WO2022202898A1 - ショベル - Google Patents
ショベル Download PDFInfo
- Publication number
- WO2022202898A1 WO2022202898A1 PCT/JP2022/013512 JP2022013512W WO2022202898A1 WO 2022202898 A1 WO2022202898 A1 WO 2022202898A1 JP 2022013512 W JP2022013512 W JP 2022013512W WO 2022202898 A1 WO2022202898 A1 WO 2022202898A1
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- WO
- WIPO (PCT)
- Prior art keywords
- hydraulic
- flow rate
- meter
- pressure
- valve
- Prior art date
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- 239000012530 fluid Substances 0.000 claims abstract description 69
- 239000010720 hydraulic oil Substances 0.000 claims description 116
- 239000003921 oil Substances 0.000 claims description 114
- 230000008929 regeneration Effects 0.000 claims description 26
- 238000011069 regeneration method Methods 0.000 claims description 26
- 238000001514 detection method Methods 0.000 claims description 23
- 230000004044 response Effects 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 72
- 238000004364 calculation method Methods 0.000 description 27
- 238000009795 derivation Methods 0.000 description 25
- 230000008859 change Effects 0.000 description 17
- 238000009412 basement excavation Methods 0.000 description 13
- 230000007935 neutral effect Effects 0.000 description 9
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- 238000000034 method Methods 0.000 description 7
- 238000010521 absorption reaction Methods 0.000 description 4
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- 238000005265 energy consumption Methods 0.000 description 1
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- 239000002689 soil Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
-
- 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
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
-
- 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
- E02F9/2285—Pilot-operated systems
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/024—Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/044—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the return line, i.e. "meter out"
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/024—Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits
- F15B2011/0243—Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits the regenerative circuit being activated or deactivated automatically
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/255—Flow control functions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
- F15B2211/3057—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 having two valves, one for each port of a double-acting output member
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—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
- F15B2211/3058—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 having additional valves for interconnecting the fluid chambers of a double-acting actuator, e.g. for regeneration mode or for floating mode
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/3059—Assemblies of multiple valves having multiple valves for multiple output members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/455—Control of flow in the feed line, i.e. meter-in control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/46—Control of flow in the return line, i.e. meter-out control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6652—Control of the pressure source, e.g. control of the swash plate angle
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6653—Pressure control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6654—Flow rate control
Definitions
- This disclosure relates to excavators.
- a shovel is known as an excavator that excavates the ground (see Patent Document 1).
- This excavator is configured to excavate earth and sand by moving an excavation attachment attached to an upper revolving body.
- the opening area (meter-in opening area) of the oil passage connecting the hydraulic pump and the hydraulic actuator and the opening area (meter-out opening area) of the oil passage connecting the hydraulic actuator and the hydraulic oil tank opening area) can be controlled simultaneously with one spool valve.
- the correspondence relationship between the amount of displacement of the spool and the opening area of each of the two oil passages is uniquely determined by the physical shape of the spool valve. Therefore, the movement of the hydraulic actuator may be restricted.
- An excavator includes a hydraulic pump, a hydraulic actuator that moves in response to an operation command, a pressure sensor that detects the pressure of hydraulic fluid in the hydraulic actuator, and a discharge pressure sensor that detects the discharge pressure of the hydraulic pump. a pressure sensor; a meter-in valve corresponding to the hydraulic actuator; a meter-out valve corresponding to the hydraulic actuator; a control device that calculates a meter-out flow rate that is the flow rate of hydraulic fluid that should pass through the meter-out valve, wherein the pressure sensor, the meter-in valve, and the meter-out valve correspond to each of the plurality of hydraulic actuators.
- the control device calculates the opening area of the meter-in valve based on the meter-in flow rate, the detection value of the pressure sensor, and the detection value of the discharge pressure sensor, and calculates the meter-out flow rate and the The opening area of the meter-out valve is calculated based on the detected value of the pressure sensor.
- an excavator is provided in which the movement of the hydraulic actuator can be controlled more flexibly.
- FIG. 1 is a side view of a shovel according to an embodiment of the present disclosure
- FIG. 1 is a schematic diagram of a hydraulic circuit mounted on a shovel
- FIG. It is a figure which shows the structural example of a hydraulic control valve. It is a figure which shows an example of the flow of control for operating a shovel.
- It is a conceptual diagram of an FV diagram. It is a conceptual diagram of an FV diagram.
- FIG. 4 is a schematic diagram showing an example of the flow of processing executed by a controller; 4 is a flow chart showing an example of the flow of processing executed by a controller; 4 is a graph showing the relationship between meter-in pressure, meter-out pressure, pump discharge pressure, and effective pressure.
- FIG. 4 is a schematic diagram showing an example of the flow of processing executed by a controller
- 4 is a flow chart showing an example of the flow of processing executed by a controller
- 4 is a graph showing the relationship between meter-in pressure, meter-out pressure, pump discharge pressure,
- FIG. 4 is a diagram showing another example of the flow of control for operating the shovel;
- FIG. 10 is a diagram showing yet another example of the flow of control for operating the shovel;
- FIG. 4 is a schematic diagram showing another example of the flow of processing executed by the controller;
- 4 is a flow chart showing another example of the flow of processing executed by the controller;
- FIG. 1 is a side view of excavator 100 according to an embodiment of the present disclosure.
- An upper revolving body 3 is rotatably mounted on a lower traveling body 1 of the excavator 100 shown in FIG. 1 through a revolving mechanism 2 .
- a boom 4 is attached to the upper revolving body 3
- an arm 5 is attached to the tip of the boom 4
- a bucket 6 is attached to the tip of the arm 5 .
- a boom 4, an arm 5, and a bucket 6 as work elements constitute an excavation attachment, which is an example of an attachment.
- Boom 4 is driven by boom cylinder 7
- arm 5 is driven by arm cylinder 8
- bucket 6 is driven by bucket cylinder 9 .
- a cabin 10 is provided in the upper swing body 3, and a power source such as an engine 11 is mounted.
- the engine 11 is a drive source for the excavator 100, and is, for example, a diesel engine that operates to maintain a predetermined number of revolutions.
- the posture detection device M1 is attached to the excavation attachment.
- the posture detection device M1 is an example of a detection device that detects information about the excavation reaction force.
- the posture detection device M1 is configured to detect the posture of the excavation attachment.
- the attitude detection device M1 includes a boom angle sensor M1a, an arm angle sensor M1b, and a bucket angle sensor M1c.
- the boom angle sensor M1a is a sensor that acquires the boom angle. Including tilt (acceleration) sensors, etc.
- the boom angle is, for example, the angle formed between the centerline of the boom cylinder 7 and a predetermined imaginary plane (eg, horizontal plane). The same applies to the arm angle sensor M1b and the bucket angle sensor M1c.
- FIG. 2 is a schematic diagram of a hydraulic circuit mounted on the excavator 100.
- a basic system of the excavator 100 mainly includes a hydraulic pump 14, a pilot pump 15, an operating device 26, a controller 30, a hydraulic control valve HV, pressure sensors S1 to S7, and the like.
- FIG. 3 is a diagram showing a configuration example of a hydraulic control valve HV1, which is one of the hydraulic control valves HV.
- the hydraulic pump 14 is a hydraulic pump that supplies hydraulic oil to the hydraulic control valve HV through a hydraulic oil line.
- the hydraulic pump 14 is a swash plate type variable displacement hydraulic pump, driven by the engine 11 , and the input shaft of the hydraulic pump 14 is connected to the output shaft of the engine 11 .
- the stroke length of the piston which determines the displacement volume, changes according to the change in the tilt angle of the swash plate, so that the discharge amount per rotation changes.
- a swash plate tilt angle is controlled by a regulator 13 .
- the regulator 13 changes the tilt angle of the swash plate according to changes in the control current from the controller 30 .
- the regulator 13 is configured to increase the displacement of the hydraulic pump 14 by increasing the tilt angle of the swash plate as the control current increases.
- the hydraulic pump 14 includes a first hydraulic pump 14A and a second hydraulic pump 14B
- the regulator 13 includes a first regulator 13A and a second regulator 13B.
- the boom cylinder 7 and the arm cylinder 8 are driven by hydraulic fluid discharged from the first hydraulic pump 14A and hydraulic fluid discharged from the second hydraulic pump 14B.
- the bucket cylinder 9 is driven by hydraulic fluid discharged from the first hydraulic pump 14A and hydraulic fluid discharged from the second hydraulic pump 14B during contraction, but is driven by the hydraulic fluid discharged from the second hydraulic pump 14B during extension. It is driven only by hydraulic oil discharged by the pump 14B.
- the pressure sensors S1 to S7 are devices for detecting the pressure of hydraulic fluid in each part of the hydraulic circuit.
- the pressure sensor S1 is a device for detecting the pressure of the hydraulic oil related to the operation of the left traveling hydraulic motor 1M.
- the pressure sensor S1 includes a pressure sensor S1L and a pressure sensor S1R.
- the pressure sensor S1L detects the pressure of hydraulic fluid at the first port (left port) of the left traveling hydraulic motor 1M.
- the pressure sensor S1R detects the pressure of hydraulic fluid (right port pressure) at the second port (right port) of the left traveling hydraulic motor 1M.
- the pressure sensor S2 is a device for detecting the pressure of hydraulic fluid related to the operation of the right traveling hydraulic motor 2M.
- the pressure sensor S2 includes a pressure sensor S2L and a pressure sensor S2R.
- the pressure sensor S2L detects the pressure of hydraulic fluid at the first port (left port) of the right travel hydraulic motor 2M.
- the pressure sensor S2R detects the pressure of hydraulic fluid at the second port (right port) of the right traveling hydraulic motor 2M.
- the pressure sensor S3 is a device for detecting the pressure of hydraulic oil related to the operation of the turning hydraulic motor 3M.
- the pressure sensor S3 includes a pressure sensor S3L and a pressure sensor S3R.
- the pressure sensor S3L detects the pressure of hydraulic fluid at the first port (left port) of the turning hydraulic motor 3M.
- the pressure sensor S3R detects the pressure of hydraulic fluid at the second port (right port) of the turning hydraulic motor 3M.
- the pressure sensor S4 is a device for detecting the pressure of hydraulic oil related to the operation of the boom 4.
- the pressure sensor S4 includes a pressure sensor S4B and a pressure sensor S4R.
- the pressure sensor S ⁇ b>4 ⁇ /b>B detects boom bottom pressure, which is the pressure of hydraulic fluid in the bottom-side oil chamber of the boom cylinder 7 .
- the pressure sensor S4R detects boom rod pressure, which is the pressure of hydraulic fluid in the rod-side oil chamber of the boom cylinder 7 .
- the pressure sensor S5 is a device for detecting the pressure of hydraulic oil related to the movement of the arm 5.
- the pressure sensor S5 includes a pressure sensor S5B and a pressure sensor S5R.
- the pressure sensor S5B detects arm bottom pressure, which is the pressure of hydraulic fluid in the bottom-side oil chamber of the arm cylinder 8 .
- the pressure sensor S5R detects arm rod pressure, which is the pressure of hydraulic fluid in the rod-side oil chamber of the arm cylinder 8 .
- the pressure sensor S6 is a device for detecting the pressure of hydraulic oil related to the operation of the bucket 6.
- the pressure sensor S6 includes a pressure sensor S6B and a pressure sensor S6R.
- the pressure sensor S ⁇ b>6 ⁇ /b>B detects bucket bottom pressure, which is the pressure of hydraulic fluid in the bottom-side oil chamber of the bucket cylinder 9 .
- the pressure sensor S6R detects bucket rod pressure, which is the pressure of hydraulic fluid in the rod-side oil chamber of the bucket cylinder 9 .
- the pressure sensor S7 is a device (discharge pressure sensor) for detecting the discharge pressure of the hydraulic pump 14.
- the pressure sensor S7 includes a pressure sensor S7A and a pressure sensor S7B.
- a pressure sensor S7A detects the discharge pressure of the first hydraulic pump 14A.
- a pressure sensor S7B detects the discharge pressure of the second hydraulic pump 14B.
- Hydraulic control valve HV is configured to control the flow of hydraulic fluid to the hydraulic actuator.
- the hydraulic control valve HV includes hydraulic control valves HV1 to HV20 having the same structure and individually controlled by solenoid valves EV.
- the hydraulic control valve HV selectively supplies hydraulic fluid received from the hydraulic pump 14 through hydraulic fluid lines to one or a plurality of hydraulic actuators in response to changes in pressure (pilot pressure) corresponding to the operating direction and amount of operation of the operating device 26.
- the hydraulic actuators include, for example, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left travel hydraulic motor 1M, a right travel hydraulic motor 2M, a swing hydraulic motor 3M, and the like.
- the hydraulic control valve HV1 is arranged in a pipeline connected to the first port (left port) of the swing hydraulic motor 3M, and connects the first port (left port) of the swing hydraulic motor 3M to the first hydraulic pump 14A or the operating valve HV1. It is configured to be selectively connectable to the oil tank T.
- the hydraulic control valve HV1 functions as a meter-in valve for the hydraulic swing motor 3M when the hydraulic swing motor 3M rotates in the first direction. It functions as a meter-out valve for the turning hydraulic motor 3M when rotating in a certain second direction.
- the hydraulic control valve HV2 is arranged in a pipeline connected to the second port (right port) of the swing hydraulic motor 3M, and connects the second port (right port) of the swing hydraulic motor 3M to the first hydraulic pump 14A or the operating valve HV2. It is configured to be selectively connectable to the oil tank T.
- the hydraulic control valve HV2 functions as a meter-out valve for the swing hydraulic motor 3M when the swing hydraulic motor 3M rotates in the first direction, and functions as a meter-out valve for the swing hydraulic motor 3M when the swing hydraulic motor 3M rotates in the second direction. , as a meter-in valve for the swing hydraulic motor 3M.
- the hydraulic control valve HV3 is arranged in a pipeline connected to the bottom side oil chamber of the boom cylinder 7, and is arranged so as to selectively connect the bottom side oil chamber of the boom cylinder 7 to the first hydraulic pump 14A or the hydraulic oil tank T. is configured to The hydraulic control valve HV3 functions as a meter-in valve for the boom cylinder 7 when the boom cylinder 7 is extended, and functions as a meter-out valve for the boom cylinder 7 when the boom cylinder 7 is retracted.
- the hydraulic control valve HV4 is arranged in a pipe line connected to the rod-side oil chamber of the boom cylinder 7, and is arranged so as to selectively connect the rod-side oil chamber of the boom cylinder 7 to the first hydraulic pump 14A or the hydraulic oil tank T. is configured to The hydraulic control valve HV4 functions as a meter-out valve for the boom cylinder 7 when the boom cylinder 7 is extended, and functions as a meter-in valve for the boom cylinder 7 when the boom cylinder 7 is retracted.
- the hydraulic control valve HV5 is arranged in a pipeline connected to the bottom side oil chamber of the arm cylinder 8, and is arranged so as to selectively connect the bottom side oil chamber of the arm cylinder 8 to the first hydraulic pump 14A or the hydraulic oil tank T. is configured to The hydraulic control valve HV5 functions as a meter-in valve for the arm cylinder 8 when the arm cylinder 8 extends, and functions as a meter-out valve for the arm cylinder 8 when the arm cylinder 8 contracts.
- the hydraulic control valve HV6 is arranged in a pipeline connected to the rod-side oil chamber of the arm cylinder 8, and is arranged so as to selectively connect the rod-side oil chamber of the arm cylinder 8 to the first hydraulic pump 14A or the hydraulic oil tank T. is configured to The hydraulic control valve HV6 functions as a meter-out valve for the arm cylinder 8 when the arm cylinder 8 extends, and functions as a meter-in valve for the arm cylinder 8 when the arm cylinder 8 contracts.
- the hydraulic control valve HV7 is arranged in a pipeline connected to the first port (left port) of the left traveling hydraulic motor 1M, and connects the first port (left port) of the left traveling hydraulic motor 1M to the first hydraulic pump 14A. Alternatively, it is configured to be selectively connectable to the hydraulic oil tank T.
- the hydraulic control valve HV7 functions as a meter-in valve for the left traveling hydraulic motor 1M when the left traveling hydraulic motor 1M rotates in the first direction, and the left traveling hydraulic motor 1M rotates in the opposite direction to the first direction. function as a meter-out valve for the left travel hydraulic motor 1M when rotating in the second direction.
- the hydraulic control valve HV8 is arranged in a pipeline connected to the second port (right port) of the left travel hydraulic motor 1M, and connects the second port (right port) of the left travel hydraulic motor 1M to the first hydraulic pump 14A. Alternatively, it is configured to be selectively connectable to the hydraulic oil tank T.
- the hydraulic control valve HV8 functions as a meter-out valve for the left traveling hydraulic motor 1M when the left traveling hydraulic motor 1M rotates in the first direction, and the left traveling hydraulic motor 1M rotates in the second direction. function as a meter-in valve for the left travel hydraulic motor 1M.
- the hydraulic control valve HV9 is arranged in a pipe line connected to the rod-side oil chamber of the bucket cylinder 9, and is arranged so as to selectively connect the rod-side oil chamber of the bucket cylinder 9 to the first hydraulic pump 14A or the hydraulic oil tank T. is configured to The hydraulic control valve HV9 functions as a meter-out valve for the bucket cylinder 9 when the bucket cylinder 9 expands, and functions as a meter-in valve for the bucket cylinder 9 when the bucket cylinder 9 contracts.
- the hydraulic control valve HV10 is arranged in a pipeline connected to the oil chamber of the hydraulic actuator, and is configured to selectively connect the hydraulic actuator to the first hydraulic pump 14A or the hydraulic oil tank T.
- the hydraulic control valve HV10 is configured to function as both a meter-in valve and a meter-out valve as required.
- the oil chamber of the hydraulic actuator may be the bottom side oil chamber of the bucket cylinder 9 .
- the hydraulic control valve HV11 is arranged in a pipeline connected to the rod-side oil chamber of the bucket cylinder 9, and is arranged so as to selectively connect the rod-side oil chamber of the bucket cylinder 9 to the second hydraulic pump 14B or the hydraulic oil tank T. is configured to The hydraulic control valve HV11 functions as a meter-out valve for the bucket cylinder 9 when the bucket cylinder 9 expands, and functions as a meter-in valve for the bucket cylinder 9 when the bucket cylinder 9 contracts.
- the hydraulic control valve HV12 is arranged in a pipeline connected to the bottom side oil chamber of the bucket cylinder 9, and is arranged so as to selectively connect the bottom side oil chamber of the bucket cylinder 9 to the second hydraulic pump 14B or the hydraulic oil tank T. is configured to The hydraulic control valve HV12 functions as a meter-in valve for the bucket cylinder 9 when the bucket cylinder 9 expands, and functions as a meter-out valve for the bucket cylinder 9 when the bucket cylinder 9 contracts.
- the hydraulic control valve HV13 is arranged in a pipe line connected to the rod-side oil chamber of the arm cylinder 8, and is arranged so as to selectively connect the rod-side oil chamber of the arm cylinder 8 to the second hydraulic pump 14B or the hydraulic oil tank T. is configured to The hydraulic control valve HV13 functions as a meter-out valve for the arm cylinder 8 when the arm cylinder 8 extends, and functions as a meter-in valve for the arm cylinder 8 when the arm cylinder 8 contracts.
- the hydraulic control valve HV14 is arranged in a pipeline connected to the bottom-side oil chamber of the arm cylinder 8, and is arranged so as to selectively connect the bottom-side oil chamber of the arm cylinder 8 to the second hydraulic pump 14B or the hydraulic oil tank T. is configured to The hydraulic control valve HV14 functions as a meter-in valve for the arm cylinder 8 when the arm cylinder 8 extends, and functions as a meter-out valve for the arm cylinder 8 when the arm cylinder 8 contracts.
- the hydraulic control valve HV15 is arranged in a pipeline connected to the rod-side oil chamber of the boom cylinder 7, and is arranged so as to selectively connect the rod-side oil chamber of the boom cylinder 7 to the second hydraulic pump 14B or the hydraulic oil tank T. is configured to The hydraulic control valve HV15 functions as a meter-out valve for the boom cylinder 7 when the boom cylinder 7 is extended, and functions as a meter-in valve for the boom cylinder 7 when the boom cylinder 7 is retracted.
- the hydraulic control valve HV16 is arranged in a pipeline connected to the bottom side oil chamber of the boom cylinder 7, and is arranged so as to selectively connect the bottom side oil chamber of the boom cylinder 7 to the second hydraulic pump 14B or the hydraulic oil tank T. is configured to The hydraulic control valve HV16 functions as a meter-in valve for the boom cylinder 7 when the boom cylinder 7 is extended, and functions as a meter-out valve for the boom cylinder 7 when the boom cylinder 7 is retracted.
- the hydraulic control valve HV17 is arranged in a pipe line connected to the first port (left port) of the right travel hydraulic motor 2M, and connects the first port (left port) of the right travel hydraulic motor 2M to the second hydraulic pump 14B. Alternatively, it is configured to be selectively connectable to the hydraulic oil tank T.
- the hydraulic control valve HV17 functions as a meter-in valve for the right travel hydraulic motor 2M when the right travel hydraulic motor 2M rotates in the first direction, and the right travel hydraulic motor 2M rotates in the opposite direction to the first direction. function as a meter-out valve for the right travel hydraulic motor 2M when rotating in the second direction.
- the hydraulic control valve HV18 is arranged in a pipeline connected to the second port (right port) of the right travel hydraulic motor 2M, and connects the second port (right port) of the right travel hydraulic motor 2M to the second hydraulic pump 14B. Alternatively, it is configured to be selectively connectable to the hydraulic oil tank T.
- the hydraulic control valve HV18 functions as a meter-out valve for the right travel hydraulic motor 2M when the right travel hydraulic motor 2M rotates in the first direction, and the right travel hydraulic motor 2M rotates in the second direction. function as a meter-in valve for the right travel hydraulic motor 2M.
- the hydraulic control valve HV19 is arranged in a pipeline connected to a hydraulic actuator other than the hydraulic actuator described above, and is configured to selectively connect the hydraulic actuator to the second hydraulic pump 14B or the hydraulic fluid tank T. there is
- the hydraulic control valve HV19 is configured to function as both a meter-in valve and a meter-out valve as required.
- the hydraulic control valve HV20 is arranged in a pipeline connected to a hydraulic actuator other than the hydraulic actuator described above, and is configured so that the hydraulic actuator can be selectively connected to the second hydraulic pump 14B or the hydraulic fluid tank T. there is
- the hydraulic control valve HV19 is configured to function as both a meter-in valve and a meter-out valve as required.
- the pilot pump 15 is a hydraulic pump for supplying hydraulic oil to various hydraulic control devices such as the operating device 26 through a pilot line.
- the pilot pump 15 is a fixed displacement hydraulic pump driven by the engine 11 and the input shaft of the pilot pump 15 is connected to the output shaft of the engine 11 .
- the operating device 26 is a device used by the operator to operate the hydraulic actuator.
- the operation device 26 is, for example, an operation lever or an operation pedal.
- the operating device 26 is an electric operating device, and outputs information regarding the operating direction and operating amount of the operating device 26 to the controller 30 as an electric signal (operation command value).
- the controller 30 can adjust the magnitude of the pilot pressure acting on the hydraulic control valve HV by adjusting the opening area of the solenoid valve EV according to the electrical signal received from the operating device 26 .
- the operating device 26 also includes a left operating lever for operating the turning hydraulic motor 3M and the arm cylinder 8, and a right operating lever for operating the boom cylinder 7 and the bucket cylinder 9.
- the controller 30 is a control device for controlling the excavator 100 .
- the controller 30 is configured by a computer including a CPU, a volatile storage medium, a nonvolatile storage medium, and the like.
- the CPU of the controller 30 reads programs corresponding to various functions from the nonvolatile storage medium, loads them into the volatile storage medium, and executes them, thereby realizing the functions corresponding to the respective programs.
- the controller 30 realizes a function of controlling the discharge amount of the hydraulic pump 14. Specifically, the controller 30 changes the magnitude of the control current to the regulator 13 to control the discharge amount of the hydraulic pump 14 via the regulator 13 .
- Hydraulic control valve HV1 is a 3-port 3-position spool valve. In FIG. 3, (1) indicates the first position (first valve position), (2) indicates the second position (second valve position), and (3) indicates the third position (third valve position). show.
- the hydraulic control valve HV1 cuts off communication between the left port of the turning hydraulic motor 3M and the first hydraulic pump 14A and hydraulic oil tank T when positioned at the second position, which is the neutral position. That is, when the hydraulic control valve HV1 is positioned at the second position, which is the neutral position, the opening area of the first oil passage connecting the left port of the turning hydraulic motor 3M and the first hydraulic pump 14A and the turning Each opening area of the second oil passage connecting the left port of the hydraulic motor 3M and the hydraulic oil tank is minimized (zero).
- the left port of the swing hydraulic motor 3M communicates with the first hydraulic pump 14A.
- the left port and hydraulic oil tank T are communicated. That is, when the hydraulic control valve HV1 is positioned at the first position, the opening area of the first oil passage is maximized, and when positioned at the third position, the opening area of the second oil passage is maximized.
- the hydraulic control valve HV1 is arranged such that the opening area of the first oil passage increases as the distance from the neutral position increases.
- the opening area of the second oil passage is configured to increase as the distance from the neutral position increases.
- the hydraulic control valve HV1 moves to the right when the pilot pressure at the left pilot port PL (left pilot pressure) becomes greater than the pilot pressure at the right pilot port PR (right pilot pressure), and the left pilot pressure increases to the right. It is configured to move to the left when the pressure becomes lower than the pilot pressure, and to return to the neutral position when the left pilot pressure and the right pilot pressure become equal.
- the left pilot pressure and right pilot pressure are controlled by the solenoid valve EV1.
- the solenoid valve EV1 is one of the solenoid valves EV and corresponds to the hydraulic control valve HV1.
- the solenoid valves EV include solenoid valves EV2 to EV20 corresponding to the hydraulic control valves HV2 to HV20.
- the solenoid valve EV1 is a device for adjusting the pilot pressure, and is arranged between the hydraulic control valve HV1 and the pilot pump 15.
- the solenoid valve EV1 operates according to a current command from the controller 30.
- the solenoid valve EV1 is basically configured to operate the hydraulic control valve HV1 according to the content of the operation input to the operation device 26.
- the electromagnetic valve EV is 1, and is configured such that the greater the amount of operation of the operating device 26, the greater the amount of movement of the hydraulic control valve HV1.
- the electromagnetic valve EV1 is configured to forcibly operate the hydraulic control valve HV1 regardless of the content of the operation input to the operation device 26.
- the solenoid valve EV1 is a 4-port 3-position spool valve.
- (1) indicates the first position (first valve position)
- (2) indicates the second position (second valve position)
- (3) indicates the third position (third valve position). show.
- the solenoid valve EV1 when the solenoid valve EV1 is positioned at the first position, the left pilot port PL and the pilot pump 15 are communicated, and the right pilot port PR and the hydraulic oil tank T are communicated. That is, when the solenoid valve EV1 is positioned at the first position, the opening area of the first oil passage connecting the left pilot port PL and the pilot pump 15 becomes maximum, and the right pilot port PR and the hydraulic oil tank T is configured to maximize the opening area of the second oil passage connecting the At this time, the left pilot pressure acting on the hydraulic control valve HV1 becomes higher than the right pilot pressure, so the hydraulic control valve HV1 moves rightward.
- the solenoid valve EV1 when the solenoid valve EV1 is positioned at the third position, the left pilot port PL and the hydraulic oil tank T are communicated, and the right pilot port PR and the pilot pump 15 are communicated. That is, when the solenoid valve EV1 is positioned at the third position, the opening area of the third oil passage connecting the left pilot port PL and the hydraulic oil tank T becomes maximum, and the right pilot port PR and the pilot pump 15 is configured to maximize the opening area of the fourth oil passage connecting the At this time, the left pilot pressure acting on the hydraulic control valve HV1 becomes smaller than the right pilot pressure, so the hydraulic control valve HV1 moves to the left.
- the solenoid valve EV1 is arranged such that, at an intermediate position between the second position and the first position, the opening area of each of the first oil passage and the second oil passage increases as the distance from the neutral position increases, and At an intermediate position between the second position and the third position, the opening area of each of the third oil passage and the fourth oil passage is increased with increasing distance from the neutral position.
- FIG. 4 is a diagram showing an example of a control flow for operating the excavator 100.
- This control is performed by the controller 30 .
- the example shown in FIG. 4 shows the flow of control when a combined operation including boom raising operation, arm closing operation, and bucket closing operation is performed.
- the flow of control executed by the controller 30 is represented by a plurality of functional blocks.
- the function represented by each functional block is realized by software.
- the function represented by each functional block may be realized by hardware, or by a combination of software and hardware.
- the meter-in valve is indicated by "MI valve” and the meter-out valve is indicated by "MO valve".
- the boom required flow rate derivation unit F2 is configured to derive the boom required flow rate based on the boom operation amount and the boom thrust.
- the value of the boom operation amount is an example of the operation command value, and is the value of the operation amount of the operating device 26 for operating the boom 4 .
- the boom operation amount is a value corresponding to the tilt angle when the right operation lever is tilted forward and backward.
- the boom thrust is the thrust for moving the boom 4.
- the boom thrust is represented by, for example, a value obtained by multiplying the differential pressure between the boom bottom pressure and the boom rod pressure by the pressure receiving area.
- the differential pressure between the boom bottom pressure (meter-in pressure) and the boom rod pressure (meter-out pressure) is the value obtained by subtracting the meter-out pressure from the meter-in pressure. ” is also called.
- the pressure-receiving area is the pressure-receiving area of the piston that constitutes the boom cylinder 7 . In the example shown in FIG. 4, the pressure receiving area in the rod side oil chamber is smaller than the pressure receiving area in the bottom side oil chamber by the cross-sectional area of the rod.
- the boom required flow rate is the required flow rate of the boom cylinder 7. Specifically, the boom required flow rate is a target value for the amount of hydraulic oil that flows into the boom cylinder 7 per unit time.
- the flow rate command generator F1 is configured to calculate a target value for the flow rate of hydraulic oil supplied to each hydraulic actuator based on the required flow rate of each hydraulic actuator and the pump discharge pressure. In the example shown in FIG. 4, the flow rate command generator F1 is configured to output a command value corresponding to the target value.
- the flow rate command generation unit F1 outputs the first boom inflow rate, which is an example of the flow rate command, to the MI valve opening area calculation unit F5 and the MO valve opening area calculation unit F6.
- the first boom inflow amount is a target value for the flow rate of hydraulic oil supplied to the boom cylinder 7 from the first hydraulic pump 14A through the first meter-in valve (hydraulic control valve HV3 in this example).
- the first meter-in valve is one of the two meter-in valves for the boom cylinder 7 .
- the MI valve opening area calculator F5 is configured to control the first meter-in valve arranged between the first hydraulic pump 14A and the boom cylinder 7.
- the MI valve opening area calculator F5 is configured to calculate the opening area of the first meter-in valve.
- the MI valve opening area calculator F5 calculates the opening area of the hydraulic control valve HV3 that functions as the first meter-in valve during the boom raising operation.
- the MI valve opening area calculator F5 calculates the first meter-in valve (hydraulic control Calculate the opening area of the valve HV3).
- the first boom MI pressure is the value detected by the pressure sensor S4B, and the discharge pressure of the first hydraulic pump 14A is the value detected by the pressure sensor S7A.
- the predetermined calculation formula is, for example, the orifice flow rate calculation formula shown in the following formula (1), where Q1 is the inflow rate of the first boom, P1 is the discharge pressure of the first hydraulic pump 14A, and P1 is the discharge pressure of the first hydraulic pump 14A. is P2 and the opening area of the first meter-in valve (hydraulic control valve HV3) is A1, the opening area A1 of the first meter-in valve (hydraulic control valve HV3) is expressed by equation (2).
- C is the flow coefficient
- ⁇ is the fluid density.
- the MI valve opening area calculator F5 issues an MI valve opening command to the electromagnetic valve EV3 corresponding to the hydraulic control valve HV3 so that the calculated opening area of the first meter-in valve (hydraulic control valve HV3) is realized.
- the MI valve open command is typically a current command.
- the MI valve opening area calculator F5 calculates the opening of the first meter-in valve so that hydraulic oil can flow into the bottom-side oil chamber of the boom cylinder 7 at a desired flow rate (first boom inflow amount Q1). Control area.
- the MO valve opening area calculator F6 is configured to control the first meter-out valve arranged between the boom cylinder 7 and the hydraulic oil tank T.
- the first meter-out valve is one of the two meter-out valves for the boom cylinder 7 .
- the MO valve opening area calculator F6 is configured to calculate the opening area of the first meter-out valve.
- the MO valve opening area calculator F6 calculates the opening area of the hydraulic control valve HV4 that functions as the first meter-out valve during the boom raising operation.
- the MO valve opening area calculation unit F6 calculates the first meter-out valve opening area based on the first boom outflow amount, which is an example of the outflow amount, the first boom MO pressure, the hydraulic oil tank pressure, and a predetermined calculation formula.
- the opening area of (hydraulic control valve HV4) is calculated.
- the first boom flow rate is a target value for the flow rate of the hydraulic fluid discharged from the boom cylinder 7 to the hydraulic fluid tank T through the first meter-out valve.
- the first boom outflow amount is calculated from the first boom inflow amount. Note that, typically, the inflow amount and the outflow amount are different values for the hydraulic cylinder, and the inflow amount and the outflow amount are the same value for the hydraulic motor. This is because, in the single-rod hydraulic cylinder, the cross-sectional area of the rod-side oil chamber is smaller than the cross-sectional area of the bottom-side oil chamber.
- the first boom MO pressure is the value detected by the pressure sensor S4R, and the hydraulic oil tank pressure is a preset value (for example, atmospheric pressure). However, the hydraulic oil tank pressure may be a value detected by a pressure sensor.
- the predetermined calculation formula is, for example, the orifice flow rate calculation formula shown in the above formula (1), where Q2 is the first boom flow rate, P3 is the first boom MO pressure, P4 is the hydraulic oil tank pressure, Assuming that the opening area of the first meter-out valve (hydraulic control valve HV4) is A2, the opening area A2 of the first meter-out valve (hydraulic control valve HV4) is expressed by Equation (3).
- C is the flow coefficient and ⁇ is the fluid density.
- the MO valve opening area calculator F6 calculates the MO valve opening for the electromagnetic valve EV4 corresponding to the hydraulic control valve HV4 so that the calculated opening area of the first meter-out valve (hydraulic control valve HV4) is realized.
- the MO valve opening command is typically a current command.
- the MO valve opening area calculator F6 is configured to operate the first meter-out valve so that the hydraulic oil can flow out from the rod-side oil chamber of the boom cylinder 7 at a desired flow rate (first boom flow rate Q2). Control the opening area.
- the flow rate command generation unit F1 also outputs the second boom inflow rate, which is an example of the flow rate command, to the MI valve opening area calculation unit F7 and the MO valve opening area calculation unit F8.
- the second boom inflow amount is a target value for the flow rate of hydraulic oil supplied to the boom cylinder 7 from the second hydraulic pump 14B through the second meter-in valve (hydraulic control valve HV16 in this example). Note that the second meter-in valve is the remaining one of the two meter-in valves for boom cylinder 7 .
- the second boom inflow is set so that the sum of the first boom inflow and the second boom inflow is the boom required flow.
- the MI valve opening area calculator F7 is configured to control the second meter-in valve arranged between the second hydraulic pump 14B and the boom cylinder 7.
- the MI valve opening area calculator F7 is configured to calculate the opening area of the second meter-in valve.
- the MI valve opening area calculator F7 calculates the opening area of the hydraulic control valve HV16 that functions as the second meter-in valve during the boom raising operation.
- the MI valve opening area calculator F7 calculates the second meter-in valve (hydraulic control Calculate the opening area of the valve HV16).
- the second boom MI pressure is the value detected by the pressure sensor S4B, and the discharge pressure of the second hydraulic pump 14B is the value detected by the pressure sensor S7B.
- the predetermined calculation formula is, for example, the orifice flow rate calculation formula shown in the above formula (1), where Q3 is the second boom inflow amount, P5 is the discharge pressure of the second hydraulic pump 14B, and P5 is the discharge pressure of the second hydraulic pump 14B. is P6 and the opening area of the second meter-in valve (hydraulic control valve HV16) is A3, the opening area A3 of the second meter-in valve (hydraulic control valve HV16) is expressed by equation (4).
- C is the flow coefficient
- ⁇ is the fluid density.
- the MI valve opening area calculator F7 issues an MI valve opening command to the electromagnetic valve EV16 corresponding to the hydraulic control valve HV16 so that the calculated opening area of the second meter-in valve (hydraulic control valve HV16) is realized.
- the MI valve open command is typically a current command.
- the MI valve opening area calculator F7 calculates the opening of the second meter-in valve so that the hydraulic oil can flow into the bottom side oil chamber of the boom cylinder 7 at a desired flow rate (the second boom inflow amount Q3). Control area.
- the MO valve opening area calculator F8 is configured to control the second meter-out valve arranged between the boom cylinder 7 and the hydraulic oil tank T. Note that the second meter-out valve is the remaining one of the two meter-out valves for boom cylinder 7 .
- the MO valve opening area calculator F8 is configured to calculate the opening area of the second meter-out valve. In the example shown in FIG. 4, the MO valve opening area calculator F8 calculates the opening area of the hydraulic control valve HV15 that functions as the second meter-out valve during the boom raising operation.
- the MO valve opening area calculation unit F8 calculates the second meter-out valve based on the second boom outflow amount, which is an example of the outflow amount, the second boom MO pressure, the hydraulic oil tank pressure, and a predetermined calculation formula.
- the opening area of (hydraulic control valve HV15) is calculated.
- the second boom flow rate is a target value for the flow rate of hydraulic fluid discharged from the boom cylinder 7 to the hydraulic fluid tank T through the second meter-out valve.
- the second boom outflow amount is calculated from the second boom inflow amount.
- the second boom MO pressure is the value detected by the pressure sensor S4R, and the hydraulic oil tank pressure is a preset value (eg atmospheric pressure).
- the hydraulic oil tank pressure may be a value detected by a pressure sensor.
- the predetermined calculation formula is, for example, the orifice flow rate calculation formula shown in the above formula (1), where Q4 is the second boom flow rate, P7 is the second boom MO pressure, P8 is the hydraulic oil tank pressure, Assuming that the opening area of the second meter-out valve (hydraulic control valve HV15) is A4, the opening area A4 of the second meter-out valve (hydraulic control valve HV15) is expressed by Equation (5). where C is the flow coefficient and ⁇ is the fluid density.
- the MO valve opening area calculator F8 calculates the MO valve opening for the solenoid valve EV15 corresponding to the hydraulic control valve HV15 so that the calculated opening area of the second meter-out valve (hydraulic control valve HV15) is realized.
- the MO valve opening command is typically a current command.
- the MO valve opening area calculator F8 is configured to operate the second meter-out valve so that the hydraulic oil can flow out from the rod-side oil chamber of the boom cylinder 7 at a desired flow rate (second boom flow rate Q4). Control the opening area.
- the flow rate command generation unit F1 includes two MI opening area calculation units for controlling the opening areas of the two meter-in valves related to the arm cylinder 8, and two MI opening area calculation units related to the arm cylinder 8.
- Two MO opening area calculation units for controlling the opening areas of the meter-out valves an MI opening area calculation unit for controlling the meter-in valves for the bucket cylinder 9, and two for controlling the opening areas of the two meter-out valves for the bucket cylinder 9. It is configured to similarly output a flow rate command to the two MO opening area calculation units.
- the flow rate command generator F1 is configured to output a command for determining the pump discharge amount of the hydraulic pump 14 . Specifically, the flow rate command generation unit F1 outputs a pump discharge amount determination command to the maximum MI pressure selection unit F9.
- the maximum MI pressure selection unit F9 is configured to select the maximum value of one or more meter-in pressures as the maximum MI pressure.
- Meter-in pressure is the hydraulic fluid pressure downstream of the meter-in valve.
- the meter-in pressure is the pressure of the hydraulic fluid in the pipeline connecting the meter-in valve and the hydraulic actuator.
- the meter-in pressure is the hydraulic oil pressure in the pipeline connecting the hydraulic control valve HV3 functioning as a meter-in valve and the bottom-side oil chamber of the boom cylinder 7, that is, It includes the boom bottom pressure detected by the pressure sensor S4B.
- the maximum MI pressure selection unit F9 selects the maximum value among the boom bottom pressure, the arm bottom pressure, and the bucket bottom pressure. Select as maximum MI pressure.
- the maximum MI pressure selection unit F9 selects the maximum value of the one or more meter-in pressures for the first hydraulic pump 14A as the first maximum MI pressure, and the one or more meter-in pressures for the second hydraulic pump 14B.
- a maximum value of the plurality of meter-in pressures is selected as the second maximum MI pressure.
- One or more meter-in pressures for the first hydraulic pump 14A are meter-in pressures for one or more of the hydraulic control valves HV1 to HV10.
- One or more meter-in pressures for the second hydraulic pump 14B are meter-in pressures for one or more of the hydraulic control valves HV11 to HV20.
- the maximum MI pressure selection unit F9 outputs the selected maximum MI pressure to the pump discharge amount control unit F10.
- the pump discharge amount control unit F10 is configured to be able to control the pump discharge amount of the hydraulic pump 14.
- the pump discharge amount control unit F10 outputs to the regulator 13 of the hydraulic pump 14 as a swash plate type variable displacement hydraulic pump based on the maximum MI pressure output by the maximum MI pressure selection unit F9. Calculate the command value.
- the command value is, for example, the tilt angle of the swash plate.
- the pump discharge amount control unit F10 Based on the first maximum MI pressure output by the maximum MI pressure selection unit F9, the pump discharge amount control unit F10 outputs the swash plate tilt angle to the first regulator 13A of the first hydraulic pump 14A. Calculate Further, the pump discharge amount control unit F10 calculates the swash plate tilt angle to be output to the second regulator 13B of the second hydraulic pump 14B based on the second maximum MI pressure output by the maximum MI pressure selection unit F9. .
- the regulator 13 changes the swash plate tilt angle of the hydraulic pump 14 according to the command value from the pump discharge amount control unit F10, thereby changing the discharge amount of the hydraulic pump 14. Specifically, the first regulator 13A changes the discharge amount of the first hydraulic pump 14A, and the second regulator 13B changes the discharge amount of the second hydraulic pump 14B.
- the controller 30 can appropriately control the flow rate of hydraulic fluid flowing into the hydraulic actuator, the flow rate of hydraulic fluid flowing out from the hydraulic actuator, and the discharge amount of the hydraulic pump 14 .
- FIGS. 5A and 5B are conceptual diagrams of boom FV diagrams used when the boom required flow rate derivation unit F2 derives the boom required flow rate.
- "F” in the FV diagram means thrust
- "V” means required flow rate. That is, the FV diagram is a database (reference table) that stores the correspondence between the operation amount (boom operation amount), the thrust force F (boom thrust force), and the required flow rate V (boom required flow rate) in a referable manner.
- the thrust F may be an effective pressure (boom effective pressure).
- the required flow rate V may be the required speed (required boom speed).
- the requested boom speed is the requested speed of the boom cylinder 7 .
- the required boom speed is a target value for the amount of telescopic movement of the boom cylinder 7 per unit time.
- FIG. 5A is an FV diagram set so that the change in the required flow rate V (boom required flow rate) with respect to the change in the thrust F (boom thrust) is relatively small.
- FIG. 5B is an FV diagram set so that the change in the required flow rate V (boom required flow rate) with respect to the change in the thrust F (boom thrust) is relatively large.
- the FV diagram is configured so that the correspondence between the operation amount (boom operation amount), the thrust force F (boom thrust force), and the required flow rate V (boom required flow rate) can be arbitrarily set.
- the following description relates to derivation processing of the boom required flow rate by the boom required flow rate derivation unit F2, but the arm required flow rate derivation processing by the arm required flow rate derivation unit F3 and the bucket required flow rate by the bucket required flow rate derivation unit F4. The same applies to derivation processing and the like.
- the boom required flow rate derivation unit F2 receives the boom thrust and the boom operation amount as inputs. Then, the boom required flow rate derivation unit F2 uses the boom FV diagram to derive the boom required flow rate corresponding to the input boom thrust and boom operation amount, and sends the derived boom required flow rate to the flow rate command generation unit F1. is configured to output
- the boom required flow rate derivation unit F2 derives the value RQ1 as the boom required flow rate when the value TH1 is input as the boom thrust force and "large" is input as the boom operation amount.
- the boom required flow rate deriving unit F2 derives a value RQ11 as the boom required flow rate when the value TH1 is input as the boom thrust force and "large" is input as the boom operation amount.
- the boom operation amount is represented in three stages of “large”, “medium”, and “small”, but in reality, the boom FV diagram is configured to accommodate more stages of boom operation amount.
- the boom FV diagram may be configured to correspond to the lever operation angle in increments of 0.1 degrees.
- the increment (RQ2-RQ1) of the boom demand flow rate in the boom FV diagram shown in FIG. 5A is the boom demand flow rate in the boom FV diagram shown in FIG. Less than the flow rate increment (RQ12-RQ11).
- the decrement (RQ1-RQ3) of the boom demand flow rate in the boom FV diagram shown in FIG. 5A when the boom thrust increases from the value TH1 to the value TH3 is the boom Less than the decrement of the requested flow rate (RQ11-RQ13). This is because, compared to the case of using the boom FV diagram shown in FIG. 5B, when using the boom FV diagram shown in FIG. means that
- the increment (RQ1-RQ4) of the boom required flow rate in the boom FV diagram shown in FIG. It is larger than the increment (RQ11-RQ14) of the boom demand flow rate in the boom FV diagram shown in 5B. This is because, compared with the case of using the boom FV diagram shown in FIG. 5B, when using the boom FV diagram shown in FIG. means to become
- the boom required flow rate derivation unit F2 may be configured, for example, to select and use one of a plurality of preset boom FV diagrams suitable for the work content.
- the work content is, for example, excavation work, loading work, leveling work, slope finishing work, or the like.
- the work content is determined based on, for example, at least one of the operation content of the operating device 26 and the outputs of the pressure sensors S1 to S7.
- the boom required flow rate derivation unit F2 may be configured to select and use one of a plurality of preset boom FV diagrams suitable for the operation of the excavator 100.
- the operation content is, for example, a boom raising operation, a boom lowering operation, a turning operation, an arm closing operation, an arm opening operation, or the like. Then, the operation content is determined based on at least one of the operation content of the operation device 26 and the outputs of the pressure sensors S1 to S7.
- the FV diagram shown in FIG. 5A is suitable for use, for example, when the boom is raised after excavation. This is because it is possible to suppress a large change in the boom raising speed due to a difference in the weight of earth and sand, etc. taken into the bucket 6 even though the boom operation amount is the same.
- the FV diagram shown in FIG. 5B is suitable for use, for example, when an arm closing operation for excavation is performed. This is because, even if the arm operation amount is the same, the operator can easily recognize the excavation resistance due to earth and sand when the arm closing speed decreases as the arm thrust increases. For example, the operator can recognize that the excavation resistance increases as the arm closing speed decreases. Also, when the arm operation amount is the same, if the arm closing speed decreases as the arm thrust increases, the shaking of the body of the excavator 100 is likely to be suppressed.
- the FV diagram is realized using a database (reference table), but it may be realized using a formula.
- FIGS. 6A and 6B are diagrams showing the flow of processing executed by the flow rate command generator F1.
- FIG. 6A is a schematic diagram showing the flow of processing executed by the flow rate command generation unit F1
- FIG. 6B is a flowchart showing the flow of processing executed by the flow rate command generation unit F1.
- the operator operates the operating device 26 (the left operating lever 26L and the right operating lever 26R) installed in the cabin 10 to operate the turning hydraulic motor 3M, the boom cylinder 7, and the arm.
- Cylinders 8 are operated simultaneously. Specifically, the operator simultaneously performs a left turning operation, a boom raising operation, and an arm opening operation.
- the left control lever 26L is configured to function as an arm control lever 26L1 when tilted in the front-rear direction, and to function as a turning control lever 26L2 when tilted in the left-right direction.
- the right operating lever 26R is configured to function as a boom operating lever 26R1 when tilted in the front-rear direction, and to function as a bucket operating lever 26R2 when tilted in the left-right direction.
- the flow rate command generator F1 calculates the total value Qt of the required flow rate (step ST1).
- the required flow total value Qt is the total value of the pre-adjustment required swing flow Q1ref, the pre-adjusted boom required flow Q2ref, and the pre-adjusted arm required flow Q3ref.
- the pre-adjustment required turning flow Q1ref is a value calculated from the turning operation amount.
- the boom request flow rate before adjustment Q2ref is a value calculated from the boom operation amount
- the arm request flow rate before adjustment Q3ref is a value calculated from the arm operation amount.
- the flow rate command generator F1 calculates the upper limit value QS of the pump discharge amount (step ST2).
- the flow rate command generator F1 makes the absorption output (absorption horsepower) of the hydraulic pump 14 derived by multiplying the pump discharge pressure and the pump discharge amount equal to or less than the maximum output (maximum horsepower) of the engine 11.
- the upper limit value QS of the pump discharge amount is calculated based on the pump discharge pressure PS.
- the flow rate command generator F1 may use the upper limit value of the pump discharge amount mechanically determined by the structure of the hydraulic pump 14 as the upper limit value QS.
- the flow rate command generator F1 compares the total value Qt of the required flow rate and the upper limit value QS of the pump discharge rate (step ST3).
- the upper limit value QS of the pump discharge amount is calculated based on the maximum output of the engine 11, this comparison processing is realized by the maximum horsepower comparison section F11 in FIG. Further, when the upper limit value QS of the pump discharge amount is determined by mechanical restrictions of the hydraulic pump 14, this comparison processing is realized by the maximum flow rate comparison section F12 in FIG.
- the flow rate command generation unit F1 sets the pre-adjustment swirl request flow rate Q1ref as it is as the swirl request flow rate Q1Fref.
- the boom requested flow rate Q2ref is set as it is as the boom requested flow rate Q2Fref
- the arm requested flow rate Q3ref before adjustment is set as it is as the arm requested flow rate Q3Fref (step ST4).
- the required turning flow Q1Fref is a current command output to the solenoid valve EV1 corresponding to the hydraulic control valve HV1.
- the requested swing flow rate Q1Fref is a value that is set so that the flow rate of hydraulic oil that flows into the left port of the swing hydraulic motor 3M through the hydraulic control valve HV1 that functions as a meter-in valve is the value Q1. is.
- the boom required flow rate Q2Fref is a current command output to the solenoid valve EV3 corresponding to the hydraulic control valve HV3.
- the boom required flow rate Q2Fref is a value set so that the flow rate of hydraulic oil that flows into the bottom-side oil chamber of the boom cylinder 7 through the hydraulic control valve HV3 that functions as a meter-in valve is the value Q2. is.
- the arm required flow rate Q3Fref is a current command output to the solenoid valve EV6 corresponding to the hydraulic control valve HV6.
- the arm required flow rate Q3Fref is a value set so that the flow rate of the hydraulic oil that flows into the rod-side oil chamber of the arm cylinder 8 through the hydraulic control valve HV6 that functions as a meter-in valve is the value Q3. is.
- the value Q1 of the flow rate of hydraulic oil flowing into the left port of the swing hydraulic motor 3M, the value Q2 of the flow rate of hydraulic oil flowing into the bottom-side oil chamber of the boom cylinder 7, and the rod of the arm cylinder 8 The sum of the value Q3 of the flow rate of hydraulic oil flowing into the side oil chamber is equal to or less than the upper limit value QS of the pump discharge amount.
- the flow rate command generation unit F1 multiplies the pre-adjustment turning required flow rate Q1ref by the value (1-K1). is set as the requested swing flow rate Q1Fref, the value obtained by multiplying the requested boom flow rate Q2ref before adjustment by the value (1-K2) is set as the requested boom flow rate Q2Fref, and the requested arm flow rate Q3ref before adjustment is multiplied by the value (1-K3).
- the obtained value is set as the arm required flow rate Q3Fref (step ST5).
- the value K1, the value K2, and the value K3 are values set so as to satisfy the following formula (6).
- QS (1-K1) ⁇ Q1ref+(1-K2) ⁇ Q2ref+(1-K3) ⁇ Q3ref (6)
- the shortfall is a value obtained by subtracting the upper limit value QS of the pump discharge amount from the total value Qt of the required flow rate.
- the required swirling flow rate Q1Fref will be the value obtained by multiplying the required swirling flow rate before adjustment Q1ref by 0.9.
- the boom requested flow rate Q2Fref is obtained by multiplying the boom requested flow rate before adjustment Q2ref by 0.9
- the arm requested flow rate Q3Fref is obtained by multiplying the arm requested flow rate before adjustment Q3ref by 0.9.
- this configuration has the effect of preventing, for example, any one of the left turning speed, the boom raising speed, and the arm opening speed from greatly changing (decreasing) compared to the other two.
- FIG. 7 is a graph showing the relationship between meter-in pressure, meter-out pressure, pump discharge pressure and effective pressure.
- the horizontal axis in FIG. 7 corresponds to effective pressure such as boom effective pressure, arm effective pressure, bucket effective pressure, or swing effective pressure, and the vertical axis in FIG. and hydraulic oil pressure such as pump discharge pressure.
- the following description relates to the MO valve opening area calculator that controls the hydraulic control valve HV2 that functions as a meter-out valve for the swing hydraulic motor 3M, but other MO valve opening area calculations that control other meter-out valves will be described. The same applies to parts.
- the state in which the effective pressure has a positive value includes, for example, the state in which the swirl effective pressure has a positive value.
- the hydraulic fluid pressure (meter-in pressure) at the left port (inflow side port) of the swing hydraulic motor 3M increases to the right port of the swing hydraulic motor 3M during left swing acceleration. Includes a state higher than the hydraulic fluid pressure (meter-out pressure) at (outflow side port).
- the state in which the effective pressure is negative includes, for example, the state in which the swivel effective pressure is negative.
- the pressure (meter-out pressure) of the hydraulic oil at the right port of the swing hydraulic motor 3M increases during left swing deceleration. Includes conditions higher than pressure (meter-in pressure).
- the MO valve opening area calculator causes the hydraulic control valve HV2 to function as a relief valve when the effective pressure is a positive value, and causes the hydraulic control valve HV2 to function as a counterbalance valve when the effective pressure is a negative value.
- the MO valve opening area calculation unit determines that both the hydraulic pressure (meter-in pressure) at the left port and the hydraulic pressure (meter-out pressure) at the right port of the swing hydraulic motor 3M are at the minimum required.
- the opening area of the meter-out valve (hydraulic control valve HV2) is controlled so that
- the MO valve opening area calculator calculates the meter-out pressure within a range where the meter-out pressure does not become a negative pressure.
- the opening area of the meter-out valve (hydraulic control valve HV2) is controlled so that the pressure is as low as possible.
- the MO valve opening area calculator controls the opening area of the meter-out valve (hydraulic control valve HV2) as a relief valve so that the meter-out pressure becomes a predetermined value MOmin.
- the MO valve opening area calculation unit keeps the meter-in pressure as low as possible within a range where the meter-in pressure does not become negative. It controls the opening area of the meter-out valve (hydraulic control valve HV2).
- the MO valve opening area calculator controls the opening area of the meter-out valve (hydraulic control valve HV2) as a counterbalance valve so that the meter-in pressure becomes a predetermined value MImin.
- the MO valve opening area calculator switches the control method according to the direction of the load acting on the swing hydraulic motor 3M, that is, the magnitude relationship between the meter-in pressure and the meter-out pressure, thereby switching the meter-out valve (hydraulic control valve). Control the opening area of HV2).
- the MO valve opening area calculator minimizes the meter-in pressure and meter-out pressure while preventing the meter-in pressure and meter-out pressure from becoming negative, regardless of the load direction. can be maintained.
- the pump discharge amount control unit F10 maintains the pump discharge pressure of the hydraulic pump 14 at a pressure higher than the meter-in pressure by a predetermined pressure ⁇ P regardless of whether the effective pressure is a positive value or a negative value. , controls the pump discharge of the hydraulic pump 14 .
- the predetermined pressure ⁇ P is determined, for example, based on the minimum differential pressure required for the meter-in valve to pass the required flow rate. This differential pressure means the difference between the hydraulic fluid pressure upstream of the meter-in valve and the hydraulic fluid pressure downstream of the meter-in valve. In this manner, the pump discharge amount control section F10 may control the pump discharge amount through control similar to load sensing control.
- This configuration maintains the meter-in pressure at a minimum with the meter-out valve, and by minimizing the differential pressure between the pump discharge pressure and the meter-in pressure, the controllability of the hydraulic actuator is ensured. while the pump discharge pressure can be reduced. Therefore, this configuration can reduce the energy consumption of the drive source such as the engine 11 that drives the hydraulic pump 14 while ensuring the controllability of the hydraulic actuator.
- the turning hydraulic motor 3M is a swash plate type variable displacement hydraulic pump. Other types of hydraulic pumps are possible.
- FIG. 8 is a diagram showing another example of the flow of control for operating the shovel 100. As shown in FIG. This control is performed by the controller 30 .
- the example shown in FIG. 8 differs from the example shown in FIG. 4 in that the FV diagram is dynamically changed.
- the controller 30 is configured to dynamically change the content of the FV diagram in accordance with changes in at least one of the state quantity of the operator and the state quantity of the excavator. .
- the operator's state quantity is, for example, the operator's skill, the operator's preference, or the operator's degree of fatigue, and is typically represented by multiple levels.
- the excavator state quantity is, for example, the posture of the excavator, the weight of the earth and sand taken into the bucket 6, or the excavation resistance.
- the controller 30 may be configured to change the contents of the FV diagram in accordance with the specifications of the shovel, the purpose of use of the shovel, changes in the characteristics of the excavation target, or the like.
- the properties of the excavation object are, for example, the viscosity, hardness, density, or the like of soil.
- FIG. 9 is a diagram showing still another example of the flow of control for operating the shovel 100. As shown in FIG. This control is performed by the controller 30 .
- FIG. 9 is a shovel constructed so that an end attachment attached to the tip of an arm 5 can be moved horizontally and vertically using a horizontal operating lever and a vertical operating lever. 1 shows the flow of control for operating 100.
- FIG. End attachments are buckets, grapples, lifting magnets, breakers, or the like.
- the end attachment is bucket 6.
- FIG. 9 the example shown in FIG.
- the manipulated variable conversion unit F20 is configured to convert an input manipulated variable into an output manipulated variable.
- the input operation amount is the horizontal operation amount and the vertical operation amount
- the output operation amount is the arm operation amount and the boom operation amount.
- the horizontal operation amount is an operation amount related to an operation for moving the position of a predetermined portion of the attachment (hereinafter referred to as "controlled position") in the horizontal direction (front-rear direction).
- the vertical operation amount is an operation amount related to an operation for moving the control target position in the vertical direction (vertical direction).
- the controlled position is, for example, the position of a bucket pin connecting the arm 5 and the bucket 6 .
- the operator can move the position to be controlled forward in the horizontal direction, and by tilting the horizontal control lever backward, the position to be controlled can be moved backward in the horizontal direction. can be done. Further, the operator can move the position to be controlled downward in the vertical direction by tilting the vertical operation lever forward, and move the position to be controlled upward in the vertical direction by tilting the vertical operation lever backward. can be done.
- the operation amount conversion unit F20 calculates a combination of the arm operation amount and the boom operation amount required to move the control target position in the horizontal direction. Further, upon receiving the input of the vertical operation amount, the operation amount conversion unit F20 calculates a combination of the arm operation amount and the boom operation amount required to move the control target position in the vertical direction. Then, when receiving the input of the horizontal operation amount and the input of the vertical operation amount at the same time, the operation amount conversion unit F20 realizes diagonal movement of the control target position (simultaneous movement in the horizontal and vertical directions).
- the operation amount conversion section F20 calculates the combination of the arm operation amount and the boom operation amount required for Then, the operation amount conversion section F20 outputs the calculated arm operation amount to the arm required flow rate derivation section F3, and outputs the calculated boom operation amount to the boom required flow rate derivation section F2.
- the FV diagram setting unit F21 sets FV lines used in the required boom flow rate derivation unit F2 and the required arm flow rate derivation unit F3 based on the horizontal FV diagram regarding the horizontal operation amount and the vertical FV diagram regarding the vertical operation amount. It is configured so that the diagrams (FV diagram for boom and FV diagram for arm) can be set.
- the horizontal FV diagram is a database (reference table) that stores the correspondence between the horizontal operation amount, the thrust force F (horizontal thrust force), and the required flow rate V (horizontal required flow rate) in a referable manner.
- the vertical FV diagram is a database (reference table) that stores the correspondence between the vertical operation amount, the thrust F (vertical thrust), and the required flow rate V (required vertical flow rate) in a referable manner.
- the horizontal FV diagram is set so that the horizontal movement speed of the control target position changes at a relatively high response speed according to the horizontal operation amount and the horizontal thrust.
- the vertical FV diagram is set so that the vertical movement speed hardly changes even if the vertical thrust changes regardless of the magnitude of the vertical operation amount.
- the FV diagram setting unit F21 sets the arm FV diagram and the boom FV diagram so that the characteristics represented by the horizontal FV diagram and the vertical FV diagram are realized.
- the boom required flow rate derivation unit F2 calculates a flow rate command in a method similar to that described with reference to FIG. 4, and outputs the calculated flow rate command to the hydraulic control valve HV. Specifically, the boom required flow rate deriving unit F2 calculates the boom thrust from the boom effective pressure calculated based on the outputs of the pressure sensor S4B and the pressure sensor S4R. Then, the boom required flow rate derivation unit F2 issues a flow rate command based on the calculated boom thrust force, the boom operation amount calculated by the operation amount conversion unit F20, and the boom FV diagram set by the FV diagram setting unit F21. calculate.
- the boom required flow rate derivation unit F2 outputs a flow rate command to at least one of the hydraulic control valves HV3, HV4, HV15, and HV16 related to the boom cylinder 7. More strictly, the boom required flow rate derivation unit F2 outputs a flow rate command to at least one of the solenoid valves EV3, EV4, EV15, and EV16. The same applies to the arm required flow rate deriving section F3.
- FIGS. 10A and 10B are diagrams showing the flow of another process executed by the flow rate command generator F1.
- FIG. 10A is a schematic diagram showing the flow of another process executed by the flow rate command generator F1
- FIG. 10B shows the flow of another process executed by the flow rate command generator F1. It is a flow chart.
- the working oil flowing out of the outflow port of the hydraulic motor 3M for turning during turning deceleration is regenerated in the inflow port of the hydraulic motor 3M for turning, and the rod side of the arm cylinder 8 is regenerated.
- the hydraulic oil flowing out from the oil chamber is regenerated in the bottom side oil chamber of the arm cylinder 8, and the hydraulic oil flowing out from the bottom side oil chamber of the bucket cylinder 9 is regenerated in the bottom side oil chamber of the arm cylinder 8. This is different from the example shown in FIGS. 6A and 6B in that respect.
- the operator operates the operating device 26 (the left operating lever 26L and the right operating lever 26R) installed in the cabin 10 to operate the turning hydraulic motor 3M, the arm cylinder 8, and the bucket.
- the cylinders 9 are operated simultaneously. Specifically, the operator simultaneously performs a left turning operation, an arm closing operation, and a bucket opening operation.
- the left control lever 26L is configured to function as an arm control lever 26L1 when tilted in the front-rear direction, and to function as a turning control lever 26L2 when tilted in the left-right direction.
- the right operating lever 26R is configured to function as a boom operating lever 26R1 when tilted in the front-rear direction, and to function as a bucket operating lever 26R2 when tilted in the left-right direction.
- hydraulic fluid flows into the inflow port of the swing hydraulic motor 3M at a flow rate Q1 corresponding to the required swing flow rate before adjustment Q1ref.
- the hydraulic oil flows out from the outflow side port of the turning hydraulic motor 3M at a flow rate Q1 corresponding to .
- hydraulic fluid that has flowed out of the outflow port of the turning hydraulic motor 3M is regenerated (flows into the inflow side port of the turning hydraulic motor 3M) through the differential conduit (regeneration conduit CD1).
- hydraulic fluid flows into the rod-side oil chamber of the bucket cylinder 9 at a flow rate Q3 corresponding to the pre-adjustment required bucket flow rate Q3ref.
- Hydraulic oil is configured to flow out from the bottom-side oil chamber of the bucket cylinder 9 at a flow rate (2 ⁇ Q3) corresponding to double.
- the hydraulic oil flowing out from the bottom side oil chamber of the bucket cylinder 9 is regenerated (flows) into the rod side oil chamber of the bucket cylinder 9 through the differential conduit (regeneration conduit CD3), and , and regenerate (flow into) the bottom-side oil chamber of the arm cylinder 8 through the regeneration conduit CD4.
- hydraulic fluid flows into the bottom-side oil chamber of the arm cylinder 8 at a flow rate Q2 corresponding to the arm request flow rate Q2ref before adjustment.
- Hydraulic oil is configured to flow out from the rod-side oil chamber of the arm cylinder 8 at a flow rate (1/2 ⁇ Q2) corresponding to a half.
- the hydraulic circuit is configured such that the hydraulic oil flowing out from the rod-side oil chamber of the arm cylinder 8 is regenerated (flows into) the bottom-side oil chamber of the arm cylinder 8 through the differential conduit (regeneration conduit CD2).
- the flow rate QP of hydraulic oil supplied from the hydraulic pump 14 to the bottom-side oil chamber of the arm cylinder 8 is (Q2-1/2 ⁇ Q2-Q3).
- the pre-adjustment required turning flow Q1ref is a value calculated from the turning operation amount.
- the arm requested flow rate Q2ref before adjustment is a value calculated from the arm operation amount
- the bucket request flow rate before adjustment Q3ref is a value calculated from the bucket operation amount.
- the flow rate command generator F1 first calculates the total value Qt of the required flow rate (step ST11).
- the flow rate command generator F1 calculates the upper limit value QS of the pump discharge amount (step ST12).
- the flow rate command generator F1 makes the absorption output (absorption horsepower) of the hydraulic pump 14 derived by multiplying the pump discharge pressure and the pump discharge amount equal to or less than the maximum output (maximum horsepower) of the engine 11.
- the upper limit value QS of the pump discharge amount is calculated based on the pump discharge pressure PS.
- the flow rate command generator F1 may use the upper limit value of the pump discharge amount mechanically determined by the structure of the hydraulic pump 14 as the upper limit value QS.
- the flow rate command generator F1 compares the total value Qt of the required flow rate and the upper limit value QS of the pump discharge rate (step ST13).
- the upper limit value QS of the pump discharge amount is calculated based on the maximum output of the engine 11, this comparison processing is realized by the maximum horsepower comparison section F11 in FIG. Further, when the upper limit value QS of the pump discharge amount is determined by mechanical restrictions of the hydraulic pump 14, this comparison processing is realized by the maximum flow rate comparison section F12 in FIG.
- the flow rate command generation unit F1 sets the pre-adjustment swirl request flow rate Q1ref as it is as the swirl request flow rate Q1Fref.
- the arm requested flow rate Q2ref is set as it is as the arm requested flow rate Q2Fref
- the bucket requested flow rate before adjustment Q3ref is set as it is as the bucket requested flow rate Q3Fref (step ST14).
- the required turning flow Q1Fref is a current command output to the solenoid valve EV1 corresponding to the hydraulic control valve HV1.
- the requested swing flow rate Q1Fref is a value that is set so that the flow rate of hydraulic oil that flows into the left port of the swing hydraulic motor 3M through the hydraulic control valve HV1 that functions as a meter-in valve is the value Q1. is.
- the arm required flow rate Q2Fref is a current command output to the solenoid valve EV5 corresponding to the hydraulic control valve HV5.
- the arm required flow rate Q2Fref is a value set so that the flow rate of the hydraulic oil that flows into the bottom-side oil chamber of the arm cylinder 8 through the hydraulic control valve HV5 that functions as a meter-in valve is the value Q2. is.
- the required bucket flow rate Q3Fref is a current command output to the solenoid valve EV9 corresponding to the hydraulic control valve HV9.
- the required bucket flow rate Q3Fref is a value set so that the flow rate of the hydraulic oil that flows into the rod-side oil chamber of the bucket cylinder 9 through the hydraulic control valve HV9 that functions as a meter-in valve is the value Q3. is.
- the flow rate QP of hydraulic oil supplied from the hydraulic pump 14 to the hydraulic actuator is equal to or less than the upper limit value QS of the pump discharge amount. That is, from the sum of the value Q2 of the flow rate of hydraulic oil flowing into the bottom side oil chamber of the arm cylinder 8 and the value Q3 of the flow rate of hydraulic oil flowing into the rod side oil chamber of the bucket cylinder 9, the rod of the arm cylinder 8 is calculated.
- a value obtained by subtracting the sum of the value of the flow rate of hydraulic oil flowing out of the side oil chamber (1/2 ⁇ Q2) and the value of the flow rate of hydraulic oil flowing out of the bottom side oil chamber of the bucket cylinder 9 (2 ⁇ Q3) (1/2 ⁇ Q2 ⁇ Q3) is equal to or less than the upper limit QS of the pump discharge amount.
- the flow rate command generator F1 directly sets the required swirl flow rate Q1ref before adjustment as the required swirl flow rate Q1Fref for adjustment.
- a value obtained by multiplying the forearm required flow rate Q2ref by the value (1-K2) is set as the arm requested flow rate Q2Fref, and a value obtained by multiplying the bucket requested flow rate before adjustment Q3ref by the value (1-K3) is set as the bucket requested flow rate Q3Fref.
- the value K2 and the value K3 are values set so as to satisfy the following formula (7).
- the shortfall is a value obtained by subtracting the upper limit value QS of the pump discharge amount from the total value Qt of the required flow rate.
- the arm required flow rate Q2Fref is a value obtained by multiplying the arm required flow rate Q2ref before adjustment by the value 0.9.
- the flow rate Q3Fref is a value obtained by multiplying the pre-adjustment bucket request flow rate Q3ref by 0.9.
- This configuration can change (decrease) the operating speeds of the arm closing speed and the bucket opening speed at the same ratio even when the total value Qt of the required flow rate exceeds the upper limit value QS of the pump discharge amount. effect. That is, this configuration has the effect of preventing a large change (decrease) in either one of the arm closing speed and the bucket opening speed compared to the other.
- the flow rate command generation unit F1 rotates the pre-adjustment turning required flow rate Q1ref as it is. It is set as the required flow rate Q1Fref. That is, the controller 30 does not limit the movement of the turning hydraulic motor 3M. However, the flow rate command generator F1 may limit the movement of the turning hydraulic motor 3M in the same manner as the movement of the arm cylinder 8 and the bucket cylinder 9 is limited.
- the flow rate command generation unit F1 multiplies the pre-adjustment required turning flow rate Q1ref by 0.9 to obtain the required turning flow rate. It may be set as Q1Fref. This configuration provides the effect of being able to change (decrease) each of the left turning speed, arm closing speed, and bucket opening speed at the same rate.
- the excavator 100 includes hydraulic actuators that move in response to an operation command, pressure sensors S1 to S6 that detect the pressure of hydraulic fluid in the hydraulic actuators, and meter-in sensors that correspond to the hydraulic actuators.
- a valve (a portion of the plurality of hydraulic control valves HV), a meter-out valve (another portion of the plurality of hydraulic control valves HV) corresponding to the hydraulic actuator, and a plurality of outputs set for each of the plurality of hydraulic actuators.
- a controller 30 as a control device having characteristics.
- the controller is configured to calculate the required flow rate corresponding to the operation command based on the output characteristic corresponding to the operation command among the plurality of output characteristics.
- the output characteristic represents, for example, a correspondence relationship based on the operation command, the hydraulic fluid pressure in the hydraulic actuator, and the required flow rate.
- the excavator 100 may include an operating device 26 as a motion command generating device that generates motion command values (values of manipulated variables) for hydraulic actuators.
- the controller 30 may be configured to calculate the required flow rate based on the predetermined output characteristics, the value of the manipulated variable generated by the operating device 26, and the detected values of the pressure sensors S1 to S6.
- the predetermined output characteristic is, for example, a characteristic represented by an FV diagram, and is a request that is an operation command value (a value of an operation amount), a pressure of hydraulic fluid in a hydraulic actuator, and a flow rate of hydraulic fluid to be supplied to the hydraulic actuator. represents the correspondence between the flow rate.
- the predetermined output characteristic may be expressed by a formula.
- Pressure sensors S1 to S6, meter-in valves, and meter-out valves are provided to correspond to each of the plurality of hydraulic actuators.
- the controller 30 may be configured to calculate the required flow rate for each of the plurality of hydraulic actuators.
- the hydraulic actuators may include hydraulic cylinders such as the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9.
- the pressure sensors S1 to S6 detect the bottom side pressure, which is the pressure of hydraulic fluid in the bottom side oil chamber of the hydraulic cylinder, and the rod side pressure, which is the pressure of hydraulic fluid in the rod side oil chamber of the hydraulic cylinder. may be configured.
- the controller 30 may be configured to calculate the required flow rate based on the output characteristics, the value of the manipulated variable generated by the operating device 26, and the differential pressure between the bottom side pressure and the rod side pressure.
- the excavator 100 includes a boom cylinder 7, a pressure sensor S4 that detects the pressure of hydraulic oil in the boom cylinder 7, a hydraulic control valve HV3 as a meter-in valve corresponding to the boom cylinder 7 that extends, and a hydraulic control valve HV3 that corresponds to the boom cylinder 7 that extends.
- a hydraulic control valve HV4 as a meter-out valve corresponding to the boom cylinder 7, a boom control lever 26R1 that generates an operation command value (boom raising operation amount value) for the boom cylinder 7, a boom raising operation amount value and the boom cylinder 7, the value of the boom raising operation amount generated by the boom control lever 26R1, and the detection value of the pressure sensor S4.
- the pressure sensor S4 includes a pressure sensor S4B that detects the bottom side pressure, which is the pressure of hydraulic oil in the bottom side oil chamber of the boom cylinder 7, and a rod side pressure sensor, which is the pressure of the hydraulic oil in the rod side oil chamber of the boom cylinder 7. and a pressure sensor S4R for detecting pressure. Since this configuration has separate meter-in valves and meter-out valves corresponding to the boom cylinders 7, the effect is that the movement of the boom cylinders 7 can be controlled more flexibly.
- the controller 30 may be configured to calculate the thrust based on the differential pressure between the bottom side pressure and the rod side pressure.
- the controller 30 may be configured to calculate the required flow rate based on the FV diagram, the manipulated variable generated by the operating device 26, and the thrust thereof.
- the controller 30 calculates, for example, the effective boom pressure, which is the pressure difference between the boom bottom pressure and the boom rod pressure, and then multiplies the boom effective pressure by the pressure receiving area to calculate the boom thrust.
- the boom effective pressure is a value obtained by subtracting the meter-out pressure from the meter-in pressure.
- the pressure receiving area is the pressure receiving area of the piston that constitutes the boom cylinder 7 . Then, as shown in FIG. 4, the controller 30 may be configured to calculate the required boom flow based on the boom FV diagram, the value of the boom operation amount, and the value of the boom thrust.
- the controller 30 may be configured to change the output characteristics in accordance with the operation content of the excavator 100 determined based on the value of the operation amount generated by the operation device 26 and the detection values of the pressure sensors S1 to S6. good.
- the controller 30 may determine the operation content of the excavator 100 based on the value of the operation amount generated by the operation device 26 and the detection values of the pressure sensors S1 to S6.
- the operation content of the excavator 100 includes, for example, a boom raising operation, a boom lowering operation, a turning operation, an arm closing operation, an arm opening operation, or the like.
- the operation content of the excavator 100 may be a compaction operation, an aerial operation, or the like.
- the rolling operation is an operation of pressing the bucket 6 against the ground.
- Air movement is movement of the attachment when the attachment is not in contact with the ground.
- the controller 30 may change the contents of the FV diagram according to the operation contents of the excavator 100 .
- the controller 30 may select and use one FV diagram suitable for the current operation of the excavator 100 from a plurality of FV diagrams prepared in advance.
- the controller 30 may change the output characteristics by dynamically changing the contents (coefficients, etc.) of the formula. For example, the controller 30 may select and use one formula suitable for the current operation of the excavator 100 from a plurality of formulas prepared in advance.
- the controller 30 determines whether or not the operation of the excavator 100 is an operation in the air based on the value of the operation amount generated by the operation device 26 and the detection values of the pressure sensors S1 to S6, and the determination result is You may change an output characteristic according to.
- the controller 30 may also calculate the pump flow rate, which is the flow rate of hydraulic oil to be discharged by the hydraulic pump 14, based on the value of the manipulated variable generated by the operating device 26. For example, when the swing hydraulic motor 3M, the boom cylinder 7, and the arm cylinder 8 are moved simultaneously as shown in FIGS. A total value Qt of the required boom flow rate before adjustment Q2ref) and the required arm flow rate (required arm flow rate before adjustment Q3ref) may be calculated as the pump flow rate.
- the controller 30 may be configured to compare the pump flow rate with the maximum flow rate (upper limit QS) of hydraulic oil that the hydraulic pump 14 can discharge.
- the controller 30 can determine whether or not the pump flow rate exceeds the upper limit value QS. Therefore, the controller 30 can change the driving method of the excavator 100 depending on whether the pump flow rate exceeds the upper limit value QS or when the pump flow rate is equal to or lower than the upper limit value QS. For example, when the pump flow rate exceeds the upper limit value QS, the controller 30 can reduce the operation speed of each of the plurality of hydraulic actuators that are about to move simultaneously at the same deceleration rate. That is, the controller 30 can prevent the deceleration rate of the operating speed of one hydraulic actuator and the decelerating rate of the operating speed of another hydraulic actuator from becoming significantly different.
- the excavator 100 may further include a differential circuit including a differential conduit connecting the inflow side conduit of the hydraulic actuator and the outflow side conduit of the hydraulic actuator.
- the excavator 100 includes a differential circuit (regeneration conduit CD1) that connects the inflow side conduit and the outflow side conduit of the turning hydraulic motor 3M.
- a differential circuit including a differential line (regeneration line CD3) is provided.
- the controller 30 may be configured to calculate the pump flow rate based on the value of the manipulated variable generated by the operating device 26 and the flow rate of hydraulic oil flowing through the differential circuit.
- the excavator 100 may further include a regeneration circuit including a regeneration line connecting one of the plurality of hydraulic actuators and another one of the plurality of hydraulic actuators.
- the excavator 100 includes a regeneration circuit including a regeneration conduit CD4 that connects the bottom-side oil chamber of the bucket cylinder 9 and the bottom-side oil chamber of the arm cylinder 8.
- the controller 30 may be configured to calculate the pump flow rate based on the value of the operation amount generated by the operating device 26 and the flow rate of hydraulic oil flowing through the regeneration circuit.
- the controller 30 controls the arm request flow rate (the arm request flow rate before adjustment Q2ref) by half. is calculated as the pump flow rate by subtracting the flow rate (Q3ref) corresponding to the requested bucket flow rate (required bucket flow rate before adjustment Q3ref) from the flow rate (1/2 ⁇ Q2ref) corresponding to .
- the controller 30 is configured to compare the pump flow rate with the maximum flow rate (upper limit QS) of hydraulic oil that the hydraulic pump 14 can discharge.
- the controller 30 can achieve effects similar to those described above even when the hydraulic circuit mounted on the excavator 100 includes at least one of a differential circuit and a regenerative circuit. For example, when the pump flow rate exceeds the upper limit value QS, the controller 30 can reduce the operation speed of each of the plurality of hydraulic actuators that are about to move simultaneously at the same deceleration rate.
- the controller 30 may be configured to reduce the pump flow rate and the demand flow rate when the pump flow rate is greater than the maximum flow rate. For example, in the example shown in FIGS. 6A and 6B, the controller 30 sets the pump flow rate (total value Qt) to the maximum flow rate (upper limit QS) when the total value Qt as the pump flow rate is greater than the upper limit QS as the maximum flow rate. to That is, the controller 30 reduces the total value Qt of the required turning flow Q1ref before adjustment, the required boom flow Q2ref before adjustment, and the required arm flow Q3ref before adjustment to the maximum flow (upper limit QS). Further, when the hydraulic pump 14 includes a plurality of hydraulic pumps, the controller 30 may be configured to acquire the pump flow rate and maximum flow rate for each hydraulic pump and control the pump discharge rate for each hydraulic pump.
- the maximum flow rate may be determined, for example, based on the maximum output of the driving source such as the engine 11 and the discharge pressure of the hydraulic pump 14.
- the discharge pressure of the hydraulic pump 14 may be detected by a pressure sensor S7, for example.
- the controller 30 can prevent an excessive load from being applied to the drive source and allow hydraulic oil to flow into the plurality of hydraulic actuators in a well-balanced manner.
- the controller 30 controls the meter-in flow rate, which is the flow rate of hydraulic oil that should pass through the meter-in valve, and the meter-out flow rate, which is the flow rate of hydraulic oil that should pass through the meter-out valve. It may be configured to calculate the flow rate. Then, the controller 30 calculates the opening area of the meter-in valve based on the meter-in flow rate and the detection value of the pressure sensor, and calculates the opening area of the meter-out valve based on the meter-out flow rate and the detection value of the pressure sensor. may be configured to
- the hydraulic control valve HV3 connected to the bottom-side oil chamber of the boom cylinder 7 functions as a meter-in valve
- the rod-side oil of the boom cylinder 7 A hydraulic control valve HV4 connected to the chamber functions as a meter-out valve. Therefore, the controller 30 calculates a meter-in flow rate, which is the flow rate of hydraulic oil that should pass through the hydraulic control valve HV3, and a meter-out flow rate, which is the flow rate of hydraulic oil that should pass through the hydraulic control valve HV4.
- the controller 30 sets the opening area (target value) of the meter-in valve (hydraulic control valve HV3) based on the meter-in flow rate, which is the flow rate of hydraulic fluid that should pass through the hydraulic control valve HV3, and the detection value of the pressure sensor S4B. is calculated, and the opening area (target value) of the meter-out valve (hydraulic control valve HV4) is calculated based on the meter-out flow rate, which is the flow rate of hydraulic oil that should pass through the hydraulic control valve HV4, and the detection value of the pressure sensor S4R. do.
- the controller 30 performs hydraulic control by the solenoid valve EV3 so that the calculated opening area (target value) of the meter-in valve (hydraulic control valve HV3) and the actual opening area of the meter-in valve (hydraulic control valve HV3) are the same. Adjust the pilot pressure of valve HV3.
- the controller 30 controls the solenoid valve EV4 so that the calculated opening area (target value) of the meter-out valve (hydraulic control valve HV4) and the actual opening area of the meter-out valve (hydraulic control valve HV4) are the same. to adjust the pilot pressure of the hydraulic control valve HV4.
- the controller 30 is configured to control the discharge pressure of the hydraulic pump based on the highest value among the detected values of the plurality of pressure sensors installed downstream of the plurality of meter-in valves connected to the hydraulic pump. may be
- the controller 30 controls three pressure sensors installed downstream of three meter-in valves connected to the second hydraulic pump 14B.
- the discharge pressure of the second hydraulic pump 14B is controlled based on the highest detected value.
- the three meter-in valves are hydraulic control valve HV16 functioning as a meter-in valve for boom cylinder 7, hydraulic control valve HV14 functioning as a meter-in valve for arm cylinder 8, and hydraulic control valve HV12 functioning as a meter-in valve for bucket cylinder 9. be.
- the three pressure sensors are a pressure sensor S4B that detects boom bottom pressure, a pressure sensor S5B that detects arm bottom pressure, and a pressure sensor S6B that detects bucket bottom pressure.
- the controller 30 adjusts the pump discharge amount of the second hydraulic pump 14B so that the discharge pressure of the second hydraulic pump 14B is higher than the highest value among the detected values of the three pressure sensors by a predetermined value. to control.
- the controller 30 can operate the hydraulic actuator with the minimum necessary pump discharge pressure, and can achieve both operability (controllability) and energy saving of the excavator 100 at a high level.
- the hydraulic circuit separates the meter-in valve for controlling the hydraulic fluid supplied to the left traveling hydraulic motor 1M and the meter-out valve for controlling the hydraulic fluid discharged from the left traveling hydraulic motor 1M. It is configured to be provided in However, for the left travel hydraulic motor 1M, the meter-in valve and the meter-out valve need not be provided separately.
- the hydraulic circuit may be configured such that the hydraulic fluid supplied to the left traveling hydraulic motor 1M and the hydraulic fluid discharged from the left traveling hydraulic motor 1M are simultaneously controlled by one spool valve. The same applies to the right traveling hydraulic motor 2M.
- Controller 100 ... Excavator CD1 to CD3 ... Regeneration pipeline CD4 ⁇ Regeneration pipeline EV, EV1 to EV20 ⁇ Solenoid valve F1 ⁇ Flow rate command generator F2 ⁇ Boom required flow rate derivation part F3 ⁇ Arm required flow rate derivation part F4... Bucket required flow rate derivation part F5, F7... MI valve opening area calculation part F6, F8... MO valve opening area calculation part F9... Maximum MI pressure selection part F10... Pump discharge amount control part F11... ⁇ Maximum horsepower comparison part F12... Maximum flow rate comparison part F13... Regeneration/regeneration control part F20... Operation amount conversion part F21... FV diagram setting part HV, HV1 to HV20... Hydraulic control valve M1... attitude detector M1a...
- boom angle sensor M1b boom angle sensor M1c... bucket angle sensor PL... left pilot port PR... right pilot port S1L, S1R, S2L, S2R, S3L, S3R, S4B, S4R, S5B, S5R, S6B, S6R, S7A, S7B... Pressure sensor T... Hydraulic oil tank
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Abstract
Description
そして、MI弁開口面積算出部F5は、算出した第1メータイン弁(油圧制御弁HV3)の開口面積が実現されるように、油圧制御弁HV3に対応する電磁弁EV3に対してMI弁開口指令を出力する。MI弁開口指令は、典型的には、電流指令である。
QS=(1-K1)×Q1ref+(1-K2)×Q2ref+(1-K3)×Q3ref・・・(6)
例えば、値K1、値K2、及び値K3は何れも、要求流量の合計値Qtに対する不足分(Qt-QS)の比の値K(=(Qt-QS)/Qt)であってもよい。不足分は、要求流量の合計値Qtからポンプ吐出量の上限値QSを差し引いた値である。
QS=1/2×(1-A2)×Q2ref-(1-A3)×Q3ref・・・(7)
例えば、値K2及び値K3は何れも、要求流量の合計値Qtに対する不足分(Qt-QS)の比の値K(=(Qt-QS)/Qt)であってもよい。不足分は、要求流量の合計値Qtからポンプ吐出量の上限値QSを差し引いた値である。
Claims (19)
- 動作指令に対応して動く油圧アクチュエータと、
前記油圧アクチュエータにおける作動油の圧力を検出する圧力センサと、
前記油圧アクチュエータに対応するメータイン弁と、
前記油圧アクチュエータに対応するメータアウト弁と、
複数の前記油圧アクチュエータのそれぞれについて設定された複数の出力特性を有する制御装置と、を備え、
前記制御装置は、複数の前記出力特性のうちの、前記動作指令に対応する前記出力特性に基づき、前記動作指令に対応する要求流量を算出する、
ショベル。 - 前記出力特性は、前記動作指令、前記油圧アクチュエータにおける作動油の圧力、及び、前記要求流量に基づく対応関係を表し、
前記圧力センサ、前記メータイン弁、及び前記メータアウト弁は、複数の前記油圧アクチュエータのそれぞれに対応するように設けられている、
請求項1に記載のショベル。 - 前記油圧アクチュエータは、油圧シリンダであり、
前記圧力センサは、前記油圧シリンダのボトム側油室における作動油の圧力であるボトム側圧力と、前記油圧シリンダのロッド側油室における作動油の圧力であるロッド側圧力と、を検出するように構成され、
前記制御装置は、前記出力特性、前記動作指令、及び、前記ボトム側圧力と前記ロッド側圧力との間の差圧に基づいて前記要求流量を算出する、
請求項1に記載のショベル。 - 前記制御装置は、
前記ボトム側圧力と前記ロッド側圧力との間の差圧に基づいて推力を算出し、
前記出力特性、前記動作指令、及び、前記推力に基づいて前記要求流量を算出する、
請求項3に記載のショベル。 - 前記制御装置は、前記動作指令と前記圧力センサの検出値とに基づいて判定されるショベルの動作内容に応じて前記出力特性を変化させる、
請求項1に記載のショベル。 - 前記制御装置は、前記動作指令と前記圧力センサの検出値とに基づき、ショベルの動作が空中での動作であるか否かを判定し、判定結果に応じて前記出力特性を変化させる、
請求項1に記載のショベル。 - 油圧ポンプと、
前記油圧ポンプの吐出圧を検出する吐出圧センサと、を備え、
前記圧力センサ、前記メータイン弁、及び前記メータアウト弁は、複数の前記油圧アクチュエータのそれぞれに対応するように設けられており、
前記制御装置は、
前記動作指令に基づき、前記メータイン弁を通過すべき作動油の流量であるメータイン流量、及び、前記メータアウト弁を通過すべき作動油の流量であるメータアウト流量を算出し、
前記メータイン流量と前記圧力センサの検出値と前記吐出圧センサの検出値とに基づいて前記メータイン弁の開口面積を算出し、
前記メータアウト流量と前記圧力センサの検出値とに基づいて前記メータアウト弁の開口面積を算出する、
請求項1に記載のショベル。 - 前記制御装置は、複数の前記メータイン弁の下流側に設置された複数の前記圧力センサの検出値のうちの最も高い値に基づいて前記油圧ポンプの吐出圧を制御する、
請求項7に記載のショベル。 - 前記油圧アクチュエータは、ブームシリンダであり、
前記ブームシリンダが伸張するときの前記ブームシリンダに関する前記メータイン弁の開口面積は、前記ブームシリンダのボトム側油室に流入する前記メータイン流量と前記油圧ポンプの吐出圧とブームボトム圧とに基づいて算出される、
請求項7に記載のショベル。 - 前記ブームシリンダが伸張するときの前記ブームシリンダに関する前記メータアウト弁の開口面積は、前記ブームシリンダのロッド側油室から流出する前記メータアウト流量と作動油タンク圧とブームロッド圧とに基づいて算出される、
請求項9に記載のショベル。 - 前記ブームシリンダのロッド側油室から流出する前記メータアウト流量は、前記ブームシリンダのボトム側油室に流入する前記メータイン流量に基づいて算出される、
請求項10に記載のショベル。 - 油圧ポンプを備え、
前記圧力センサ、前記メータイン弁、及び前記メータアウト弁は、複数の前記油圧アクチュエータのそれぞれに対応するように設けられており、
前記制御装置は、
前記動作指令に基づいて算出される前記油圧ポンプが吐出すべき作動油の流量であるポンプ流量と、前記油圧ポンプが吐出可能な作動油の最大流量とを比較し、
複数の前記油圧アクチュエータのそれぞれに供給すべき作動油の流量である要求流量を算出する、
請求項1に記載のショベル。 - 前記ポンプ流量は、複数の前記油圧アクチュエータのそれぞれに供給すべき作動油の流量の合計である、
請求項12に記載のショベル。 - 前記油圧アクチュエータの流入側管路と前記油圧アクチュエータの流出側管路とを繋ぐ差動管路を含む差動回路を更に備え、
前記制御装置は、前記動作指令と、前記差動回路を流れる作動油の流量とに基づいて前記ポンプ流量を算出する、
請求項12に記載のショベル。 - 複数の前記油圧アクチュエータのうちの一つと複数の前記油圧アクチュエータのうちの別の一つとを繋ぐ回生管路を含む回生回路を更に備え、
前記制御装置は、前記動作指令と、前記回生回路を流れる作動油の流量とに基づいて前記ポンプ流量を算出する、
請求項12に記載のショベル。 - 前記制御装置は、前記ポンプ流量が前記最大流量より大きい場合、前記ポンプ流量及び前記要求流量を低減させる、
請求項12に記載のショベル。 - 前記最大流量は、駆動源の最大出力と前記油圧ポンプの吐出圧とに基づいて決定される、
請求項12に記載のショベル。 - 油圧ポンプと、
動作指令に対応して動く油圧アクチュエータと、
前記油圧アクチュエータにおける作動油の圧力を検出する圧力センサと、
前記油圧ポンプの吐出圧を検出する吐出圧センサと、
前記油圧アクチュエータに対応するメータイン弁と、
前記油圧アクチュエータに対応するメータアウト弁と、
前記動作指令に基づき、前記メータイン弁を通過すべき作動油の流量であるメータイン流量、及び、前記メータアウト弁を通過すべき作動油の流量であるメータアウト流量を算出する制御装置と、を備え、
前記圧力センサ、前記メータイン弁、及び前記メータアウト弁は、複数の前記油圧アクチュエータのそれぞれに対応するように設けられており、
前記制御装置は、前記メータイン流量と前記圧力センサの検出値と前記吐出圧センサの検出値とに基づいて前記メータイン弁の開口面積を算出し、前記メータアウト流量と前記圧力センサの検出値とに基づいて前記メータアウト弁の開口面積を算出する、
ショベル。 - 油圧ポンプと、
動作指令に対応して動く油圧アクチュエータと、
前記油圧アクチュエータにおける作動油の圧力を検出する圧力センサと、
前記油圧アクチュエータに対応するメータイン弁と、
前記油圧アクチュエータに対応するメータアウト弁と、
前記動作指令に基づいて算出される前記油圧ポンプが吐出すべき作動油の流量であるポンプ流量と、前記油圧ポンプが吐出可能な作動油の最大流量とを比較する制御装置と、を備え、
前記圧力センサ、前記メータイン弁、及び前記メータアウト弁は、複数の前記油圧アクチュエータのそれぞれに対応するように設けられており、
前記制御装置は、複数の前記油圧アクチュエータのそれぞれに供給すべき作動油の流量である要求流量を算出する、
ショベル。
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JP2017057925A (ja) * | 2015-09-16 | 2017-03-23 | キャタピラー エス エー アール エル | 油圧作業機における油圧ポンプ制御システム |
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