displacement amount. , and allows the hydraulic oil to be discharged from the head chamber 27H and returned to the tank.
- a control command from the control unit 1 is input to the boom proportional valve 45 .
- the control unit 1 outputs, as the control command, a command value corresponding to the operation amount of the boom raising operation, for example.
- the boom proportional valve 45 generates pilot pressure according to the control command, and the generated pilot pressure is supplied to the other pilot port of the boom control valve 42 (the right port of the boom control valve 42 in FIG. 2). be done.
- the spool of the boom control valve 42 shifts by a displacement amount (a shift amount from the neutral position) corresponding to the supplied pilot pressure.
- the boom control valve 42 is adjusted to an opening degree (opening amount) corresponding to the displacement amount, and hydraulic oil discharged from the hydraulic pump 41 flows into the head chamber 27H of the boom cylinder 27 at a flow rate corresponding to the displacement amount. , and allows the hydraulic oil to be discharged from the rod chamber 27R and returned to the tank.
- Each of the pair of arm proportional valves reduces pressure oil from the pilot pump 47 according to the control command input from the control unit 1, and outputs pilot pressure corresponding to the control command to the arm control valve.
- Each of the pair of bucket proportional valves reduces pressure oil from the pilot pump 47 according to a control command input from the control unit 1, and outputs pilot pressure corresponding to the control command to the bucket control valve.
- Each of the pair of swing proportional valves reduces pressure oil from the pilot pump 47 according to a control command input from the control unit 1, and outputs a pilot pressure corresponding to the control command to the swing control valve.
- the basic configuration and function of each of these proportional valves are the same as those of the boom proportional valves 44 and 45, so a detailed description will be omitted.
- the pump proportional valve 46 reduces pressure oil from the hydraulic pump (for example, the pilot pump 47) according to a control command (command current) output from the control unit 1, and applies an operation pressure corresponding to the control command to the hydraulic pump 41. Output.
- a pump proportional valve 46 is provided in a pump line that connects the pilot pump 47 and the hydraulic pump 41 .
- the capacity (tilting angle) of the hydraulic pump 41 is adjusted to the capacity (tilting angle) corresponding to the operating pressure. Thereby, the discharge amount of the hydraulic pump 41 is adjusted.
- the control unit 1 includes a pump control device 14 for adjusting the discharge amount of the hydraulic pump 41, a valve control device 13 for adjusting the opening degree of the boom control valve 42, and an operation determiner for determining the operation of the boom 24. 17 and.
- FIG. 3 is a block diagram showing an example of a control device in the control unit 1.
- FIG. The control device shown in FIG. 3 shows the configuration of each of the pump control device 14 and the valve control device 13 .
- the output detector 12 shown in FIG. 3 is a detector for detecting the control output y(k), which is the output of the boom cylinder 27.
- the control output y(k) of the boom cylinder 27 may be, for example, the operating speed of the boom cylinder 27 or a physical quantity corresponding to the operating speed of the boom cylinder 27 .
- the physical quantity corresponding to the operating speed may be, for example, the flow rate of hydraulic oil supplied to the boom cylinder 27 or the flow rate of hydraulic oil discharged from the boom cylinder 27. It may be the operating speed of the boom 24 when doing so.
- the output detector 12 may be a speed sensor that detects the operating speed of the boom cylinder 27, and detects the flow rate of hydraulic oil supplied to the boom cylinder 27 or the flow rate of hydraulic oil discharged from the boom cylinder 27. It may be a flow rate sensor that detects the operating speed of the boom 24 when the boom 24 performs the hoisting motion.
- the motion determiner 17 shown in FIG. 2 determines whether the motion of the boom 24 performed in response to the operation received by the boom operating device 43 is a boom up motion or a boom down motion.
- the boom raising command signal is input to the control unit 1
- the operation determiner 17 determines that the operation of the boom 24 is a boom raising operation (powering operation).
- the boom lowering command signal is input to the control unit 1, and the operation determiner 17 determines that the operation of the boom 24 is the boom lowering operation (non-powered operation).
- each of the pump control device 14 and the valve control device 13 controls a controlled object 100 that outputs a control output y(k) in response to an actual input up(k) as a control command.
- the controlled objects 100 controlled by the pump control device 14 include the pump proportional valve 46, the pump 41, and the boom cylinder 27, and the controlled objects 100 controlled by the valve control device 13 include the boom proportional valve 44, the boom control Includes valve 42 and boom cylinder 27 .
- the k written in parentheses of the reference sign indicates the time.
- FIG. 3 shows the configuration of the pump control device 14 and the configuration of the valve control device 13 as well.
- the pump control device 14 and the valve control device 13 may differ in specific values such as parameters described later, but have the same basic configuration.
- each of the pump control device 14 and the valve control device 13 includes a target setter 2, a subtractor 3, a controller 4, a static compensator 5, a dynamic compensator 6, a subtractor 7 (compositor example), includes a parameter adjuster 9 , a subtractor 8 , an ideal output calculator 10 , and a memory 11 .
- the target setter 2, the subtractor 3, the controller 4, the static compensator 5, the dynamic compensator 6, the subtractor 7, the subtractor 8, the parameter adjuster 9, and the ideal output calculator 10 are, for example, a CPU or an ASIC. processor.
- Static compensator 5, dynamic compensator 6, and subtractor 7 are examples of control input compensators.
- Target setter 2, subtractor 3, controller 4, static compensator 5, dynamic compensator 6, and subtractor 7 are examples of command calculators.
- the command calculator of the pump control device 14 is an example of a pump command calculator, and the command calculator of the valve control device 13 is an example of a valve command calculator.
- the parameter adjuster 9 of the pump control device 14 is an example of a pump control parameter adjuster, and the parameter adjuster 9 of the valve control device 13 is an example of a valve control parameter adjuster.
- the ideal output calculator 10 of the pump control device 14 is an example of a pump control ideal output calculator, and the ideal output calculator 10 of the valve control device 13 is an example of a valve control ideal output calculator.
- the target setter 2 sets the target output r(k), which is the target of the control output y(k), according to the amount of operation received by the boom operating device 43 .
- the target setter 2 in the pump control device 14 for example, based on a preset map representing the relationship between the operation amount of the boom raising operation and the target output r(k), the operation amount of the boom raising operation
- the target output r(k) sets the target output r(k) according to
- the target setter 2 in the valve control device 13 sets a target according to the operation amount of the boom lowering operation based on, for example, a preset map representing the relationship between the operation amount of the boom lowering operation and the target output r(k). Set the output r(k).
- the subtractor 3 calculates the deviation e(k) by subtracting the control output y(k) from the target output r(k).
- the controller 4 calculates the control input uc(k) for zeroing the deviation e(k) based on the control output y(k). Controller 4 corresponds to an upstream controller.
- the control structure is hierarchized, and the downstream control loop 50 that directly controls the controlled object 100 is operated according to instructions from the controller 4, which is the upstream controller. be. Control loop 50 will be described later.
- the controller 4 may be configured to calculate the control input uc(k) for making the deviation e(k) zero by PID control, for example.
- Formula (17) which will be described later, is adopted as a formula used for PID control. Note that the controller 4 may calculate the control input uc(k) using various feedback controls or feedforward controls such as P control, PD control, and PI control other than PID control.
- the static compensator 5 multiplies the control input uc(k) by a static gain f0 (an example of a static parameter) to calculate a static compensation input that compensates for variations in the static characteristics of the controlled object 100.
- a static characteristic is a characteristic of the controlled object 100 that does not depend on time. The static characteristic corresponds to, for example, the scale that the control output y(k) can take.
- a static gain f0 is a gain for compensating for this variation in static characteristics. For example, if the dynamic compensation input calculated by the dynamic compensator 6 becomes excessive, the actual input up(k) becomes excessively small, and the value of the control output y(k) becomes significantly smaller than the expected scale. . To avoid such a situation, the static compensator 5 multiplies the control input uc(k) by the static gain f0.
- the dynamic compensator 6 calculates a dynamic compensation input that compensates for dynamic characteristic fluctuations of the controlled object 100 based on the dynamic gain (an example of dynamic parameters) and the control output y(k).
- Dynamic characteristics are characteristics that depend on time, such as rise characteristics and attenuation characteristics of the controlled object 100 .
- a dynamic gain is a gain for compensating for such fluctuations in dynamic characteristics.
- Dynamic gains include, for example, proportional gain Kp and differential gain KD.
- the dynamic compensator 6 calculates a dynamic compensation input by, for example, an arithmetic expression of Kp.y(k)+ KD..DELTA.y (k). where ⁇ y(k) represents the derivative of y(k).
- the static gain f0 is individually initialized, and the dynamic gains (proportional gain Kp and differential gain KD ) are individually initialized. Therefore, the static gain f0 initialized in the pump controller 14 and the static gain f0 initialized in the valve controller 13 may be different from each other, and the dynamic gain f0 initialized in the pump controller 14 may be different. and the dynamic gains initialized in the valve controller 13 may be different from each other.
- Each of the static gain f0 and the dynamic gain set in the pump control device 14 is an example of a pump control parameter.
- Each of the static gain f0 and the dynamic gain set in the valve control device 13 is an example of a valve control parameter.
- the subtractor 7 calculates the real input up(k) as a control command by subtracting the dynamic compensation input from the static compensation input, and inputs the real input up(k) to the controlled object 100 . Thereby, the control input uc(k) is adjusted so that the dynamic and static characteristics of the controlled object 100 are compensated.
- the subtractor 7 in the pump control device 14 inputs the calculated actual input up(k) to the pump proportional valve 46 of the controlled object 100 (see FIG. 2).
- the subtractor 7 in the valve control device 13 inputs the calculated actual input up(k) to the boom proportional valve 44 of the controlled object 100 (see FIG. 2).
- the actual input up(k) is represented by, for example, the following formula.
- Control loop 50 is a downstream control loop that directly controls controlled object 100 .
- Control loop 50 outputs control output y(k) in response to control input uc(k).
- the ideal output calculator 10 calculates the control input uc Calculate the ideal output yr(k) corresponding to (k).
- the ideal input/output relationship corresponds to the relationship between the control input uc(k) and the control output y(k) when the controller 4 is designed.
- the relationship between the control input uc(k) and the control output y(k) will be referred to as input/output characteristics of the control loop 50.
- FIG. For example, if the controller 4 is designed based on the input/output characteristics of the initial control loop 50 including the initial controlled object 100 , the input/output model has the input/output characteristics of the initial control loop 50 .
- the ideal output calculator 10 can An ideal output yr(k) can be calculated according to the input/output characteristics.
- the input/output model Gm(z ⁇ 1 ) is represented by, for example, equations (19), (20), and (21) described later.
- the subtractor 8 calculates the difference A by subtracting the ideal output yr(k) from the control output y(k), and inputs the difference A to the parameter adjuster 9 .
- the parameter adjuster 9 adjusts the static gain f0 and the dynamic gains (Kp, KD) so that the difference A input from the subtractor 8 is minimized.
- the parameter adjuster 9 may calculate the static gain f0 and dynamic gains (Kp, K D ) by, for example, iterative least squares method.
- the static gain f0 and the dynamic gains (Kp, KD ) are adjusted in synchronization with the respective sampling times of the controllers 13 and 14.
- the iterative least-squares method a method of minimizing the evaluation function J given by Equation (9) below using Equations (10) to (16) below can be employed.
- the memory 11 is composed of, for example, RAM or flash memory.
- a memory 11 stores the control output y(k) and the ideal output yr(k). Note that the memory 11 may store the control output y(k) and the ideal output yr(k) calculated several samples before the time k.
- FIG. 4 is a flowchart showing an example of processing of the control devices 13 and 14. As shown in FIG.
- the boom operation device 43 When the boom operation device 43 receives the boom-up operation, it inputs a boom-up command signal corresponding to the boom-up operation and the operation amount to the control unit 1, and in step S0, the target setter 2 in the pump control device 14: Based on the previously set map, a target output r(k) is set according to the operation amount of the boom raising operation. Similarly, when the boom operating device 43 receives the boom lowering operation, it inputs a boom lowering command signal corresponding to the boom lowering operation and the operation amount to the control unit 1, and in step S0, the target setter in the valve control device 13 2 sets a target output r(k) according to the operation amount of the boom lowering operation based on the previously set map.
- step S1 the subtractor 3 subtracts the control output y(k) from the target output r(k) to calculate the deviation e(k).
- step S2 the controller 4 inputs the deviation e(k) and the control output y(k) into Equation (17) to calculate the control input uc(k).
- step S3 the ideal output calculator 10 multiplies the control input uc(k) by the input/output model Gm(z ⁇ 1 ) given by equation (19) to calculate the ideal output yr(k).
- the detector 12 detects the control output y(k) output from the control loop 50 as a response to the control input uc(k).
- step S5 the subtractor 8 subtracts the ideal output yr(k) from the control output y(k) detected by the detector 12 to calculate the difference A.
- step S6 the parameter adjuster 9 calculates the static gain f0 and the dynamic gains (Kp, KD) using the iterative least-squares method so that the difference A is minimized.
- step S6 ends, the process returns to step S1. This sequentially adjusts the static gain f0 and the dynamic gains (Kp, KD ).
- the control input uc ( The static gain of the static compensator 5 is calculated so that the ideal output yr(k) corresponding to k) is calculated and the difference A between the ideal output yr(k) and the control output y(k) is minimized.
- f0 and the dynamic gains (Kp, KD ) of the dynamic compensator 6 are adjusted.
- the input/output characteristics of the control input uc(k) and the control output y(k) will be the ideal input/output characteristics when the controller 4 is designed. maintained. Therefore, even if the input/output characteristics of the controlled object 100 fluctuate greatly, the controlled object 100 can be appropriately controlled using the designed controller 4 . This facilitates the design of the controller 4 and facilitates the development of the hydraulic excavator 20 .
- the upper graph in FIG. 5 shows an example of the relationship between the boom operation amount (lever operation amount) received by the boom operation device 43 and time.
- the middle graph in FIG. 5 shows the relationship between the electrical output output from the subtractor 7 and time when the boom operation device 43 receives a boom operation (boom up operation or boom down operation) like the upper graph. An example is shown.
- the electric output output from the subtractor 7 is the actual input up(k) as a control command input from the subtractor 7 to the pump proportional valve 46 or the boom proportional valve 44 in the controlled object 100 .
- the graph in the middle shows the effect of compensation for static characteristic variation and compensation for dynamic characteristic variation by the static compensator 5, dynamic compensator 6, and subtractor 7.
- the solid line indicates an example of the relationship between the electric output and time when the static characteristic fluctuation compensation and the dynamic characteristic fluctuation compensation are not performed
- the dashed line indicates the hydraulic excavator according to the present embodiment.
- 20 shows an example of the relationship between electrical output and time when compensation for static characteristic variations and compensation for dynamic characteristic variations are performed in 20.
- the rise of the electrical output (actual input up(k)) is increased by compensating for fluctuations in dynamic characteristics. corrected.
- the rise overshoot is suppressed and the desired rise slope is obtained.
- the steady-state characteristics of the electrical output (actual input up(k)) are corrected by compensating for fluctuations in the static characteristics. This gives the desired steady-state value, as indicated by the dashed line.
- the lower graph in FIG. 5 is a graph showing an example of the relationship between the control output output from the boom cylinder 27 in the controlled object 100 and time.
- the control output of the boom cylinder 27 may be the operating speed of the boom cylinder 27 as described above, or may be a physical quantity corresponding to the operating speed of the boom cylinder 27 .
- the physical quantity may be the flow rate of hydraulic oil supplied to the boom cylinder 27, the flow rate of hydraulic oil discharged from the boom cylinder 27, or the like.
- This bottom graph shows the effect of adjusting the static and dynamic parameters by the parameter adjuster 9 .
- the solid line shows an example of the relationship between the control output and time when the static and dynamic parameters are not adjusted by the parameter adjuster 9
- the dashed line shows the hydraulic excavator 20 according to the present embodiment. shows an example of the relationship between the control output and time when the static and dynamic parameters are adjusted by the parameter adjuster 9 in .
- the static and dynamic parameters are adjusted by the parameter adjuster 9, so that the input/output of the controlled object 100 Even if the characteristics fluctuate greatly, the input/output characteristics of the control input uc(k) and the control output y(k) are maintained at the ideal input/output characteristics when the controller 4 was designed. Therefore, even if the input/output characteristics of the controlled object 100 fluctuate greatly, the controlled object 100 can be appropriately controlled using the designed controller 4 .
- FIG. 6 is a block diagram showing a feedback system that constitutes the control loop 50. As shown in FIG. This feedback system is represented by the following equation.
- up(k), y(k), uc(k), and P represent actual input, control output, control input, and controlled object, respectively.
- f0(k), Kp (k), and KD(k) each represent a parameter.
- the parameter adjuster 9 tunes the parameters of f0(k), Kp (k) and KD(k) online by iterative least squares method. The advantage of the sequential least squares method is its low computational cost.
- a parameter adjuster 9 calculates parameters of the static compensator 5 and the dynamic compensator 6 from the operational data (actual input up(k), control output y(k)).
- equation (1) is transformed as follows.
- equation (3) ⁇ 1(k), ⁇ 2(k), and ⁇ 3(k) are represented by equation (4).
- the response obtained when the control input uc(k) is input to the input/output model Gm(z ⁇ 1 ) representing the transfer function of the ideal control loop 50 is defined as the ideal output yr(k, ⁇ (k)). do.
- the ideal output yr(k, ⁇ (k)) is represented by Equation (5).
- the evaluation function J is defined as follows.
- N is the total number of data
- the parameter ⁇ (k) is adjusted so that the control output y(k) follows the ideal output yr(k). Therefore, by using the optimized parameters, the input/output characteristics of the control loop 50 including the static compensator 5, the dynamic compensator 6, and the controlled object 100 and the input/output model Gm(z ⁇ 1 ) characteristics can be matched.
- ⁇ is the forgetting factor.
- ⁇ (k) and ⁇ (k) are represented by the following equations.
- the initial value ⁇ (0) of the error covariance matrix ⁇ (k) and the initial value ⁇ (0) of the estimated value ⁇ (k) are determined by the following equations.
- ⁇ is any real number that satisfies ⁇ >0.
- I is a 3 ⁇ 3 identity matrix.
- ⁇ i(0) is any real number. Based on the condition that f0 is not 0, it is determined that ⁇ i(0) is not 0.
- each of the pump control device 14 and the valve control device 13 will be described with specific examples.
- Each of the pump control device 14 and the valve control device 13 are represented in FIG. 3 described above.
- the control loop 50 is a downstream control loop composed of a control system including a combination of the static compensator 5 and the dynamic compensator 6.
- Controller 4 is the upstream control loop.
- the controller 4 consists of a PID (proportional-integral-derivative) control system with fixed control parameters.
- the parameters of the static compensator 5 and the dynamic compensator 6 are adjusted so that the input/output characteristics of the control loop 50 and the input/output characteristics of the input/output model Gm(z ⁇ 1 ) match.
- the downstream control loop 50 will have input/output characteristics equivalent to the input/output model Gm(z ⁇ 1 ).
- the upstream controller 4 can be designed based on the ideal input/output model Gm(z ⁇ 1 ).
- the controller 4 is configured with a PID control system shown in Equation (17).
- kc indicates a proportional gain
- TI indicates an integral time [s]
- TD indicates a derivative time [s].
- the ideal input/output model Gm(z ⁇ 1 ) of the control loop 50 is designed as follows.
- the denominator P(z ⁇ 1 ) is expressed by the following equation.
- Coefficients p1 and p2 are represented by the following equations.
- Ts represents the sampling time
- ⁇ and ⁇ represent dynamic parameters such as the rise characteristics and attenuation characteristics of the controlled object 100, respectively. These dynamic parameters are arbitrarily set by the designer based on the input/output characteristics of the controlled object 100 .
- FIG. 7 is a diagram showing another example of the hydraulic circuit and the control unit 1 in the hydraulic excavator 20.
- the hydraulic excavator 20 further includes a mode input receiver 61 .
- the mode input receiver 61 receives an input for switching the control mode of the hydraulic excavator 20 between a preset first mode and a preset second mode. This input is performed by a person involved in the work such as an operator or a work manager.
- the mode input receiver 61 may include a switch provided inside the cabin 31, for example.
- the first mode is a mode in which the parameter adjuster 9 adjusts the parameters
- the second mode is a mode in which the parameter adjuster 9 does not adjust the parameters. Note that in the second mode, compensation for variations in static characteristics and compensation for variations in dynamic characteristics may be performed, or these compensations may not be performed.
- the parameter adjusters 9 of the pump control device 14 and the valve control device 13 do not perform control to adjust static parameters and dynamic parameters when the control mode is the second mode.
- the mode input receiver 61 receives an input by the person involved in the work and the control mode is switched from the second mode to the first mode
- the parameter adjusters of the pump control device 14 and the valve control device 13 9 provides controls for adjusting static and dynamic parameters.
- FIG. 8 is a diagram showing still another example of the hydraulic circuit and control unit 1 in the hydraulic excavator 20.
- the control unit 1 further comprises a determiner 16 .
- the determiner 16 may be, for example, a replacement determiner that determines that at least part of the work device 23 has been replaced with another component, or a deterioration determiner that determines deterioration of the hydraulic excavator 20. good.
- the replacement determiner determines that a part of the work device 23 has been replaced with another part based on preset determination conditions.
- the deterioration determiner determines deterioration of the hydraulic excavator 20 based on preset determination conditions.
- the working device 23 As a specific example in which at least part of the working device 23 is replaced with another part, for example, when the tip attachment of the working device 23 is replaced with a tip attachment of the same type but different in weight, the working device For example, when 23 tip attachments are replaced with tip attachments of different types.
- types of tip attachments include buckets 26, grapples, crushers (crusher), breakers, and forks.
- the upper graph in FIG. 9 shows an example of the relationship between the operation amount (lever operation amount) of the boom operation received by the boom operation device 43 and time
- the middle graph in FIG. 4 shows an example of the relationship between the electrical output output from the subtractor 7 and time when the boom operating device 43 receives a boom raising operation or boom lowering operation.
- the upper and middle graphs in FIG. 9 are the same as the upper and middle graphs in FIG. 5, so the explanation is omitted.
- the lower graph in FIG. 9 is a graph showing an example of the relationship between the control output output from the boom cylinder 27 in the controlled object 100 and time.
- the solid line shows an example of the relationship between the control output and time when the static and dynamic parameters are not adjusted by the parameter adjuster 9
- the dashed line shows the relationship according to the present embodiment.
- 3 shows an example of the relationship between the control output and time when the static and dynamic parameters are adjusted by the parameter adjuster 9 in the hydraulic excavator 20.
- the rising slope s2 of the control output indicated by the solid line in the lower graph of FIG. and the steady-state value f2 of the control output greatly fluctuates from the ideal rising slope s1 of the control output and the steady-state value f1 of the control output when the controller 4 is designed.
- the value f2 greatly varies from the ideal rising slope s1 of the control output and the steady-state value f1 of the control output when the controller 4 is designed.
- the determination condition may be, for example, that the slope s2 of the rise of the control output deviates from the ideal slope s1 of the rise of the control output by a preset threshold value se or more.
- the determination condition may be, for example, that the steady-state value f2 of the control output deviates from the ideal steady-state value f1 of the control output by a preset threshold value fe or more.
- the parameter adjuster 9 of the pump control device 14 determines when the determiner 16 (the replacement determiner) determines that at least part of the working device 23 has not been replaced with another part, or when the hydraulic excavator 20 has deteriorated. When the determiner 16 (deterioration determiner) determines that there is no, control for adjusting the static parameters and the dynamic parameters is not performed. On the other hand, the parameter adjuster 9 of the pump control device 14 determines that at least part of the working device 23 has been replaced with another part by the determiner 16 (the replacement determiner), or that the hydraulic excavator 20 has deteriorated. When the determiner 16 (deterioration determiner) makes a determination, control is performed to adjust the static parameters and the dynamic parameters.
- the parameter adjuster 9 of the valve control device 13 is adjusted when the determiner 16 (the replacement determiner) determines that at least part of the working device 23 has not been replaced with another part, or when the hydraulic excavator 20 is When the determiner 16 (deterioration determiner) determines that there is no deterioration, control for adjusting static parameters and dynamic parameters is not performed.
- the parameter adjuster 9 of the valve control device 13 determines when the determiner 16 (the replacement determiner) determines that at least part of the working device 23 has been replaced with another part, or that the hydraulic excavator 20 has deteriorated. When the determiner 16 (deterioration determiner) makes a determination, control is performed to adjust the static parameters and the dynamic parameters.
- the static and dynamic parameters are adjusted by the parameter adjuster 9, and the input/output characteristics of the controlled object 100 are greatly increased due to replacement of parts or deterioration of the hydraulic excavator 20. Even if they fluctuate, the input/output characteristics of the control input uc(k) and the control output y(k) are maintained at the ideal input/output characteristics when the controller 4 was designed. Therefore, even if the input/output characteristics of the controlled object 100 fluctuate greatly, the controlled object 100 can be appropriately controlled using the designed controller 4 .
- FIG. 10 is a diagram showing still another example of the hydraulic circuit and the control unit 1 in the hydraulic excavator 20.
- the excavator 20 further includes a characteristic input receiver 62 .
- a characteristic input acceptor 62 accepts an input for changing the setting of the input/output characteristics of the control input uc(k) and the control output y(k).
- the rising slope of the control output can be changed to the operator's favorite slope.
- a work related person such as an operator gives an input to the characteristic input receiver 62 for changing the input force characteristic such as a desired rise slope.
- Characteristic input receiver 62 outputs a signal corresponding to the input to control unit 1 .
- the control unit 1 changes the settings of the input/output characteristics of the control input uc(k) and the control output y(k) based on the signals corresponding to the inputs. Specifically, the control unit 1 changes, for example, the setting of the input/output model Gm(z ⁇ 1 ) based on the input of the person involved in the work. As a result, the response characteristics (input/output characteristics) such as the rising slope of the control output are changed to the operator's favorite slope.
- the controlled object 100 controlled by the pump control device may be a pump proportional valve, a pump, and an arm cylinder. and an arm cylinder. Further, the controlled object 100 controlled by the pump control device may be a pump proportional valve, a pump, and a bucket cylinder, and the controlled object 100 controlled by the valve control device may be a bucket proportional valve, a bucket control valve, and a bucket cylinder. It can be. Further, the controlled object 100 controlled by the pump control device may be a pump proportional valve, a pump, and a swing motor, and the controlled object 100 controlled by the valve control device may be a swing proportional valve, a swing control valve, and a swing motor. It can be.
- the command calculator of the pump control device 14 and the command calculator of the valve control device 13 each include the target setter 2, the subtractor 3, the controller 4, and the static compensator 5. , a dynamic compensator 6 and a subtractor 7 .
- the command calculator of the pump control device calculates a control command for operating the controlled object including the hydraulic pump and the actuator using the manipulated variable and at least one pump control parameter, and outputs the control command to the It is not limited to the configuration of the embodiment as long as it is input to the controlled object.
- a command calculator of a valve control device calculates a control command for operating a controlled object including a control valve and an actuator using an operation amount and at least one valve control parameter, and calculates the control command to operate the controlled object. , and is not limited to the configuration of the above embodiment.
- the parameter adjuster 9 may adjust the static gain f0 and the dynamic gains (Kp, KD) using a database-driven control technique.
- a database-driven control method is a method of calculating parameters that match the current state of a controlled object based on previously calculated parameters stored in a database.
- each of the controllers 13 and 14 further includes a database that stores the static gain f0 and dynamic gains (Kp, KD ) calculated in the past.
- the parameter adjuster 9 acquires from the memory 11 the request point indicating the current state of the controlled object 100 .
- the request point includes, for example, the control output y(k) and the ideal output yr(k) from one sample to several samples before.
- the parameter adjuster 9 calculates the respective distances between the requested point and the parameter sets stored in the database, and extracts k parameter sets in ascending order of distance.
- a parameter set includes, for example, a set of static gains f0, proportional gains Kp, and derivative gains KD.
- the parameter adjuster 9 obtains a weighting factor for each of the extracted k parameter sets such that the shorter the distance, the larger the value.
- the parameter adjuster 9 averages the k parameter sets using the calculated weighting factors to calculate the final parameter set, the final parameter set being the static gain f0 and the dynamic gain (Kp, K D ).
- the hydraulic working machine may be a hybrid working machine that uses both an engine and an electric motor.
- a hybrid type work machine includes, for example, a generator motor and a power storage device.
- the generator-motor charges a power storage device with electric power generated by the driving force of the engine, and assists the engine by causing the working machine to perform a power running operation using the power of the power storage device.
- each of the powering operation and the non-powering operation can be approximated to the ideal operation commensurate with the amount of operation.
- a working machine is provided.
- a hydraulic work machine includes a support, a movable part capable of relative displacement with respect to the support, a hydraulic pump that discharges hydraulic oil, and the movable part that receives the supply of the hydraulic oil.
- a control valve that is interposed between the hydraulic pump and the actuator and that opens and closes to change the flow rate of the hydraulic oil supplied to the actuator; and the movable portion. and an operation of the movable portion performed in response to the operation received by the operation device, the movable portion operates so as to resist the load acting on the movable portion.
- a motion determiner for determining whether the motion is a powering motion or a non-powering motion in which the movable portion moves in a direction along the direction of the load acting on the movable portion; and a discharge amount of the hydraulic pump is adjusted.
- a pump control device for adjusting the opening of the control valve; and an output detector for detecting a control output, which is the output of the actuator, wherein the pump control device controls the operation
- a pump command calculator that calculates a control command for operating a controlled object including the hydraulic pump and the actuator using the manipulated variable and at least one pump control parameter, and inputs the control command to the controlled object; an ideal output calculator for pump control that calculates an ideal output that is an ideal output of the actuator associated with the operation amount; and a pump control parameter adjuster that adjusts the at least one pump control parameter so that the difference between the A valve command calculator for calculating a control command for operating a controlled object including the control valve and the actuator, and inputting the control command to the controlled object; an ideal output calculator for valve control that
- the pump control parameters for calculating the control command for the controlled object when powering operation is performed are adjusted so that the difference between the control output and the ideal output is reduced, and the non-powering operation is performed.
- a valve control parameter for calculating the control command for the controlled object when the control is performed is adjusted so that the difference between the control output and the ideal output is reduced. Therefore, in this hydraulic work machine, even if the input/output characteristics of the object to be controlled fluctuate greatly, there is a power running operation that requires a positive driving force by the hydraulic pump and a non-power running that requires a flow rate restriction by the control valve. Regardless of the motion, any of these motions can be approximated to an ideal motion corresponding to the amount of operation.
- the movable part is a boom that is supported by the support so that it can be raised and lowered
- the powering operation is an operation of the boom such that the tip of the boom is lifted off the ground
- the non-powered operation is a boom lowering operation, which is an operation of the boom such that the tip of the boom approaches the ground
- the operation determiner causes the boom to perform the boom raising operation.
- the control output of the actuator is an operating speed of the actuator or a physical quantity corresponding thereto, and the output detector is a sensor for detecting the operating speed or the physical quantity. is preferred.
- the output detector of the hydraulic work machine can detect the operating speed of the actuator or its corresponding physical quantity as the control output that is the basis for adjusting the parameter.
- the hydraulic working machine further includes a mode input receiver that receives an input for switching a control mode of the hydraulic working machine between a preset first mode and a preset second mode,
- the pump control parameter adjuster performs control to adjust the at least one pump control parameter when the control mode is the first mode, and adjusts the at least one pump control parameter when the control mode is the second mode.
- the valve control parameter adjuster performs control to adjust the at least one valve control parameter when the control mode is the first mode, and When the mode is the second mode, suspending control for adjusting the at least one valve control parameter.
- a work related person such as an operator or a work manager can cause the pump control device and the valve control device to perform control for adjusting parameters at an arbitrary timing determined by the work related person to be necessary. can.
- a work related person such as an operator or a work manager can cause the pump control device and the valve control device to perform control for adjusting parameters at an arbitrary timing determined by the work related person to be necessary.
- the hydraulic work machine further includes a work device including the movable part, and a replacement determiner that determines whether at least part of the work device has been replaced with another part, and the pump control parameter adjuster. performs control to adjust the at least one pump control parameter when the replacement determiner determines that at least a part of the working device has been replaced with the different part, and the valve control parameter adjuster performs the Preferably, control is performed to adjust the at least one valve control parameter when the replacement determiner determines that at least part of the working device has been replaced with the different component.
- each of the pump control device and the valve control device performs control to adjust the control parameters. This makes it possible to automatically perform control for adjusting the control parameters when there is a high need to adjust the control parameters, while suppressing the computational control load.
- the hydraulic work machine further includes a deterioration determiner that determines deterioration of the hydraulic work machine based on a preset determination condition, and the pump control parameter adjuster determines that the hydraulic work machine has deteriorated.
- the valve control parameter adjuster adjusts the at least one pump control parameter when the deterioration determiner determines that the hydraulic working machine has deteriorated.
- the controls adjust at least one valve control parameter.
- each of the pump control device and the valve control device performs control to adjust the control parameters. This makes it possible to automatically perform control for adjusting the control parameters when there is a high need to adjust the control parameters, while suppressing the computational control load.
- the pump command calculator can calculate a control command for operating a controlled object including the hydraulic pump and the actuator using the manipulated variable of the operation and at least one pump control parameter.
- the specific configuration is not particularly limited as long as it is the same, but it is preferable to have the following configuration, for example. That is, the pump command calculator includes a target setter for setting a target output, which is a target of the control output, in accordance with the manipulated variable of the operation, and a target setter for setting a deviation between the target output and the control output to zero. and a control input calculator that calculates a control input, wherein the pump control device calculates variations in characteristics of the controlled object based on at least one of the control input and the control output and the at least one pump control parameter.
- control input corrector that corrects the control input so as to compensate, calculates the control command, and inputs the control command to the controlled object.
- the at least one pump control parameter includes a static parameter and a dynamic parameter
- the control input compensator of the pump controller comprises: the static parameter and the control input; a static compensator that calculates a static compensation input that compensates for variations in the static characteristics of the controlled object based on the dynamic characteristics of the controlled object based on the dynamic parameter and the control output; a dynamic compensator that calculates a dynamic compensation input that compensates for variations; a combiner that combines the static compensation input and the dynamic compensation input to calculate the control command and inputs it to the controlled object; It is preferred to include In this configuration, since the control input is corrected by the dynamic compensation input calculated based on the dynamic parameter and the control output, it is possible to compensate for fluctuations in the dynamic characteristics of the controlled object such as rise characteristics and damping characteristics.
- control input is corrected by the static compensation input calculated based on the control input and the static parameters
- static compensation of the controlled object such as the fluctuation of the scale of the control input due to the synthesis of the dynamic compensation input Characteristic variations can be compensated for.
- the ideal output calculator for pump control uses an input/output model that defines an ideal input/output relationship between the control input and the control output to determine the ideal output corresponding to the control input. It is preferable to calculate the output. In this configuration, static parameters and dynamic parameters are adjusted using ideal outputs and control outputs calculated during operation of the controlled object. Therefore, it is possible to perform on-line adjustment for adjusting static parameters and dynamic parameters during operation without stopping the operation of the device including the controlled object.
- the valve command calculator can calculate a control command for operating a controlled object including the control valve and the actuator using the manipulated variable of the operation and at least one valve control parameter.
- the specific configuration is not particularly limited as long as it is the same, but it is preferable to have the following configuration, for example. That is, the valve command calculator includes a target setter for setting a target output, which is a target of the control output, in accordance with the manipulated variable of the operation, and a target setter for setting the deviation between the target output and the control output to zero.
- a control input calculator that calculates a control input, wherein the valve control device calculates variations in the characteristics of the controlled object based on at least one of the control input and the control output and the at least one valve control parameter.
- control input corrector that corrects the control input so as to compensate, calculates the control command, and inputs the control command to the controlled object.
- the at least one valve control parameter includes a static parameter and a dynamic parameter
- the control input compensator of the valve control device comprises the static parameter and the control input.
- a static compensator that calculates a static compensation input that compensates for variations in the static characteristics of the controlled object based on the dynamic characteristics of the controlled object based on the dynamic parameter and the control output;
- a dynamic compensator that calculates a dynamic compensation input that compensates for variations;
- a combiner that combines the static compensation input and the dynamic compensation input to calculate the control command and inputs it to the controlled object; It is preferred to include In this configuration, since the control input is corrected by the dynamic compensation input calculated based on the dynamic parameter and the control output, it is possible to compensate for fluctuations in the dynamic characteristics of the controlled object such as rise characteristics and damping characteristics.
- control input is corrected by the static compensation input calculated based on the control input and the static parameters
- static compensation of the controlled object such as the fluctuation of the scale of the control input due to the synthesis of the dynamic compensation input Characteristic variations can be compensated for.
- the valve control ideal output calculator uses an input/output model that defines an ideal input/output relationship between the control input and the control output to determine the ideal output corresponding to the control input. It is preferable to calculate the output. In this configuration, static parameters and dynamic parameters are adjusted using ideal outputs and control outputs calculated during operation of the controlled object. Therefore, it is possible to perform on-line adjustment for adjusting static parameters and dynamic parameters during operation without stopping the operation of the device including the controlled object.
- the hydraulic working machine further comprises a characteristic input receiver that receives an input for changing input/output characteristic settings of the control input and the control output.
- the input/output characteristics of the control input and the control output can be set in the control device by the operator's input of desired characteristics.
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Abstract
Description
上述の静的補償器5、動的補償器6、減算器7、及び制御対象100は制御ループ50を構成する。制御ループ50は、制御対象100を直接的に制御する下流の制御ループである。制御ループ50は、制御入力uc(k)に応答して制御出力y(k)を出力する。
f0(k)=0でないと仮定すると、式(1)は以下のように変形される。
以上、本発明の実施形態に係る油圧式作業機械の一例である油圧ショベル20について説明したが、本発明は、上記の実施形態に限定されるものではなく、例えば以下のような変形例を含む。
図7は、油圧ショベル20における油圧回路及び制御ユニット1の他の例を示す図である。図7に示す変形例では、油圧ショベル20は、モード入力受付器61をさらに備える。モード入力受付器61は、油圧ショベル20の制御モードを予め設定された第1モードと予め設定された第2モードとの間で切り替えるための入力を受け付ける。この入力は、オペレータ、作業管理者などの作業関係者によって行われる。モード入力受付器61は、例えばキャビン31の内部に設けられるスイッチを含んでいてもよい。
図8は、油圧ショベル20における油圧回路及び制御ユニット1のさらに他の例を示す図である。図8に示す変形例では、制御ユニット1は、判定器16をさらに備える。判定器16は、例えば、作業装置23の少なくとも一部が別の部品に交換されたことを判定する交換判定器であってもよく、油圧ショベル20の劣化を判定する劣化判定器であってもよい。交換判定器は、予め設定された判定条件に基づいて、作業装置23の一部が別の部品に交換されたことを判定する。劣化判定器は、予め設定された判定条件に基づいて油圧ショベル20の劣化を判定する。
図10は、油圧ショベル20における油圧回路及び制御ユニット1のさらに他の例を示す図である。図10に示す変形例では、油圧ショベル20は、特性入力受付器62をさらに備える。特性入力受付器62は、制御入力uc(k)と制御出力y(k)の入出力特性の設定を変更するための入力を受け付ける。この変形例では、例えば、図11における下段のグラフに示すように、例えば、制御出力の立ち上がりの傾きを、オペレータの好みの傾きに変更することができる。オペレータなどの作業関係者は、例えば所望の立ち上がりの傾きなどの入力力特性を変更するための入力を特性入力受付器62に与える。特性入力受付器62は、前記入力に対応する信号を制御ユニット1に出力する。制御ユニット1は、前記入力に対応する前記信号に基づいて、制御入力uc(k)と制御出力y(k)の入出力特性の設定を変更する。具体的に、制御ユニット1は、前記作業関係者の入力に基づいて、例えば前記入出力モデルGm(z-1)の設定を変更する。これにより、制御出力の立ち上がりの傾きなどの応答特性(入出力特性)がオペレータの好みの傾きに変更される。
ポンプ制御装置が制御する制御対象100は、ポンプ比例弁、ポンプ、及びアームシリンダであってもよく、バルブ制御装置が制御する制御対象100は、アーム比例弁、アーム制御弁及びアームシリンダであってもよい。また、ポンプ制御装置が制御する制御対象100は、ポンプ比例弁、ポンプ、及びバケットシリンダであってもよく、バルブ制御装置が制御する制御対象100は、バケット比例弁、バケット制御弁及びバケットシリンダであってもよい。また、ポンプ制御装置が制御する制御対象100は、ポンプ比例弁、ポンプ、及び旋回モータであってもよく、バルブ制御装置が制御する制御対象100は、旋回比例弁、旋回制御弁及び旋回モータであってもよい。
前記実施形態では、ポンプ制御装置14の指令算出器及びバルブ制御装置13の指令算出器のそれぞれは、目標設定器2、減算器3、コントローラ4、静的補償器5、動的補償器6、及び減算器7により構成される。ただし、ポンプ制御装置の指令算出器は、操作の操作量と少なくとも一つのポンプ制御パラメータとを用いて油圧ポンプ及びアクチュエータを含む制御対象を作動させるための制御指令を算出し、当該制御指令を当該制御対象に入力するものであればよく、前記実施形態の構成に限られない。バルブ制御装置の指令算出器は、操作の操作量と少なくとも一つのバルブ制御パラメータとを用いて制御弁及びアクチュエータを含む制御対象を作動させるための制御指令を算出し、当該制御指令を当該制御対象に入力するものであればよく、前記実施形態の構成に限られない。
パラメータ調整器9は、データベース駆動型制御手法を用いて静的ゲインf0及び動的ゲイン(Kp、KD)を調整してもよい。データベース駆動型制御手法は、データベースに記憶された過去に算出されたパラメータに基づいて、制御対象の現在の状態に適合するパラメータを算出する手法である。
動的補償器6が動的補償入力を算出する際に用いる演算式には、制御出力y(k)の2次の微分項と2次の微分ゲインとの積が含まれていてもよい。さらに、この演算式には、制御出力y(k)のi次の微分項とi次の微分ゲインとの積を、i=1からi=n(nは正の整数)まで加算した値が含まれていてもよい。
Claims (13)
- 油圧式作業機械であって、
支持体と、
前記支持体に対して相対変位可能な可動部と、
作動油を吐出する油圧ポンプと、
前記作動油の供給を受けて前記可動部を動作させるように作動するアクチュエータと、
前記油圧ポンプと前記アクチュエータとの間に介在し、前記アクチュエータに供給される前記作動油の流量を変化させるように開閉作動する制御弁と、
前記可動部を動作させるための操作を受ける操作装置と、
前記操作装置が受けた前記操作に応じて行われる前記可動部の動作が、前記可動部に作用する負荷に抗するように前記可動部が動作する力行動作及び前記可動部に作用する負荷の向きに沿った向きに前記可動部が動作する非力行動作の何れの動作であるかを判定する動作判定器と、
前記油圧ポンプの吐出量を調整するためのポンプ制御装置と、
前記制御弁の開度を調整するためのバルブ制御装置と、
前記アクチュエータの出力である制御出力を検出する出力検出器と、を備え、
前記ポンプ制御装置は、
前記操作の操作量と少なくとも一つのポンプ制御パラメータとを用いて前記油圧ポンプ及び前記アクチュエータを含む制御対象を作動させるための制御指令を算出し、前記制御対象に入力するポンプ指令算出器と、
前記操作の操作量に関連付けられた前記アクチュエータの理想的な出力である理想出力を算出するポンプ制御用理想出力算出器と、
前記可動部の動作が前記力行動作である場合に、前記制御出力と前記理想出力との差が小さくなるように前記少なくとも一つのポンプ制御パラメータを調整するポンプ制御パラメータ調整器と、を備え、
前記バルブ制御装置は、
前記操作の操作量と少なくとも一つのバルブ制御パラメータとを用いて前記制御弁及び前記アクチュエータを含む制御対象を作動させるための制御指令を算出し、前記制御対象に入力するバルブ指令算出器と、
前記操作の操作量に関連付けられた前記アクチュエータの理想的な出力である理想出力を算出するバルブ制御用理想出力算出器と、
前記可動部の動作が前記非力行動作である場合に、前記制御出力と前記理想出力との差が小さくなるように前記少なくとも一つのバルブ制御パラメータを調整するバルブ制御パラメータ調整器と、を備える、油圧式作業機械。 - 請求項1に記載の油圧式作業機械であって、
前記可動部は、前記支持体に起伏可能に支持されたブームであり、
前記力行動作は、前記ブームの先端部が地面から離れるような前記ブームの動作であるブーム上げ動作であり、前記非力行動作は、前記ブームの前記先端部が地面に近づくような前記ブームの動作であるブーム下げ動作であり、
前記動作判定器は、前記ブームに前記ブーム上げ動作を行わせるための操作であるブーム上げ操作を前記操作装置が受けた場合に前記可動部の動作が前記力行動作であると判定し、前記ブームに前記ブーム下げ動作を行わせるための操作であるブーム下げ操作を前記操作装置が受けた場合に前記可動部の動作が前記非力行動作であると判定する、油圧式作業機械。 - 請求項1又は2に記載の油圧式作業機械であって、
前記アクチュエータの前記制御出力は、前記アクチュエータの動作速度又はこれに対応する物理量であり、
前記出力検出器は、前記動作速度又は前記物理量を検出するためのセンサである、油圧式作業機械。 - 請求項1~3の何れか1項に記載の油圧式作業機械であって、
前記油圧式作業機械における制御モードを予め設定された第1モードと予め設定された第2モードとの間で切り替えるための入力を受け付けるモード入力受付器をさらに備え、
前記ポンプ制御パラメータ調整器は、前記制御モードが前記第1モードである場合に前記少なくとも一つのポンプ制御パラメータを調整する制御を行い、前記制御モードが前記第2モードである場合には前記少なくとも一つのポンプ制御パラメータを調整する制御を行うことを保留し、
前記バルブ制御パラメータ調整器は、前記制御モードが前記第1モードである場合に前記少なくとも一つのバルブ制御パラメータを調整する制御を行い、前記制御モードが前記第2モードである場合には前記少なくとも一つのバルブ制御パラメータを調整する制御を行うことを保留する、油圧式作業機械。 - 請求項1~4の何れか1項に記載の油圧式作業機械であって、
前記可動部を含む作業装置と、
前記作業装置の少なくとも一部が別の部品に交換されたことを判定する交換判定器と、をさらに備え、
前記ポンプ制御パラメータ調整器は、前記作業装置の少なくとも一部が前記別の部品に交換されたと前記交換判定器が判定した場合に前記少なくとも一つのポンプ制御パラメータを調整する制御を行い、
前記バルブ制御パラメータ調整器は、前記作業装置の少なくとも一部が前記別の部品に交換されたと前記交換判定器が判定した場合に前記少なくとも一つのバルブ制御パラメータを調整する制御を行う、油圧式作業機械。 - 請求項1~5の何れか1項に記載の油圧式作業機械であって、
予め設定された判定条件に基づいて前記油圧式作業機械の劣化を判定する劣化判定器をさらに備え、
前記ポンプ制御パラメータ調整器は、前記油圧式作業機械が劣化したと前記劣化判定器が判定した場合に前記少なくとも一つのポンプ制御パラメータを調整する制御を行い、
前記バルブ制御パラメータ調整器は、前記油圧式作業機械が劣化したと前記劣化判定器が判定した場合に前記少なくとも一つのバルブ制御パラメータを調整する制御を行う、油圧式作業機械。 - 請求項1~6の何れか1項に記載の油圧式作業機械であって、
前記ポンプ指令算出器は、
前記制御出力の目標である目標出力を前記操作の操作量に応じて設定する目標設定器と、
前記目標出力と前記制御出力との偏差を零にするための制御入力を算出する制御入力算出器と、を含み、
前記ポンプ制御装置は、前記制御入力及び前記制御出力の少なくとも一方と前記少なくとも一つのポンプ制御パラメータとに基づいて前記制御対象の特性の変動を補償するように前記制御入力を補正して前記制御指令を算出し、前記制御対象に入力する制御入力補正器をさらに含む、油圧式作業機械。 - 請求項7に記載の油圧式作業機械であって、
前記少なくとも一つのポンプ制御パラメータは、静的パラメータと、動的パラメータと、を含み、
前記ポンプ制御装置の前記制御入力補正器は、
前記静的パラメータと前記制御入力とに基づいて、前記制御対象の静的特性の変動を補償する静的補償入力を算出する静的補償器と、
前記動的パラメータと前記制御出力とに基づいて、前記制御対象の動的特性の変動を補償する動的補償入力を算出する動的補償器と、
前記静的補償入力と前記動的補償入力とを合成して前記制御指令を算出し、前記制御対象に入力する合成器と、を含む、油圧式作業機械。 - 請求項7又は8に記載の油圧式作業機械であって、
前記ポンプ制御用理想出力算出器は、前記制御入力と前記制御出力との理想的な入出力関係を規定する入出力モデルを用いて、前記制御入力に対応する前記理想出力を算出する、油圧式作業機械。 - 請求項1~9の何れか1項に記載の油圧式作業機械であって、
前記バルブ指令算出器は、
前記制御出力の目標である目標出力を前記操作の操作量に応じて設定する目標設定器と、
前記目標出力と前記制御出力との偏差を零にするための制御入力を算出する制御入力算出器と、を含み、
前記バルブ制御装置は、前記制御入力及び前記制御出力の少なくとも一方と前記少なくとも一つのバルブ制御パラメータとに基づいて前記制御対象の特性の変動を補償するように前記制御入力を補正して前記制御指令を算出し、前記制御対象に入力する制御入力補正器をさらに含む、油圧式作業機械。 - 請求項10に記載の油圧式作業機械であって、
前記少なくとも一つのバルブ制御パラメータは、静的パラメータと、動的パラメータと、を含み、
前記バルブ制御装置の前記制御入力補正器は、
前記静的パラメータと前記制御入力とに基づいて、前記制御対象の静的特性の変動を補償する静的補償入力を算出する静的補償器と、
前記動的パラメータと前記制御出力とに基づいて、前記制御対象の動的特性の変動を補償する動的補償入力を算出する動的補償器と、
前記静的補償入力と前記動的補償入力とを合成して前記制御指令を算出し、前記制御対象に入力する合成器と、を含む、油圧式作業機械。 - 請求項10又は11に記載の油圧式作業機械であって、
前記バルブ制御用理想出力算出器は、前記制御入力と前記制御出力との理想的な入出力関係を規定する入出力モデルを用いて、前記制御入力に対応する前記理想出力を算出する、油圧式作業機械。 - 請求項9又は12に記載の油圧式作業機械であって、
前記制御入力と前記制御出力の入出力特性の設定を変更するための入力を受け付ける特性入力受付器をさらに備える、油圧式作業機械。
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JPWO2020203843A1 (ja) * | 2019-03-29 | 2020-10-08 | ||
CN114174597B (zh) * | 2019-07-31 | 2024-01-16 | 住友重机械工业株式会社 | 挖土机 |
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JPH05195546A (ja) | 1992-01-20 | 1993-08-03 | Kubota Corp | 土工機における油圧アクチュエータ制御装置 |
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JPH11311203A (ja) * | 1998-04-24 | 1999-11-09 | Yutani Heavy Ind Ltd | 油圧回路の調整方法および同装置 |
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JP2019044933A (ja) | 2017-09-06 | 2019-03-22 | 日立建機株式会社 | 油圧作業機械 |
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