JPS6027793A - Hydraulic driving apparatus - Google Patents
Hydraulic driving apparatusInfo
- Publication number
- JPS6027793A JPS6027793A JP58135745A JP13574583A JPS6027793A JP S6027793 A JPS6027793 A JP S6027793A JP 58135745 A JP58135745 A JP 58135745A JP 13574583 A JP13574583 A JP 13574583A JP S6027793 A JPS6027793 A JP S6027793A
- Authority
- JP
- Japan
- Prior art keywords
- discharge amount
- signal
- hydraulic
- pressure
- hydraulic pump
- 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.)
- Granted
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
- F04B49/065—Control using electricity and making use of computers
Landscapes
- Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Feedback Control In General (AREA)
- Flow Control (AREA)
- Fluid-Pressure Circuits (AREA)
- Control Of Positive-Displacement Pumps (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は慣性質量を駆動する油圧駆動装ＮＩＬ係り、特
にその特性を油圧ポンプから吐出される圧油の圧力に応
じて補償する電気−油圧サーボを有する油圧駆動装置忙
関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a hydraulic drive NIL for driving an inertial mass, and more particularly to a hydraulic drive NIL having an electro-hydraulic servo that compensates its characteristics according to the pressure of pressure oil discharged from a hydraulic pump. related.
第１図は従来の油圧駆動装置の基本構成を示す回路図で
ある。FIG. 1 is a circuit diagram showing the basic configuration of a conventional hydraulic drive device.
この図において、１は可変容量油圧ポンプ、例えば斜板
型の油、圧ポンプ、２はこの油圧ポンプ１に連絡した油
圧アクチェエータ例えば油圧シリンダ、３はこの油圧シ
リンダ２によって作動する質量Ｍの慣性負荷である。４
は上記した油圧ポンプ１の吐出量制御機構で、ハウジン
グ４ａ、このハウジング４ａ内に収容され、例えば油圧
ポンプ１の斜板を傾転させるピストン４ｂ、電磁弁４ｃ
。In this figure, 1 is a variable displacement hydraulic pump, e.g. a swash plate type oil pressure pump, 2 is a hydraulic actuator connected to this hydraulic pump 1, e.g. a hydraulic cylinder, and 3 is an inertial load of mass M operated by this hydraulic cylinder 2. It is. 4
1 is a discharge amount control mechanism for the above-mentioned hydraulic pump 1, which includes a housing 4a, a piston 4b housed in the housing 4a, for example, for tilting the swash plate of the hydraulic pump 1, and a solenoid valve 4c.
.
４ｄ、および油圧ポンプ１の吐出量を検出し、吐出量信
号Ｑｐを出力する吐出量検出器すなわちｆＲ板の変位を
検出する変位計４ｅを備えている。また５は吐出量制御
装置で、油圧ポンプ１の吐′−１誉をする。６はこの吐
出量制御装置５に目標吐出量信号ｑを出力する操作レバ
ー、７は油圧ポンプ１から吐出される圧油の圧力を検出
し、圧力信号Ｐを吐出量制御装置５に出力する圧力検出
器である。4d, and a discharge amount detector that detects the discharge amount of the hydraulic pump 1 and outputs a discharge amount signal Qp, that is, a displacement meter 4e that detects the displacement of the fR plate. Reference numeral 5 denotes a discharge amount control device, which controls the discharge amount of the hydraulic pump 1. Reference numeral 6 denotes an operating lever that outputs a target discharge amount signal q to this discharge amount control device 5, and 7 a pressure lever that detects the pressure of the pressure oil discharged from the hydraulic pump 1 and outputs a pressure signal P to the discharge amount control device 5. It is a detector.
なお８は油圧源、９はタンク、１１は油圧ポンプ１と油
圧シリンダ２とを連絡する管路である。Note that 8 is a hydraulic power source, 9 is a tank, and 11 is a conduit connecting the hydraulic pump 1 and the hydraulic cylinder 2.
第２図は第１図に示す油圧駆動装置に備えられる吐出量
制御装置５０基本構成を示す説明図である。この吐出量
制御装置５はマイクロコンピュータで硝酸されており、
中央頂算装置５ａと、出力用のＩ１０インタフェイス５
ｂと、前述した電磁弁４ｃ、４ｄに接続される増幅器５
ｃ、５ｄと、制御手順のプ日グラムを格納するメモリ５
ｅと、前述した操作レバー６、圧力検出器７、変位計４
ｅからそれぞれ出力される目標吐出量信号Ｑ０、圧力信
号Ｐ、吐出量信号Ｑｐｓすなわちアナログ信号を、デジ
タル信号に変換するＡ／Ｄコンバータ５ｆとを備えてい
る。FIG. 2 is an explanatory diagram showing the basic configuration of the discharge amount control device 50 provided in the hydraulic drive device shown in FIG. 1. This discharge amount control device 5 is nitric acid controlled by a microcomputer.
Central arithmetic unit 5a and I10 interface 5 for output
b, and an amplifier 5 connected to the above-mentioned solenoid valves 4c and 4d.
c, 5d, and a memory 5 for storing the program program of the control procedure.
e, the aforementioned operating lever 6, pressure detector 7, and displacement meter 4.
It is provided with an A/D converter 5f that converts the target discharge amount signal Q0, pressure signal P, and discharge amount signal Qps, that is, analog signals outputted from e, into digital signals.
この吐出量制御装置５は操作レバー６の目標吐出量信号
Ｑ０と、圧力検出器７の圧力信号Ｐと、制動指令値を演
算し、その指令信号Ｑ。′を電磁弁４Ｃ。This discharge amount control device 5 calculates a target discharge amount signal Q0 of the operating lever 6, a pressure signal P of the pressure detector 7, and a braking command value, and outputs the command signal Q thereof. ' is the solenoid valve 4C.
４ｄに出力するようになっており、かつ変位計４ｅの出
力である吐出量信号Ｑｐが当該指令信号Ｑ。′に等しく
なるように電気−油圧サーボの一例としてオンオフサー
ボで制御するようになっている。4d, and the discharge amount signal Qp which is the output of the displacement meter 4e is the command signal Q. ' is controlled by an on-off servo as an example of an electric-hydraulic servo.
なお、オンオフサーボは次のようにして実施される。す
なわち第１図に示すように、ピストン４ｂの両側を形成
する左側室４ｆの面積は右側室４ｇの面積よりも大きく
なっている。そして、左側室４ｆは電磁弁４Ｃを通して
油圧源８と結ばれ、電磁弁４ｄを一通してタンク９に結
ばれており、右側室４ｇは油圧源８に直接結ばれている
。従って、電磁弁４Ｃおよび電磁弁４ｄを共忙励磁する
と、左側室４ｆが油圧源８に連通し、面イ声差によって
ピストン４ｂが同第１図の右方に動き、また電磁弁４Ｃ
を消磁し、電磁弁４ｄを励磁するとピストン４ｂは静止
保持され、また電磁弁４ｃ、４ｄを共に消磁すれば右側
室４ｇの圧力によりピストン４ｂは左方に動く。この動
きの組合せが、極めて短い周期（サンプリング周期）と
とＫおこなわれる。Note that the on-off servo is implemented as follows. That is, as shown in FIG. 1, the area of the left chamber 4f forming both sides of the piston 4b is larger than the area of the right chamber 4g. The left chamber 4f is connected to a hydraulic power source 8 through a solenoid valve 4C, and is connected to a tank 9 through a solenoid valve 4d, and the right chamber 4g is directly connected to a hydraulic power source 8. Therefore, when the solenoid valve 4C and the solenoid valve 4d are excited together, the left chamber 4f communicates with the hydraulic power source 8, and the piston 4b moves to the right in FIG.
When the solenoid valve 4d is demagnetized and the solenoid valve 4d is energized, the piston 4b is held stationary, and when both the solenoid valves 4c and 4d are demagnetized, the piston 4b moves to the left due to the pressure in the right chamber 4g. This combination of movements is performed with extremely short periods (sampling periods).
ところで、上述した第１図に示す従来の油圧駆動装置は
、慣性負荷３の質量をＭ、油圧ポンプ１と油圧シリンダ
２との油の圧縮性によるばね定数をに、Ｉ＝Ｂ／Ｖ（こ
こでＢは油の体積弾性率、Ｖは油圧ポンプ１と油圧シリ
ンダ２との間の体積を示す）、油圧ポンプｌの伝達関数
をに０、油圧シリンダ２０面積をＡ、ラプラス演算子な
Ｓとしてブロック図で表わすと第３図に示すようになる
。なお、この第３図において、１は前述の油圧ポンプ−
５は吐出量制御装置である。また加は油圧駆動系で、油
圧シリンダ２、油圧ポンプ１と油圧シリンダ２とを連絡
する管路１１、および慣性負荷３によって構成される。By the way, in the conventional hydraulic drive device shown in FIG. where B is the bulk modulus of oil, V is the volume between hydraulic pump 1 and hydraulic cylinder 2), the transfer function of hydraulic pump l is 0, the area of hydraulic cylinder 20 is A, and S is the Laplace operator. When expressed as a block diagram, it is shown in FIG. In addition, in this FIG. 3, 1 is the above-mentioned hydraulic pump.
5 is a discharge amount control device. Additionally, a hydraulic drive system is comprised of a hydraulic cylinder 2, a pipe line 11 connecting the hydraulic pump 1 and the hydraulic cylinder 2, and an inertial load 3.
そして、この第３図における油圧駆動系加を等価変換す
ると、ｋ８・Ａ／（Ｍ♂＋ｋＨ−Ａ之）で表わされる。When the hydraulic drive system addition in FIG. 3 is equivalently converted, it is expressed as k8.A/(M♂+kH-A).
従って、この油圧駆動系かはＭＳ！０２次の系を有して
おり、かつＳの粘性項（１次の系）を有しておらず、そ
れ故、駆動すると振動を発生する不具合がある。Therefore, this hydraulic drive system is MS! It has a 02-order system and does not have an S viscosity term (first-order system), and therefore has the problem of generating vibrations when driven.
また、このような油圧駆動系加の振動を防止するために
従来、油圧ポンプ１と油圧シリンダ２とを連絡する管路
１１の途上に絞りを設けて粘性抵抗を付与するようにし
た油圧駆動装置−が提案されている。このような油圧駆
動装置の油圧駆動系は、例えばに、ｓ Ａ／ （Ｍｓ”
＋Ｍ ＊ ｋ、ｓ ｃｓ −）−ｋ、に）で表わされ、
Ｓの粘性項（１次の系）を有し、それ故、振動の発生が
防止される。なおＣは粘性係数を示している。しかし、
この従来の油圧駆動装置にあっては絞りを設けであるこ
とがら油圧ポンプ１と油圧シリンダ２とを連絡する管路
１１に大きな圧力損失を生じ、特に油圧シリンダ２の駆
動速度が速い場合には大きなエネルギ損失を招く不具合
がある。In addition, in order to prevent such vibrations caused by the hydraulic drive system, conventional hydraulic drive systems have been designed to provide viscous resistance by providing a restriction in the middle of the pipe line 11 that connects the hydraulic pump 1 and the hydraulic cylinder 2. − has been proposed. The hydraulic drive system of such a hydraulic drive device is, for example, s A/ (Ms”
+M * k, s cs −) − k, ni),
It has a viscosity term of S (first-order system), and therefore vibrations are prevented from occurring. Note that C indicates a viscosity coefficient. but,
Since this conventional hydraulic drive device is provided with a throttle, a large pressure loss occurs in the pipe line 11 connecting the hydraulic pump 1 and the hydraulic cylinder 2, especially when the driving speed of the hydraulic cylinder 2 is high. There is a problem that causes large energy loss.
本発明はこのような従来技術における実情に鑑みてなさ
れたもので、その目的は、油圧ポンプと油圧シリンダ等
の油圧アクチュエータとを連絡する管路の途上に絞りを
介在させることなく、油圧アクチュエータの駆動系にお
ける振動の発生な防止することができる油圧駆動装置を
提供することにある。The present invention has been made in view of the actual situation in the prior art, and its purpose is to improve the flow of hydraulic actuators such as hydraulic pumps and hydraulic actuators such as hydraulic cylinders without intervening a restriction in the middle of the pipe connecting the hydraulic pumps and hydraulic actuators such as hydraulic cylinders. An object of the present invention is to provide a hydraulic drive device that can prevent vibrations from occurring in a drive system.
この目的を達成するために、可変容量油圧ポンプと、こ
の油圧ポンプの吐出量を制御する指令信号を出力する吐
出量制御装置と、油圧ポンプの吐出量を検出し、吐出量
信号を出力する吐出量検出器と、油圧ポンプから吐出さ
れる圧油の圧力を検出し、圧力信号を吐出量制御装置に
出力する圧力検出器と、吐出量制御装置に目標吐出量信
号を出力する操作レバーとを備え、電気−油圧サーボに
よって油圧ポンプの駆動を制御するものにおいて、上述
の圧力信号をアナログ的に微分し、該微分信号と上述の
吐出量信号とをアナログ的に加算して、その結果を吐出
量制御装置に別の吐出量信号として出力する特性補償器
を備え、この特性補償器から出力される別の吐出量信号
の信号値と上述の指令信号の信号値とが等しくなるよう
に制御する構成にしである。To achieve this purpose, we have developed a variable displacement hydraulic pump, a discharge amount control device that outputs a command signal to control the discharge amount of this hydraulic pump, and a discharge amount control device that detects the discharge amount of the hydraulic pump and outputs a discharge amount signal. A quantity detector, a pressure detector that detects the pressure of pressure oil discharged from the hydraulic pump and outputs a pressure signal to a discharge rate control device, and an operation lever that outputs a target discharge rate signal to the discharge rate control device. In a device that controls the drive of a hydraulic pump by an electro-hydraulic servo, the above-mentioned pressure signal is differentiated in an analog manner, the differentiated signal and the above-mentioned discharge amount signal are added in an analog manner, and the result is discharged. The quantity control device is provided with a characteristic compensator that outputs another discharge quantity signal, and the signal value of the other discharge quantity signal outputted from the characteristic compensator is controlled so as to be equal to the signal value of the above-mentioned command signal. This is the composition.
第４図は本発明の油圧駆動装置の基本原理を示すブロッ
ク図である。このブロック図にあっては圧力Ｐから圧力
の微分をｋｐｍ ｓ （ｋｐは圧力の微分補償のゲイン
）として電気的にめ、これをフィードバックして油圧鳴
動系側を構成するｋＩＩ／Ｓの項をキャンセルするよう
に特性補償しである。FIG. 4 is a block diagram showing the basic principle of the hydraulic drive device of the present invention. In this block diagram, the pressure differential is electrically determined from the pressure P as kpm s (kp is the gain of pressure differential compensation), and this is fed back to create the term kII/S that constitutes the hydraulic noise system. The characteristics are compensated to cancel.
すなわち、同第４図のブロック２工を等価変換すると、
ｋ、！／ｓ（１＋ｋｌｙ＠ｋｐ）となり、ゲインｋｐを
調節することにより１＋ｋｍ１１１ｋｐさ０にすれは、
ｋ、ｌ／ｓ項はキャンセルされる。In other words, when the block 2 in Fig. 4 is equivalently transformed,
K,! /s(1+kly@kp), and by adjusting the gain kp, 1+km111kp becomes 0.
The k, l/s terms are canceled.
これによって油圧駆動系ｄは１次の系となり、それ故、
振動の発生が防止される。なお、この第４図に示す基本
原理を第１．２図に示す吐出量制御装置５において実現
させようとすると、油圧ポンプ１から吐出される圧油の
圧力の変化速度が極めて速いことから、 Ａ／Ｉ）コン
バータ５ｆなどは高速のものを使わざるを得ない。また
一般にデジタル回路は雑音（ノイズ）を発生し、微分で
はこのノイズを大きく拾うことが多く実用的ではない。This makes the hydraulic drive system d a first-order system, and therefore,
Vibration is prevented from occurring. Note that when trying to realize the basic principle shown in FIG. 4 in the discharge amount control device 5 shown in FIG. A/I) converter 5f, etc., must use a high-speed converter. Additionally, digital circuits generally generate noise, and differentiation often picks up a large amount of this noise, making it impractical.
第５図〜第７図はこのような事情も併せて考慮した本発
明の油圧駆動装置の一実施例を示す説明図で、第５図は
基本構成を示す回路図、第６図は第５図に示す油圧駆動
装置を構成する特性補償器の一例を示す回路図、第７図
は第５図に示す油圧駆動装置のブロック図である。なお
これらの図において、前述した第１〜４図に示すものと
同じものは同一符号で示しである。5 to 7 are explanatory diagrams showing one embodiment of the hydraulic drive device of the present invention that also takes into consideration such circumstances, FIG. 5 is a circuit diagram showing the basic configuration, and FIG. FIG. 7 is a circuit diagram showing an example of a characteristic compensator constituting the hydraulic drive device shown in the figure, and FIG. 7 is a block diagram of the hydraulic drive device shown in FIG. 5. In these figures, the same parts as those shown in FIGS. 1 to 4 described above are designated by the same reference numerals.
第５図において、■０は特性補償器で、圧力検出器７に
よって検出された圧力信号Ｐをアナログ的に微分し、そ
の微分信号と変位計４ｅによって検出された吐出量信号
Ｑｐとをアナログ的に加算して、その結果を吐出量制御
装置５に別の吐出量信号Ｑｐ’として出力する。この特
性補償器■０は例えば第６図に示すように、圧力検出器
７に接続された微分器１０ａ１この微分器１０ ａに接
続された増幅器ｔａ ｂ 、変位計４ｅｌＣ接続された
増幅器１０ Ｃ、増幅器１０ ｂおよび増幅器１０ ｃ
に接続された加算器ｌｏｄから成っている。この特性補
償器１０は、圧力検出器７の圧力信号Ｐを微分器１０
ａで微分し、増幅器１０ ｂでゲインを調整する。また
変位計４６の吐出量信号Ｑｐを増幅器１０ ｃで調整す
る。そして増幅器ｔａ ｂ、１０ ｃのそれぞれから出
力された信号を加算器１０ ｄで加算し、別の吐出量信
号Ｑｐ’を発生させる。すなわち第７図のブロック図に
例示するように、Ｑｐ’ ＝ Ｑｐ −ｋｐ’・Ｓを特
性補償器１０で作る。In FIG. 5, 0 is a characteristic compensator that differentiates the pressure signal P detected by the pressure detector 7 in an analog manner, and converts the differential signal and the discharge amount signal Qp detected by the displacement meter 4e in an analog manner. and outputs the result to the ejection amount control device 5 as another ejection amount signal Qp'. For example, as shown in FIG. 6, this characteristic compensator (20) includes a differentiator 10a1 connected to the pressure detector 7, an amplifier tab connected to the differentiator 10a, an amplifier 10C connected to the displacement meter 4elC, Amplifier 10b and amplifier 10c
It consists of an adder lod connected to. This characteristic compensator 10 converts the pressure signal P of the pressure detector 7 into a differentiator 10.
Differentiate by a, and adjust the gain by amplifier 10b. Further, the discharge amount signal Qp of the displacement meter 46 is adjusted by the amplifier 10c. Then, the signals output from each of the amplifiers ta b and 10 c are added by an adder 10 d to generate another ejection amount signal Qp'. That is, as illustrated in the block diagram of FIG. 7, Qp' = Qp -kp'·S is created by the characteristic compensator 10.
なお、ゲインｋｐ′と前述した第４図に示すゲインｋｐ
との関係は、ｋｐ’ ＝ ｋｐ （ｋ６ ＋ １ ）
／ ｋｏで示される。Note that the gain kp′ and the gain kp shown in FIG.
The relationship is kp' = kp (k6 + 1)
/ko.
そして上述のようにしてめられた別の吐出量イＢ号Ｑｐ
’は吐出量制御装置５の前述したＡ／Ｄコンバータ５ｆ
Ｋ入力され、この吐出量制御装置５において該吐出量信
号Ｑｐ’の信号値が指令信号Ｑ。′の信号値に等しくな
るように制御される。なお、その他の基本的な構成は第
１．２図に示すものと同等である。Then, another discharge amount IB Qp determined as described above.
' is the aforementioned A/D converter 5f of the discharge amount control device 5.
K is input, and in this discharge amount control device 5, the signal value of the discharge amount signal Qp' is a command signal Q. is controlled to be equal to the signal value of . Note that the other basic configuration is the same as that shown in FIG. 1.2.
このように構成した一実施例にあっては、油圧ポンプ１
と油圧シリンダ２とを連絡する管路１１の途上に絞りを
介在させることなく電気的手段、すなわち特性補償器ｌ
Ｏによって第７図のｋｌＩ／ｓ項をキャンセルすること
ができ、したがって同第７図に示す油圧駆動系（至）を
１次の系にすることができ、該油圧駆動系：幻における
撮動の発生を確実に防止することができる。In one embodiment configured in this way, the hydraulic pump 1
An electric means, that is, a characteristic compensator l, without intervening a restriction on the way of the pipe line 11 connecting the hydraulic cylinder 2 and the hydraulic cylinder 2.
The klI/s term in FIG. 7 can be canceled by O, and therefore the hydraulic drive system shown in FIG. 7 can be made into a first-order system, and the hydraulic drive system: can be reliably prevented from occurring.
また特性補償器ｌＯによって圧力検出器７から出力され
た圧力信号Ｐ、変位計４ｅから出力された吐出量信号Ｑ
Ｐ％すなわちアナログ信号を処理するようにしであるこ
とから、高速のＡ／Ｄコンバータを要することがなく、
またデジタル回路内のノイズにより微分値が不安定にな
るという事態を生じることがない。Also, the pressure signal P output from the pressure detector 7 by the characteristic compensator 1O, the discharge amount signal Q output from the displacement meter 4e
Since it processes P%, that is, analog signals, it does not require a high-speed A/D converter.
Further, there is no possibility that the differential value becomes unstable due to noise in the digital circuit.
またこの一実施例にあっては、単に特性補償器ｌＯを設
けるだけで良く、すなわち第１．２図に示す従来のオン
オフサーボによる吐出量制御装置５および吐出量制御機
構４をそのまま利用することができ、構造が簡単である
。In addition, in this embodiment, it is sufficient to simply provide a characteristic compensator lO, that is, the conventional on-off servo discharge amount control device 5 and discharge amount control mechanism 4 shown in FIG. 1.2 can be used as they are. The structure is simple.
本発明の油圧駆動装置は以上のよ５に′Ｍ成しであるこ
とから、油圧ポンプと油圧アクチェエータとを連絡する
管路の途上に絞りを介在させることなく油圧アクチュエ
ータの駆動系における振動の発生を防止することができ
、それ故、上記管路における圧力損失を最少に抑制する
ことができ、エネルギ損失を防ぐことのできる効果があ
る。Since the hydraulic drive device of the present invention is configured with 5'M as described above, vibration is generated in the drive system of the hydraulic actuator without intervening a restriction in the middle of the pipe connecting the hydraulic pump and the hydraulic actuator. Therefore, the pressure loss in the pipe line can be suppressed to a minimum, and there is an effect that energy loss can be prevented.
第１図は従来の油圧駆動装置の基本構成を示す回路図、
第２図は第１図に示される油圧駆動装置忙備えられる吐
出量制御装置の基本構成を示す説明図、第３図は第１図
に示す油圧駆動装置のブロック図、第４図は本発明の油
圧駆動装置の基本原理を示すブロック図、第５図〜第７
図は本発明の油圧駆動装置の一実施例を示す説明図で、
第５図は基本構成を示す回路図、第６図は第５図に示す
油圧駆動装置を構成する特性補償器の一例を示す回路図
、第７図は第５図に示す油圧駆動装置のブロック図であ
る。
１・・・・・・可変容量油圧ポンプ、２・・・・・・油
圧シリンダ（油圧アクチュエータ）、３・・・・・・慣
性負荷、４・・・・・・吐出量制御機構、４ｅ・・・・
・・変位計（吐出量検出器）、５・・・・・・吐出量制
御装置、６・・・・・・操作レバー、７・・・・・・圧
力検出器、１０・・・・・・特性補償器、１０ ａ・・
・・・・微分器、ｔｏ ｂ％１０ ｃ・・・・・・増幅
器、１０ ｄ・・・・・・加算器、１１・・・・・・管
路。
Ｔ１ 日
才２０Figure 1 is a circuit diagram showing the basic configuration of a conventional hydraulic drive device.
FIG. 2 is an explanatory diagram showing the basic configuration of a discharge amount control device included in the hydraulic drive device shown in FIG. 1, FIG. 3 is a block diagram of the hydraulic drive device shown in FIG. 1, and FIG. 4 is an illustration of the present invention. Block diagram showing the basic principle of the hydraulic drive device, Figures 5 to 7
The figure is an explanatory diagram showing an embodiment of the hydraulic drive device of the present invention.
Fig. 5 is a circuit diagram showing the basic configuration, Fig. 6 is a circuit diagram showing an example of a characteristic compensator constituting the hydraulic drive device shown in Fig. 5, and Fig. 7 is a block diagram of the hydraulic drive device shown in Fig. 5. It is a diagram. 1... Variable capacity hydraulic pump, 2... Hydraulic cylinder (hydraulic actuator), 3... Inertia load, 4... Discharge amount control mechanism, 4e. ...
...Displacement meter (discharge amount detector), 5...Discharge amount control device, 6...Operation lever, 7...Pressure detector, 10...・Characteristics compensator, 10a...
...Differentiator, to b%10 c...Amplifier, 10 d...Adder, 11...Pipe line. T1 day 20
Claims (1)
制御する指令信号を出力する吐出量制御装置と、上記油
圧ポンプの吐出量を検出し、吐出量信号を出力する吐出
量検出器と、上記油圧ポンプから吐出される圧油の圧力
を検知し、圧力信号を上記吐出量制御装置に出力する圧
力検出器と、上記吐出量制御装置に目標吐出量信号を出
力する操作レバーとを備え、電気−油圧サーボによって
上記油圧ポンプの駆動を制御する油圧駆動装置において
、上記圧力信号をアナログ的に微分し、該微分信号と上
記吐出量信号とをアナログ的ＫｍＫして、その結果を上
記吐出量制御装置に別の吐出量信号として出力する特性
補償器を備え、この特性補償器から出力される別の吐出
量信号の４６号値と上記指令信号の信号値とが等しくな
るように制御することを特徴とする油圧駆動！４に置。1. A variable displacement hydraulic pump, a discharge amount control device that outputs a command signal to control the discharge amount of the hydraulic pump, and a discharge amount detector that detects the discharge amount of the hydraulic pump and outputs a discharge amount signal; comprising a pressure detector that detects the pressure of pressure oil discharged from the hydraulic pump and outputs a pressure signal to the discharge amount control device; and an operation lever that outputs a target discharge amount signal to the discharge amount control device; In a hydraulic drive device that controls the drive of the hydraulic pump by an electro-hydraulic servo, the pressure signal is differentiated in an analog manner, the differential signal and the discharge amount signal are converted into KmK in an analog manner, and the result is calculated as the discharge amount. A control device is provided with a characteristic compensator that outputs another discharge amount signal, and control is performed so that the No. 46 value of another discharge amount signal outputted from the characteristic compensator and the signal value of the command signal are equal. Hydraulic drive featuring! Place it at 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58135745A JPS6027793A (en) | 1983-07-27 | 1983-07-27 | Hydraulic driving apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58135745A JPS6027793A (en) | 1983-07-27 | 1983-07-27 | Hydraulic driving apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6027793A true JPS6027793A (en) | 1985-02-12 |
| JPH0451670B2 JPH0451670B2 (en) | 1992-08-19 |
Family
ID=15158880
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58135745A Granted JPS6027793A (en) | 1983-07-27 | 1983-07-27 | Hydraulic driving apparatus |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6027793A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6421201A (en) * | 1987-07-10 | 1989-01-24 | Kobe Steel Ltd | Device for restricting vibration of boom in hydraulic working machine |
| JPH01110883A (en) * | 1987-10-23 | 1989-04-27 | Kawasaki Heavy Ind Ltd | Control device for variable displacement pump |
| JPH01151678A (en) * | 1987-12-07 | 1989-06-14 | Honda Motor Co Ltd | Door locking device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57153979A (en) * | 1981-03-18 | 1982-09-22 | Hitachi Constr Mach Co Ltd | Limiting control method and device for input horsepower into hydraulic pump |
-
1983
- 1983-07-27 JP JP58135745A patent/JPS6027793A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57153979A (en) * | 1981-03-18 | 1982-09-22 | Hitachi Constr Mach Co Ltd | Limiting control method and device for input horsepower into hydraulic pump |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6421201A (en) * | 1987-07-10 | 1989-01-24 | Kobe Steel Ltd | Device for restricting vibration of boom in hydraulic working machine |
| JPH01110883A (en) * | 1987-10-23 | 1989-04-27 | Kawasaki Heavy Ind Ltd | Control device for variable displacement pump |
| JPH0551794B2 (en) * | 1987-10-23 | 1993-08-03 | Kawasaki Heavy Ind Ltd | |
| JPH01151678A (en) * | 1987-12-07 | 1989-06-14 | Honda Motor Co Ltd | Door locking device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0451670B2 (en) | 1992-08-19 |
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