KR20140080818A

KR20140080818A - Apparatus and method for boom controlling of wheel load

Info

Publication number: KR20140080818A
Application number: KR1020120148898A
Authority: KR
Inventors: 오우석
Original assignee: 두산인프라코어 주식회사
Priority date: 2012-12-18
Filing date: 2012-12-18
Publication date: 2014-07-01
Also published as: KR102024381B1

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and a method for controlling a boom rising and falling speed of a wheel loader and an apparatus and a method for controlling a boom rise and fall speed in which a boom can be smoothly operated despite a sudden operation of the boom joystick .
To this end, the present invention utilizes the profiling table storing the expert's boom joystick operation pattern for the beginner's boom joystick manipulation. The profiling table stores the current value outputted from the boom control valve in the set time unit, and in particular, the variation value which is the difference between the current value outputted from the previous time and the current value outputted from the current time is stored.

Description

Technical Field [0001] The present invention relates to a boom control apparatus and method for a wheel loader,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and a method for controlling a boom rising and falling speed of a wheel loader and an apparatus and a method for controlling a boom rise and fall speed in which a boom can be smoothly operated despite a sudden operation of the boom joystick .

Generally, a wheel loader is widely used as a construction heavy equipment for primarily performing excavation or loading and unloading of accumulated gravel. For this purpose, the wheel loader has a boom driven by the hydraulic pressure generated by the hydraulic pump using the power of the engine.

There is a great difference between the boom movement speed and the degree of vehicle fluctuation according to the skill of the wheel loader when the boom is raised and lowered. In the case of a beginner, it is difficult to smoothly operate the boom descent speed with the joystick during the boom operation, so that the boom repeatedly descends, rapidly decelerates, and generates shaking. In this way, the operation speed is slowed due to the rocking of the vehicle. Particularly, when the bucket is loaded with a large amount of load, the size of the rocking motion is larger and a part of the load may be lost when the vehicle rocks.

To prevent this, it is possible to move a very slow plow boom, but in this case it has a disadvantage that the work speed is slowed down. In addition, even in the case of a skilled person, there is a need for a method of quickly moving the boom without causing the vehicle to rock.

FIG. 1 shows a control process of a boom using a conventional joystick. Hereinafter, a control process of a boom using a conventional joystick will be described with reference to FIG.

1, the control process of the boom is performed by joystick operation, current control of the EPPR valve corresponding to the operation degree of the operated joystick, and boom movement process corresponding to the current value of the EPPR valve.

1, it can be seen that the position of the boom is controlled according to the operation value of the input joystick. However, the position of the boom is also changed according to the value of the input joystick as described above. That is, when the user can not precisely manipulate the joystick, the boom is severely rocked. Therefore, it is necessary for the novice to precisely manipulate the boom of the wheel loader.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems and provides a boom control method and a control apparatus of a wheel loader capable of controlling a boom control valve such that a boom smoothly ascends and descends despite a sudden operation of a boom joystick by a novice It has its purpose.

According to an aspect of the present invention, there is provided an apparatus for controlling a boom according to an operation of a boom joystick, including a memory unit for storing a variation value of a current output from a spring control valve corresponding to operation of a boom joystick in a predetermined time unit, An apparatus control section for calculating the final position of the boom control valve and receiving the variation value of the current output from the boom control valve until reaching the calculated final position from the memory and controlling the boom control valve; And a boom control valve for varying the current value so as to correspond to the variation value of the boom control valve.

According to an embodiment of the present invention, the memory unit may store a variation value of a current output from a boom control valve corresponding to a boom joystick operation and a variation value obtained by adding or subtracting a constant value to the variation value.

According to one example of the present invention, the memory unit stores the difference between the current value of the boom control valve output from the step index obtained by dividing the operation by the set time unit in the boom joystick and the current value of the boom control valve output from the step index of the previous step It is possible to calculate the variation value and to store the calculated variation value in correspondence with the step index.

According to an aspect of the present invention, there is provided a boom control method comprising: calculating a final position value of an input boom joystick; reading a current output value of a boom control valve corresponding to the calculated position value from a pre- And controlling the boom control valve to output a current according to the variation value of each step index stored in the profiling table when the read current value differs from the current value output from the current boom control valve, , The step index means a time divided by operating the boom joystick from the first position to the second position, and the change value for each step index is obtained by multiplying the output current value of the boom control valve in the step index, It can mean the difference in the output current value of the boom control valve in the previous step index.

According to the present invention, a boom control apparatus and method using a profiling table stores a boom joystick operation pattern of a skilled person in a memory unit, and by using an expert's boom joystick operation pattern, even a novice can operate the boom can do. Therefore, when the method proposed in the present invention is used, the productivity of the beginner can be improved and the productivity can be improved. In addition, worker fatigue can be reduced despite long work because the need to pay attention to the worker is somewhat reduced.

In addition, the user can separately change the operation pattern in a desired form by separately generating the operation priority pattern and the reactive priority pattern, which are patterns corresponding to the work pattern of the expert.

1 is a reference diagram showing a control process of a boom using a conventional joystick.
2 is a block diagram showing a configuration of a boom position control device of a wheel loader according to an embodiment of the present invention;
3 is a graph showing the amount of current applied to a boom control valve in an equipment control unit according to an operation of a boom joystick of an expert in accordance with an embodiment of the present invention;
FIG. 4 illustrates information stored in a memory unit according to an embodiment of the present invention; FIG.
5 is a flowchart illustrating an operation performed by an equipment control unit according to an embodiment of the present invention.
6 is a graph showing current values output from a boom control valve according to a boom joystick operation using a profiling table according to an embodiment of the present invention;

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an apparatus and a method for controlling a boom rising and falling speed of a wheel loader according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

2 shows a configuration of a boom position control device of a wheel loader according to an embodiment of the present invention. Hereinafter, a configuration of a boom position control apparatus for a wheel loader according to an embodiment of the present invention will be described in detail with reference to FIG.

The boom position control device includes an equipment control unit 100, a display unit 101, a boom control valve 102, a memory unit 103, a boom joystick 104, and a boom angle sensor 105.

The display unit (Gauge Panel) 101 may be a Liquid Crystal Display (LCD) capable of displaying graphics and displays data (for example, the operating state of the wheel loader) input from the equipment control unit 100.

The boom control valve 102 is controlled in proportion to the valve opening amount according to the electric current applied from the equipment control unit 100. [ In addition, the boom control valve 102 controls the boom raise and float.

The memory unit 103 stores information on an expert's boom joystick operation. As described above, the boom joystick can not be smoothly operated in the case of the novice user, while the boom joystick can be operated relatively smoothly in the case of the expert. Accordingly, the memory unit 103 of the present invention stores operation information of the boom joystick 104 of the skilled person.

FIG. 3 shows the amount of current applied to the boom control valve in the equipment control unit according to the operation of the boom joystick of the skilled person according to an embodiment of the present invention. As shown in FIG. 3, in the case of a skilled person, the amount of current applied to the boom control valve in the equipment control unit according to the boom joystick operation has an "S" shape.

The boom joystick 104 is an input device for raising and lowering the boom. A boom angle sensor 105 is a sensor for sensing the attitude of the boom, and outputs an angle sensing signal of the boom.

The equipment control unit 100 controls the amount of current applied to the boom control valve 102 by using the boom joystick input value applied from the boom joystick 104 and the information stored in the memory unit 103. The operation of the equipment control unit 100 will be described later.

FIG. 4 shows information stored in a memory unit according to an embodiment of the present invention. Hereinafter, information stored in the memory unit according to an embodiment of the present invention will be described in detail with reference to FIG.

Fig. 4 (a) shows the amount of current applied to the boom control valve by the expert's boom joystick operation. As described above, the skilled person manipulates the boom joystick smoothly, so that the amount of current applied to the boom control valve has an "S" shape.

Split the boom joystick manipulation time of the expert into a certain time unit. The time unit that is divided can be changed.

The memory unit 103 stores the amount of current applied to the boom control valve according to the boom joystick operation time in the form of a profiling table. Fig. 4 (b) shows an example in which the amount of current applied to the boom control valve according to the boom joystick operation time is stored in the form of a profiling table. The profiling table stores the difference between the amount of current applied in the previous step index and the amount of current applied in the current step index. The step index is shown from the index 0 to the index n and shows the difference in the amount of current applied in the previous step in each step index. As described above, in the case of the skilled person, since the amount of current applied to the boom control valve has an "S" shape, the difference in the amount of current is small at the beginning of the boom joystick operation, Further, the difference in amount of current is small in the latter stage of the boom joystick manipulation.

Further, the present invention is divided into a reactive priority pattern and a copper priority pattern based on a pattern according to the amount of current applied to a boom control valve according to an operation of an expert's boom joystick. The reactive priority pattern is located to the left of the amount of current applied to the boom control valve according to the operation of the boom joystick of the skilled person, Located.

The reactivity preference pattern is a pattern that prioritizes reactivity according to the manipulation of the boom joystick of the expert, and the preference pattern is a pattern that prioritizes the operation according to the operation of the boom joystick of the expert. Therefore, the reactive priority pattern has a larger current to be applied to the boom control valve according to the boom joystick operation relative to the copper priority pattern. It is advantageous to operate the boom relatively smoothly compared to the reactive priority pattern. Therefore, the present invention generates not only an expert's boom joystick manipulation pattern but also a dynamic preference pattern that prioritizes the manipulation of the boom joystick manipulation pattern of the expert and a reactive preference pattern that prioritizes the reactivity.

Further, a profiling table for each of the expert's boom joystick operation pattern, copper creation priority pattern, and reactive priority pattern is stored. The information stored in the profiling table as described above is information on the current applied to the boom control valve for each step index.

5 is a flowchart illustrating an operation performed by the equipment controller according to an exemplary embodiment of the present invention. Hereinafter, an operation performed by the equipment control unit according to an embodiment of the present invention will be described in detail with reference to FIG.

In step S500, the equipment control unit confirms whether the boom joystick operation information is input by the user.

In step S502, the equipment control unit determines whether the boom joystick operation mode is the profiling operation mode proposed in the present invention or the general mode. If the boom joystick mode is the normal mode, the device controller moves to step S520.

When the boom joystick mode is the profiling operation mode proposed in the present invention, the equipment control unit confirms whether the profiling operation mode set is the reactive priority mode, the operation priority mode, and the expert boom joystick operation mode. As described above, the reactive priority mode corresponds to the reactive priority pattern, and the dynamic priority mode corresponds to the dynamic priority pattern. If the boom joystick mode is a profiling mode and the set mode is one of the reactive priority mode, the dynamic priority mode, and the expert's boom joystick operation mode, the device control unit may perform a profiling corresponding to the corresponding one of the profiling tables stored in the memory unit Use tables.

In step S504, the machine control unit indexes the position of the boom joystick displacement amount. The boom joystick displacement position refers to the position at which the boom joystick is maximally moved, and thus the index position of the joystick means the last value of the profiling table. That is, when the boom joystick is operated from the index 0 to the position corresponding to the index 7, the equipment control unit extracts information on the index 7, which is the last information.

In step S506, the equipment control unit calculates a target output value corresponding to the indexed value in step S504. That is, the target output value means the output current value corresponding to the reference output value and the current joystick position index. The reference output value and the output current value corresponding to the current joystick position index receive the information from the memory unit storing the profiling table.

In step S508, the equipment controller determines whether the current output value is equal to the target output value calculated in step S506. If the present output value is equal to the target output value, the device control unit does not perform the control operation using the profiling table proposed in the present invention because it has reached the target output value. If the current output value is not equal to the target output value calculated in step S506, the apparatus control unit moves to step S510.

In step S510, the equipment controller determines whether the current step index and the step index value calculated in step S504 are the same. If the current step index is equal to the step index value calculated in step S504, the device control unit moves to step S512. If the current step index is different from the step index value calculated in step S504, the apparatus controller moves to step S516.

In step S512, the equipment control unit sets the step index to zero. The apparatus control unit moves to step S514 and outputs the output current corresponding to the output corresponding to the boom joystick position.

In step S506, the equipment control unit calculates an increment corresponding to the difference between the current output from the step index corresponding to the position of the current boom joystick stored in the profiling table and the current output from the step index with one step, One value is set as the output current value. The equipment control unit operates the boom control valve to operate the boom with the set output current value.

In step S518, the equipment control unit increments the current step index by one.

In step S520, the equipment control unit operates the boom control valve to output the output current to a current corresponding to the boom joystick position.

In step S522, the equipment control unit sets the reference output as the current output current value.

Of course, FIG. 5 shows that the equipment controller increments the step index by 1 and ends the process as in step S5018, but the present invention is not limited thereto. That is, steps S510, S516, and S518 are repeated until the current step index value and the index value corresponding to the final position of the boom joystick are the same.

FIG. 6 shows current values output from a boom control valve according to a boom joystick operation using a profiling table according to an embodiment of the present invention. As shown in FIG. 6, when the spring joystick is operated in the form of a step, when the profiling table is not applied, the current value output from the boom control valve also outputs a value having a step shape. The current value output from the boom control valve outputs a value having a calculation form, but the output value does not change abruptly. Therefore, when the profiling table is applied, the boom can be smoothly operated despite the sudden operation of the spring joystick.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.

Therefore, it should be understood that the above-described embodiments are provided so that those skilled in the art can fully understand the scope of the present invention. Therefore, it should be understood that the embodiments are to be considered in all respects as illustrative and not restrictive, The invention is only defined by the scope of the claims.

100: Equipment control section 101: Display section
102: Boom control valve 103: Memory part
104: Boom joystick 105: Boom angle sensor

Claims

An apparatus for controlling a boom according to an operation of a boom joystick,
A memory unit for storing a variation value of a current output from a spring control valve corresponding to an operation of the boom joystick in a set time unit;
An apparatus controller for calculating a final position of the operated boom joystick and receiving a variation value of a current output from the boom control valve until reaching the calculated final position from the memory unit and controlling the boom control valve; And
A boom control valve for varying a current value so as to correspond to a variation value of the current according to the control of the equipment control unit,
And a boom control unit for controlling the boom control unit.

The memory device according to claim 1,
Wherein the boom control device stores a variation value of a current output from a boom control valve corresponding to a boom joystick operation and a variation value obtained by adding or subtracting a constant value to the variation value.

The memory device according to claim 1,
Which is the difference between the current value of the boom control valve output from the step index obtained by dividing the operation by the set time unit in the boom joystick and the current value of the boom control valve output from the step index of the previous step, Is matched with the step index and stored.

Calculating a final position value of the input boom joystick;
Reading the current output value of the boom control valve corresponding to the calculated position value from the pre-stored profiling table; And
And controlling the boom control valve to output a current according to the variation value of each step index stored in the profiling table when the read current value is different from the current value output from the current boom control valve,
The step index means a time divided in operating the boom joystick from the first position to the second position,
Wherein the step-by-step variation value means a difference between an output current value of the boom control valve in the step index and an output current value of the boom control valve in a previous step index of the specific step index.