KR980700495A - Control apparatus for construction machine - Google Patents

Control apparatus for construction machine

Info

Publication number
KR980700495A
KR980700495A KR1019970703731A KR19970703731A KR980700495A KR 980700495 A KR980700495 A KR 980700495A KR 1019970703731 A KR1019970703731 A KR 1019970703731A KR 19970703731 A KR19970703731 A KR 19970703731A KR 980700495 A KR980700495 A KR 980700495A
Authority
KR
South Korea
Prior art keywords
flow rate
hydraulic oil
oil supply
hydraulic
actuators
Prior art date
Application number
KR1019970703731A
Other languages
Korean (ko)
Other versions
KR100212771B1 (en
Inventor
마사토시 미키
가즈노리 요시노
후미히코 이시세
도모히로 아카키
시게요시 미쯔모리
마코토 사메지마
Original Assignee
사쿠마 하지메
신 카테필라 미쓰비시 주식회사
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 사쿠마 하지메, 신 카테필라 미쓰비시 주식회사 filed Critical 사쿠마 하지메
Publication of KR980700495A publication Critical patent/KR980700495A/en
Application granted granted Critical
Publication of KR100212771B1 publication Critical patent/KR100212771B1/en

Links

Classifications

    • 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
    • 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
    • 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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • 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
    • 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
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
    • 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
    • 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
    • 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
    • F15B2211/21—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge
    • F15B2211/212—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge the pressure sources being accumulators
    • 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
    • F15B2211/30505—Non-return valves, i.e. check valves
    • 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
    • F15B2211/30575—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 in a Wheatstone Bridge arrangement (also half bridges)
    • 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
    • F15B2211/3111—Neutral or centre positions the pump port being closed in the centre position, e.g. so-called closed centre
    • 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
    • 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
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • F15B2211/40515—Flow control characterised by the type of flow control means or valve with variable throttles or orifices
    • 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
    • F15B2211/40—Flow control
    • F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
    • F15B2211/41509—Flow control characterised by the connections of the flow control means in the circuit being connected to a pressure source and a directional control valve
    • 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
    • F15B2211/40—Flow control
    • F15B2211/42—Flow control characterised by the type of actuation
    • F15B2211/426—Flow control characterised by the type of actuation electrically or electronically
    • 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
    • F15B2211/40—Flow control
    • F15B2211/455—Control of flow in the feed line, i.e. meter-in control
    • 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
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50536—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using unloading valves controlling the supply pressure by diverting fluid to the return line
    • 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
    • F15B2211/50—Pressure control
    • F15B2211/515—Pressure control characterised by the connections of the pressure control means in the circuit
    • F15B2211/5157—Pressure control characterised by the connections of the pressure control means in the circuit being connected to a pressure source and a return line
    • 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
    • F15B2211/50—Pressure control
    • F15B2211/52—Pressure control characterised by the type of actuation
    • F15B2211/528—Pressure control characterised by the type of actuation actuated by fluid pressure
    • 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
    • F15B2211/50—Pressure control
    • F15B2211/55—Pressure control for limiting a pressure up to a maximum pressure, e.g. by using a pressure relief valve
    • 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
    • F15B2211/625—Accumulators
    • 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
    • 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
    • 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
    • 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
    • F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational speed
    • 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
    • F15B2211/6333—Electronic controllers using input signals representing a state of the pressure source, e.g. swash plate angle
    • 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
    • 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
    • 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
    • F15B2211/6656—Closed loop control, i.e. control using feedback
    • 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
    • F15B2211/7135—Combinations of output members of different types, e.g. single-acting cylinders with rotary motors

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

본 발명은 기계 구성체의 제어 장치에 관한 것이다. 수동 조작 수단(30A, 30B)로부터의 조작 목표값과 검출 수단(102)으로부터의 검출 결과가 수신될 때, 액튜에이터(7A, 7B)에 요구된 유동률 정보(Qra, Qrb)는 수동 조작 수단(30A, 30B)으로 설정되고 작동유 공급 수단으로부터 작동유 공급 유동률 정보는 서로 비교되고 액튜에이터(7A, 7B)에 최적 공급율은 제어 수단에 공급된 밸브 제어 수단(31)의 분산 기능에 의해 비교의 결과를 근거로 결정되며, 밸브 수단은 최적 공급 유동률로 제어된다.The present invention relates to a control device for a machine structure. When the operation target value from the manual operation means 30A, 30B and the detection result from the detection means 102 are received, the flow rate information Qra, Qrb required for the actuators 7A, 7B is transferred to the manual operation means 30A , 30B), the hydraulic oil supply flow rate information from the hydraulic oil supply means is compared with each other, and the optimum supply rate to the actuators 7A and 7B is based on the result of comparison by the distributed function of the valve control means 31 supplied to the control means. determined, and the valve means is controlled to an optimum feed flow rate.

Description

기계 구성체의 제어 장치(Control apparatus for construction machine)Control apparatus for construction machine

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this content is a publicly disclosed case, the full text is not included.

제1도는 본 발명의 제 1 실시예로서 기계 구성의 제어 장치의 중요 부분을 개략적으로 도시하는 유압 회로 다이아그램이다.1 is a hydraulic circuit diagram schematically showing an important part of a control device of a machine configuration as a first embodiment of the present invention.

제2도는 본 발명의 제 1 실시예로서 기계 구성의 제어 장치의 일반적인 구성을 개략적으로 도시하는 유압 블록 다이아그램이다.Fig. 2 is a hydraulic block diagram schematically showing the general configuration of a control device of a machine configuration as a first embodiment of the present invention.

제5도는 본 발명의 제 1 실시예로서 기계 구성의 제어 장치에 적용가능한 유압 회로의 다른 예를 도시하는 도면이다.5 is a diagram showing another example of a hydraulic circuit applicable to a control device of a mechanical configuration as the first embodiment of the present invention.

제6도는 본 발명의 제 2 실시예로서 기계 구성의 제어 장치를 개략적으로 도시한 유압 회로 다이아그램이다.Fig. 6 is a hydraulic circuit diagram schematically showing a control device of a machine configuration as a second embodiment of the present invention.

Claims (18)

기계 구성체의 제어 장치에 있어서: 조작자에 의해 수동으로 조작가능한 수동 조작 수단(30A, 30B)과, 원동기(1)로 구동된 유압 펌프(2)를 구비하는 작동유 공급 수단과, 상기 작동유 공급 수단으로부터 작동유로 구동되는 복수의 액튜에이터(7A, 7B)를 구비하는 구동 수단과, 상기 구동 수단과 상기 구동 수단을 제어하기 위한 상기 작동유 공급 수단 사이에 삽입된 복수의 제어 밸브(6A, 6B)를 구비하는 밸브 수단과, 상기 작동유 공급 수단으로부터 작동유의 공급 유동율을 검출하기 위한 작동유 공급 유동율 검출 수단(102)을 포함하는 검출 수단과, 상기 수동 조작 수단(30A, 30B)으로부터의 조작 목표값과 상기 검출 수단(102)으로부터의 검출 결과를 수신하고, 상기 수동 조작 수단(30A, 30B)에 의해 설정된 상기 액튜에이터 (7A, 7B)의 요구된 유동률 정보(Qra, Qrb)와 상기 작동유 공급 수단으로부터 작동유 공급 유동률 정보를 비교하는 디스트리뷰터 기능에 의해 상기 밸브 수단을 제어하며 비교 결과에 응답하여 상기 액튜에이터(7A, 7B)에 최적 공급 유동률을 결정하기 위한 밸브 제어 수단(31)을 포함하는 것을 특징으로 하는 기계 구성체의 제어 장치.A control apparatus for a mechanical structure, comprising: a hydraulic oil supply means comprising a manual operation means (30A, 30B) manually operated by an operator; a hydraulic pump (2) driven by a prime mover (1); A drive means having a plurality of actuators (7A, 7B) driven by hydraulic oil, and a plurality of control valves (6A, 6B) inserted between the drive means and the hydraulic oil supply means for controlling the drive means detection means comprising valve means, hydraulic oil supply flow rate detecting means (102) for detecting a supply flow rate of hydraulic oil from said hydraulic oil supply means, and an operation target value from said manual operation means (30A, 30B) and said detection means Receiving the detection result from 102, the requested flow rate information Qra, Qrb of the actuators 7A, 7B set by the manual operation means 30A, 30B and the hydraulic oil supply flow rate information from the hydraulic oil supply means control of a machine arrangement comprising valve control means (31) for controlling said valve means by a distributor function comparing Device. 제 1 항에 있어서, 상기 밸브 제어 수단(31)은 요구된 유동률 정보(Qra, Qrb)가 작동유 공급 유동률 정보보다 낮을 때 액튜에이터 유동률 설정 신호(Qp)로서 상기 수동 조작 수단(30A, 30B)에 의해 상기 액튜에이터(7A, 7B)에 요구된 유동률 신호(Qra, Qrb)가 출력되나, 요구된 유동률(Qra, Qrb)의 전체 합이 작동유 공급 유동률(Qp)보다 높을 때 액튜에이터 유동률 설정 신호(Qsa, Qsb)로서 1보다 작은 계수()로 상기 액튜에이터(7A, 7B)에 요구된 유동률(Qra, Qrb)을 곱함으로써 얻어진 값이 출력되는 디스트리뷰터(31a)를 포함하는 것을 특징으로 하는 기계 구성체의 제어 장치.According to claim 1, wherein the valve control means (31) by the manual operation means (30A, 30B) as an actuator flow rate setting signal (Qp) when the requested flow rate information (Qra, Qrb) is lower than the hydraulic oil supply flow rate information When the required flow rate signals Qra and Qrb are output to the actuators 7A and 7B, but the total sum of the required flow rates Qra and Qrb is higher than the hydraulic oil supply flow rate Qp, the actuator flow rate setting signals Qsa, Qsb ) as a coefficient less than 1 ( and a distributor (31a) from which a value obtained by multiplying the actuators (7A, 7B) by the required flow rates (Qra, Qrb) by ) is output. 제 2 항에 있어서, 1보다 작은 계수()는 요구된 유동률 정보(Qra, Qrb)의 전체 합을 갖는 작동유 공급 유동률(Qp)의 표준화에 의해 얻어진 정보를 갖는 것을 특징으로 하는 기계 구성체의 제어 장치.3. The method of claim 2, wherein a coefficient less than 1 ( ) has information obtained by normalizing the hydraulic oil supply flow rate (Qp) with the total sum of the required flow rate information (Qra, Qrb). 제 2 항에 있어서, 상기 디스트리뷰터(31a)에 의해 설정된 액튜에이터 유동률 설정 신호(Qsa, Qsb)는 상기 기계 구성체의 각 작동 모드로 설정된 것을 특징으로 하는 기계 구성체의 제어 장치.3. The control device of a machine structure according to claim 2, wherein the actuator flow rate setting signals (Qsa, Qsb) set by the distributor (31a) are set for each operation mode of the machine structure. 제 1 항에 있어서, 상기 검출 수단은 상기 밸브 수단의 작동 상태를 검출하기 위한 조종 검출 수단(106A, 106B, 107A, 107B, 108A, 108B, 109A, 109B)를 포함하고, 상기 밸브 제어 수단(31)은 상기 조종 검출 수단(106A~109B)으로부터 검출 결과를 수신하고 디스트리뷰터 작용을 정정하기 위한 정정 수단(32A, 32B)을 갖는 것을 특징으로 하는 기계 구성체의 제어 장치.2. The valve control means (31) according to claim 1, wherein said detection means comprises steering detection means (106A, 106B, 107A, 107B, 108A, 108B, 109A, 109B) for detecting an operating state of said valve means. ) has correction means (32A, 32B) for receiving the detection result from the manipulation detection means (106A to 109B) and correcting the distributor action. 제 5 항에 있어서, 상기 조종 검출 수단(106A~109B)은 상기 제어 밸브(6A, 6B)의 스풀 위치를 피드백시키고 측정하기 위한 스풀 위치 센서(107A, 107B)와, 부하 압력을 피드백시키고 측정하기 위한 부하 감지 부하 압력 센서(108A, 108B, 109A, 109B) 및, 상기 액튜에이터(7A, 7B)에 공급된 유동률을 피드백시키고 측정하기 위한 유동률 센서(106A, 106B)를 포함하는 것을 특징으로 하는 기계 구성체의 제어 장치.6. The spool position sensor (107A, 107B) for feeding back and measuring the spool position of the control valve (6A, 6B), and the spool position sensor (107A, 107B) for feeding back and measuring the load pressure. a load sensing load pressure sensor (108A, 108B, 109A, 109B) for 's control unit. 제 6 항에 있어서, 상기 부하를 감지하는 부하 압력 센서(108A, 108B, 109A, 109B) 각각은 그 출력부에서 밴드-패스 필터(200; band-pass filter)를 포함하는 것을 특징으로 하는 기계 구성체의 제어 장치.7. The machine construction according to claim 6, characterized in that each of the load pressure sensors (108A, 108B, 109A, 109B) for sensing the load comprises a band-pass filter (200) at its output. 's control unit. 제 1 항에 있어서, 상기 작동유 공급 수단은 작동유를 상기 유압 펌프(2)의 방출 측부상에 축적하기 위한 어큐뮬레이터(5)를 포함하는 것을 특징으로 하는 기계 구성체의 제어 장치.2. Device according to claim 1, characterized in that the hydraulic oil supply means comprises an accumulator (5) for accumulating hydraulic oil on the discharge side of the hydraulic pump (2). 제 8 항에 있어서, 상기 작동유 공급 수단은 상기 어큐뮬레이터(5)의 캐피시티가 소정량을 초과할 때 무부하 상태에서 상기 유압 펌프(2)의 방출 유동률을 바이패스하기 위한 무부하 밸브(3)를 포함하는 것을 특징으로 하는 기계 구성체의 제어 장치.9. The hydraulic oil supply means according to claim 8, wherein the hydraulic oil supply means comprises a no-load valve (3) for bypassing the discharge flow rate of the hydraulic pump (2) in a no-load state when the capacity of the accumulator (5) exceeds a predetermined amount. A control device for a machine structure, characterized in that. 제 9 항에 있어서, 상기 무부하 밸브(3)는 상기 유압 펌프(2)의 방출 측부상의 작동유 공급 통로와 평행하게 공급되는 반면, 상기 어큐뮬레이터(5)는 상기 작동유 공급 통로로 상기 무부하 밸브(3)의 연결점에 대하여 하부 측부상에서 상기 작동유 공급 통로의 일부분과 평행하게 공급되고, 상기 어큐뮬레이터(5)로부터 후방 유동을 방지하기 위한 체크 밸브(4)는 상기 작동유 공급 통로로 상기 무부하 밸브의 연결 부분과 상기 어큐뮬레이터(5)의 연결 부분 사이에서 상기 작동유 공급 통로의 일부분에 배치된 것을 특징으로 하는 기계 구성체의 제어 장치.10. The unloaded valve (3) according to claim 9, wherein the unloaded valve (3) is fed parallel to the hydraulic oil supply passage on the discharge side of the hydraulic pump (2), while the accumulator (5) is fed into the hydraulic oil supply passage. ) is supplied parallel to a part of the hydraulic oil supply passage on the lower side with respect to the connection point of A control device for a machine structure, characterized in that it is arranged in a portion of the hydraulic oil supply passage between the connecting portions of the accumulator (5). 제 1 항에 있어서, 상기 수동 조작 수단(30A, 30B)은 일정한 상기 유압 펌프(2)의 펌프 방출 압력을 유지 하기 위한 공급 압력 설정 유니트(20)를 포함하는 것을 특징으로 하는 기계 구성체의 제어 장치.2. Device according to claim 1, characterized in that the manual operation means (30A, 30B) comprises a supply pressure setting unit (20) for maintaining a constant pump discharge pressure of the hydraulic pump (2). . 제 1 항에 있어서, 상기 작동유 공급 수단은 상기 유압 펌프(2)의 방출 측부상에 작동유를 축적하기 위한 어큐뮬레이터(5)를 포함하고, 상기 밸브 제어 수단 (31)은 요구된 유동률(Qra, Qrb)의 전체 합이 작동유 공급 유동률(Qp)보다 낮을 때 액튜에이터 유동률 설정 신호(Qsa)로서 상기 수동 조작수단(30A, 30B)에 의해 상기 액튜에이터(7A, 7B)에 요구된 유동률 신호(Qra, Qrb)를 출력하지만, 요구된 유동률(Qra, Qrb)의 전체 합이 작동유 공급 유동률(Qp)보다 높을 때 액튜에이터 유동률 설정 신호(Qsa, Qsb)로서 1보다 작은 제 1 계수()로 상기 액튜에이터(7A, 7B)에 요구된 유동률(Qra, Qrb)을 곱함으로써 얻어진 값을 출력하고, 허용가능한 공급 유동률(Qs)로서 작동유 공급 유동률(Qp)과 상기 어큐물레이터(5)의 축적 공급 유동률의 합을 계산하며 및, 액튜에이터 유동률 설정 신호(Qsa, Qsb)로서 요구된 유동률(Qra, Qrb)의 전체 합과 함께 허용가능한 공급 유동률(Qs)의 표준화로 얻어진 정보를 가지는 제 2 계수()로 상기 액튜에이터(7A, 7B)에 요구된 유동률(Qra, Qrb)을 곱함으로써 얻어진 값을 출력하는 디스트리뷰터(31a)를 포함하는 것을 특징으로 하는 기계 구성체의 제어 장치.2. The hydraulic oil supply means according to claim 1, wherein the hydraulic oil supply means comprise an accumulator (5) for accumulating hydraulic oil on the discharge side of the hydraulic pump (2), and the valve control means (31) control the required flow rates (Qra, Qrb). ) is lower than the hydraulic oil supply flow rate Qp, as the actuator flow rate setting signal Qsa, the flow rate signals Qra, Qrb required for the actuators 7A, 7B by the manual operation means 30A, 30B A first coefficient less than 1 as the actuator flow rate setting signals Qsa, Qsb ), output the value obtained by multiplying the actuators 7A, 7B by the required flow rates Qra, Qrb, and output the hydraulic oil supply flow rate Qp as the allowable supply flow rate Qs and the a second coefficient with information obtained by calculating the sum of the accumulated feed flow rates and normalizing the allowable feed flow rates Qs with the total sum of the required flow rates Qra, Qrb as actuator flow rate setting signals Qsa, Qsb ( and a distributor (31a) for outputting a value obtained by multiplying the actuators (7A, 7B) by the required flow rates (Qra, Qrb) by ). 제 12 항에 있어서, 제 1 계수()는 요구된 유동률(Qra, Qrb)의 전체 합과 함께 작동유 공급 유동률(Qp)의 표준화에 의해 얻어진 정보를 가지는 것을 특징으로 하는 기계 구성체의 제어 장치.13. The method of claim 12, wherein the first coefficient ( ) has information obtained by normalizing the hydraulic oil supply flow rates (Qp) together with the total sum of the required flow rates (Qra, Qrb). 제 12 항에 있어서, 상기 디스트리뷰터(31a)로 설정되는 액튜에이터 유동률 설정 신호(Qsa, Qsb)는 상기 기계 구성체의 작동 모드 각각으로 설정되는 것을 특징으로 하는 기계 구성체의 제어 장치.13. The control device of a machine body according to claim 12, wherein the actuator flow rate setting signals (Qsa, Qsb) set by the distributor (31a) are set to each of the operating modes of the machine body. 제 1 항에 있어서, 상기 검출 수단은 상기 작동유 공급 수단의 작동 상태를 검출하기 위한 전원 측부 검출 수단(100~102)을 포함하고, 상기 제어 수단은 상기 전원 측부 검출 수단(100~102)으로부터의 검출 결과를 수신 및 상기 작동유 공급 수단을 제어하기 위한 전원 측부 제어 수단(26)을 포함하는 것을 특징으로 하는 기계 구성체의 제어 장치.2. The method according to claim 1, wherein said detecting means includes power side detecting means (100-102) for detecting an operating state of said hydraulic oil supplying means, said control means comprising: and power supply side control means (26) for receiving a detection result and for controlling the hydraulic oil supply means. 제 15 항에 있어서, 상기 전원 측부 검출 수단(100~102)은 상기 원동기(1)의 회전 상태를 검출하기 위한 회전 상태 센서(101)와, 상기 원동기(1)의 출력 동력 상태를 검출하기 위한 출력 동력 센서(100) 및, 상기 작동유 공급 수단으로부터 작동유의 압력을 검출하기 위한 작동유 압력 센서(102)를 포함하는 것을 특징으로 하는 기계 구성체의 제어 장치.16. The method according to claim 15, wherein the power supply side detecting means (100 to 102) comprises a rotational state sensor (101) for detecting the rotational state of the prime mover (1), and an output power state of the prime mover (1). An output power sensor (100) and a hydraulic oil pressure sensor (102) for detecting a pressure of the hydraulic oil from the hydraulic oil supply means. 조작자에 의해 수동으로 조작가능한 수동 조작 수단(30A, 30B)과, 엔진(1)에 의해 구동된 적어도 하나의 가변 방출 유압 펌프(2)와, 상기 가변 방출 유압 펌프 (2)로부터 방출된 유압에 의해 구동된 복수의 유압 액튜에이터(7A, 7B)와, 상기 유압 액튜에이터(7A, 7B)에서 유동률과 방향을 제어하기 위해 상기 유압 액튜에이터(7A, 7B)와 상기 가변 방출 유압 펌프(2) 사이에 배치된 복수의 메인 제어 밸브(6A, 6B)와, 유압을 축적하기 위해 상기 가변 방출 유압 펌프(2)와 상기 메인 제어 밸브(6A, 6B) 사이의 액체 통로에 설치된 어큐뮬레이터(5)와, 상기 어큐뮬레이터(5)의 캐피시티가 캐피시티의 최대값에 근접할 때 무부하 상태에서 상기 가변 방출 유압 펌프(2)의 방출 유동률을 바이패스시키기 위해 상기 가변 방출 유압 펌프(2)와 상기 메인 제어 밸브(6A, 6B) 사이의 상기 유체 통로에 설치된 무부하 밸브(3)와, 상기 수동 조작 수단(30A, 30B)에 의해 상기 액튜에이터(7A, 7B)에 요구된 유동률의 전체 합이 상기 가변 방출 유압 펌프(2)보다 낮을 때 그것이 액튜에이터 유동률 설정 신호로서 상기 수동 조작 수단(30A, 30B)에 의해 상기 액튜에이터(7A, 7B)에 요구된 유동률 신호를 출력시키지만, 요구된 유동류의 전체 합이 펌프 방출 유동률이 높을 때, 액튜에이터 유동률 설정 신호로서 요구된 유동률의 전체 합으로 펌프 방출 유동률을 분리함으로써 얻어진 값()에 의해 상기 유압 액튜에이터(7A, 7B)에 요구된 유동률을 곱함으로써 얻어진 값을 산출하기 위한 제 1 계산 수단과, 요구된 유동률의 전체 합에 의해 펌프 방출 유동률과 상기 어큐뮬레이터(5)의 축적 공급 유동률의 전체로서 계산된 허용가능한 공급 유동률을 분리함으로써 얻어진 값()으로 상기 액튜에이터(7A, 7B)에 요구된 유동률을 곱하고 액튜에이터 유동률 설정 신호로서 표준화의 결과를 출력하기 위한 제 2 계산 수단을 포함하는 디스트리뷰터(31a)와, 일정한 펌프 방출 출력을 유지하기 위해 상기 수동 조작 수단(30A, 30B)에 설치된 공급 압력 설정 유니트(20)와, 상기 디스트리 뷰터 (31a)로부터 액튜에이터 유동률 설정 신호를 수신하고 상기 메인 제어 밸브(6A, 6B)에 작동 신호를 공급하기 위한 밸브 콘트롤러(32A)와, 상기 밸브 콘트롤러(32A)가 제공되고, 메인 제어 밸브(6A, 6B)의 스풀 위치를 측정하고 피드백시키기 위한 스풀 위치 센서(107A, 107B)와, 부하 압력을 측정하고 피드백시키기 위한 밴드-패스 필터(200)를 가진 부하를 감지하는 부하 압력 센서(108A, 108B, 109A, 109B) 및, 상기 유압 액튜에이터(7A, 7B)에 공급된 유동률을 측정하고 피드백시키기 위한 유동률 센서(106A, 106B)를 포함하는 조정 측부 센서 그룹과, 엔진 속도를 측정하기 위한 회전 상태 센서(101)와, 엔진 연료 펌프의 랙 개방부를 측정하기 위한 랙 개방부 센서(100)와, 펌프 경사각을 측정하기 위한 경사각 센서(103)와, 펌프 방출 압력을 측정하기 위한 방출 압력 센서(102)와, 시스템 공급 압력을 측정하기 위한 공급 압력 센서(104) 및, 상기 어큐뮬레이터(5)의 캐피시티를 측정하기 위한 어큐뮬레이터 캐피시티 센서(105)를 포함하는 전원 측부 센서 그룹과, 상기 공급 압력 센서로부터 피드백 신호와 상기 공급 압력 설정 유니트(20)에 의해 설정되는 압력간의 차이의 합에 의거하여 상기 가변 방출 유압 펌프(2)의 경사각 목표값 신호 및 그 차이의 적분값을 발생하기 위한 제 1 목표값 수단과, 상기 부하를 감지하는 부하 압력 센서(108A, 108B, 109A, 109B)와 상기 공급 압력 설정 유니트(20)중 하나로부터 최대 신호를 선택하고, 최대 신호값이 일정 시간 주기보다 더 많이 연속될 때 목표값 신호로서 최대 신호값에 일정 값을 부가함으로써 얻어진 값을 결정하고, 상기 공급 압력 센서(104)로부터 피드백 신호와 목표값 신호간의 차이의 합을 기반으로 상기 가변 방출 유압 펌프(2)의 경사각 목표값 신호 및 그 차이의 적분값을 발생하기 위한 제 2 목표값 수단과, 공급 압력이 특정 값에 의해 예정값보다 높게 증가되고 상기 어큐뮬레이터(5)의 캐피시티가 그 최대값의 근처에 있을 때 무부하 상태로 상기 가변 방출 유압펌프(2)의 방출 유동률을 바이패스시키기 위해 상기 무부하 밸브(3)를 개방시키고, 공급 압력이 특정 값에 의해 예정값보다 낮게 저하되거나 또는 상기 어큐뮬레이터(5)의 캐피시티가 그 최소값 근처의 값으로 저하될 때 상기 무부하 밸브(3)를 가까이 하기 위한 신호를 발생하기 위한 제 3 목표값 수단과, 엔진-펌프의 효율 특성 및 상기 엔진(1)의 출력 방출 동력의 작용으로서 상기 엔진(1)의 출력 동력의 범위내에 상기 가변 방출 유압 펌프(2)의 허용가능한 경사각 목표값 신호를 발생하기 위한 제 4 목표값 수단과, 조작자의 유동률 요구에 비례하여 증가되는 펌프 유동률을 고정하기 위한 상기 가변 방출 유압 펌프(2)의 경사각 목표값 신호를 발생하기 위한 제 5 목표값 수단 및, 상기 가변 방출 유압 펌프(2)의 경사각 목표값 신호로서 가장 낮게 발생된 하나의 목표값 신호를 선택하고 상기 경사각 센서로부터 피드백 신호와 선택된 경사각 목표값 신호간의 차이를 기반으로 펌프 경사각을 위치시키기 위한 펌프 콘트롤러(26)를 포함하는 것을 특징으로 하는 기계 구성체의 제어 장치.Manual operation means 30A, 30B manually operated by an operator, at least one variable discharge hydraulic pump 2 driven by the engine 1, a plurality of hydraulic actuators (7A, 7B) driven by the hydraulic actuators (7A, 7B), arranged between the hydraulic actuators (7A, 7B) and the variable discharge hydraulic pump (2) for controlling the flow rate and direction in the hydraulic actuators (7A, 7B) a plurality of main control valves (6A, 6B) and an accumulator (5) installed in a liquid passage between the variable discharge hydraulic pump (2) and the main control valves (6A, 6B) for accumulating hydraulic pressure; The variable discharge hydraulic pump 2 and the main control valve 6A to bypass the discharge flow rate of the variable discharge hydraulic pump 2 in the no-load state when the capacity of (5) approaches the maximum value of the capacity. , 6B) and the no-load valve 3 installed in the fluid passage between ), it outputs the required flow rate signal to the actuators 7A, 7B by the manual operation means 30A, 30B as an actuator flow rate setting signal, but when the total sum of the required flow rates is higher than the pump discharge flow rate The value obtained by dividing the pump discharge flow rate by the total sum of the required flow rates as the actuator flow rate setting signal ( first calculation means for calculating a value obtained by multiplying the flow rates required for the hydraulic actuators 7A, 7B by The value obtained by separating the allowable feed flow rate calculated as the total of the flow rate ( a distributor (31a) comprising second calculation means for multiplying the actuators (7A, 7B) with the required flow rates by ) and outputting the result of normalization as an actuator flow rate setting signal, and the manual for maintaining a constant pump discharge output A supply pressure setting unit 20 installed in the operating means 30A, 30B, and a valve for receiving an actuator flow rate setting signal from the distributor 31a and supplying an operating signal to the main control valves 6A, 6B A controller 32A, the valve controller 32A are provided, and spool position sensors 107A, 107B for measuring and feeding back the spool positions of the main control valves 6A, 6B, and for measuring and feeding back the load pressure A load pressure sensor 108A, 108B, 109A, 109B for sensing a load having a band-pass filter 200 for , 106B); a rotational state sensor 101 for measuring engine speed; a rack opening sensor 100 for measuring a rack opening of an engine fuel pump; an inclination angle sensor 103 for measuring the pump discharge pressure, a discharge pressure sensor 102 for measuring the pump discharge pressure, a supply pressure sensor 104 for measuring the system supply pressure, and a capacity for measuring the capacity of the accumulator 5 The variable discharge hydraulic pump ( 2) first target value means for generating the inclination angle target value signal and an integral value of the difference, load pressure sensors (108A, 108B, 109A, 109B) for sensing the load, and the supply pressure setting unit (20) Select the maximum signal from one of the determining the value obtained by adding a certain value to the maximum signal value as a target value signal when accelerating, and based on the sum of the difference between the target value signal and the feedback signal from the supply pressure sensor 104, the variable discharge hydraulic pump (2) a second target value means for generating an integral value of the inclination angle target value signal of and the difference thereof; open the no-load valve (3) to bypass the discharge flow rate of the variable discharge hydraulic pump (2) in a no-load state when there is a supply pressure lower than a predetermined value by a certain value or the accumulator (5) a third target value means for generating a signal for closing the no-load valve (3) when the capacity of n(n) is lowered to a value near its minimum value; a fourth target value means for generating an allowable inclination angle target value signal of the variable discharge hydraulic pump (2) within the range of the output power of the engine (1) as an action of power; fifth target value means for generating an inclination angle target value signal of the variable discharge hydraulic pump (2) for fixing the pump flow rate, and one of the lowest generated inclination angle target value signals of the variable discharge hydraulic pump (2) and a pump controller (26) for selecting a target value signal and positioning the pump tilt angle based on a difference between a feedback signal from the tilt angle sensor and the selected tilt angle target value signal. 조작에 의해 수동으로 조작가능한 수동 조작 수단(30A, 30B)과, 원동기(1)로 구동된 유압 펌프(2)와, 상기 유압 펌프(2)로부터 작동유에 의해 구동된 복수의 액튜에이터(7A, 7B)와, 상기 액튜에이터(7A, 7B)를 제어하기 위한 복수의 제어 밸브 (6A, 6B) 및, 상기 수동 조작 수단(30A, 30B)에 의해 설정되는 상기 액튜에이터(7A, 7B)에 요구된 유동률 정보를 상기 유압 펌프(2)로부터 작동액 공급 유동률 정보와 비교하고, 비교된 결과를 기반으로 상기 액튜에이터(7A, 7B)에서 최적 공급 유동률을 결정하며 및, 최적 공급 유동률을 가진 상기 밸브 수단을 제어하는 밸브 제어 수단(31)을 포함하는 것을 특징으로 하는 기계 구성체의 제어 장치.Manual operation means 30A, 30B that can be operated manually by operation, a hydraulic pump 2 driven by a prime mover 1, and a plurality of actuators 7A, 7B driven by hydraulic oil from the hydraulic pump 2 ), a plurality of control valves 6A, 6B for controlling the actuators 7A, 7B, and the flow rate information required for the actuators 7A, 7B set by the manual operation means 30A, 30B is compared with the hydraulic fluid supply flow rate information from the hydraulic pump 2, and an optimal supply flow rate is determined in the actuators 7A, 7B based on the comparison result, and the valve means with the optimal supply flow rate is controlled. A control device for a machine assembly, characterized in that it comprises valve control means (31). ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: It is disclosed according to the contents of the initial application.
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EP0796952A1 (en) 1997-09-24
JP3677296B2 (en) 2005-07-27
EP0796952A4 (en) 2000-01-19
WO1997013929A1 (en) 1997-04-17
KR100212771B1 (en) 1999-08-02
CN1166192A (en) 1997-11-26

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