JP2019528415A - 建設機械の制御システム及び建設機械の制御方法 - Google Patents
建設機械の制御システム及び建設機械の制御方法 Download PDFInfo
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- 239000010720 hydraulic oil Substances 0.000 claims description 22
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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
- E02F9/2225—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
- E02F9/2004—Control mechanisms, e.g. control levers
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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
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
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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
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
- F15B11/162—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for giving priority to particular servomotors or users
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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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/025—Pressure reducing 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
- 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
- F15B21/082—Servomotor systems incorporating electrically operated control means with different modes
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/15—Fork lift trucks, Industrial trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
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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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
- F15B13/043—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves
- F15B13/0433—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves the pilot valves being pressure control 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
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20576—Systems with pumps with multiple pumps
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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
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-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
- F15B2211/3105—Neutral or centre positions
- F15B2211/3116—Neutral or centre positions the pump port being open in the centre position, e.g. so-called open centre
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
- F15B2211/31523—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member
- F15B2211/31535—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member having multiple pressure sources and a single 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
- F15B2211/30—Directional control
- F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
- F15B2211/3157—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line
- F15B2211/31582—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line having multiple pressure sources and a single 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
- F15B2211/30—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
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/329—Directional control characterised by the type of actuation actuated by fluid pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
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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
- 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
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
- F15B2211/7142—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being arranged in multiple groups
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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
- F15B2211/78—Control of multiple output members
- F15B2211/781—Control of multiple output members one or more output members having priority
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Abstract
Description
12: ブームヘッドチャンバ
14: ブームロードチャンバ
20: 第2のアクチュエータ
22: バケットヘッドチャンバ
24: バケットロードチャンバ
100: 第1の油圧ポンプ
110: 第2の油圧ポンプ
200: メイン油圧ライン
202: 第1のセンターバイパスライン
204: 第2のセンターバイパスライン
210: 第1の並列ライン
220: 第2の並列ライン
230: 第3の並列ライン
232: ブームヘッド油圧ライン
234: ブームロード油圧ライン
310: 第1の制御弁
320: 第2の制御弁
330: 第3の制御弁
400: パイロットポンプ
402; 制御パス
410: 第1のスプール変位調整弁
420: 第2のスプール変位調整弁
430: 第3のスプール変位調整弁
500: 制御部
510: データ受信部
520: 優先モード判断部
530: ジョイスティック変位量変換部
540: 出力部
600: 操作部
Claims (20)
- 油圧ポンプと、
前記油圧ポンプに第1及び第2の並列ラインを介して各々連結され、前記油圧ポンプより吐出された作動油によって動作する第1及び第2のアクチュエータと、
前記第1及び第2の並列ラインに各々設置され、内部に備えられたスプールの変位量によって、前記第1及び第2のアクチュエータの動作を各々制御するための第1及び第2の制御弁と、
入力された制御信号によって、前記第1及び第2の制御弁のスプールの変位量を制御するためのパイロット信号圧を、前記スプールのそれぞれに供給する第1及び第2のスプール変位調整弁と、
作業者の操作信号によって、前記第1及び第2のスプール変位調整弁に前記制御信号を出力し、前記第1及び第2のアクチュエータの複合動作のための操作信号を受信する時、前記第2のアクチュエータに対する操作信号による前記第2の制御弁のスプール変位量を、前記第1のアクチュエータの操作信号によって制限するように調整する制御部とを含むことを特徴とする建設機械の制御システム。 - 前記制御部は、前記第2のアクチュエータの操作信号から、前記第2の制御弁のスプール変位量への転換比率を、前記第1のアクチュエータに対する操作信号の大きさに比例して減少させる制御信号を、前記第2のスプール変位調整弁に出力することを特徴とする請求項1に記載の建設機械の制御システム。
- 前記第1のアクチュエータに対する操作信号が最大である時、前記第2のアクチュエータに対する操作信号の転換比率は、前記第2のアクチュエータの単独動作時の転換比率の少なくとも50%に制限されることを特徴とする請求項2に記載の建設機械の制御システム。
- 前記第2の制御弁の流路面積は、前記第1のアクチュエータに対する操作信号の大きさに反比例するように制御されることを特徴とする請求項1に記載の建設機械の制御システム。
- 前記第1及び第2のスプール変位調整弁は、電子比例減圧弁を含むことを特徴とする請求項1に記載の建設機械の制御システム。
- 前記制御部は、前記操作信号として入力された前記第1及び第2のアクチュエータに対するジョイスティック変位量から、前記第1のアクチュエータの動作を優先させるための優先モードを行うか否かを判断する優先モード判断部と、
前記優先モードである場合、前記第2のアクチュエータについて入力されたジョイスティック変位量を、前記第1のアクチュエータのジョイスティック変位量に比例して減少された値を有する2次ジョイスティック変位量に変換するジョイスティック変位量変換部と、
前記調整された2次ジョイスティック変位量によって、前記パイロット信号圧の強さを制御するための前記制御信号を出力する出力部とを含むことを特徴とする請求項1に記載の建設機械の制御システム。 - 前記優先モード判断部は、前記油圧ポンプ又は前記第1及び第2のアクチュエータの圧力が、既設定された圧力範囲を超える高負荷作業である場合、前記優先モードを解除することを特徴とする請求項6に記載の建設機械の制御システム。
- 前記第1及び第2の制御弁は、前記油圧ポンプに連結されたセンターバイパス流路に順次設置されることを特徴とする請求項1に記載の建設機械の制御システム。
- 前記第1のアクチュエータは、ブームシリンダを含み、前記第2のアクチュエータは、バケットシリンダを含み、前記第1の制御弁は、ブーム制御弁を含み、前記第2の制御弁は、バケット制御弁を含むことを特徴とする請求項8に記載の建設機械の制御システム。
- 前記制御部は、前記第1のアクチュエータの作動圧が、前記第2のアクチュエータの作動圧よりも大きいと、前記優先モードを行うように決められることを特徴とする請求項1に記載の建設機械の制御システム。
- 1つの油圧ポンプに、第1及び第2の並列ラインを介して連結された第1及び第2のアクチュエータと、前記第1及び第2の並列ラインに各々設置され、前記第1及び第2のアクチュエータの動作を各々制御するための第1及び第2の制御弁とを含む油圧システムを提供し、
前記第1及び第2のアクチュエータに対する作業者の操作信号を受信し、
前記操作信号から、前記第1及び第2のアクチュエータのうち、前記第1のアクチュエータの動作を優先させるための優先モードの動作可否を判断し、
優先モードの場合、前記第2のアクチュエータに対する操作信号による前記第2の制御弁のスプール変位量を、前記第1のアクチュエータに対する操作信号によって制限するように、前記第2の制御弁のスプール変位量を調整することを特徴とする建設機械の制御方法。 - 前記第2の制御弁のスプール変位量を調整することは、前記第2のアクチュエータの操作信号から、前記第2の制御弁のスプール変位量への転換比率を、前記第1のアクチュエータに対する操作信号の大きさに比例して減少させることを含むことを特徴とする請求項11に記載の建設機械の制御方法。
- 前記第2の制御弁のスプール変位量を調整することは、前記第1のアクチュエータに対する操作信号が最大である時、前記第2のアクチュエータに対する操作信号の転換比率を、前記第2のアクチュエータの単独動作時の転換比率の少なくとも50%に制限することを含むことを特徴とする請求項12に記載の建設機械の制御方法。
- 前記第2の制御弁のスプール変位量を調整することは、前記優先モード時の前記第2の制御弁の流路面積が、前記第1のアクチュエータに対する操作信号の大きさに反比例するように制御することを含むことを特徴とする請求項11に記載の建設機械の制御方法。
- 前記第1及び第2のアクチュエータに対する作業者の操作信号を受信することは、前記第1及び第2のアクチュエータに対するジョイスティック変位量を受信することを含み、
前記第2の制御弁のスプール変位量を調整することは、前記第2のアクチュエータに対して入力されたジョイスティック変位量を、前記第1のアクチュエータに対するジョイスティック変位量に比例して減少した値を有する2次ジョイスティック変位量に変換することを含むことを特徴とする請求項11に記載の建設機械の制御方法。 - 更に、前記調整された2次ジョイスティック変位量により、前記第2の制御弁のスプール変位量を制御するためのパイロット信号圧を、前記第2の制御弁のスプールに供給することを含むことを特徴とする請求項15に記載の建設機械の制御方法。
- 前記パイロット信号圧を前記第2の制御弁のスプールに供給することは、電子比例減圧弁を用いることを含むことを特徴とする請求項16に記載の建設機械の制御方法。
- 更に、前記油圧ポンプ又は前記第1及び第2のアクチュエータの圧力が、既設定された圧力範囲を超える高負荷作業である場合、前記優先モードを解除することを含むことを特徴とする請求項11に記載の建設機械の制御方法。
- 前記第1のアクチュエータは、ブームシリンダを含み、前記第2のアクチュエータは、バケットシリンダを含み、前記第1の制御弁は、ブーム制御弁を含み、前記第2の制御弁は、バケット制御弁を含むことを特徴とする請求項11に記載の建設機械の制御方法。
- 前記優先モード動作の可否を判断することにおいて、前記第1のアクチュエータでの作動圧と、前記第2のアクチュエータでの作動圧とを比較することを含むことを特徴とする請求項1に記載の建設機械の制御方法。
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