JP7526050B2 - Acceleration characteristic calculation device for fluid pressure system, opening characteristic calculation device for fluid pressure system, flow path design device for fluid pressure system, and program - Google Patents

Description

The present invention relates to an acceleration characteristic calculation device for a fluid pressure system, an opening characteristic calculation device for a fluid pressure system, a flow path design device for a fluid pressure system, and a program.

A design method for the optimal shape of a spool valve is described in Non-Patent Document 1. In the technique described in Non-Patent Document 1, a flow is specified, and an object shape that realizes the flow is calculated.
Incidentally, although the technology described in Non-Patent Document 1 provides an optimal shape for the spool valve for reducing the axial force, Non-Patent Document 1 does not describe a fluid pressure actuator to which a working fluid is supplied from a spool valve. In addition, Non-Patent Document 1 does not describe how to adjust (set) the relationship between the stroke speed of the movable part of the fluid pressure actuator and the operation amount of the operation part of the fluid pressure actuator (the acceleration characteristics of the fluid pressure actuator).
Therefore, the acceleration characteristics and the like of the fluid pressure actuator cannot be appropriately adjusted by the technique described in Non-Patent Document 1. Furthermore, the acceleration characteristics and the like of the fluid pressure actuator cannot be automatically adjusted by the technique described in Non-Patent Document 1.

JP 2020-060287 A JP 2017-025933 A

Tsukiji and Hayashi, "Optimal Shape Design of Spool Valve Using Inverse Problem Method", Japan Society of Hydraulics, Hydraulics and Pneumatics, Vol. 25, No. 6, 1994, pp. 739-745

The present invention aims to provide an acceleration characteristic calculation device for a fluid pressure system that can automatically adjust the acceleration characteristics of a fluid pressure actuator, an opening characteristic calculation device for a fluid pressure system, a flow path design device for a fluid pressure system, and a program.

One aspect of the present invention is an acceleration characteristic calculation device for a fluid pressure system having a directional control valve that controls a working fluid supplied to a fluid pressure actuator that drives in response to operation of an operating unit, the device comprising: a memory unit that stores a plurality of acceleration characteristic information of the fluid pressure actuator that indicates a relationship between an operation amount of the operating unit and a stroke speed of a movable part of the fluid pressure actuator; an input unit that inputs condition information that indicates a portion of a desired acceleration characteristic of the fluid pressure actuator in response to operation of the operating unit; and an acceleration characteristic calculation unit that calculates all of the acceleration characteristics of the fluid pressure actuator based on the condition information input to the input unit, the acceleration characteristic information stored in the memory unit, and reliability information that indicates the reliability of the acceleration characteristic information of the fluid pressure actuator for each of the plurality of acceleration characteristic information stored in the memory unit.

One aspect of the present invention is an opening characteristic calculation device for a fluid pressure system having a directional control valve that controls a working fluid supplied to a fluid pressure actuator that is driven in response to operation of an operating unit, the opening characteristic calculation device comprising: a memory unit that stores a plurality of acceleration characteristic information of the fluid pressure actuator that indicates a relationship between an operation amount of the operating unit and a stroke speed of a movable part of the fluid pressure actuator; an input unit that inputs condition information that indicates a portion of a desired acceleration characteristic of the fluid pressure actuator in response to the operation of the operating unit; an acceleration characteristic calculation unit that calculates the entire acceleration characteristic of the fluid pressure actuator based on the condition information input to the input unit, the acceleration characteristic information of the memory unit, and reliability information that indicates reliability of the acceleration characteristic information of the fluid pressure actuator for each of the plurality of acceleration characteristic information stored in the memory unit; and an opening characteristic calculation unit that calculates the opening characteristic of the spool that indicates a relationship between an opening area or flow coefficient of a spool of the directional control valve and a stroke amount of the spool or a pressure of the working fluid applied to the spool, based on the acceleration characteristic of the fluid pressure actuator calculated by the acceleration characteristic calculation unit.

One aspect of the present invention is a fluid pressure system having a directional control valve that controls a working fluid supplied to a fluid pressure actuator that is driven in response to an operation of an operating unit, the system comprising: a storage unit that stores a plurality of pieces of acceleration characteristic information of the fluid pressure actuator that indicate a relationship between an operation amount of the operating unit and a stroke speed of a movable part of the fluid pressure actuator; an input unit that inputs condition information that indicates a portion of a desired acceleration characteristic of the fluid pressure actuator in response to the operation of the operating unit; and a calculation unit that calculates the acceleration characteristic of the fluid pressure actuator based on the condition information input to the input unit, the acceleration characteristic information of the storage unit, and reliability information that indicates reliability of the acceleration characteristic information of the fluid pressure actuator for each of the plurality of pieces of acceleration characteristic information stored in the storage unit. an opening characteristic calculation unit that calculates an opening area of a spool of the directional control valve or a flow coefficient indicating the relationship between the pressure and flow rate of the working fluid, and an opening characteristic of the spool indicating the relationship between a stroke amount of the spool or the pressure of the working fluid applied to the spool, based on the acceleration characteristic calculated by the acceleration characteristic calculation unit; a directional control valve information storage unit that pre-stores a plurality of different correspondence relationships between a flow path shape of the directional control valve and the opening characteristics of the spool; and a flow path design calculation unit that calculates a flow path shape of the directional control valve based on the opening characteristic of the spool calculated by the opening characteristic calculation unit and information stored in the directional control valve information storage unit.

One aspect of the present invention is a program for causing a computer to execute the steps of inputting condition information indicating a portion of a desired acceleration characteristic of a fluid pressure actuator in response to operation of an operating unit of a fluid pressure actuator that drives in response to operation of the operating unit, and calculating an entire acceleration characteristic of the fluid pressure actuator based on the condition information, acceleration characteristic information of the fluid pressure actuator indicating a relationship between the operation amount of the operating unit and the stroke speed of a movable part of the fluid pressure actuator in a fluid pressure system having a directional control valve that controls a working fluid supplied to the fluid pressure actuator, and reliability information indicating the reliability of the acceleration characteristic information of the fluid pressure actuator for each of a plurality of pieces of the acceleration characteristic information stored in a memory unit .

One aspect of the present invention is a program for causing a computer to execute the steps of: inputting condition information indicating a portion of a desired acceleration characteristic of a fluid pressure actuator in response to operation of an operating unit of a fluid pressure actuator that drives in response to operation of the operating unit; calculating an entire acceleration characteristic of the fluid pressure actuator based on the condition information, acceleration characteristic information of the fluid pressure actuator indicating a relationship between an operation amount of the operating unit and a stroke speed of a movable part of the fluid pressure actuator, and reliability information indicating reliability of the acceleration characteristic information of the fluid pressure actuator for each of a plurality of pieces of the acceleration characteristic information stored in a memory unit , based on the acceleration characteristic of the fluid pressure actuator; and calculating an opening characteristic of the spool indicating a relationship between an opening area or a flow coefficient of a spool of the directional control valve and a stroke amount of the spool or a pressure of the working fluid applied to the spool, based on the acceleration characteristic of the fluid pressure actuator.

One aspect of the present invention is a program for causing a computer to execute the following steps: inputting condition information indicating a portion of a desired acceleration characteristic of a fluid pressure actuator in response to operation of an operating unit of a fluid pressure actuator that is driven in response to operation of the operating unit; calculating an entire acceleration characteristic of the fluid pressure actuator based on the condition information, acceleration characteristic information of the fluid pressure actuator that indicates a relationship between an operation amount of the operating unit and a stroke speed of a movable part of the fluid pressure actuator in a fluid pressure system having a directional control valve that controls a working fluid supplied to the fluid pressure actuator, and reliability information that indicates reliability of the acceleration characteristic information of the fluid pressure actuator for each of a plurality of pieces of the acceleration characteristic information stored in a storage unit; calculating an opening area of a spool of the directional control valve or a flow coefficient that indicates a relationship between the pressure and flow rate of the working fluid, and an opening characteristic of the spool that indicates a relationship between a stroke amount of the spool or the pressure of the working fluid applied to the spool, based on the acceleration characteristic of the fluid pressure actuator; and calculating a flow path shape of the directional control valve based on the opening characteristic of the spool and a plurality of different correspondence relationships between a flow path shape of the directional control valve and the opening characteristic of the spool.

The present invention provides an acceleration characteristic calculation device for a fluid pressure system that can automatically adjust the acceleration characteristics of a fluid pressure actuator, an opening characteristic calculation device for a fluid pressure system, a flow path design device for a fluid pressure system, and a program.

1 is a diagram showing an example of a design support system to which an acceleration characteristic calculation device for a fluid pressure system, an opening characteristic calculation device for a fluid pressure system, and a flow path design device for a fluid pressure system according to a first embodiment are applied. FIG. 2 is a diagram showing an example of a fluid pressure system to which the design support system shown in FIG. 1 is applied. FIG. 11 is a diagram for explaining the flow of data in an example of a design support system to which the acceleration characteristic calculation device for a fluid pressure system, the opening characteristic calculation device for a fluid pressure system, and the flow path design device for a fluid pressure system of the first embodiment are applied. 1 is a flowchart for explaining an example of processing executed in a design support system to which an acceleration characteristic calculation device for a fluid pressure system, an opening characteristic calculation device for a fluid pressure system, and a flow path design device for a fluid pressure system of the first embodiment are applied.

The following describes embodiments of the acceleration characteristic calculation device for a fluid pressure system, the opening characteristic calculation device for a fluid pressure system, the flow path design device for a fluid pressure system, and the program of the present invention with reference to the drawings.

[First embodiment]
Fig. 1 is a diagram showing an example of a design support system 1 to which an acceleration characteristic calculation device 11 of a fluid pressure system A, an opening characteristic calculation device 12 of the fluid pressure system A, and a flow path design device 13 of the fluid pressure system A according to the first embodiment are applied. Fig. 2 is a diagram showing an example of a fluid pressure system A to which the design support system 1 shown in Fig. 1 is applied.
In the example shown in FIG. 1 and FIG. 2, the fluid pressure system A is configured similarly to the system described in FIG. 1 of Patent Document 1, for example. The fluid pressure system A includes an operating unit A1, a fluid pressure actuator A2, a directional control valve A3, and a pump A4. The operating unit A1 is configured similarly to the operating lever described in FIG. 1 of Patent Document 1, for example. The fluid pressure actuator A2 is configured similarly to the actuator described in FIG. 1 of Patent Document 1, for example. The fluid pressure actuator A2 is configured similarly to the actuator described in FIG. 1 of Patent Document 1, for example. The fluid pressure actuator A2 includes a cylinder A21 and a movable unit A22. The cylinder A21 is configured similarly to the hydraulic cylinder described in paragraph 0040 of Patent Document 1, for example. The movable unit A22 corresponds to the piston, rod, and part connected to the rod described in FIG. 2 of Patent Document 2, for example. The directional control valve A3 is configured similarly to the directional control valve described in FIG. 1 of Patent Document 1, for example. The directional control valve A3 includes a spool A31. The spool A31 is configured similarly to the spool described in FIG. 1 of Patent Document 1, for example. The spool A31 includes a notch A31A. The notch A31A has a configuration similar to that of the notches shown in, for example, Figures 4 and 5 of Patent Document 1. The pump A4 has a configuration similar to that of the main pump shown in, for example, Figure 1 of Patent Document 1.

The fluid pressure actuator A2 is driven in response to the operation of the operating unit A1. The directional control valve A3 controls the working fluid supplied to the fluid pressure actuator A2.

The design support system 1 shown in FIG. 1 is applicable not only to a fluid pressure system A (hydraulic system) in which hydraulic oil is used as the working fluid, but also to a fluid pressure system A in which something other than hydraulic oil (e.g., air) is used as the working fluid.
In addition, the design support system 1 shown in FIG. 1 is applicable not only to a fluid pressure system A in which the spool A31 is moved by a working fluid, but also to a fluid pressure system A in which the spool A31 is moved electromagnetically, and a fluid pressure system A in which the spool A31 is moved manually by an operator of the fluid pressure system A.

1 and 2, a design support system 1 applied to a fluid pressure system A includes a flow path design device 13. The flow path design device 13 includes an opening characteristic calculation device 12, a directional control valve information storage unit 13A, and a flow path design calculation unit 13B.
The aperture characteristic calculation device 12 includes an acceleration characteristic calculation device 11 and an aperture characteristic calculation unit 12 A. The acceleration characteristic calculation device 11 includes a storage unit 11 A, an input unit 11 B, an acceleration characteristic calculation unit 11 C, a model generation unit 11 D, and a reliability assignment unit 11 E.
The memory unit 11A stores multiple pieces of acceleration characteristic information of the fluid pressure actuator A2 indicating the relationship between the operation amount of the operation unit A1 of the fluid pressure system A and the stroke speed of the movable part A22 of the fluid pressure actuator A2 (acceleration characteristic of the fluid pressure actuator A2). The relationship between the operation amount of the operation unit A1 and the stroke speed of the movable part A22 of the fluid pressure actuator A2 is a relationship indicating, for example, at what stroke speed the movable part A22 of the fluid pressure actuator A2 moves when the operation unit A1 is operated in what way. The acceleration characteristic information of the fluid pressure actuator A2 stored in the memory unit 11A is information indicating such a relationship.
The input unit 11B inputs condition information indicating a part of the desired acceleration characteristic of the fluid pressure actuator A2 in response to the operation of the operation unit A1. The condition information input to the acceleration characteristic calculation device 11 by the input unit 11B is, for example, requests from a user or manufacturer of the fluid pressure system A, such as how the movable part A22 of the fluid pressure actuator A2 should move when the operation unit A1 is operated in a certain way.
The acceleration characteristic calculation unit 11C calculates all of the acceleration characteristics of the fluid pressure actuator A2 based on the condition information input to the input unit 11B and the acceleration characteristic information of the fluid pressure actuator A2 stored in the storage unit 11A. That is, the acceleration characteristic calculation unit 11C calculates not only the acceleration characteristics of the fluid pressure actuator A2 corresponding to the operation of the operation unit A1 desired by the user, manufacturer, etc. of the fluid pressure system A, but also the acceleration characteristics of the fluid pressure actuator A2 corresponding to the operation of the operation unit A1 not desired by the user, manufacturer, etc. of the fluid pressure system A. That is, the acceleration characteristic calculation unit 11C also calculates the stroke speed of the movable part A22 of the fluid pressure actuator A2 when the operation of the operation unit A1 not desired by the user, manufacturer, etc. of the fluid pressure system A is performed.

In the example shown in Fig. 1 and Fig. 2, the model generating unit 11D generates a learning model based on information stored in the storage unit 11A. The information stored in the storage unit 11A used by the model generating unit 11D to generate the learning model is information different from the requests from the user, manufacturer, etc. of the fluid pressure system A described above. The information stored in the storage unit 11A used by the model generating unit 11D to generate the learning model includes at least past test data. The "past test data" includes, for example, measurement data (acceleration characteristics of the fluid pressure actuator A2, stroke speed of the movable part A22 of the fluid pressure actuator A2, fluid pressure state inside the fluid pressure system A such as the pump A4) when an actual machine test of the fluid pressure system A was performed, and evaluation data of the actual machine test results (OK or NG).
In another example, the information stored in the memory unit 11A that is used by the model generation unit 11D to generate a learning model may include customer information. "Customer information" includes information about the on-board machine that incorporates the fluid pressure system A, the model characteristics of the fluid pressure system A that is incorporated in the on-board machine, and the like. The reason that information about the on-board machine that incorporates the fluid pressure system A is used to generate a learning model is that preferences for the operational feel of the fluid pressure actuator A2 differ depending on the manufacturer of the on-board machine. The reason that the model characteristics of the fluid pressure system A are used to generate a learning model is that due to physical constraints, different fine tuning is required for each model of the fluid pressure system A.

In yet another example, the information stored in the memory unit 11A that the model generation unit 11D uses to generate the learning model may include the acceleration characteristics of the fluid pressure actuator. This "acceleration characteristics of the fluid pressure actuator" is not the acceleration characteristics of the fluid pressure actuator A2 of the fluid pressure system A that is the target of automatic adjustment of the acceleration characteristics by the acceleration characteristics calculation device 11 of the first embodiment, but the acceleration characteristics of a fluid pressure actuator of a fluid pressure system different from the fluid pressure system A that is the target of automatic adjustment of the acceleration characteristics by the acceleration characteristics calculation device 11 of the first embodiment. The reason that this acceleration characteristic is used to generate the learning model is that the acceleration characteristics of the fluid pressure actuator of, for example, a fluid pressure system of the same lineup as the fluid pressure system A that is the target of automatic adjustment of the acceleration characteristics by the acceleration characteristics calculation device 11 of the first embodiment, a fluid pressure system of an older version, etc., are useful when calculating the acceleration characteristics of the fluid pressure actuator A2 of the fluid pressure system A that is the target of automatic adjustment.

In the example shown in Figures 1 and 2, the acceleration characteristic calculation unit 11C calculates all of the acceleration characteristics of the fluid pressure actuator A2 based not only on the condition information (e.g., requests from users, manufacturers, etc. of the above-mentioned fluid pressure system A) input to the input unit 11B, but also on the learning model created by the model generation unit 11D.
That is, the acceleration characteristic calculation unit 11C calculates the acceleration characteristic of the fluid pressure actuator A2 that satisfies the requests of the user, manufacturer, etc. of the fluid pressure system A based on the requests of the user, manufacturer, etc. of the fluid pressure system A inputted to the input unit 11B, and also calculates the acceleration characteristic of the fluid pressure actuator A2 when an operation of the operating unit A1 is performed that is not requested by the user, manufacturer, etc. of the fluid pressure system A based on the learning model created by the model generation unit 11D.

Therefore, in the example shown in Figures 1 and 2, it is possible to calculate the acceleration characteristics of the fluid pressure actuator A2 preferred by the user of the fluid pressure system A without having to know in advance all of the correspondences between the operations on the operating part A1 that the user of the fluid pressure system A may perform and the movements of the movable part A22 of the fluid pressure actuator A2 preferred by the user of the fluid pressure system A that correspond to those operations.

In other words, in the example shown in Figures 1 and 2, the acceleration characteristics of the fluid pressure actuator A2 can be automatically adjusted without manual intervention (and therefore in a short period of time) to the acceleration characteristics of the fluid pressure actuator A2 desired by the user, manufacturer, etc. of the fluid pressure system A.

Even if a desired movement profile of the movable part A22 of the fluid pressure actuator A2 is obtained in response to the operation of the operation part A1, if the fluid pressure generated by the pump A4 is too low, there is a risk of a shortage of working fluid supplied to the fluid pressure actuator A2 (i.e., the desired movement of the movable part A22 of the fluid pressure actuator A2 will not continue). Also, even if a desired movement profile of the movable part A22 of the fluid pressure actuator A2 is obtained in response to the operation of the operation part A1, there is a risk of energy being wasted if the fluid pressure generated by the pump A4 is too high.
1 and 2, the storage unit 11A further stores information about the pump A4 that supplies working fluid to the fluid pressure actuator A2. The model generation unit 11D generates a learning model by taking into account the information about the pump A4.
Therefore, in the example shown in Figures 1 and 2, the acceleration characteristics of the fluid pressure actuator A2 can be appropriately calculated not only when the fluid pressure generated by the pump A4 is an expected value, but also when the fluid pressure generated by the pump A4 differs from the expected value.

1 and 2, the condition information (i.e., requests from the user, manufacturer, etc. of the fluid pressure system A) input to the acceleration characteristic calculation device 11 by the input unit 11B includes the pressure condition of the pump A4 that supplies the working fluid to the fluid pressure actuator A2. This is because preferences for the operational feel of the fluid pressure actuator A2 and ideas about the energy consumption efficiency of the fluid pressure system A differ depending on the user, manufacturer, etc. of the fluid pressure system A.
Therefore, in the example shown in Figures 1 and 2, the acceleration characteristics of the fluid pressure actuator A2 can be appropriately calculated even if the preferences for the operating feel of the fluid pressure actuator A2 and the ideas about the energy consumption efficiency of the fluid pressure system A differ depending on the user, manufacturer, etc. of the fluid pressure system A.
In another example, the condition information input to the acceleration characteristic calculation device 11 by the input unit 11B does not have to include the pressure condition of the pump A4 that supplies the working fluid to the fluid pressure actuator A2.

In the example shown in Figures 1 and 2, the multiple acceleration characteristic information stored in the memory unit 11A (i.e., information used to calculate the acceleration characteristic by the acceleration characteristic calculation unit 11C) includes acceleration characteristic information obtained in an actual test of the fluid pressure actuator A2 and acceleration characteristic information obtained in a simulation of the fluid pressure actuator A2.
1 and 2, the acceleration characteristic of the fluid pressure actuator A2 can be calculated more appropriately than when the acceleration characteristic of the fluid pressure actuator A2 is calculated without being based on acceleration characteristic information obtained in an actual test of the fluid pressure actuator A2, or when the acceleration characteristic of the fluid pressure actuator A2 is calculated without being based on acceleration characteristic information obtained in a simulation of the fluid pressure actuator A2. In other words, it is possible to suppress the risk of calculating the acceleration characteristic of the fluid pressure actuator A2 that deviates from the preferences of the user, manufacturer, etc. of the fluid pressure system A.
In another example, the multiple pieces of acceleration characteristic information stored in the memory unit 11A do not need to include both the acceleration characteristic information obtained in an actual test of the fluid pressure actuator A2 and the acceleration characteristic information obtained in a simulation of the fluid pressure actuator A2. This is because it may be difficult to obtain acceleration characteristic information in an actual test of the fluid pressure actuator A2, for example, when a new fluid pressure system A that is completely different from the existing lineup is designed.

1 and 2, the reliability assigning unit 11E assigns reliability information indicating the reliability of the acceleration characteristic information of the fluid pressure actuator A2. The "reliability of the acceleration characteristic information" refers to the precision (reproducibility) of the acceleration characteristic information. The acceleration characteristic calculation unit 11C calculates the entire acceleration characteristic of the fluid pressure actuator A2 not only based on the condition information input to the input unit 11B and the acceleration characteristic information stored in the memory unit 11A, but also taking into account the reliability information assigned by the reliability assigning unit 11E.
Therefore, in the example shown in Figures 1 and 2, for example, when a design change is made to the acceleration characteristics of the fluid pressure actuator A2, it is possible to easily identify the parts that require a design change and the parts that do not require a design change.
In another example, the acceleration characteristic calculation device 11 does not need to include the reliability assigning unit 11E.

In the example shown in Figures 1 and 2, the reliability granting unit 11E adds reliability information that indicates higher reliability than the acceleration characteristic information obtained in a simulation of the fluid pressure actuator A2 to the acceleration characteristic information obtained in an actual machine test of the fluid pressure actuator A2. For example, if the simulation conditions are not set appropriately, the acceleration characteristic information obtained in the simulation of the fluid pressure actuator A2 may deviate from the preferences of the user, manufacturer, etc. of the fluid pressure system A.

In the example shown in Figures 1 and 2, the reliability assignment unit 11E compares the condition information input to the input unit 11B with the acceleration characteristic information stored in the memory unit 11A, and assigns reliability information indicating higher reliability to the acceleration characteristic information that has a higher degree of match with the condition information.
In other words, the reliability assigning unit 11E assigns reliability information indicating a higher reliability to acceleration characteristic information that matches closely with the requirements (condition information) of the user, manufacturer, etc. of the fluid pressure system A (i.e., the condition information input to the input unit 11B) than acceleration characteristic information that matches less closely with the requirements (condition information) of the user, manufacturer, etc. of the fluid pressure system A. This is because there is a risk that the acceleration characteristic of the fluid pressure actuator A2 calculated (estimated) by the acceleration characteristic calculation unit 11C, which is not requested by the user, manufacturer, etc. of the fluid pressure system A, will deviate from the preferences of the user, manufacturer, etc. of the fluid pressure system A.

In the example shown in Figures 1 and 2, the reliability assignment unit 11E adds reliability information that indicates higher reliability when the acceleration characteristic information obtained in the simulation of the fluid pressure actuator A2 is closer to the acceleration characteristic information obtained in the actual test of the fluid pressure actuator A2.
If the acceleration characteristic information obtained in the simulation of the fluid pressure actuator A2 is close to the acceleration characteristic information obtained in an actual test of the fluid pressure actuator A2, the acceleration characteristic information obtained in the simulation of the fluid pressure actuator A2 is as reliable as the acceleration characteristic information obtained in an actual test of the fluid pressure actuator A2, and the acceleration characteristic information obtained in the simulation of the fluid pressure actuator A2 is likely to meet the preferences of users, manufacturers, etc. of the fluid pressure system A.

Every time an actual test of the fluid pressure actuator A2 is performed, new acceleration characteristic information of the fluid pressure actuator A2 is obtained. Similarly, every time a simulation of the fluid pressure actuator A2 is performed, new acceleration characteristic information of the fluid pressure actuator A2 is obtained.
1 and 2, newly obtained acceleration characteristic information of the fluid pressure actuator A2 is stored in the storage unit 11 A. Furthermore, when new acceleration characteristic information of the fluid pressure actuator A2 is stored in the storage unit 11 A, the reliability assigning unit 11E updates the reliability information added to the acceleration characteristic information of the fluid pressure actuator A2 already stored in the storage unit 11 A.
The reliability of the acceleration characteristic information of the fluid pressure actuator A2 should be judged relatively, and as the amount of acceleration characteristic information of the fluid pressure actuator A2 stored in the memory unit 11A increases, the reliability of each piece of acceleration characteristic information of the fluid pressure actuator A2 stored in the memory unit 11A also varies accordingly.

The preferences of users, manufacturers, etc. of the fluid pressure system A are not permanent and unchanging but may change over time (changing times). In other words, even if the relationship between the operation amount of the operation unit A1 and the stroke speed of the movable unit A22 of the fluid pressure actuator A2 (acceleration characteristics of the fluid pressure actuator A2) matched the past preferences of users, manufacturers, etc. of the fluid pressure system A, this relationship does not necessarily match the present or future preferences of users, manufacturers, etc. of the fluid pressure system A.
Therefore, in the example shown in Figures 1 and 2, when condition information such as requests from a user or manufacturer of the fluid pressure system A is input into the input unit 11B, the reliability assignment unit 11E updates the reliability information added to the acceleration characteristic information already stored in the memory unit 11A.
This is to reflect new requests from users, manufacturers, etc. of the fluid pressure system A in the acceleration characteristics of the fluid pressure actuator A2 calculated by the acceleration characteristic calculation unit 11C, and to continue to respond to the changing requests of users, manufacturers, etc. of the fluid pressure system A.
As described above, in the example shown in Figures 1 and 2, by providing the reliability granting unit 11E, it is possible to improve the likelihood that the acceleration characteristics of the fluid pressure actuator A2 calculated by the acceleration characteristic calculation unit 11C will match the preferences of the user, manufacturer, etc. of the fluid pressure system A.

1 and 2, the opening characteristic calculation unit 12A calculates the opening characteristic of the spool A31 of the directional control valve A3, which indicates the relationship between the opening area of the spool A31 and the stroke amount of the spool A31, based on the acceleration characteristic of the fluid pressure actuator A2 calculated by the acceleration characteristic calculation unit 11C. That is, in this example, the opening characteristic of the spool A31 indicates the relationship between the opening area of the spool A31 and the stroke amount of the spool A31.
In another example, the opening characteristic calculation unit 12A may calculate a flow coefficient indicating the relationship between the pressure and flow rate of the working fluid, and the opening characteristic of the spool A31 indicating the relationship between the stroke amount of the spool A31, based on the acceleration characteristic of the fluid pressure actuator A2 calculated by the acceleration characteristic calculation unit 11C. That is, in this example, the opening characteristic of the spool A31 indicates the relationship between the flow coefficient and the stroke amount of the spool A31.
In another example, the opening characteristic calculation unit 12A may calculate the opening characteristic of the spool A31 indicating the relationship between the opening area of the spool A31 of the directional control valve A3 and the pressure of the working fluid applied to the spool A31 based on the acceleration characteristic of the fluid pressure actuator A2 calculated by the acceleration characteristic calculation unit 11C. That is, in this example, the opening characteristic of the spool A31 indicates the relationship between the opening area of the spool A31 and the pressure of the working fluid applied to the spool A31.
In another example, the opening characteristic calculation unit 12A may calculate a flow coefficient indicating the relationship between the pressure and flow rate of the working fluid, and the opening characteristic of the spool A31 indicating the relationship between the pressure of the working fluid applied to the spool A31, based on the acceleration characteristic of the fluid pressure actuator A2 calculated by the acceleration characteristic calculation unit 11C. That is, in this example, the opening characteristic of the spool A31 indicates the relationship between the flow coefficient and the pressure of the working fluid applied to the spool A31.

In these examples, for example, 1DCAE (one-dimensional computer aided engineering) is used by the opening characteristic calculation unit 12A to calculate the opening characteristic of the spool A31. Specifically, the acceleration characteristic of the fluid pressure actuator A2 calculated by the acceleration characteristic calculation unit 11C is input to the 1DCAE, which outputs the opening characteristic of the spool A31 as the calculation result.

In other words, in these examples, the opening characteristics of spool A31 can be automatically adjusted without manual intervention (and therefore in a short period of time) to achieve the acceleration characteristics of fluid pressure actuator A2 that satisfy the needs of users, manufacturers, and the like of fluid pressure system A.

In another example, the opening characteristic calculation unit 12A may calculate the opening characteristic of the spool A 31 by taking into consideration model characteristic information of the machine on which the fluid pressure system A is mounted, on which at least the spool A 31 is mounted. The "machine on which the fluid pressure system A is mounted" refers to, for example, construction machinery, conveying equipment, etc. on which the fluid pressure system A is mounted.
In this example, the acceleration characteristic of the fluid pressure actuator A2 calculated by the acceleration characteristic calculation unit 11C and model characteristic information of the machine on which the fluid pressure system A is mounted are input to 1DCAE, which outputs the opening characteristic of the spool A31 as a calculation result. In other words, the opening characteristic of the spool A31 is calculated not only by the simulation (1DCAE), but also by using the model characteristic information of the machine on which the fluid pressure system A is mounted.
Therefore, in this example, it is possible to suppress the risk that the opening characteristics of the spool A31 calculated by the opening characteristic calculation unit 12A will differ from the opening characteristics of the actual spool A31.

In the example shown in FIGS. 1 and 2, the directional control valve information storage unit 13A stores in advance information indicating a plurality of different correspondence relationships between the flow path shape of the directional control valve A3 and the opening characteristics of the spool A31.
The flow path design calculation unit 13B calculates the flow path shape of the directional control valve A3 based on the opening characteristics of the spool A31 calculated by the opening characteristic calculation unit 12A and the information stored in the directional control valve information storage unit 13A (i.e., information indicating the correspondence between the flow path shape of the directional control valve A3 and the opening characteristics of the spool A31).

1 and 2, the flow path design device 13 includes a model generation unit 13C. The model generation unit 13C generates a learning model based on information stored in the directional control valve information storage unit 13A. The information stored in the directional control valve information storage unit 13A includes, for example, information indicating the relationship between the flow path shape of the directional control valve A3 (e.g., the shape of the notch A31A of the spool A31) and the opening characteristics (flow coefficient) of the spool A31, which are obtained in advance by CFD (Computational Fluid Dynamics) of the directional control valve A3 and bench testing of the directional control valve A3, and fluid force.
In other words, the above-mentioned flow path design calculation unit 13B calculates the flow path shape of the directional control valve A3 (e.g., the shape of the notch A31A of the spool A31) based on the opening characteristics of the spool A31 calculated by the opening characteristic calculation unit 12A and the learning model generated by the model generation unit 13C.

Therefore, in the example shown in Figures 1 and 2, the flow path designer of the directional control valve A3 does not need to grasp in advance all of the correspondences between the opening characteristics of the spool A31 and the flow path shape of the directional control valve A3 (e.g., the shape of the notch A31A of the spool A31), and can calculate the flow path shape of the directional control valve A3 that satisfies the opening characteristics of a specified spool A31 (such as the shape of the notch A31A of the spool A31).

In other words, in the example shown in Figures 1 and 2, the flow path shape of the directional control valve A3 (such as the shape of the notch A31A of the spool A31) can be automatically adjusted without manual intervention (and therefore in a short period of time) to a flow path shape of the directional control valve A3 that realizes the acceleration characteristics of the fluid pressure actuator A2 that satisfy the needs of users, manufacturers, etc. of the fluid pressure system A.

In the example shown in FIGS. 1 and 2, the flow path design calculation unit 13B calculates a notch shape of the spool A31 that minimizes the fluid force acting on the spool A31 when the working fluid flows through the opening of the spool A31.
Therefore, in the example shown in Figs. 1 and 2, the operation of the spool A31 can be stabilized, and the operational feeling felt by the user of the fluid pressure system A when operating the operating unit A1 can be improved, for example.

In another example, manufacturing cost information of the directional control valve A3 may be input to the flow path design calculation unit 13B.
In this example, the flow path design calculation unit 13B calculates the notch shape of the spool A31 that minimizes the fluid force acting on the spool A31 when the working fluid flows through the opening of the spool A31, within a range in which the manufacturing cost of the directional control valve A3 is below an upper limit value.
Therefore, in this example, it is possible to satisfy both the requirement for stabilizing the operation of the spool A31 and the requirement for reducing the manufacturing cost of the directional control valve A3.

In the example shown in Figs. 1 and 2, the information stored in the directional control valve information storage unit 13A may include information obtained in an actual machine test of the directional control valve A3.
That is, in this example, the information stored in the directional control valve information storage unit 13A includes information obtained in actual testing of the directional control valve A3 and information obtained in simulations of the directional control valve A3 (e.g., the above-mentioned CFD of the directional control valve A3, bench testing of the directional control valve A3, etc.).
Therefore, in this example, the flow path shape of the directional control valve A3 calculated by the flow path design calculation unit 13B can be closer to the flow path shape of the directional control valve A3 to be designed to satisfy the needs of users, manufacturers, etc. of the fluid pressure system A than when the flow path shape of the directional control valve A3 (e.g., the shape of the notch A31A of the spool A31) is calculated without based on information obtained from actual equipment testing of the directional control valve A3.

1 and 2 (more specifically, an example in which information obtained in an actual machine test of the directional control valve A3 is included in the information stored in the directional control valve information storage unit 13A), the flow path design device 13 includes a reliability providing unit 13D. The reliability providing unit 13D adds reliability information indicating reliability to the information stored in the directional control valve information storage unit 13A. The flow path design calculation unit 13B calculates the flow path shape of the directional control valve A3 not only based on the opening characteristics of the spool A31 calculated by the opening characteristic calculation unit 12A and the information stored in the directional control valve information storage unit 13A (i.e., information indicating the correspondence between the flow path shape of the directional control valve A3 and the opening characteristics of the spool A31), but also taking into account the reliability information added by the reliability providing unit 13D.
In another example, the flow path design device 13 does not need to include the reliability providing unit 13D.

In the example shown in FIG. 1 and FIG. 2 (more specifically, an example in which information obtained in an actual test of the directional control valve A3 is included in the information stored in the directional control valve information storage unit 13A), the reliability assignment unit 13D adds reliability information that indicates higher reliability than information obtained in a simulation of the directional control valve A3 to the information obtained in the actual test of the directional control valve A3. For example, if the conditions for the simulation of the directional control valve A3 are not set appropriately, there is a risk that the information obtained in the simulation of the directional control valve A3 will differ from the information that should be used to design the flow path shape of the directional control valve A3 to satisfy the needs of users, manufacturers, etc. of the fluid pressure system A.

In the example shown in Figures 1 and 2 (more specifically, an example in which information obtained in an actual test of the directional control valve A3 is included in the information stored in the directional control valve information storage unit 13A), the closer the conditions of the simulation of the directional control valve A3 are to the conditions of the actual test of the directional control valve A3, the more reliability information indicating higher reliability is added to the information obtained in the simulation of the spool A31 by the reliability assignment unit 13D.
If the conditions of the simulation of the directional control valve A3 are close to the conditions of the actual test of the directional control valve A3, the information obtained in the simulation of the directional control valve A3 has the same reliability as the information obtained in the actual test of the directional control valve A3, and there is a high possibility that the flow path shape of the directional control valve A3 that satisfies the needs of users, manufacturers, etc. of the fluid pressure system A will be calculated by the flow path design calculation unit 13B based on the information obtained in the simulation of the directional control valve A3.

As described above, the preferences of users, manufacturers, etc. of the fluid pressure system A are not permanent and unchanging but may change over time (as times change). In other words, even if the flow path shape of the directional control valve A3 has satisfied the past needs of users, manufacturers, etc. of the fluid pressure system A, this does not necessarily mean that the flow path shape of the directional control valve A3 will satisfy the present or future needs of users, manufacturers, etc. of the fluid pressure system A.
Therefore, in the example shown in Figures 1 and 2 (more specifically, an example in which information obtained in an actual test of the directional control valve A3 is included in the information stored in the directional control valve information storage unit 13A), when new information is stored in the directional control valve information storage unit 13A, the reliability assignment unit 13D updates the reliability information added to the information already stored in the directional control valve information storage unit 13A.
This is to reflect new requests from users, manufacturers, etc. of the fluid pressure system A in the flow path shape of the directional control valve A3 calculated by the flow path design calculation unit 13B, thereby continuing to respond to the changing requests of users, manufacturers, etc. of the fluid pressure system A.
As described above, in the example shown in FIGS. 1 and 2 (more specifically, an example in which information obtained in an actual machine test of the directional control valve A3 is included in the information stored in the directional control valve information storage unit 13A), by providing the reliability imparting unit 13D, it is possible to improve the likelihood that the flow path shape of the directional control valve A3 calculated by the flow path design calculation unit 13B will satisfy the needs of users, manufacturers, and the like of the fluid pressure system A.

Figure 3 is a diagram for explaining the data flow in an example of a design support system 1 to which the acceleration characteristic calculation device 11 of the fluid pressure system A, the opening characteristic calculation device 12 of the fluid pressure system A, and the flow path design device 13 of the fluid pressure system A of the first embodiment are applied.

3, an AI (artificial intelligence) functioning as an acceleration characteristic calculation device 11 is incorporated into the design support system 1. The AI functioning as the acceleration characteristic calculation device 11 executes supervised learning using teacher data that is a set of past requests regarding the operation of the movable part A22 of the fluid pressure actuator A2 in response to the operation of the operation part A1 and the acceleration characteristic of the fluid pressure actuator A2 that satisfies the past requests. The "customer information", "past test data", and "acceleration characteristic" inputted to the AI functioning as the acceleration characteristic calculation device 11 correspond to the teacher data used in supervised learning.
In addition, the AI functioning as the acceleration characteristic calculation device 11 also receives a "request" regarding the operation of the movable part A22 of the fluid pressure actuator A2 in response to the operation of the operation part A1.
The AI functioning as the acceleration characteristic calculation device 11 calculates and outputs the "acceleration characteristic" of the fluid pressure actuator A2 that satisfies the input "request."
The "acceleration characteristic" of the fluid pressure actuator A2 output from the AI functioning as the acceleration characteristic calculation device 11 is a characteristic that indicates the relationship between the operation amount of the operation part A1 and the stroke speed of the movable part A22 of the fluid pressure actuator A2.

In the example shown in FIG. 3, the AI functioning as the acceleration characteristic calculation device 11 performs supervised learning not only using the teacher data described above, but also using NG data, which is a pair of past requirements and the acceleration characteristic of the fluid pressure actuator A2 that did not satisfy the past requirements.

The above-mentioned teacher data includes an actual machine set, which is a pair of past requirements and the acceleration characteristics of the fluid pressure actuator A2 that satisfied the past requirements in an actual machine. The above-mentioned teacher data also includes a simulation set, which is a pair of past requirements and the acceleration characteristics of the fluid pressure actuator A2 that are predicted to satisfy the past requirements in a simulation.

In the example shown in FIG. 3, the AI functioning as the acceleration characteristic calculation device 11 outputs a calculation result indicating that the operating conditions of the fluid pressure actuator A2 are not satisfied (there will be a shortage of working fluid) when the pressure of the pump A4 is below a predetermined pressure threshold.

In the example shown in FIG. 3, the opening characteristic calculation unit 12A uses one-dimensional CAE to calculate the opening characteristic of the spool A31 of the directional control valve A3 from the acceleration characteristic of the fluid pressure actuator A2 output by the AI functioning as the acceleration characteristic calculation device 11.

In detail, the opening characteristic calculation unit 12A calculates the opening characteristic of the spool A31 from the acceleration characteristic of the fluid pressure actuator A2 by multiplely executing a one-dimensional physics-based simulation that couples the mechanism and fluid pressure of the fluid pressure system A, which includes the fluid pressure actuator A2 and the directional control valve A3.

In the example shown in FIG. 3, an AI (artificial intelligence) functioning as the flow path design calculation unit 13B performs supervised learning using teacher data that is a pair of the opening characteristics of the spool A31 of the directional control valve A3 and the shape of the notch A31A of the spool A31 that satisfy past requirements regarding the operation of the movable part A22 of the fluid pressure actuator A2 in response to the operation of the operating part A1.
The opening characteristics of the spool A31 that satisfy the operation requirements of the movable part A22 of the fluid pressure actuator A2 in response to the operation of the operating part A1 (i.e., the opening characteristics of the spool A31 that realize the acceleration characteristics of the fluid pressure actuator A2 output from the AI functioning as the acceleration characteristic calculation device 11) are input from the opening characteristic calculation part 12A to the AI functioning as the flow path design calculation part 13B.
The AI functioning as the flow path design calculation unit 13B calculates and outputs the shape of the notch A31A of the spool A31 that realizes the opening characteristics of the spool A31 input from the opening characteristic calculation unit 12A as an actual design.

In the example shown in FIG. 3, training data generated using actual equipment testing and bench testing or CFD is input to the AI (artificial intelligence) functioning as the flow path design calculation unit 13B.

The teaching data input to the AI functioning as the flow path design calculation unit 13B may be, for example, a set of the opening characteristics of the spool A31 that satisfy past requirements, the shape of the notch A31A, the fluid force, and the manufacturing cost. As described above, the fluid force is a force acting on the spool A31 when the working fluid flows through the opening of the spool A31.
The AI functioning as the flow path design calculation unit 13B performs supervised learning using the teaching data.
When the opening characteristics of the spool A31 that satisfies the requirements and the upper limit value of the manufacturing cost of the directional control valve A3 are input into the AI that functions as the flow path design calculation unit 13B, the AI that functions as the flow path design calculation unit 13B calculates the shape of the notch A31A of the spool A31 that will minimize the fluid force within a range where the manufacturing cost of the directional control valve A3 is below the upper limit value, in order to realize the opening characteristics of the spool A31 that satisfies the requirements as an actual design.

As described above, the opening characteristic of the spool A31 can also be expressed as the relationship between the flow coefficient, which indicates the relationship between the pressure and flow rate of the working fluid, and the stroke amount of the spool A31.
Therefore, in the example shown in FIG. 3, the teacher data input to the AI functioning as the flow path design calculation unit 13B includes a "flow coefficient."

In the example shown in FIG. 3, the following points are taken into consideration regarding the information input to the AI functioning as the acceleration characteristic calculation device 11.
The spool A31 strokes when the operating part A1 is operated, and an opening area of the spool A31 corresponding to the stroke is formed in the flow path of the working fluid, thereby changing the flow rate of the working fluid (the amount of working fluid flowing per unit time). When the flow rate of the working fluid changes, the speed of the movable part A22 of the fluid pressure actuator A2 into which the working fluid flows changes.
Therefore, in the example shown in Figure 3, the operation of the movable part A22 of the fluid pressure actuator A2 in response to the operation of the operating part A1 (the relationship between the operation of the operating part A1 and the operation of the movable part A22 of the fluid pressure actuator A2) is input as a "request" (goal) to the AI functioning as the acceleration characteristic calculation device 11.

In the example shown in FIG. 3, the following points are taken into consideration with respect to analysis in CFD, bench testing, and the like for generating teacher data to be input to the AI functioning as the flow path design calculation unit 13B.
The fluid pressure system A is composed of components such as a plurality of flow paths for working fluids, valves, cylinders, pumps, etc., and each component has its own characteristic values such as pressure loss, inertia, efficiency characteristics, etc. These are used as analysis conditions in CFD, bench tests, etc.

In the example shown in FIG. 3, the following points are taken into consideration regarding the data input to the AI functioning as the acceleration characteristic calculation device 11.
By inputting teacher data that combines data obtained in a simulation of the fluid pressure actuator A2 and data obtained in an actual test of the fluid pressure actuator A2 into the AI that functions as the acceleration characteristic calculation device 11, the AI that functions as the acceleration characteristic calculation device 11 is able to perform highly accurate predictions.
Therefore, in the example shown in Figure 3, the "past test data" input to the AI functioning as the acceleration characteristic calculation device 11 includes data obtained in a simulation of the fluid pressure actuator A2 and data obtained in an actual test of the fluid pressure actuator A2.
In addition, the data obtained in the simulation of the fluid pressure actuator A2 and the data obtained in the actual test of the fluid pressure actuator A2 are used as analysis results for generating teacher data to be input to the AI functioning as the flow path design calculation unit 13B.

In addition, if it is possible to conduct actual testing using fluid pressure system A owned by the user, the results of the actual testing will be used to analyze the needs of the user of fluid pressure system A.

FIG. 4 is a flowchart for explaining an example of processing executed in a design support system 1 to which an acceleration characteristic calculation device 11 of a fluid pressure system A, an opening characteristic calculation device 12 of a fluid pressure system A, and a flow path design device 13 of a fluid pressure system A of the first embodiment are applied.
In the example shown in FIG. 4, in step S11, the storage unit 11A stores a plurality of pieces of acceleration characteristic information of the fluid pressure actuator A2 indicating the relationship between the operation amount of the operation unit A1 and the stroke speed of the movable part A22 of the fluid pressure actuator A2.
Next, in step S12, the input unit 11B accepts an input of condition information indicating a part of the desired acceleration characteristic of the fluid pressure actuator A2 in response to the operation of the operation unit A1.
Next, in step S13, the acceleration characteristic calculation section 11C calculates all of the acceleration characteristics of the fluid pressure actuator A2 based on the condition information input in step S12 and the acceleration characteristic information stored in step S11.
Next, in step S14, the opening characteristic calculation unit 12A calculates the opening characteristic of the spool A31 indicating the relationship between the opening area or flow coefficient of the spool A31 of the directional control valve A3 and the stroke amount of the spool A31 or the pressure of the working fluid applied to the spool A31 based on the acceleration characteristic of the fluid pressure actuator A2 calculated in step S13.

Also, in step S15, the directional control valve information storage unit 13A stores in advance a plurality of different correspondence relationships between the flow passage shapes of the directional control valve A3 and the opening characteristics of the spool A31.
Next, in step S16, the flow path design calculation unit 13B calculates the flow path shape of the directional control valve A3 based on the opening characteristics of the spool A31 calculated in step S14 and the information stored in step S15.

[Second embodiment]
A second embodiment of the acceleration characteristic calculation device for a fluid pressure system, the opening characteristic calculation device for a fluid pressure system, the flow path design device for a fluid pressure system, and the program of the present invention will be described below.
The design support system 1 to which the acceleration characteristic calculation device 11 of the fluid pressure system A of the second embodiment and the like are applied is configured similarly to the design support system 1 to which the acceleration characteristic calculation device 11 of the fluid pressure system A of the first embodiment and the like are applied, except for the points described below. Therefore, the design support system 1 to which the acceleration characteristic calculation device 11 of the fluid pressure system A of the second embodiment and the like are applied can achieve the same effects as the design support system 1 to which the acceleration characteristic calculation device 11 of the fluid pressure system A of the first embodiment and the like are applied, except for the points described below.

As shown in FIG. 1, a design support system 1 to which an acceleration characteristic calculation device 11 of a fluid pressure system A of the first embodiment is applied includes an opening characteristic calculation device 12, a directional control valve information storage unit 13A, a flow path design calculation unit 13B, a model generation unit 13C, and a reliability assignment unit 13D.
On the other hand, the design support system 1 to which the acceleration characteristic calculation device 11 of the fluid pressure system A of the second embodiment is applied is equipped with an opening characteristic calculation device 12, but does not have a directional control valve information storage unit 13A, a flow path design calculation unit 13B, a model generation unit 13C, or a reliability assignment unit 13D.

In one example of a design support system 1 to which the acceleration characteristic calculation device 11 of the fluid pressure system A of the second embodiment is applied, the opening characteristic calculation device 12 includes a memory unit 11A, an input unit 11B, an acceleration characteristic calculation unit 11C, a model generation unit 11D, a reliability assignment unit 11E, and an opening characteristic calculation unit 12A.
In another example of a design support system 1 to which the acceleration characteristic calculation device 11 of the fluid pressure system A of the second embodiment is applied, the opening characteristic calculation device 12 includes a memory unit 11A, an input unit 11B, an acceleration characteristic calculation unit 11C, a model generation unit 11D, and an opening characteristic calculation unit 12A, and may not include a reliability assignment unit 11E.

In one example of a design support system 1 to which the acceleration characteristic calculation device 11 of the fluid pressure system A of the second embodiment is applied, an opening characteristic calculation device 12 calculates the opening characteristics of the spool A31 by taking into account the model characteristic information of the equipment on which the fluid pressure system A is mounted in which the spool A31 is mounted.
In another example of a design support system 1 to which the acceleration characteristic calculation device 11 of the fluid pressure system A of the second embodiment is applied, the opening characteristic calculation device 12 may calculate the opening characteristics of the spool A31 without taking into account the model characteristic information of the machine on which the fluid pressure system A is mounted in which the spool A31 is mounted.

[Third embodiment]
A third embodiment of the acceleration characteristic calculation device for a fluid pressure system, the opening characteristic calculation device for a fluid pressure system, the flow path design device for a fluid pressure system, and the program of the present invention will be described below.
The design support system 1 to which the acceleration characteristic calculation device 11 for the fluid pressure system A of the third embodiment is applied is configured similarly to the design support system 1 to which the acceleration characteristic calculation device 11 for the fluid pressure system A of the second embodiment and the like are applied, except for the points described below. Therefore, the design support system 1 to which the acceleration characteristic calculation device 11 for the fluid pressure system A of the third embodiment is applied can achieve the same effects as the design support system 1 to which the acceleration characteristic calculation device 11 for the fluid pressure system A of the second embodiment and the like are applied, except for the points described below.

As described above, the design support system 1 to which the acceleration characteristic calculation device 11 of the fluid pressure system A of the second embodiment and the like are applied includes the acceleration characteristic calculation device 11 and an opening characteristic calculation unit 12A.
On the other hand, the design support system 1 to which the acceleration characteristic calculation device 11 of the fluid pressure system A of the third embodiment is applied includes the acceleration characteristic calculation device 11, but does not include the opening characteristic calculation unit 12A.

In one example of a design support system 1 to which the acceleration characteristic calculation device 11 of the fluid pressure system A of the third embodiment is applied, the acceleration characteristic calculation device 11 includes a memory unit 11A, an input unit 11B, an acceleration characteristic calculation unit 11C, a model generation unit 11D, and a reliability assignment unit 11E.
In another example of a design support system 1 to which the acceleration characteristic calculation device 11 of the fluid pressure system A of the third embodiment is applied, the acceleration characteristic calculation device 11 includes a memory unit 11A, an input unit 11B, an acceleration characteristic calculation unit 11C, and a model generation unit 11D, and may not include a reliability assignment unit 11E.

Although the embodiments of the present invention have been described above in detail with reference to the drawings, the specific configurations are not limited to these embodiments and examples, and appropriate modifications can be made without departing from the spirit of the present invention. The configurations described in the above-mentioned embodiments and examples may be combined.

The entire or part of the functions of each unit of the design support system 1 in the above-mentioned embodiment may be realized by recording a program for realizing these functions on a computer-readable recording medium, reading the program recorded on the recording medium into a computer system, and executing it. Note that the term "computer system" here includes hardware such as an OS and peripheral devices.
Furthermore, "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, and storage units such as hard disks built into computer systems. Furthermore, "computer-readable recording medium" may also include those that dynamically hold a program for a short period of time, such as a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line, and those that hold a program for a certain period of time, such as a volatile memory inside a computer system that serves as a server or client in such cases. Furthermore, the above program may be one that realizes part of the above-mentioned functions, or may be one that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

1...design support system, 11...acceleration characteristic calculation device, 11A...storage unit, 11B...input unit, 11C...acceleration characteristic calculation unit, 11D...model generation unit, 11E...reliability assignment unit, 12...opening characteristic calculation device, 12A...opening characteristic calculation unit, 13...flow path design device, 13A...directional control valve information storage unit, 13B...flow path design calculation unit, 13C...model generation unit, 13D...reliability assignment unit, A...fluid pressure system, A1...operation unit, A2...fluid pressure actuator, A21...cylinder, A22...moving unit, A3...directional control valve, A31...spool, A31A...notch, A4...pump

Claims (23)

a fluid pressure system having a directional control valve for controlling a working fluid supplied to a fluid pressure actuator that is driven in response to an operation of an operating unit, the fluid pressure system including a storage unit configured to store a plurality of pieces of acceleration characteristic information of the fluid pressure actuator, the acceleration characteristic information indicating a relationship between an operation amount of the operating unit and a stroke speed of a movable part of the fluid pressure actuator;
an input unit for inputting condition information indicating a part of a desired acceleration characteristic of the fluid pressure actuator in response to an operation of the operation unit;
an acceleration characteristic calculation unit that calculates all of the acceleration characteristics of the fluid pressure actuator based on the condition information input to the input unit, the acceleration characteristic information stored in the storage unit, and reliability information that indicates reliability of the acceleration characteristic information of the fluid pressure actuator for each of the plurality of pieces of acceleration characteristic information stored in the storage unit,
A device for calculating acceleration characteristics of fluid pressure systems. A model generation unit that generates a learning model based on the information stored in the storage unit,
the acceleration characteristic calculation unit calculates all of the acceleration characteristics of the fluid pressure actuator based on the condition information input to the input unit and the learning model created by the model generation unit.
The acceleration characteristic calculation device for a fluid pressure system according to claim 1 . The storage unit further stores information related to a pump that supplies the working fluid to the fluid pressure actuator,
The model generation unit generates the learning model by taking into account information about the pump.
The acceleration characteristic calculation device for a fluid pressure system according to claim 2 . The condition information includes a pressure condition of a pump that supplies the working fluid to the fluid pressure actuator.
The acceleration characteristic calculation device for a fluid pressure system according to any one of claims 1 to 3. the acceleration characteristic information includes both acceleration characteristic information obtained in an actual machine test of the fluid pressure actuator and acceleration characteristic information obtained in a simulation of the fluid pressure actuator;
The acceleration characteristic calculation device for a fluid pressure system according to any one of claims 1 to 4. a reliability providing unit that provides reliability information indicating reliability of the acceleration characteristic information of the fluid pressure actuator,
the acceleration characteristic calculation unit calculates an entire acceleration characteristic of the fluid pressure actuator, taking into account the reliability information.
The acceleration characteristic calculation device for a fluid pressure system according to claim 5 . the reliability providing unit provides, to acceleration characteristic information obtained in an actual machine test of the fluid pressure actuator, reliability information indicating higher reliability than acceleration characteristic information obtained in a simulation of the fluid pressure actuator.
The acceleration characteristic calculation device for a fluid pressure system according to claim 6. the reliability assigning unit compares the condition information input to the input unit with the acceleration characteristic information stored in the storage unit, and assigns reliability information indicating higher reliability to the acceleration characteristic information having a higher degree of agreement with the condition information.
The acceleration characteristic calculation device for a fluid pressure system according to claim 6 or 7. the reliability assigning unit assigns reliability information indicating higher reliability as the acceleration characteristic information obtained in the simulation of the fluid pressure actuator is closer to the acceleration characteristic information obtained in an actual machine test of the fluid pressure actuator.
The acceleration characteristic calculation device for a fluid pressure system according to claim 7. the reliability assigning unit updates the reliability information added to the acceleration characteristic information already stored in the storage unit when new acceleration characteristic information of the fluid pressure actuator is stored in the storage unit.
10. The device for calculating acceleration characteristics of a fluid pressure system according to claim 6, 7 or 9. a fluid pressure system having a directional control valve for controlling a working fluid supplied to a fluid pressure actuator that is driven in response to an operation of an operating unit, the fluid pressure system including a storage unit configured to store a plurality of pieces of acceleration characteristic information of the fluid pressure actuator, the acceleration characteristic information indicating a relationship between an operation amount of the operating unit and a stroke speed of a movable part of the fluid pressure actuator;
an input unit for inputting condition information indicating a part of a desired acceleration characteristic of the fluid pressure actuator in response to an operation of the operation unit;
an acceleration characteristic calculation unit that calculates all of the acceleration characteristics of the fluid pressure actuator based on the condition information input to the input unit, the acceleration characteristic information in the storage unit, and reliability information that indicates reliability of the acceleration characteristic information of the fluid pressure actuator for each of the plurality of pieces of acceleration characteristic information stored in the storage unit ; and
an opening characteristic calculation unit that calculates an opening characteristic of the spool indicating a relationship between an opening area or a flow coefficient of the spool of the directional control valve and a stroke amount of the spool or a pressure of the working fluid applied to the spool based on the acceleration characteristic of the fluid pressure actuator calculated by the acceleration characteristic calculation unit,
A device for calculating the opening characteristics of a fluid pressure system. The opening characteristic calculation unit calculates the opening characteristic of the spool by taking into consideration at least model characteristic information of an installed machine of the fluid pressure system in which the spool is installed.
The opening characteristic calculation device for a fluid pressure system according to claim 11. a fluid pressure system having a directional control valve for controlling a working fluid supplied to a fluid pressure actuator that is driven in response to an operation of an operating unit, the fluid pressure system including a storage unit configured to store a plurality of pieces of acceleration characteristic information of the fluid pressure actuator, the acceleration characteristic information indicating a relationship between an operation amount of the operating unit and a stroke speed of a movable part of the fluid pressure actuator;
an input unit for inputting condition information indicating a part of a desired acceleration characteristic of the fluid pressure actuator in response to an operation of the operation unit;
an acceleration characteristic calculation unit that calculates all of the acceleration characteristics of the fluid pressure actuator based on the condition information input to the input unit, the acceleration characteristic information in the storage unit, and reliability information that indicates reliability of the acceleration characteristic information of the fluid pressure actuator for each of the plurality of pieces of acceleration characteristic information stored in the storage unit ; and
an opening characteristic calculation unit that calculates an opening area of a spool of the directional control valve or a flow coefficient indicating a relationship between a pressure and a flow rate of the working fluid, and an opening characteristic of the spool indicating a relationship between a stroke amount of the spool or a pressure of the working fluid acting on the spool, based on the acceleration characteristic calculated by the acceleration characteristic calculation unit;
a directional control valve information storage unit that stores in advance a plurality of different correspondence relationships between a flow path shape of the directional control valve and an opening characteristic of the spool;
a flow path design calculation unit that calculates a flow path shape of the directional control valve based on the opening characteristic of the spool calculated by the opening characteristic calculation unit and information stored in the directional control valve information storage unit,
A flow path design device for fluid pressure systems. a model generation unit that generates a learning model based on the information stored in the directional control valve information storage unit;
the flow path design calculation unit calculates a flow path shape of the directional control valve based on the opening characteristic of the spool calculated by the opening characteristic calculation unit and the learning model created by the model generation unit.
The flow path design device for a fluid pressure system according to claim 13. the flow path design calculation unit calculates a notch shape of the spool that minimizes a fluid force acting on the spool when the working fluid flows through an opening of the spool.
The flow path design device for a fluid pressure system according to claim 13 or 14. Manufacturing cost information of the directional control valve is input to the flow path design calculation unit,
the flow path design calculation unit calculates a notch shape of the spool that minimizes a fluid force acting on the spool when the working fluid flows through an opening of the spool, within a range in which a manufacturing cost of the directional control valve is equal to or less than an upper limit value.
The flow path design device for a fluid pressure system according to claim 13 or 14. The information stored in the directional control valve information storage unit includes both information obtained in an actual machine test of the directional control valve and information obtained in a simulation of the directional control valve.
The flow path design device for a fluid pressure system according to any one of claims 13 to 16. a reliability providing unit that provides reliability information indicating reliability to the information stored in the directional control valve information storage unit,
the flow path design calculation unit calculates the flow path shape taking into account the reliability information.
The flow path design device for a fluid pressure system according to any one of claims 13 to 17. the reliability providing unit provides, to information obtained in an actual machine test of the directional control valve, reliability information indicating higher reliability than information obtained in a simulation of the directional control valve;
The flow path design device for a fluid pressure system according to claim 18. the reliability providing unit provides reliability information indicating higher reliability to information obtained in the simulation of the spool as the simulation conditions of the directional control valve are closer to the conditions of an actual machine test of the directional control valve.
The flow path design device for a fluid pressure system according to claim 18 or 19. On the computer,
inputting condition information indicating a part of a desired acceleration characteristic of a fluid pressure actuator, the fluid pressure actuator being driven in response to an operation of an operation unit, with respect to the operation of the operation unit;
a step of calculating all of the acceleration characteristics of the fluid pressure actuator based on the condition information, acceleration characteristic information of the fluid pressure actuator indicating the relationship between the operation amount of the operation unit and the stroke speed of a movable part of the fluid pressure actuator in a fluid pressure system having a directional control valve that controls a working fluid supplied to the fluid pressure actuator, and reliability information indicating the reliability of the acceleration characteristic information of the fluid pressure actuator for each of the multiple pieces of acceleration characteristic information stored in a memory unit . On the computer,
inputting condition information indicating a part of a desired acceleration characteristic of a fluid pressure actuator, the fluid pressure actuator being driven in response to an operation of an operation unit, with respect to the operation of the operation unit;
a step of calculating an entire acceleration characteristic of the fluid pressure actuator based on the condition information, acceleration characteristic information of the fluid pressure actuator, which indicates a relationship between an operation amount of the operation unit and a stroke speed of a movable part of the fluid pressure actuator in a fluid pressure system having a directional control valve that controls a working fluid supplied to the fluid pressure actuator, and reliability information which indicates reliability of the acceleration characteristic information of the fluid pressure actuator for each of a plurality of pieces of the acceleration characteristic information stored in a storage unit;
and calculating an opening characteristic of the spool, which indicates a relationship between an opening area or a flow coefficient of the spool of the directional control valve and a stroke amount of the spool or a pressure of the working fluid applied to the spool, based on an acceleration characteristic of the fluid pressure actuator. On the computer,
inputting condition information indicating a part of a desired acceleration characteristic of a fluid pressure actuator, the fluid pressure actuator being driven in response to an operation of an operation unit, with respect to the operation of the operation unit;
a step of calculating an entire acceleration characteristic of the fluid pressure actuator based on the condition information, acceleration characteristic information of the fluid pressure actuator, which indicates a relationship between an operation amount of the operation unit and a stroke speed of a movable part of the fluid pressure actuator in a fluid pressure system having a directional control valve that controls a working fluid supplied to the fluid pressure actuator, and reliability information which indicates reliability of the acceleration characteristic information of the fluid pressure actuator for each of a plurality of pieces of the acceleration characteristic information stored in a storage unit;
calculating an opening area of a spool of the directional control valve or a flow coefficient indicating a relationship between the pressure and flow rate of the working fluid, based on an acceleration characteristic of the fluid pressure actuator, and an opening characteristic of the spool indicating a relationship between a stroke amount of the spool or a pressure of the working fluid acting on the spool;
and calculating a flow path shape of the directional control valve based on an opening characteristic of the spool and a plurality of different correspondence relationships between the flow path shape of the directional control valve and the opening characteristic of the spool.

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