JPH03301A - Control apparatus for hydraulic lift - Google Patents
Control apparatus for hydraulic liftInfo
- Publication number
- JPH03301A JPH03301A JP13371589A JP13371589A JPH03301A JP H03301 A JPH03301 A JP H03301A JP 13371589 A JP13371589 A JP 13371589A JP 13371589 A JP13371589 A JP 13371589A JP H03301 A JPH03301 A JP H03301A
- Authority
- JP
- Japan
- Prior art keywords
- control
- fine control
- deviation
- hydraulic
- electromagnetic valves
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000004044 response Effects 0.000 claims abstract description 11
- 230000001174 ascending effect Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 2
- 239000010720 hydraulic oil Substances 0.000 description 12
- 230000007246 mechanism Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Landscapes
- Lifting Devices For Agricultural Implements (AREA)
- Servomotors (AREA)
- Control Of Fluid Pressure (AREA)
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野］
この発明は、トラクター等の動力車両に具備される油圧
昇降制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a hydraulic lift control device provided in a power vehicle such as a tractor.
［従来技術およびその課題］
トラクターの後部に連結された対地作業機を昇降させる
ために、トラクターには油圧昇降機構が備えられている
が、近年、この油圧昇降機構を制御するためにコントロ
ールバルブとして電磁比例弁を用いたものが現れている
。[Prior art and its problems] Tractors are equipped with a hydraulic lifting mechanism to raise and lower the ground work equipment connected to the rear of the tractor, but in recent years, a control valve has been used to control this hydraulic lifting mechanism. Types using electromagnetic proportional valves have appeared.
電磁比例弁を用いた油圧昇降機構では、作業機を昇降さ
せたときの動きが滑らかで、しかも作業機が停止した時
や動き始めた時などにｆｉｆｅが少ないという優れた特
徴を有する反面、設定された対地高さと実際の位置との
差が小さい時、即ち目標設定値と検出値との偏差が小さ
い場合には、電磁弁個々のバラツキにより所定の流量を
確保できないものがでてくるという欠点があっ・た。Hydraulic lifting mechanisms using electromagnetic proportional valves have the advantage of smooth movement when raising and lowering the work equipment, and less fife when the work equipment stops or starts moving. When the difference between the calculated height above the ground and the actual position is small, that is, when the deviation between the target set value and the detected value is small, the disadvantage is that some solenoid valves may not be able to secure the specified flow rate due to variations in each solenoid valve. was there.
これをわかりやすく説明したものが第２図と第３図であ
る。即ち、第２図は周期Ｔを一定にし、オン時間をｔ、
としたパルス信号を送出したときの出力電流と作動油の
量の関係を示したものである。同図ハの点線が電磁弁の
バラツキを示している。この場合はバラツキによる影響
を無視できるが、通電する電流値が第３図のｔ８のよう
にｔ□より小さい場合には出力電流、作動油量とも減少
し。This is clearly explained in Figures 2 and 3. That is, in FIG. 2, the period T is constant and the on time is t,
This figure shows the relationship between the output current and the amount of hydraulic oil when the pulse signal is sent out. The dotted line in Figure C shows the variation in the solenoid valves. In this case, the influence of variations can be ignored, but when the applied current value is smaller than t□ as at t8 in FIG. 3, both the output current and the amount of hydraulic oil decrease.
個々の電磁弁の中には通電しても全く作動油が流れない
ものがでていた。Some individual solenoid valves did not allow any hydraulic oil to flow even when energized.
［課題を解決するための手段］
この発明は前記した問題点に鑑みて提案するものであっ
て、微小制御が可能な油圧昇降制御装置を得んとするも
のであって、このため次のような技術的手段を講じた。[Means for Solving the Problems] The present invention is proposed in view of the above-mentioned problems, and aims to provide a hydraulic lift control device capable of minute control. technical measures were taken.
即ち、油圧アクチュエータ６の動作位置を設定する設定
器２１、油圧アクチュエータ６の位置を検出する検出器
２３、およびこの油圧アクチュエータ６を移動させる上
昇側比例電磁弁３１と下降側比例電磁弁３０とを備え、
これらの電磁弁３０゜３１のソレノイドに通電する電流
値を変えることによって油圧アクチュエータ６の作動油
の流量を制御するものであって、」二記設定器２１によ
る目標設定値と検出器２３にて検出された実際の検出値
との偏差が小さい場合はパルス信号で、偏差が大きい場
合は連続信号で上記電磁弁３０．３１のソレノイドを制
御する油圧昇降制御装置しこおいて、上記電磁弁３０．
３１の応答限界に近い微小制御領域以外では通常のオン
タイム制御となし、微小領域では偏差に関係なく応答限
界値以上の所定パルス信号を間欠的に送出して所定の流
量を確保する制御装置を設けたことを特徴とする油圧昇
降制御装置としたものである。That is, a setting device 21 that sets the operating position of the hydraulic actuator 6, a detector 23 that detects the position of the hydraulic actuator 6, and an ascending proportional solenoid valve 31 and a descending proportional solenoid valve 30 that move the hydraulic actuator 6. Prepare,
The flow rate of the hydraulic oil in the hydraulic actuator 6 is controlled by changing the current value applied to the solenoids of these electromagnetic valves 30 and 31, and the target setting value by the setting device 21 and the detection value by the detector 23 are controlled. A hydraulic lift control device controls the solenoids of the solenoid valves 30 and 31 using a pulse signal when the deviation from the actual detected value is small, and a continuous signal when the deviation is large. ．．
A control device is used that performs normal on-time control in areas other than the micro control region close to the response limit of 31, and in the micro region, intermittently sends out a predetermined pulse signal that is greater than the response limit regardless of the deviation to ensure a predetermined flow rate. This is a hydraulic lifting control device characterized by the following features:
［実施例コ 以下、図面に基づいて、この発明の詳細な説明する。[Example code] Hereinafter, the present invention will be described in detail based on the drawings.
まず、Ｗ成から説明すると、１はトラクターで機体前後
部に夫々前輪２，２．後＠３．３を有し、ミッションケ
ース４の後上部には油圧シリンダーケース５を固着して
設けている。油圧シリンダーケース５内には単動式の油
圧シリンダー６を設け、またこの油圧シリンダーケース
５の左右両側にはリフトアーム７．７を回動可能に枢支
している。First, let me explain from the W configuration. 1 is a tractor with front wheels 2, 2. A hydraulic cylinder case 5 is fixed to the rear upper part of the transmission case 4. A single-acting hydraulic cylinder 6 is provided within the hydraulic cylinder case 5, and lift arms 7.7 are rotatably supported on both left and right sides of the hydraulic cylinder case 5.
トップリンク１０、ロワーリンク１１．１１からなる３
点リンク機横１２の後端部にはロータリ耕耘装置１４が
連結され、リフトアーム７．７とロワーリンク１１．１
１との間にはリフトロッド１５．１５が介装連結される
。、２０は油圧操作レバーでこの操作レバー２０の回動
基部には対地作業機の高さを設定するポテンショメータ
２１が取り付けられている。一方片側リフトアーム７の
同動基部にもそれの回動角度、言い替えると対地作業機
の高さを検出するポテンショメータ２３が取り付けられ
、油圧操作レバー２０にて設定された高さにリフトアー
ム７．７が回動して゛停止するようにポジション制御機
構が構成される。第４図はこの油圧昇降制御装置のブロ
ック図であるが１作業機の高さを設定する設定器として
のポテンショメータ２１と、実際のリフトアーム７．７
の位置を検出する検出器としてのポテンショメータ２３
はＡ／Ｄ変換器２５を介してＣＰＵからなる制御部２７
に接続される。２８はＡ／Ｄ変換器２５を経ることなく
直接制御部２７に接続される昇降スイッチであって、こ
のスイッチ２８をオンにすると作業機は最大上昇位置ま
で上昇し、オフにすると油圧操作レバー２０によって定
まる高さまで下降する。３０は下降側電磁弁、３１は上
昇側電磁弁である。第５図は電磁弁の応答限界に近い微
小制御領域に至ったときにソレノイドに流されるパルス
信号と出力電流、及び作動油の流量を示したものであっ
て、前記した制御部２７内のメモリ内に制御用のプログ
ラムが記憶されている。したがって、設定値と検出値と
の差がきわめて小さい微小制御領域に入ると、電磁弁の
応答限界値以上の設定パルス信号（オン時間ｔｉ＞ｔ２
）が一定時間出力され（この実施例では３００ｍ５）、
その後−定時間（３００ｍｓ）出力がカットされ、以下
、この領域内にあるときは順次このパルス制御を繰り返
すように設定される。第５図ハはこの制御によって得ら
れた作動油の流量であるが、目標値と検出値の偏差が小
さい微小制御領域では作動油が流入したり流入しない状
態が間欠的に繰り返されるため、平均的には微小な制御
が行われることになり、この結果電磁弁の製造加工時に
おける性能上のバラツキが多少あっても油圧昇降制御が
不能となるようなことはない。3 consisting of top link 10, lower link 11.11
A rotary tilling device 14 is connected to the rear end of the horizontal point link machine 12, and a lift arm 7.7 and a lower link 11.1
A lift rod 15.15 is interposed and connected between the two. , 20 is a hydraulic operating lever, and a potentiometer 21 for setting the height of the ground work machine is attached to the rotating base of the operating lever 20. On the other hand, a potentiometer 23 is attached to the cooperating base of the lift arm 7 on one side to detect its rotation angle, in other words, the height of the ground work equipment, and the lift arm 7 is set at the height set by the hydraulic control lever 20. A position control mechanism is configured so that 7 rotates and stops. FIG. 4 is a block diagram of this hydraulic lift control device, which includes a potentiometer 21 as a setting device for setting the height of the working machine, and an actual lift arm 7.
Potentiometer 23 as a detector for detecting the position of
is a control unit 27 consisting of a CPU via an A/D converter 25.
connected to. Reference numeral 28 denotes a lift switch that is connected directly to the control unit 27 without going through the A/D converter 25. When this switch 28 is turned on, the work equipment rises to the maximum lifting position, and when it is turned off, the hydraulic operating lever 20 descend to a height determined by 30 is a descending side solenoid valve, and 31 is a rising side solenoid valve. FIG. 5 shows the pulse signal sent to the solenoid, the output current, and the flow rate of hydraulic oil when the solenoid valve reaches a micro control region close to its response limit, and shows the memory in the control section 27 described above. A control program is stored inside. Therefore, when the difference between the set value and the detected value enters the micro control region, the set pulse signal (on time ti>t2
) is output for a certain period of time (300 m5 in this example),
Thereafter, the output is cut for a certain period of time (300 ms), and thereafter, when the pulse control is within this range, the pulse control is sequentially repeated. Figure 5 (c) shows the flow rate of hydraulic oil obtained by this control, but in the micro control region where the deviation between the target value and the detected value is small, the condition where the hydraulic oil flows in and out is repeated intermittently, so the average In other words, minute control is performed, and as a result, even if there is some variation in performance during the manufacturing process of the solenoid valve, hydraulic lifting control will not become impossible.
なお、上記した実施例はパルス信号のオン時間を応答限
界時のそれより大きくすると共に出力停止の時間帯を設
けて微小制御域の比例電磁Ｍ御を可能としたものである
が、第６図は応答限界時のパルス信号のオン時間ｔ、よ
りも長めのオン時間ｔ４を設定すると共にオフ時間をそ
れまでのオンタイム制御の場合よりも広げたもので制御
したものである。この場合、電磁弁に少々のバラツキが
あっても、作動油の流入は可能であり、平均化すると微
小制御域における作動油の微小制御が可能になるもので
ある。In addition, in the above-mentioned embodiment, the ON time of the pulse signal is made longer than that at the response limit, and a time period for stopping the output is provided to enable proportional electromagnetic M control in the minute control range. In this case, the on-time t4 of the pulse signal at the response limit is set longer than the on-time t4, and the off-time is wider than that of the previous on-time control. In this case, even if there is slight variation in the electromagnetic valve, it is possible for the hydraulic oil to flow in, and when it is averaged, fine control of the hydraulic oil in the fine control range becomes possible.
［発明の効果］
この発明は、前記の如く構成したので５次のような技術
的効果を奏する。[Effects of the Invention] Since the present invention is configured as described above, it has the following five technical effects.
即ち、設定器２１による設定値と検出器２３による検出
値との差が微小な制御領域に至ると、これまでのオンタ
イム制御から電磁弁３０．３１の応答限界値以上のパル
ス信号を間欠的に与えて微小制御を可能とするものであ
るから、電磁弁３０．３１に多少のバラツキがあっても
油圧昇降機構を安定的に制御できるものである。That is, when the difference between the set value by the setting device 21 and the detected value by the detector 23 reaches a control region, the pulse signal exceeding the response limit value of the solenoid valve 30, 31 is intermittently changed from the conventional on-time control. Since the hydraulic lifting mechanism can be controlled stably even if there is some variation in the electromagnetic valves 30 and 31, the hydraulic lifting mechanism can be controlled stably.
第１図は全体何面図、第２図、第３図は徒来の電磁弁の
特性図であり、第２図イ、口、ハは夫々微小制御域外に
おける出力信号、出力電流、作動油量を示すタイムチャ
ート、第３図イ、口、ハは夫々微小制御域内における出
力信号、出力電流、作動油量の関係を示す。第４図はブ
ロック図、第５図イ、口、ハはこの発明に係る制御装置
を用いた場合の出力信号、出力電流、作動油量の関係を
表わす、また、第６図は別実流側の特性を示し、イは出
力信号、口は出力電流、ハは作動油量を表わす。
符号の説明
トラクター
油圧アクチュエータ（油圧シリンダー）リフトアーム
位置設定器
位置検出器
下降側電磁弁
上昇側電磁弁Figure 1 is an overall view, Figures 2 and 3 are characteristic diagrams of conventional solenoid valves, and Figure 2 A, C, and C are respectively the output signal, output current, and hydraulic oil outside the micro control range. Figure 3 shows the relationship between the output signal, the output current, and the amount of hydraulic oil within the minute control range. FIG. 4 is a block diagram, FIG. A indicates the output signal, C indicates the output current, and C indicates the amount of hydraulic oil. Symbol explanation Tractor hydraulic actuator (hydraulic cylinder) Lift arm position setter Position detector Downward side solenoid valve Upward side solenoid valve
Claims (1)
２１、油圧アクチュエータ６の位置を検出する検出器２
３、およびこの油圧アクチュエータ６を移動させる上昇
側比例電磁弁３１と下降側比例電磁弁３０とを備え、こ
れらの電磁弁３０、３１のソレノイドに通電する電流値
を変えることによって油圧アクチュエータ６の作動油の
流量を制御するものであって、上記設定器２１による目
標設定値と検出器２３にて検出された実際の検出値との
偏差が小さい場合はパルス信号で、偏差が大きい場合は
連続信号で上記電磁弁３０、３１のソレノイドを制御す
る油圧昇降制御装置において、上記電磁弁３０、３１の
応答限界に近い微小制御領域以外では通常のオンタイム
制御となし、微小領域では偏差に関係なく応答限界値以
上の所定パルス信号を間欠的に送出して所定の流量を確
保する制御装置を設けたことを特徴とする油圧昇降制御
装置。1) A setting device 21 that sets the operating position of the hydraulic actuator 6, a detector 2 that detects the position of the hydraulic actuator 6
3, and an ascending proportional solenoid valve 31 and a descending proportional solenoid valve 30 for moving the hydraulic actuator 6, and the hydraulic actuator 6 is operated by changing the current value energized to the solenoids of these solenoid valves 30 and 31. It controls the oil flow rate, and if the deviation between the target set value by the setting device 21 and the actual detected value detected by the detector 23 is small, a pulse signal is used, and if the deviation is large, a continuous signal is used. In the hydraulic lift control device that controls the solenoids of the electromagnetic valves 30 and 31, normal on-time control is performed except in a micro control region close to the response limit of the electromagnetic valves 30 and 31, and response is applied regardless of deviation in the micro region. A hydraulic lift control device comprising a control device that intermittently sends a predetermined pulse signal greater than a limit value to ensure a predetermined flow rate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13371589A JPH03301A (en) | 1989-05-26 | 1989-05-26 | Control apparatus for hydraulic lift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13371589A JPH03301A (en) | 1989-05-26 | 1989-05-26 | Control apparatus for hydraulic lift |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH03301A true JPH03301A (en) | 1991-01-07 |
Family
ID=15111209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13371589A Pending JPH03301A (en) | 1989-05-26 | 1989-05-26 | Control apparatus for hydraulic lift |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH03301A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04273304A (en) * | 1991-02-27 | 1992-09-29 | Ebara Corp | Gas pressure controller |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01131382A (en) * | 1987-11-16 | 1989-05-24 | Honda Motor Co Ltd | Deciding method for duty ratio for actuation of solenoid |
-
1989
- 1989-05-26 JP JP13371589A patent/JPH03301A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01131382A (en) * | 1987-11-16 | 1989-05-24 | Honda Motor Co Ltd | Deciding method for duty ratio for actuation of solenoid |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04273304A (en) * | 1991-02-27 | 1992-09-29 | Ebara Corp | Gas pressure controller |
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