JP6573319B2 - Actuator drive controller for construction machinery - Google Patents

Description

  The present invention relates to a technical field of an actuator drive control device in a construction machine for performing drive control of an actuator such as a hydraulic cylinder in a construction machine such as a hydraulic excavator.

In general, a construction machine such as a hydraulic excavator includes a plurality of actuators for driving a working device and an operation tool operated to drive these actuators. For example, a hydraulic excavator includes a front work machine including a boom, a stick, and a bucket, and a plurality of hydraulic actuators (boom cylinder, stick cylinder, bucket cylinder) for operating the boom, stick, and bucket, and these An operating tool (operating lever) for driving the hydraulic actuator is provided, and various operations such as excavation are performed by performing a combined operation of the hydraulic actuator with the operating tool. In this, in controlling the driving speed of each hydraulic actuator, the operating tool operation amount (lever stroke) detected by the operating tool detecting means and the control value for controlling the driving speed of the hydraulic actuator (for example, to the hydraulic actuator) The operation tool operation amount-control value map indicating the relationship between the target supply flow rate value, the command value for the control valve for the hydraulic actuator, and the like is set in advance, and the control value output from the operation tool operation amount-control value map Conventionally, the drive control of a hydraulic actuator is widely performed.
However, when the previously set operation tool operation amount-control value map as described above is used, even if the operation tool operation amount detected by the operation tool detecting means is the same, the drive speed of the actuator is always equal. Is not limited. For example, in a hydraulic excavator, pressure oil is generally supplied from a single hydraulic pump to a plurality of hydraulic actuators. Therefore, when a plurality of hydraulic actuators are operated in combination, the discharge flow rate of one hydraulic pump is shared. As a result, the speed of the hydraulic actuator may be slower than when operated alone. Even when the boom is raised, for example, there is a difference in load conditions such as the presence or absence of sediment in the bucket, the level of engine revolution, individual differences in the aircraft, aging of hydraulic equipment, weather, etc. Various factors, such as conditions and oil temperature, affect the boom cylinder drive speed. That is, even if the operation amount of the operation tool is the same, the drive speed of the hydraulic actuator increases or decreases due to single operation / combined operation, the load applied to the hydraulic actuator, or various factors as described above. There has been a problem that it is difficult to accurately control the boom ascending speed and descending speed, or the position of the bucket displaced by driving the boom cylinder and the stick cylinder.
Therefore, conventionally, a technique is known in which the command current-control amount characteristic used for drive control of the hydraulic actuator is corrected by learning correction processing that is performed by actually driving a plurality of hydraulic actuators in the learning correction mode ( For example, see Patent Document 1).
Further, the reference speed of the operation speed is learned based on the operation history performed on the operation means, and the output of the actuator corresponding to the operation amount is determined according to the relationship between the learned reference speed and the change speed of the operation amount. A technique that changes the characteristics is also known (see, for example, Patent Document 2).

Japanese Patent Laid-Open No. 11-350536 JP 2010-7264 A

However, since the thing of the said patent document 1 is the structure which switches to learning correction mode, actually operates a hydraulic actuator in this learning correction mode, and correct | amends, in correcting the command current-control amount characteristic. However, there is a problem that the correction is not always appropriate for various operations and conditions other than the actually performed operations. Furthermore, there is a problem that time and effort are required to implement the learning correction mode, and the learning correction mode must be periodically performed in order to cope with, for example, a decrease in the performance of the hydraulic equipment due to deterioration over time. is there.
Further, in Patent Document 2, when correcting an output characteristic map of an actuator with respect to an operation amount, one of a plurality of preset maps is selected, and a map other than a preset map is selected. In addition, this correction is only a correction related to the response of the hydraulic actuator to the operation, and it is a correction corresponding to various factors such as the single operation / combination operation and the load applied to the hydraulic actuator as described above. There is a problem that cannot be performed, and these have problems to be solved by the present invention.

The present invention has been created in view of the above circumstances and has been created for the purpose of solving these problems. The invention of claim 1 is directed to an actuator and an operation tool operated to drive the actuator. And an operation amount-control value map for outputting a control value for controlling the driving speed of the actuator based on the input of the operation amount, and driving control of the actuator based on the control value output from the operation amount-control value map. In the construction machine configured to perform the operation, a control device that obtains the operation amount input to the operation amount-control value map is provided, and the control device includes an operation detection unit that detects the operation of the operation tool. Request speed calculation means for calculating the required speed of the actuator based on the detected value, and the required speed and the operation quantity to obtain the operation amount from the required speed of the actuator A main map indicating the relationship, an actual speed calculating means for calculating the current actuator driving speed, and a main map updating means for updating the main map as needed based on the speed difference between the required actuator speed and the current actuator driving speed. A submap for correcting an operation amount based on an influencing factor affecting the driving speed of the actuator, and a submap updating means for updating the submap as needed based on a speed difference between the requested speed of the actuator and the current actuator driving speed. And an actuator drive control device in a construction machine, characterized in that the operation amount is obtained using the main map and the sub map updated by the main map update means and the sub map update means.
According to a second aspect of the present invention, in the first aspect, the main map update means updates the main map based on the speed difference between the requested speed of the actuator and the current actuator driving speed. An actuator drive control device in a construction machine, characterized in that a main map is updated so as to reduce a weight and reduce the small weight difference.
According to a third aspect of the present invention, in the first or second aspect, the submap update means updates the submap based on a speed difference between the requested speed of the actuator and the current actuator driving speed. An actuator drive control device in a construction machine, characterized in that the weight of the difference is reduced and the submap is updated so as to reduce the difference weight that is weighted less.
The invention of claim 4 is characterized in that, in claim 3 quoting claim 2, the weight of the speed difference in the update of the sub map is set larger than the weight of the speed difference in the update of the main map. 1 is an actuator drive control device for a construction machine.
According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the influence factor used for the correction of the operation amount in the sub-map is a load applied to the actuator, a single operation / when a plurality of actuators are provided, An actuator drive control device in a construction machine, wherein the actuator drive control device is at least one of a complex operation and an engine speed.
A sixth aspect of the present invention is the construction machine according to any one of the first to fifth aspects, wherein the construction machine is attached to a bendable and articulated work arm composed of a plurality of arms, and a distal end portion of the work arm. An actuator drive control device for a construction machine, comprising: a work attachment; and a plurality of arm hydraulic cylinders for driving the plurality of arms as actuators, and a work attachment hydraulic actuator.
The invention of claim 7 is the construction machine according to claim 6, wherein the construction machine includes left and right operation tools that can be operated in the front-rear and left-right directions as operation tools for the working arm, and an operation mode selection means that can be selected by the operator. When the attachment position control mode for controlling the work attachment position by the operation of the left and right operation tools is selected by the operation mode selection means, the control device detects from the operation detection means for detecting the operation of the left and right operation tools. The desired work attachment position is calculated based on the value, and the required speeds of the hydraulic cylinders for the arms are respectively calculated to control the work attachment position based on the calculation result. Actuator drive control device in construction machine, characterized in that it is provided corresponding to each hydraulic cylinder A.
According to an eighth aspect of the present invention, the construction machine according to the sixth aspect includes a single operating tool that can be operated in the front-rear and up-down directions as an operating tool for the working arm, and the control device detects an operation of the operating tool. A desired work attachment position is calculated based on the detection value from the operation detection means, and the required speeds of the plurality of arm hydraulic cylinders are respectively calculated to control the work attachment position based on the calculation result. The sub map is an actuator drive control device in a construction machine, which is provided corresponding to each arm hydraulic cylinder.

According to the invention of claim 1, the driving speed of the actuator can be controlled with high accuracy by the main map and the sub map, and the main map and the sub map are updated at any time. Even in such a case, the same operation accuracy as in the initial stage of operation can be maintained, and map calibration work becomes unnecessary.
According to the invention of claim 2, the update of the main map is less affected by the protrusion data of the current actuator driving speed that occurs temporarily or accidentally such as noise.
According to the third aspect of the present invention, the update of the sub-map is less affected by the protrusion data of the current actuator driving speed that occurs temporarily or accidentally such as noise.
According to the invention of claim 4, the update of the main map is effectively performed for characteristics that change little by little over a long period of time, such as aging of the hydraulic component, while the update of the sub map enables the update of the actuator. Corrections for short-term speed differences caused by influencing factors that affect drive speed can be made quickly.
According to the fifth aspect of the present invention, it is possible to perform actuator drive speed control corresponding to the load applied to the actuator, single operation / combined operation, and engine speed.
According to the sixth aspect of the present invention, the position control of the work attachment attached to the tip of the articulated work arm can be performed with high accuracy.
According to the seventh aspect of the present invention, when the attachment position control mode is selected by the operator, the work attachment position is controlled by operating the left and right operation tools. Can be controlled.
According to the eighth aspect of the present invention, the work attachment position can be controlled with high accuracy in the structure in which the work attachment position is controlled by operating one operation tool.

It is a schematic side view of a hydraulic excavator. It is a figure which shows the inside of a driver's cab. It is a hydraulic circuit diagram of a hydraulic excavator. It is a block diagram which shows the input / output of a controller. It is a control block diagram of an operation amount control unit. (A) is a figure which shows a main map, (B) is explanatory drawing of the update of a main map, (C) is a figure which shows the long-term change of a main map. It is a figure which shows a submap. It is a figure which shows the inside of the driver's cab in 2nd embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a view showing a hydraulic excavator 1 which is an example of a construction machine according to the present invention. The hydraulic excavator 1 is supported on a crawler-type lower traveling body 2 and a lower traveling body 2 so as to be pivotable. The upper revolving body 3 and the front work machine 4 mounted on the upper revolving body 3 are composed of various parts. Further, the front work machine 4 has a base end portion that can swing up and down with respect to the upper revolving body 3. The boom 5 is composed of a boom 5 to be supported, a stick 6 that is swingably supported at the front end of the boom 5, a bucket 7 that is swingably attached to the front end of the stick 6, and the like. The boom cylinder 8, the stick cylinder 9, the bucket cylinder 10 for swinging the stick 6 and the bucket 7, and the left and right traveling motors 18 and 19 for traveling the lower traveling body 2, respectively. 3 swing motor 20, etc. for allowing the turning is provided with. The boom 5 and the stick 6 correspond to a plurality of arms constituting the bendable articulated work arm of the present invention, and the bucket 7 corresponds to a work attachment of the present invention. Further, the boom cylinder 8, the stick cylinder 9, and the bucket cylinder 10 correspond to the actuator of the present invention, the boom cylinder 8 and the stick cylinder 9 correspond to the arm hydraulic cylinder of the present invention, and the bucket cylinder corresponds to the operation of the present invention. It corresponds to an attachment hydraulic actuator.

  FIG. 2 is a view showing the inside of the operator's cab 12 mounted on the upper swing body 3, and inside the operator's cab 12 in the front left and right sides of the driver's seat 13 where the operator sits, The joystick-type left and right operation levers 14 and 15 (corresponding to the operation tool of the present invention) 14 and 15 are provided. Further, in the cab 12, an operation mode selection means (not shown) described later, a travel operation tool (travel lever and travel pedal) operated to travel, various switches and dials, a monitor device, etc. Are not shown.

The operation mode selection means is incorporated in the monitor device or provided as a switch or a dial. The operation mode selection means arbitrarily selects the operation mode of the left and right operation levers 14 and 15 by the operation mode selection means. Can be done. That is, in the present embodiment, the operation mode selection means can select either the “standard control” mode or the “attachment position control” mode, but in the “standard control” mode, the left and right operations can be performed. The operations of the levers 14 and 15 in the front-rear direction and the left-right direction are set so as to correspond to the driving of the boom cylinder 8, the stick cylinder 9, the bucket cylinder 10 and the turning motor 20, respectively. For example, the stick cylinder 9 is driven in response to the front / rear operation of the left operation lever 14, the turning motor 20 is driven in response to the left / right operation of the left operation lever 14, and the right operation lever 15 The boom cylinder 8 is driven in response to the operation in the front-rear direction, and the bucket cylinder 10 is driven in response to the operation in the left-right direction of the right operation lever 15. 14 and 15 (the front left, front right, rear left, rear left, rear right operation of the left and right operation levers 14, 15 or the simultaneous operation of the left and right operation levers 14, 15). Two or more of the stick cylinder 9, the bucket cylinder 10, and the turning motor 20 can be driven simultaneously.
On the other hand, in the “attachment position control” mode, the left / right operation of the left operation lever 14 and the left / right operation of the right operation lever 15 correspond to the driving of the turning motor 20 and the bucket cylinder 10, respectively. The operation of the left operation lever 14 and the right operation lever 15 in the front-rear direction is performed in accordance with the operations of the bucket 7 position (attachment of the bucket 7 that is swingably attached to the tip portion of the stick 6). Position, which corresponds to the work attachment position of the present invention) is set to drive the boom cylinder 8 and the stick cylinder 9. In this embodiment, the operation in the front-rear direction of the left operation lever 14 corresponds to the movement in the front-rear direction (X direction shown in FIG. 1) of the bucket 7 position, and the operation in the front-rear direction of the right operation lever 15. Is set to correspond to the movement of the bucket 7 position in the vertical direction (Y direction shown in FIG. 1).

  3 shows a hydraulic circuit provided in the hydraulic excavator 1. In FIG. 3, 16A and 16B are first and second hydraulic pumps driven by the engine E, 17 is an oil tank, 18 and 19 are Left and right traveling motors, 20 is a turning motor, 8, 9, and 10 are the boom cylinder, stick cylinder, and bucket cylinder. The left and right traveling motors 18 and 19, the turning motor 20, the boom cylinder 8, the stick cylinder 9, and the left and right traveling cylinders that perform oil supply / discharge control for the bucket cylinder 10 and the first boom cylinder, respectively. , Second boom cylinder, first stick cylinder, second stick cylinder, bucket control valve, each of these control valves 21-28 has pilot pressure applied to pilot ports 21a, 21b-28a, 28b. In the neutral position N that is not input, the oil supply / discharge control for the corresponding hydraulic actuators 18, 19, 20, 8, 9, and 10 is not performed, but the pilot ports 21a, 21b to 28a, Based on the input of the pilot pressure to 28b, the corresponding hydraulic actuator Operating position X to perform oil supply and discharge control for eta 18,19,20,8,9,10 is configured to switch to Y.

  Further, in FIG. 3, 31A, 31B to 38A, 38B are for the left traveling forward, for the left traveling backward, for the right traveling forward, for the right traveling backward, for the left turning, for the right turning, for the first boom raising, An electromagnetic proportional valve for one boom lowering, second boom raising, first stick-in, first stick-out, second stick-in, second stick-out, bucket-in, bucket-out, The electromagnetic proportional valves 31A, 31B to 38A, 38B are arranged on the basis of a control signal from a controller 40, which will be described later, for the left and right traveling, turning, first boom cylinder, second boom cylinder, and first stick. Pilot pressure is output to the pilot ports 21a, 21b to 28a, 28b of the cylinder, second stick cylinder, and bucket control valves 21-28. It is configured. In this case, the pilot pressure output from the electromagnetic proportional valves 31A, 31B to 38A, 38B increases or decreases according to the control value output from the controller 40, and the control valves 21 to 28 according to the increase or decrease of the pilot pressure. The movement speed of the hydraulic actuators 18, 19, 20, 8, 9, 10 is increased or decreased to control the drive speed of the hydraulic actuators 18, 19, 20, 8, 9, 10. It has come to be.

  As described above, the controller 40 outputs a control signal to the electromagnetic proportional valves 31A, 31B to 38A, 38B in order to control the driving speed of the hydraulic actuators 18, 19, 20, 8, 9, 10; In this embodiment, the present invention is applied to the drive control of the boom cylinder 8, the stick cylinder 9, and the bucket cylinder 10. Therefore, among the controls performed by the controller 40, the drive control of the boom cylinder 8, the stick cylinder 9, and the bucket cylinder 10 is performed. The controller 40 will be described. As shown in the block diagram of FIG. 4, the controller 40 has, on the input side, lever operation detecting means for detecting the operation of the left and right operating levers 14 and 15 (corresponding to the operation detecting means of the present invention). ) 41, boom angle α (the swing angle of boom 5 with respect to the aircraft (see FIG. 1)), stick angle β ( Boom angle sensor 42 for detecting the swing angle of the stick 6 with respect to the boom 5 (see FIG. 1)) and the bucket angle γ (the swing angle of the bucket 7 with respect to the stick 6 (see FIG. 1)). Bucket angle sensor 44, traveling operation detecting means 45 for detecting the operation of the traveling operation tool, engine speed detecting means 47 for detecting the engine speed, boom cylinder 8, stick cylinder 9, head side oil chamber of bucket cylinder 10, A boom pressure sensor 48, a stick pressure sensor 49, and a bucket pressure sensor 50 for detecting the pressure in the rod side oil chamber are connected to the output side, and the first boom raising, first boom lowering, second Boom raising, 1st stick-in, 1st stick-out, 2nd stick-in, 2nd stick-out For example, the electromagnetic proportional valves 34A, 34B to 38A, 38B for bucket-in and bucket-out are connected, an operation amount control unit (corresponding to the control device of the present invention) 51, Control amount-control value for first boom lowering, second boom raising, first stick-in, first stick-out, second stick-in, second stick-out, bucket-in, bucket-out Map units 52A, 52B to 56A, 56B are provided. Then, the operation amount control unit 51 obtains an operation amount as will be described later based on input signals from the detection means and sensors input to the controller 40, and the operation amount obtained by the operation amount control unit 51 is obtained. The operation amount-control value map sections 52A, 52B to 56A, 56B are output. The operation amount-control value map sections 52A, 52B to 56A, 56B store operation amount-control value maps in which the relationship between the operation amount and the control value for each electromagnetic proportional valve 34A, 34B-38A, 38B is preset. Based on the operation amount obtained by the operation amount control unit 51, the control values for the electromagnetic proportional valves 34A, 34B to 38A, 38B are output using the operation amount-control value map. And the drive speed of the boom cylinder 8, the stick cylinder 9, and the bucket cylinder 10 is controlled by the control value output to this electromagnetic proportional valve 34A, 34B-38A, 38B as mentioned above.

  Next, the operation amount control unit 51 will be described in detail based on the control block diagram of FIG. 5. The operation amount control unit 51 is a request speed calculation unit (corresponding to request speed calculation means of the present invention) described later. 60, an actual speed calculation unit (corresponding to the actual speed calculation means of the present invention) 61, a map update flag creation unit 62, a load calculation unit 63, a main map unit 64, a main map update unit for boom cylinders 65, a main for stick cylinders Map update means 66, bucket cylinder main map update means 67, first manipulated variable calculation section 68, sub map section 69, boom cylinder sub map update means 70, stick cylinder sub map update means 71, bucket cylinder sub map The update unit 72, the second operation amount calculation unit 73, and the like are provided. In the present embodiment, the present invention is implemented when the “attachment position control” mode is selected by the operation mode selection means, and hereinafter, the “attachment position control” mode is selected. Control of the operation amount control unit 51 will be described.

  The required speed calculation unit 60 determines the current bucket 7 position (the bucket 7 attachment position at the tip of the stick 6) based on the boom angle α and the stick angle β input from the boom angle sensor 42 and the stick angle sensor 43. Calculate. Furthermore, the front-rear direction operation (operation to move the position of the bucket 7 in the front-rear direction (X direction shown in FIG. 1)) and the front-rear direction operation (bucket) of the right operation lever 15 input from the lever operation detection means 41 Based on the operation amount (lever stroke) of moving the 7 position up and down (Y direction shown in FIG. 1), the left and right direction (X direction shown in FIG. 1) and the up and down direction (the X direction shown in FIG. 1) A ratio (XY ratio) with respect to the Y direction shown in FIG. 1 is obtained, and a desired bucket 7 position is calculated from the XY ratio. Then, the required speeds Vr of the boom cylinder 8 and the stick cylinder 9 are calculated based on the difference between the calculated current bucket 7 position and the desired bucket 7 position. Data necessary for the calculation (boom length L1, stick length L2, etc. shown in FIG. 1) is stored in advance in a memory (not shown) provided in the controller 40. Furthermore, the required speed calculation unit 60 calculates the required speed Vr of the bucket cylinder 10 based on the operation amount (lever stroke) of the right and left operation of the right operating lever 15. Then, the calculated required speed Vr of the boom cylinder 8, the stick cylinder 9, and the bucket cylinder 10 is output to the main map unit 64, the first operation amount calculation unit 68, and the sub map unit 69.

  In addition, the actual speed calculation unit 61 calculates the current boom based on the changes in the boom angle α, stick angle β, and bucket angle γ input from the boom angle sensor 42, stick angle sensor 43, and bucket angle sensor 44. The actual speeds Vp of the cylinder 8, the stick cylinder 9 and the bucket cylinder 10 are calculated. Then, the calculated actual speeds Vp of the boom cylinder 8, the stick cylinder 9, and the bucket cylinder 10 are output to the main map unit 64 and the sub map unit 69.

  Further, the map update flag creating unit 62 includes a boom angle α, a stick angle β, a bucket angle γ, and a travel operation detecting means 45, levers inputted from the boom angle sensor 42, the stick angle sensor 43, and the bucket angle sensor 44. A map update ON / OFF flag is created based on the travel operation, the turning operation (left-right operation of the left operation lever 14), and the engine speed respectively input from the operation detection means 41 and the engine speed detection means 47. The map update flag indicates that the boom cylinder 8, the stick cylinder 9, the bucket cylinder when the traveling operation or the turning operation is being performed (during traveling or turning), and the engine speed is lower than a preset rotational speed. An OFF flag is created in any case where 10 has reached the cylinder end (at the time of maximum expansion or contraction), and an ON flag is created otherwise. Then, the generated map update ON / OFF flag is used for boom map, stick cylinder, and bucket cylinder main map update means 65, 66, and 67 for the main map section 64, which will be described later, and the boom for the sub map section 69. Output to the sub-map update means 70, 71, 72 for cylinders, stick cylinders, and bucket cylinders. The OFF flag that is output when the boom cylinder 8 reaches the cylinder end is output only to the main map update means 65 and the sub map update means 70 for the boom cylinder, and the stick cylinder 9 The OFF flag output when the cylinder end is reached is output only to the main map update unit 66 and the sub map update unit 71 for the stick cylinder, and the bucket cylinder 10 reaches the cylinder end. Thus, the OFF flag output is output only to the main map update unit 67 and the sub map update unit 72 for the bucket cylinder.

  Further, the load calculation unit 63 includes a boom pressure sensor 48, a stick pressure sensor 49, a boom cylinder 8 input from the bucket pressure sensor 50, a stick cylinder 9, the head side of the bucket cylinder 10, and a rod side oil chamber. Based on the pressure, the load factor (%) applied to the boom cylinder 8, the stick cylinder 9, and the bucket cylinder 10 is calculated. The calculation is performed when, for example, the differential pressure between the head side oil chamber and the rod side oil chamber of the boom cylinder 8 when the bucket 7 is fully loaded is a load factor (100%), and the bucket 7 is grounded. The differential pressure between the head side oil chamber and the rod side oil chamber of the boom cylinder 8 is a load factor (0%), and the head side oil chamber and the rod side oil of the boom cylinder 8 when the bucket 7 is strongly pressed against the ground. Calculation data for making the differential pressure with the chamber the load factor (−100%) is created in advance, and the load factor (%) of the boom cylinder 8 is calculated using the calculation data. Then, the calculated load factors (%) of the boom cylinder 8, the stick cylinder 9, and the bucket cylinder 10 are output to the sub map unit 69 and the second operation amount calculation unit 73.

Further, the main map section 64 stores main maps for boom cylinders, stick cylinders, and buckets, and main maps for boom cylinders, stick cylinders, and buckets for updating these main maps as needed. Map update means 65, 66, and 67 are provided.
The boom cylinder main map is a map showing the relationship between the required speed Vr of the boom cylinder 8 and the operation amount (%), as shown in FIG. The operation amount (%) is obtained from the required speed Vr of the boom cylinder 8 calculated by the required speed calculation unit 60. In this embodiment, the required speed Vr and the operation amount (%) on the extension side (boom 5 ascending side) of the boom cylinder 8 are (+), and the request on the reduction side (boom 5 descending side) of the boom cylinder 8 is requested. A map is created with the speed Vr and the operation amount (%) as (−).
The main map for the stick cylinder is a map showing the relationship between the required speed Vr of the stick cylinder 9 and the operation amount (%). The main map for the bucket cylinder is the required speed Vr of the bucket cylinder 10 and the operation amount (%). The main map for the stick cylinder and the bucket cylinder is similar to the main map for the boom cylinder, and the operation amount (%) from the required speed Vr in the first operation amount calculation unit 68. Is used to find These main maps are loaded with initial main maps (original main maps) at the time of product shipment, but are updated as needed by main maps updating means 65, 66, and 67 for boom cylinders, stick cylinders, and buckets.

  The main map update means 65, 66, 67 for the boom cylinder, the stick cylinder, and the bucket are the required speed Vr of the boom cylinder 8, the stick cylinder 9, and the bucket cylinder 10 calculated by the required speed calculation unit 60, Based on the current actual speed Vp of the boom cylinder 8, the stick cylinder 9, and the bucket cylinder 10 calculated by the actual speed calculation unit 61, a main map is created to reduce the speed difference between the required speed Vr and the actual speed Vp. Updating is performed as needed. In this case, the weighting of the speed difference is made small with respect to the requested speed Vr, and the updating is performed so as to reduce the small weighted speed difference. As a result, the main map update is less affected by the transient data of the actual speed Vp that occurs temporarily or accidentally, such as noise, and changes gradually over time, such as aging of hydraulic components. This is effective for the characteristic (difference) to be made. The main map is updated only when the map update flag is ON. That is, when the traveling operation or the turning operation is performed (during traveling or turning), when the engine speed is lower than a preset rotational speed, the boom cylinder main map update unit 65 causes the boom cylinder 8 to When the cylinder end has been reached, the stick cylinder 9 has reached the cylinder end in the stick cylinder main map update means 66, and the bucket cylinder 10 has reached the cylinder end in the bucket cylinder main map update means 67. In any case, the main maps for the boom cylinder, the stick cylinder, and the bucket are not updated. The latest main map updated by the main map update means 65, 66, and 67 for the boom cylinder, stick cylinder, and bucket is output to the first operation amount calculation unit 68.

Here, the update of the main map will be described in detail with reference to FIG. 6B, taking the boom cylinder main map as an example. For example, the required speed Vr of the boom cylinder 8 calculated by the required speed calculator 60 is (100 mm / sec), and the actual speed Vp of the boom cylinder 8 calculated by the actual speed calculator 61 is (90 mm / sec). . In this case, in the main map before the update, the operation amount when the requested speed Vr is (100 mm / sec) is (50%), but when the actual speed Vp is slower than the requested speed Vr, the actual speed Vp The operation amount (%) is updated so as to increase. For example, the operation amount in the portion of the required speed Vr (100 mm / sec) is rewritten so as to increase from (50%) to (50.1%) to obtain a new main map. In FIG. 6 (B), the increase in the operation amount is shown large for easy understanding.
In this embodiment, in order to reduce the weight of the speed difference with respect to the required speed Vr when determining the value of the manipulated variable in the new main map, in the present embodiment, the weight for the actual speed Vp is more than the weight for the required speed Vr. Is also set to a small value and a weighted average is obtained, and the weighted average value is used to obtain. For example, when the ratio of weighting between the actual speed Vp and the required speed Vr is set to (1/100) :( 99/100), the required speed Vr is (100 mm / sec) and the actual speed Vp is (90 mm / sec). In this case, the required speed Vr and the actual speed Vp are weighted and averaged as shown in the following equation (1).
(100 [mm / sec] x 99 + 90 [mm / sec] x 1) / 100 = 99.9 [mm / sec] (1)
Then, using the weighted average value, the operation amount (%) at the required speed (100 mm / sec) in the new map is obtained as in the following equation (2).
50 [%] x 100 [mm / sec] /99.9 [mm / sec] ≒ 50.1 [%] (2)
In this way, the new map is updated so that the operation amount at the required speed (100 mm / sec) becomes (50.1%).
Furthermore, by accumulating the frequent updates shown in FIG. 6 (B) described above, the main map changes as shown in FIG. 6 (C) in the long term. Due to such a long-term change in the main map, an operation amount (%) corresponding to the required speed Vr can always be obtained even if the performance deteriorates due to aging of the aircraft.
In this embodiment, in order to reduce the weight of the speed difference with respect to the requested speed Vr when obtaining the value of the manipulated variable in the new main map, in the present embodiment, as described above, the weight for the actual speed Vp is requested. The weighted average is set smaller than the weight for the speed Vr and is obtained using the weighted average value. This calculation method is an example. For example, the weight for the speed difference is set to the weight for the required speed Vr. It is also possible to set a smaller value than the weight and calculate a ratio of the smaller weighted speed difference to the required speed Vr and use the ratio to obtain the value of the manipulated variable in the new main map.

  On the other hand, the first operation amount calculation unit 68 uses the latest boom cylinder, stick cylinder, and bucket main maps input from the main map unit 64, and the boom input from the requested speed calculation unit 60. From the required speed Vr of the cylinder 8, the stick cylinder 9, and the bucket cylinder 10, the operation amount (%) for the boom, the stick, and the bucket is obtained. Then, the operation amounts (%) for the boom, the stick, and the bucket are output to the sub map unit 69 and the second operation amount calculation unit 73.

Further, the sub-map unit 69 stores sub-maps for boom cylinders, stick cylinders, and buckets, and sub-maps for boom cylinders, stick cylinders, and buckets for updating these sub-maps as needed. Map update means 70, 71, 72 are provided.
The sub-maps for boom cylinder, stick cylinder, and bucket use the boom, stick, and bucket operation amounts (%) obtained by the first operation amount calculation unit 68 as boom cylinder 8 and stick cylinder. 9 is a map for correcting corresponding to the load applied to the bucket cylinder 10, single / composite operation, engine speed, etc., for example, the load factor (%) of the boom cylinder 8 calculated by the load calculation unit 63 7, taking as an example a sub-map for boom cylinder in the case of correction corresponding to), the sub-map of FIG. 7 shows the boom operation amount (%) obtained by the first operation amount calculation unit 68. Based on the load factor (%) of the boom cylinder 8 calculated by the load calculation unit 63, the correction operation amount (%) can be obtained. For example, when the boom operation amount obtained by the first operation amount calculation unit 68 is (50%) and the load factor of the boom cylinder 8 is (50%), the corrected operation amount (5 %) Is required. FIG. 7 shows a two-dimensional submap only when correction is made in accordance with the load factor (%) for the sake of clarity. However, the driving speed of the boom cylinder 8, the stick cylinder 9, and the bucket cylinder 10 is affected. The major factors for this are the single operation / combined operation (for example, the combined operation of the boom cylinder 8 and the stick cylinder 9) and the engine speed. Therefore, although not shown in the present embodiment, the single operation / combined operation is combined. A 3-4 dimensional submap is set so that it can correspond to the operation and the engine speed. The sub-maps for boom cylinders, stick cylinders, and buckets are loaded with initial sub-maps (original sub-maps) at the time of product shipment, but the sub-maps for boom cylinders, stick cylinders, and buckets are updated. Updated by means of means 65, 66, 67 as needed.

  The boom cylinder, stick cylinder, and bucket sub-map update means 70, 71, and 72 include the required speed Vr of the boom cylinder 8, the stick cylinder 9, and the bucket cylinder 10 calculated by the required speed calculator 60, Based on the current actual speed Vp of the boom cylinder 8, the stick cylinder 9, and the bucket cylinder 10 calculated by the actual speed calculation unit 61, a sub-map is created to reduce the speed difference between the required speed Vr and the actual speed Vp. Update from time to time. In this case, the weighting of the speed difference is reduced with respect to the requested speed Vr, and the updating is performed so as to decrease the speeding weight that is less weighted. The weighting of the speed difference in the submap is described above. It is set larger than the weighting of the speed difference in the main map. As a result, the correction for the speed difference between the required speed Vr and the actual speed Vp caused by a short-term condition such as the load applied to each cylinder 8, 9, 10 or single operation / combined operation, engine speed, etc. can be quickly performed. It can be carried out. The sub map is updated only when the map update flag is ON, as in the case of the update of the main map. That is, when the traveling operation or the turning operation is performed (during traveling or turning), when the engine speed is lower than a preset rotational speed, the boom cylinder 8 is updated in the boom cylinder submap update means 70. When the cylinder end has been reached, the stick cylinder 9 has reached the cylinder end in the stick cylinder submap update means 71, and the bucket cylinder 10 has reached the cylinder end in the bucket cylinder submap update means 72. In any case, the sub-maps for the boom cylinder, the stick cylinder, and the bucket are not updated. The latest submaps updated by the boom cylinder, stick cylinder, and bucket submap update means 70, 71, 72 are output to the second operation amount calculation unit 73.

Here, the update of the sub map will be described in detail by taking the boom cylinder sub map shown in FIG. 7 as an example. For example, when the boom operation amount obtained by the first operation amount calculation unit 68 is (50%) and the load factor of the boom cylinder 8 is (50%), the correction operation is performed as described above in the sub-map before the update. The required speed Vr of the boom cylinder 8 calculated by the required speed calculation unit 60 at this time is (100 mm / sec), and the actual speed of the boom cylinder 8 calculated by the actual speed calculation unit 61 is calculated. If the speed Vp is (90 mm / sec), the actual speed Vp is slower than the required speed Vr, so that the correction operation amount (%) is updated to increase the actual speed Vp. For example, the correction operation amount in the portion where the operation amount for the boom is (50%) and the load factor is (50%) is rewritten so as to increase from (5%) to (5.6%) to obtain a new submap.
In this embodiment, in order to reduce the weight of the speed difference with respect to the requested speed Vr when determining the value of the manipulated value in the new submap, in the present embodiment, the weighting with respect to the actual speed Vp is assigned to the weight with respect to the requested speed Vr. Is also set to a small value and a weighted average is obtained, and the weighted average value is used to obtain. In this case, in order to make the weight of the speed difference in the update of the sub map larger than the weight of the speed difference in the update of the main map, the ratio of the weight of the actual speed Vp and the required speed Vr is set to the main map described above. Set a larger value than when. For example, when the ratio of weighting between the actual speed Vp and the required speed Vr is set to (1/10) :( 9/10), the required speed Vr is (100 mm / sec) and the actual speed Vp is (90 mm / sec). In this case, the required speed Vr and the actual speed Vp are weighted and averaged as shown in the following equation (3).
(100 [mm / sec] x 9 + 90 [mm / sec] x 1) / 10 = 99 [mm / sec] (3)
Then, using the weighted average value, the correction operation amount (%) in the new map is obtained as in the following equation (4).
{(50 [%] + 5 [%]) × 100 [mm / sec] / 99 [mm / sec]} − 50 [%] = 5.6 [%] (4)
In this way, the new map is updated so that the correction operation amount at the boom operation amount (50%) and the load factor (50%) is (5.6%).
It should be noted that when calculating the value of the correction operation amount in the new sub map, other calculation methods can be used as in the case of the main map described above.

On the other hand, the second operation amount calculation unit 73 obtains a corrected operation amount (%) using the latest boom cylinder, stick cylinder, and bucket submaps input from the submap unit 69 and performs the correction. The operation amount (%) is added to the operation amount (%) for the boom, stick, and bucket input from the first operation amount calculation unit 68, and used for the operation amount-control value map. Calculate the operation amount (%) for sticks and buckets. Then, the operation amounts (%) for the boom, the stick, and the bucket obtained by the second operation amount calculation unit 73 are output from the operation amount control unit 51 to increase the first boom as described above, Operation amount-control value map section for boom lowering, second boom raising, first stick-in, first stick-out, second stick-in, second stick-out, bucket-in, and bucket-out 52A, 52B to 56A, 56B, and the operation amount-control value map sections 52A, 52B to 56A, 56B are used for raising the first boom, for lowering the first boom, for raising the second boom, and for the first stick-in. Electromagnetic proportional valves 34A, 34B to 38A for the first, stick-out, second stick-in, second stick-out, bucket-in, and bucket-out Are converted into control values for 8B, solenoid proportional valves 34A, 34B~38A, has a configuration that is output to 38B.
The second operation amount calculation unit 73 performs correction using the sub map when the operation amount (%) for the boom, stick, and bucket input from the first operation amount calculation unit 68 is zero. Rather, it is conditioned to output the value of the operation amount (%) zero as it is to the operation amount-control value map units 52A, 52B to 56A, 56B.

  In this embodiment configured as described, the excavator 1 includes a boom cylinder 8, a stick cylinder 9, and a bucket cylinder 10 as actuators, operation levers 14 and 15 operated to drive these actuators, and an operation amount. Operation amount-control value map units 52A, 52B to 56A, 56B for outputting a control value for controlling the driving speed of the actuator based on the input, and the operation amount-control value map units 52A, 52B to Actuator drive control is performed based on the control values output from 56A and 56B. The operation amounts input to the operation amount-control value map units 52A, 52B to 56A and 56B are the operation amount control units. 51 and the operation amount control unit 51 detects the operation of the operation levers 14 and 15. A required speed calculation unit 60 that calculates the required speed of the actuator based on the detection value from the operation detection means 41 and a main map that shows the relationship between the required speed and the operation amount to obtain the operation amount from the required speed of the actuator are stored. The main map unit 64, the actual speed calculation unit 61 for calculating the current drive speed of the actuator, and the main map update means 65 for updating the main map as needed based on the speed difference between the required actuator speed and the current actuator drive speed. 66, 67, a sub-map unit 69 storing a sub-map for correcting an operation amount based on an influencing factor affecting the driving speed of the actuator, and a speed difference between the required actuator speed and the current actuator driving speed. Sub-map updating means 70, 71, 72 for updating the sub-map at any time.The operation amount control unit 51 obtains the operation amount using the main map and the sub map updated by the main map update means 65, 66, 67 and the sub map update means 70, 71, 72.

  That is, the operation amount used for controlling the driving speed of the actuator (the boom cylinder 8, the stick cylinder 9, and the bucket cylinder 10) is not the detection value of the lever operation detection means 41 that detects the operation of the operation levers 14 and 15, but the operation amount. The operation amount obtained by the amount control unit 51 is used. In the operation amount control unit 51, the relationship between the actuator required speed calculated based on the detection value of the lever operation detection means 41 and the operation amount. There are provided two types of maps: a main map indicating the above and a sub map for correcting an operation amount based on an influencing factor that affects the driving speed of the actuator such as a load applied to the actuator. Thus, the operation amount corresponding to the detection value of the lever operation detection means 41 is obtained from the main map, and the operation amount is corrected based on the influence factor such as the load applied to the actuator by the sub map. Thus, the actuator drive speed can be controlled with high accuracy. In addition, these main maps and submaps are updated as needed based on the actuator required speed and the current actuator drive speed. As a result, when the output characteristics of the engine or hydraulic pump change due to secular change, Even when the amount of oil leakage changes due to wear of the sliding parts of the piston or various valves, the same operation accuracy as the initial operation can be achieved by using the updated main map and submap as needed. You can hold it. In addition, these main maps and submaps are updated from time to time based on the speed difference between the required actuator speed and the current actuator drive speed, so there is no need for time and effort to update, and it can handle changes over time. This eliminates the need for calibration work for map adjustment, which has been conventionally required, and can greatly contribute to simplification of maintenance work. In addition, by looking at the shapes of the updated main map and submap, it is possible to easily grasp the characteristics of the aircraft and the effects of aging of the aircraft, etc., and these can be used for troubleshooting the aircraft. In addition, since high-precision actuator drive control can be continuously performed by updating the main map and submap, it is also suitable for automatic operation.

  In addition, the main map update means 65, 66, 67 and the sub map update means 70, 71, 72 are based on the speed difference between the actuator required speed and the current actuator drive speed (actual speed). In updating the map, the weight difference of the speed difference is reduced with respect to the requested speed, and the main map and the sub map are updated so as to reduce the small weighted speed difference. The update of the map is less affected by the protrusion data of the current actuator driving speed that is temporarily or accidentally generated such as noise, and the actuator can be stably controlled.

  Furthermore, the speed difference weight in the sub-map update is set to be larger than the speed difference weight in the main map update, so that the main map update is like an aging deterioration of the hydraulic component. While effective for characteristics (differences) that change little by little over a long period of time, the submap update affects the actuator drive speed, such as the load on the actuator, single operation / combined operation, and engine speed. Corrections to short-term speed differences caused by the influencing factors can be made quickly.

  In this way, by updating the weight difference between the main map and the sub map for the speed difference between the required actuator speed and the actual speed, the actuator can be used to control the speed difference that occurs in the short term due to the influence factors. As a result, the speed of the construction machine is maintained at a normal speed and the speed is corrected immediately, and the map is adjusted gradually for long-term changes due to aging of hydraulic components. In general, the actuator can be driven at a speed intended by the operator.

  In addition, in this embodiment, the influence factors used for correcting the operation amount in the sub map are the load applied to the actuator, the single operation / combined operation when a plurality of actuators are provided, and the engine speed. In a construction machine such as the hydraulic excavator 1, the load applied to the actuator varies greatly depending on the work content, and the driving speed of the actuator increases or decreases depending on the single operation / combined operation or the engine speed. By correcting the amount, it is possible to perform highly accurate actuator drive control.

  In the present embodiment, a flexible articulated work arm composed of a plurality of arms (boom 5 and stick 6) and a work attachment (bucket) attached to the tip of the work arm are provided. 7) and a construction machine having a plurality of arm hydraulic cylinders (boom cylinder 8 and stick cylinder 9) for driving the plurality of arms as actuators and a work attachment hydraulic actuator (bucket cylinder 10). Although it is implemented in the hydraulic excavator 1), the position control of the work attachment attached to the tip of the articulated work arm as described above requires high-precision drive speed control of a plurality of arms. By implementing the present invention in the actuator drive control of such a construction machine, Position control of Chimento can be performed with high accuracy.

  In the present embodiment, left and right operation levers 14 and 15 that can be operated in the front-rear and left-right directions as operation tools for the working arm and operation mode selection means that can be selected by the operator are provided. When the attachment position control mode in which the work attachment position (bucket 7 position) is controlled by the operation of the left and right operation levers 14 and 15 by the mode selection means is selected, the operation amount control unit 51 includes the left and right operation levers 14, A desired work attachment position is calculated based on the detection value from the lever operation detection means 41 that detects 15 operations, and a plurality of hydraulic cylinders for arms (boom cylinder 8) are used to control the work attachment position based on the calculation result. , The required speed of the stick cylinder 9) is calculated, and the main map and the sub map are It is provided corresponding to the hydraulic cylinder for arm. Then, when the attachment position control mode is selected by the operator as described above, the work attachment position is determined by implementing the present invention in the structure configured to control the work attachment position by operating the left and right operation tools. It can be controlled accurately.

Of course, the present invention is not limited to the above-described embodiment (first embodiment). In the first embodiment, the operation tool for the working arm can be operated in the left-right and front-rear directions. The operating levers 14 and 15 are provided, but as in the second embodiment shown in FIG. 8, one operating machine operating lever (in the present invention) that can be operated in the front-rear and up-down directions as an operating tool for the working arm. 74) (corresponding to the operation tool) may be provided. In other words, the work machine operation lever 74 of the second embodiment is mounted substantially parallel to the floor of the cab 12 and can be operated in the front-rear and up-down directions. Corresponding to the front and rear direction (X direction shown in FIG. 1) of the attachment position (bucket 7 position), and the vertical operation corresponds to the movement of the work attachment position in the vertical direction (Y direction shown in FIG. 1). Thus, the displacement direction of the work implement operation lever 74 and the movement direction of the work attachment position can be matched. In this case, a desired work attachment position is calculated based on the detection value from the operation detecting means for detecting the operation of the work implement operation lever 74, and a plurality of work attachment positions are controlled based on the calculation result. The required speeds of the arm hydraulic cylinders (boom cylinder 8 and stick cylinder 9) are respectively calculated, and the main map and the sub map are provided corresponding to the hydraulic cylinders for each arm, and the present invention is carried out. Thus, the work attachment position can be controlled with high accuracy.
The work implement operating lever 74 is configured to be able to turn around the axis, and the bucket 7 is moved forward by turning the work implement operating lever 14 forward around the axis. The bucket cylinder 10 is driven and controlled to swing to the side (bucket out), while the bucket cylinder 10 is driven and controlled to swing the bucket 7 backward (bucket-in) by rotating backward about the axis. It has come to be. In FIG. 8, reference numeral 75 denotes a turning operation lever. The turning operation lever 75 is attached in a direction perpendicular to the floor of the cab 12, and the upper portion is operated by the left and right operation of the turning operation lever 75. The turning motor is driven and controlled so that the turning body 3 is turned in the left-right direction.

Further, in the present invention, the influence factors used for the correction of the operation amount in the sub map are not limited to the load applied to the actuator, the single operation / combined operation, and the engine speed, but for example, the oil temperature for driving the actuator Sub-maps can be created by using factors such as differences in work height and differences in work contents performed by construction machines.
Of course, the present invention is not limited to hydraulic excavators, and can be implemented in various construction machines.

  The present invention can be used for drive control of an actuator such as a hydraulic cylinder provided in a construction machine such as a hydraulic excavator.

DESCRIPTION OF SYMBOLS 1 Hydraulic excavator 5 Boom 6 Stick 7 Bucket 8 Boom cylinder 9 Stick cylinder 10 Bucket cylinder 52A, 52B-56A, 56B Operation amount-control value map part 14, 15 Left and right operation lever 51 Operation amount control part 60 Required speed calculation part 61 Actual speed calculation unit 63 Load calculation unit 64 Main map unit 65 Boom cylinder main map update unit 66 Stick cylinder main map update unit 67 Bucket cylinder main map update unit 69 Sub map unit 70 Boom cylinder sub map update unit 71 Stick Sub-map update means for cylinder 72 Sub-map update means for bucket cylinder 74 Work equipment operation lever

Claims (8)

  An actuator, an operation tool operated to drive the actuator, and an operation amount-control value map for outputting a control value for controlling the driving speed of the actuator based on an input of the operation amount, the operation amount-control In a construction machine configured to perform drive control of an actuator based on a control value output from a value map, a control device for obtaining an operation amount input to the operation amount-control value map is provided, and the control The apparatus includes: a required speed calculation unit that calculates a required speed of the actuator based on a detection value from the operation detection unit that detects an operation of the operation tool; and a required speed and an operation amount to obtain an operation amount from the required speed of the actuator. Main map showing the relationship, actual speed calculation means to calculate the current actuator drive speed, requested actuator speed and current Main map update means that updates the main map as needed based on the speed difference from the actuator drive speed, a submap that corrects the operation amount based on influencing factors that affect the drive speed of the actuator, the required speed of the actuator and the current Sub-map updating means for updating the sub-map at any time based on the speed difference from the actuator driving speed, and determining the operation amount using the main map updating means, the main map and the sub-map updated by the sub-map updating means. An actuator drive control device for a construction machine, characterized in that the structure is a construction machine.   In claim 1, when updating the main map based on the speed difference between the required speed of the actuator and the current actuator drive speed, the main map update means reduces the weight of the speed difference with respect to the required speed, An actuator drive control device in a construction machine, wherein the main map is updated to reduce a small weighted speed difference.   3. The sub-map update unit according to claim 1, wherein the sub-map update unit reduces the weight of the speed difference with respect to the required speed when updating the sub-map based on the speed difference between the required speed of the actuator and the current actuator driving speed. An actuator drive control device in a construction machine, wherein the sub-map is updated so as to reduce the small weighted speed difference.   The actuator drive control in the construction machine according to claim 3, wherein the weight of the speed difference in the update of the sub map is set larger than the weight of the speed difference in the update of the main map. apparatus.   5. The influence factor used for correcting the operation amount in the sub-map according to claim 1 is a load applied to the actuator, a single operation / combined operation when a plurality of actuators are provided, and an engine speed. An actuator drive control device in a construction machine, wherein the actuator drive control device is at least one of them.   In any one of Claims 1 thru | or 5, A construction machine is equipped with the flexible articulated work arm comprised from several arms, and the work attachment attached to the front-end | tip part of this work arm, An actuator drive control device for a construction machine, comprising: a plurality of arm hydraulic cylinders for driving the plurality of arms as actuators; and a work attachment hydraulic actuator.   7. The construction machine according to claim 6, comprising left and right operation tools that can be operated in the front-rear and left-right directions as operation tools for the working arm, and an operation mode selection means that can be selected by the operator. When the attachment position control mode for controlling the work attachment position by the operation of the operation tool is selected, the control device performs the desired work based on the detection value from the operation detection means for detecting the operation of the left and right operation tools. The attachment position is calculated, and the required speeds of the plurality of arm hydraulic cylinders are calculated to control the work attachment position based on the calculation result, and the main map and the sub map correspond to each arm hydraulic cylinder. An actuator drive control device in a construction machine, characterized in that each is provided.   7. The construction machine according to claim 6, wherein the construction machine includes one operation tool that can be operated in the front-rear and up-down directions as an operation tool for the working arm, and the control device detects a value detected from an operation detection unit that detects the operation of the operation tool. The desired work attachment position is calculated based on the calculation result, the required speeds of the hydraulic cylinders for the arms are calculated based on the calculation results, and the main map and the sub map are used for each arm. An actuator drive control device in a construction machine, wherein the actuator drive control device is provided corresponding to each hydraulic cylinder.

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