JP2613041B2 - Hydraulic control device - Google Patents
Hydraulic control deviceInfo
- Publication number
- JP2613041B2 JP2613041B2 JP62026147A JP2614787A JP2613041B2 JP 2613041 B2 JP2613041 B2 JP 2613041B2 JP 62026147 A JP62026147 A JP 62026147A JP 2614787 A JP2614787 A JP 2614787A JP 2613041 B2 JP2613041 B2 JP 2613041B2
- Authority
- JP
- Japan
- Prior art keywords
- opening
- solenoid valves
- hydraulic
- hydraulic pump
- rotation speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Description
【発明の詳細な説明】 ［産業上の利用分野］ 本発明は、パワーショベル等の車輌における油圧ポン
プ制御装置に関するものである。Description: TECHNICAL FIELD The present invention relates to a hydraulic pump control device for a vehicle such as a power shovel.
［従来の技術］ パワーショベル等の車輌では、油圧ポンプをエンジン
によって駆動すると共に、油圧ポンプから得られる圧油
によって油圧モータや油圧シリンダなどの油圧アクチュ
エータを駆動している。この際に、エンジンの出力トル
クを有効に利用するために、スロットルレバー等により
与えられる指令回転数と回転数検出器で検出した実回転
数、および圧力検出器で検出した油圧ポンプの吸収トル
クとエンジン出力トルクとがそれぞれマッチングするよ
うに油圧ポンプの吐出流量を制御し、エンジン出力の低
下時でもその出力低下に見合った吸収トルクになるよう
にし、エンジンの回転数の低下が起こらないようにした
油圧制御装置が知られている。2. Description of the Related Art In a vehicle such as a power shovel, a hydraulic pump is driven by an engine, and a hydraulic actuator such as a hydraulic motor or a hydraulic cylinder is driven by hydraulic oil obtained from the hydraulic pump. At this time, in order to effectively use the output torque of the engine, the command rotation speed given by the throttle lever and the actual rotation speed detected by the rotation speed detector, and the absorption torque of the hydraulic pump detected by the pressure detector, The discharge flow rate of the hydraulic pump is controlled so that it matches the engine output torque, so that even when the engine output is reduced, the absorption torque is adjusted to match the output decrease, so that the engine speed does not decrease. Hydraulic control devices are known.
［発明が解決しようとする問題点］ ところが、油圧モータや油圧シリンダ等の油圧アクチ
ュエータに圧油を供給する電磁弁の開度は、各油圧アク
チュエータに対応した操作レバーからの指令によっての
み制御されているため、（ａ）エンジンの馬力制限によ
り油圧ポンプの吐出流量が減少した時、（ｂ）エンジン
の設定回転数が低く油圧ポンプの斜板角が既に飽和に達
している時、（ｃ）エンジンの回転数が充分に高くなっ
ていない時等に複数の操作レバーが操作された場合は、
油圧アクチュエータ側で必要とする圧油量より油圧ポン
プの吐出流量が少なくなり、各油圧アクチュエータへの
流量配分比が変化し、それぞれの操作レバーの操作感覚
に差が生じると共に、各油圧アクチュエータに結合され
た作業機の息つきが起こり、複合的な操作性が低下して
しまうという問題が生じていた。[Problems to be Solved by the Invention] However, the opening of a solenoid valve that supplies pressure oil to a hydraulic actuator such as a hydraulic motor or a hydraulic cylinder is controlled only by a command from an operating lever corresponding to each hydraulic actuator. Therefore, (a) when the discharge flow rate of the hydraulic pump is reduced due to the horsepower limitation of the engine, (b) when the set rotation speed of the engine is low and the swash plate angle of the hydraulic pump has already reached saturation, (c) when the engine If multiple operating levers are operated when the rotation speed of the
The discharge flow rate of the hydraulic pump is smaller than the required amount of hydraulic oil on the hydraulic actuator side, the flow distribution ratio to each hydraulic actuator changes, causing a difference in the operation feeling of each operating lever, and coupling to each hydraulic actuator There has been a problem that the working machine that has been breathed is breathed and the combined operability is reduced.
本発明の目的は、複合操作性を損うことなく複数の油
圧アクチュエータを駆動することができる油圧制御装置
を提供することにある。An object of the present invention is to provide a hydraulic control device that can drive a plurality of hydraulic actuators without impairing the composite operability.
［問題点を解決するための手段］ 上記目的を達成するため、本発明は、 原動機と、 前記原動機で駆動される油圧ポンプと、 所定の圧力補償特性を有し、前記油圧ポンプの吐出圧
油をそれぞれ対応する複数の油圧アクチュエータに導く
複数の電磁弁と、 前記複数の電磁弁の開度の指令値をそれぞれ発生する
複数の操作レバーと、 前記油圧ポンプの吐出圧を検出する圧力センサと、 前記原動機の回転数を検出する回転数検出センサと、 前記複数の操作レバーから発生された前記複数の電磁
弁の開度の指令値および前記圧力センサにより検出され
た油圧ポンプの吐出圧および前記回転数検出センサによ
り検出された前記原動機の回転数に基づき前記複数の電
磁弁の開度を制御する開度制御信号を発生するとともに
前記油圧ポンプの吐出流量を制御する吐出流量制御信号
を発生する制御手段と を具備する油圧制御装置において、 前記制御手段は、 前記複数の電磁弁の駆動圧力範囲の一点を前記油圧ポ
ンプの吐出流量と前記複数の電磁弁の開度とのバランス
点として設定し、このバランス点を保つように前記複数
の電磁弁の開度を制御する開度制御信号を発生すること
を特徴とする。Means for Solving the Problems In order to achieve the above object, the present invention provides a motor, a hydraulic pump driven by the motor, a predetermined pressure compensation characteristic, and a discharge pressure oil of the hydraulic pump. A plurality of solenoid valves respectively leading to a corresponding plurality of hydraulic actuators, a plurality of operation levers each generating a command value of the opening degree of the plurality of solenoid valves, a pressure sensor for detecting the discharge pressure of the hydraulic pump, A rotation speed detection sensor for detecting a rotation speed of the prime mover, a command value of an opening degree of the plurality of solenoid valves generated from the plurality of operation levers, a discharge pressure of the hydraulic pump detected by the pressure sensor, and the rotation speed Generating an opening control signal for controlling the opening of the plurality of solenoid valves based on the number of revolutions of the prime mover detected by a number detection sensor, and controlling the discharge flow rate of the hydraulic pump. And a control means for generating a discharge flow rate control signal for controlling the discharge flow rate of the hydraulic pump. An opening control signal for controlling the opening of the plurality of solenoid valves is set so as to be set as a balance point with the opening and to maintain the balance point.
ここで、前記原動機は、 所定の馬力制限を有するものであり、 前記制御手段は、 前記原動機の馬力制限により前記油圧ポンプの吐出流
量が減少した場合は、この減少分に対応して前記複数の
電磁弁の開度を制御する開度制御信号を小さな値に補正
して出力するように構成することができる。Here, the prime mover has a predetermined horsepower limit, and the control unit, when the discharge flow rate of the hydraulic pump is reduced due to the horsepower limit of the prime mover, the plurality of An opening control signal for controlling the opening of the solenoid valve can be corrected to a small value and output.
また、前記原動機は、 予め設定された所定の回転数を目標回転数として回転
制御されるものであり、 前記制御手段は、 前記回転数検出センサにより検出された前記原動機の
回転数に対応して前記複数の電磁弁の開度を制御する開
度制御信号を補正して出力するように構成することがで
きる。Further, the motor is controlled to rotate with a predetermined rotation speed set in advance as a target rotation speed, and the control means corresponds to a rotation speed of the motor detected by the rotation speed detection sensor. An opening control signal for controlling the opening of the plurality of solenoid valves may be corrected and output.
また、前記制御手段は、 前記複数の電磁弁の開度を制御する開度制御信号に基
づき前記複数の電磁弁の開度の総和を算出し、該算出値
が前記油圧ポンプの最大吐出流量に対応して設定された
所定値を越えないように前記複数の電磁弁の開度を制御
する開度制御信号を補正して出力するように構成するこ
とができる。Further, the control means calculates a total sum of the opening degrees of the plurality of solenoid valves based on an opening control signal for controlling the opening degrees of the plurality of solenoid valves, and the calculated value is used as a maximum discharge flow rate of the hydraulic pump. An opening control signal for controlling the opening of the plurality of solenoid valves so as not to exceed a predetermined value set correspondingly may be corrected and output.
［作用］ 本発明において、制御手段は、複数の電磁弁の駆動圧
力範囲の一点を油圧ポンプの吐出流量と複数の電磁弁の
開度とのバランス点として設定し、このバランス点を保
つように複数の電磁弁の開度を制御する開度制御信号を
発生する。[Operation] In the present invention, the control means sets one point of the drive pressure range of the plurality of solenoid valves as a balance point between the discharge flow rate of the hydraulic pump and the opening degrees of the plurality of solenoid valves, and maintains this balance point. An opening control signal for controlling the opening of the plurality of solenoid valves is generated.
ここで、例えば、原動機が所定の馬力制限を有するも
のであり、この原動機の馬力制限により油圧ポンプの吐
出流量が減少した場合は、制御手段は、この減少分に対
応して複数の電磁弁の開度を制御する開度制御信号を小
さな値に補正して出力する。Here, for example, when the prime mover has a predetermined horsepower limit, and the discharge flow rate of the hydraulic pump is reduced due to the horsepower limitation of the prime mover, the control unit controls the plurality of solenoid valves in accordance with the decrease. An opening control signal for controlling the opening is corrected to a small value and output.
また、原動機が予め設定された所定の回転数を目標回
転数として回転制御されるものである場合、制御手段は
回転数検出センサにより検出された原動機の回転数に対
応して複数の電磁弁の開度を制御する開度制御信号を補
正して出力する。When the prime mover is to be controlled to rotate with a predetermined rotational speed set as a target rotational speed, the control means controls a plurality of solenoid valves corresponding to the rotational speed of the prime mover detected by the rotational speed detection sensor. An opening control signal for controlling the opening is corrected and output.
また、複数の操作レバーが同時に操作された場合は、
複数の電磁弁の開度を制御する開度制御信号に基づき複
数の電磁弁の開度の総和を算出し、該算出値が油圧ポン
プの最大吐出流量に対応して設定された所定値を越えな
いように複数の電磁弁の開度を制御する開度制御信号を
補正して出力する。Also, when multiple operation levers are operated at the same time,
The sum of the openings of the plurality of solenoid valves is calculated based on the opening control signals for controlling the openings of the plurality of solenoid valves, and the calculated value exceeds a predetermined value set corresponding to the maximum discharge flow rate of the hydraulic pump. An opening control signal for controlling the opening of a plurality of solenoid valves is corrected so as not to be output.
このような制御により、複数の油圧アクチュエータを
その複合操作性を損なうことなく駆動することができ、
作業機の息つき等による作業効率の低下も防止すること
ができる。By such control, a plurality of hydraulic actuators can be driven without impairing the composite operability,
It is also possible to prevent a decrease in work efficiency due to a breathing of the work machine or the like.
［実施例］ 第１図は本発明の一実施例を示すブロック図であり、
１はエンジン、２はエンジン１によって駆動される油圧
ポンプ、３は油圧ポンプの斜板角を制御する斜板角操作
機構、４はアンロードバルブ、５は第１の油圧アクチュ
エータとしての油圧シリンダ６に対して油圧ポンプ２か
らの圧油を導く電磁弁（４ポート３位置方向切換弁）、
７は第２の油圧アクチュエータとしての油圧モータ８に
対して油圧ポンプ２からの圧油を導く電磁弁（４ポート
３位置方向切換弁）、９は電磁弁５の開度を指示する第
１の操作レバー、10は電磁弁７の開度を指示する第２の
操作レバー、11はエンジンの回転数を検出する回転数検
出器、12は油圧ポンプ２の吐出圧力を検出する圧力検出
器、13は制御装置である。FIG. 1 is a block diagram showing one embodiment of the present invention.
1 is an engine, 2 is a hydraulic pump driven by the engine 1, 3 is a swash plate angle operating mechanism for controlling a swash plate angle of the hydraulic pump, 4 is an unload valve, 5 is a hydraulic cylinder 6 as a first hydraulic actuator. Solenoid valve (4 port 3 position directional switching valve) for guiding hydraulic oil from hydraulic pump 2 to
Reference numeral 7 denotes a solenoid valve (4 port, 3 position direction switching valve) for guiding hydraulic oil from the hydraulic pump 2 to a hydraulic motor 8 as a second hydraulic actuator, and 9 denotes a first valve for instructing the opening of the solenoid valve 5. An operating lever, 10 a second operating lever for instructing the opening of the solenoid valve 7, 11 a rotational speed detector for detecting the engine rotational speed, 12 a pressure detector for detecting the discharge pressure of the hydraulic pump 2, 13 Is a control device.
制御装置13は、従来と同様にスロットルレバー等によ
り与えられる指令回転数と回転数検出器11で検出した実
回転数、および圧力検出器12の検出信号に基づいて検出
した油圧ポンプの吸収トルクとエンジン１の出力トルク
がマッチングするように油圧ポンプ２の吐出流量を決定
し、斜板角操作機構３を介して油圧ポンプ２の斜板角を
制御する。The control device 13 controls the command rotation speed given by the throttle lever and the like, the actual rotation speed detected by the rotation speed detector 11, and the absorption torque of the hydraulic pump detected based on the detection signal of the pressure detector 12, as in the conventional case. The discharge flow rate of the hydraulic pump 2 is determined so that the output torque of the engine 1 matches, and the swash plate angle of the hydraulic pump 2 is controlled via the swash plate angle operation mechanism 3.
一方、制御装置13は操作レバー9,10から指令開度の信
号を検出し、電磁弁5,6の開度を指令された開度に制御
する。これによって、油圧シリンダ６および油圧モータ
８には、操作レバー9,10の指令開度に応じた量の圧油が
供給されて作動する。On the other hand, the control device 13 detects a command opening signal from the operating levers 9, 10, and controls the opening of the solenoid valves 5, 6 to the commanded opening. As a result, the hydraulic cylinder 6 and the hydraulic motor 8 are supplied with hydraulic oil in an amount corresponding to the command opening of the operating levers 9 and 10 to operate.
ここで、電磁弁5,7は開度の制御信号Ｉに対して第２
図に示すような流量制御特性を有するものであり、圧油
の入口と出口との差圧ΔＰがΔＰ1となる条件で制御信
号Ｉ＝Ｉ1,I＝Ｉ2,I＝Ｉ3にそれぞれ対応する流量Ｑ1，
2，3が得られるように構成されている。Here, the solenoid valves 5 and 7 are controlled by the second control signal I for the opening degree.
It has flow control characteristics as shown in the figure, and the control signals I = I 1 , I = I 2 , and I = I 3 respectively under the condition that the pressure difference ΔP between the inlet and the outlet of the pressure oil becomes ΔP 1. The corresponding flow rate Q 1 ,
It is configured to obtain 2 and 3 .
制御装置13はこのような流量制御特性を利用し、エン
ジン１の馬力制限により油圧ポンプ２の吐出流量が減少
した時、あるいはエンジン１の設定回転数が低く油圧ポ
ンプ２の斜板角が飽和に達した時、または油圧シリンダ
６と油圧モータ８とを同時に駆動する時のように、油圧
ポンプ２の吐出流量が油圧シリンダ６と油圧モータ８と
での必要流量より不足している場合には、油圧ポンプ２
の吐出流量にマッチングするように電磁弁5,7の開度を
小さくする。The control device 13 utilizes such a flow control characteristic, and when the discharge flow rate of the hydraulic pump 2 is reduced due to the horsepower limitation of the engine 1, or when the set rotation speed of the engine 1 is low, the swash plate angle of the hydraulic pump 2 becomes saturated. When the discharge flow rate of the hydraulic pump 2 is less than the required flow rate of the hydraulic cylinder 6 and the hydraulic motor 8 as in the case where the hydraulic cylinder 6 and the hydraulic motor 8 are simultaneously driven, Hydraulic pump 2
The opening degree of the solenoid valves 5 and 7 is reduced so as to match the discharge flow rate.
すなわち、第３図は油圧ポンプ２の吐出流量Ｑと吐出
圧力Ｐとの関係を示す図であるが、操作レバー9,10の操
作によって吐出流量Ｑ0を得ようとしている場合に、吐
出圧力ＰがＰ＝Ｐ1となっていれば、一点鎖線で示すエ
ンジン１の出力制御特性によって吐出流量がＱ1まで低
下してしまう。そこで、吐出流量が低下する前の値をＱ
0、低下後の値をＱ1、電磁弁５（または７）の現在の開
度制御信号をＩとすると、 Ｉ′＝Ｉ×Ｑ1/Q0 ……（１） によって流量低下後の開度制御信号Ｉ′を求め、これに
一致するように電磁弁5,7の開度を補正する。この開度
の補正は油圧ポンプ２の出力に接続されているすべての
電磁弁（5,7）に対して同時に実施される。That is, FIG. 3 is a diagram showing the relationship between the discharge flow rate Q of the hydraulic pump 2 and the discharge pressure P. In the case where the discharge flow rate Q 0 is to be obtained by operating the operation levers 9 and 10, the discharge pressure P if There long as a P = P 1, the discharge flow rate by the output control characteristic of the engine 1 indicated by a one-dot chain line is lowered to Q 1. Therefore, the value before the discharge flow rate is reduced is Q
0 , the value after the drop is Q 1 , and the current opening control signal of the solenoid valve 5 (or 7) is I, and I ′ = I × Q 1 / Q 0 (1) The degree control signal I 'is obtained, and the degrees of opening of the solenoid valves 5 and 7 are corrected so as to match this. This correction of the opening is simultaneously performed for all the solenoid valves (5, 7) connected to the output of the hydraulic pump 2.
また、油圧ポンプ２の斜板角がすでに飽和に達してい
る場合には、操作レバー9,10を操作しても吐出流量Ｑが
変化しないために、この場合は、油圧ポンプ２の吐出流
量の最大値をQmax,操作レバーによって現在指示されて
いる第ｉ番目（ｉ＝1,2,…）の電磁弁の開度指令信号を
Iiとすると、 Ii′＝Qmax・Ii/ΣIi ……（２） によって斜板角飽和時の開度制御信号Ii′を求め、この
信号Ii′によって吐出流量Qmaxが比例配分されて油圧ア
クチュエータに供給されるように電磁弁の開度が制御さ
れる。In addition, when the swash plate angle of the hydraulic pump 2 has already reached saturation, the discharge flow rate Q does not change even if the operating levers 9 and 10 are operated. The maximum value is Qmax, and the opening command signal of the i-th (i = 1, 2,...) Solenoid valve currently indicated by the operation lever is
Assuming that Ii, the opening control signal Ii 'at the time of swash plate angle saturation is obtained by Ii' = Qmax.Ii / .SIGMA.Ii. The opening of the solenoid valve is controlled in such a manner as to be performed.
従って、全ての電磁弁（5,7）の開度の総和が油圧ポ
ンプ２の吐出流量の最大値 Qmaxに見合って制限される
ことになる。この場合、次の第（３）式で示すように油
圧アクチュエータ毎に結合係数aijを考慮することによ
り、油圧アクチュエータの変化速度を簡単に制御するこ
とができる。Therefore, the total sum of the opening degrees of all the solenoid valves (5, 7) is limited in accordance with the maximum value Qmax of the discharge flow rate of the hydraulic pump 2. In this case, the change speed of the hydraulic actuator can be easily controlled by considering the coupling coefficient aij for each hydraulic actuator as shown in the following equation (3).
Ii′＝Qmax（Σaij・Qi）／Σ（Σaij・Qi）……（３） 一方、油圧ポンプ２の吐出流量Ｑは、その１回転当り
の吐出流量をq,エンジン１の回転数をEsとすると、 Ｑ＝ｑ・Es で表される。また、１回転当りの吐出流量ｑは第４図
（ａ）に示すように操作レバーのストローク量Ｓの関数
値ｑ＝ｆ（Ｓ）の関係にある。また、ｑと油圧ポンプ２
の斜板角制御信号Ipとの関係は第４図（ｂ）に示すよう
にIpの関数値ｑ＝ｆ（Ip）の関係にある。従って、操作
レバーのストローク量Ｓを大きくしても、エンジン回転
数が小さければ必要な吐出流量は得られない。そこで、
制御装置13は、油圧ポンプ２の入口と出口の差圧ΔP1を
確保し、かつ電磁弁の開度が現在の吐出流量、すなわち
現在のエンジン回転数に対応するように電磁弁（5,7）
の開度を制御する。具体的には、 Ｉ＝ｆv-1｛ｆ（ｓ）・Es,ΔP1｝…… （４） によって現在のエンジン回転数に対応する電磁弁の開度
制御信号Ｉを求めて電磁弁の開度を制御する。ただし、
fvは電磁弁の入力信号に対する吐出流量，圧損の関係を
表わすものである。Ii ′ = Qmax (Σaij · Qi) / Σ (Σaij · Qi) (3) On the other hand, the discharge flow rate Q of the hydraulic pump 2 is represented by q as the discharge flow rate per one rotation and Es as the rotation speed of the engine 1. Then, it is expressed by Q = q · Es. Further, the discharge flow rate q per rotation has a relationship of a function value q = f (S) of the stroke amount S of the operation lever as shown in FIG. 4 (a). Also, q and hydraulic pump 2
And the swash plate angle control signal Ip, as shown in FIG. 4 (b), is a function value of Ip q = f (Ip). Therefore, even if the stroke amount S of the operation lever is increased, a required discharge flow rate cannot be obtained if the engine speed is small. Therefore,
Controller 13 secures a differential pressure [Delta] P 1 of the inlet and outlet hydraulic pump 2, and the degree of opening of the solenoid valve the current discharge flow rate, i.e. the solenoid valve so as to correspond to the current engine speed (5,7 )
Control the opening degree. Specifically, I = fv -1 {f (s) · Es, ΔP 1 } (4) is used to determine the solenoid valve opening control signal I corresponding to the current engine speed to open the solenoid valve. Control the degree. However,
fv represents the relationship between the discharge flow rate and the pressure loss with respect to the input signal of the solenoid valve.
従って、エンジンの馬力制限により油圧ポンプの吐出
流量が減少した時、エンジンの設定回転数が低く油圧ポ
ンプの斜板角が飽和に達した時、複数の油圧アクチュエ
ータを同時に駆動する時のいずれにおいても、各油圧ア
クチュエータでは負荷配分に応じた比率で圧油量が減少
することになるため、複合的な操作性が損われることは
なくなる。Therefore, when the discharge flow rate of the hydraulic pump is reduced due to the horsepower limitation of the engine, when the set rotation speed of the engine is low and the swash plate angle of the hydraulic pump reaches saturation, or when a plurality of hydraulic actuators are simultaneously driven, In each hydraulic actuator, the amount of hydraulic oil is reduced at a ratio corresponding to the load distribution, so that the composite operability is not impaired.
また、いずれの実施例においても電磁弁の開度制御信
号の与え方によって油圧アクチュエータの変化速度を個
別に調整することができるので、油圧アクチュエータの
変化速度を容易にバランスさせることができるという利
点がある。Further, in any of the embodiments, since the changing speed of the hydraulic actuator can be individually adjusted by giving the opening control signal of the solenoid valve, there is an advantage that the changing speed of the hydraulic actuator can be easily balanced. is there.
なお、油圧ポンプ２の吐出流量は、斜板角の制御信号
あるいはエンジン１の実回転数によって推定することが
できるため、あえて吐出流量検出器を設ける必要はな
い。Since the discharge flow rate of the hydraulic pump 2 can be estimated based on the control signal of the swash plate angle or the actual rotation speed of the engine 1, there is no need to provide a discharge flow rate detector.
［発明の効果］ 以上説明したように本発明によれば、複数の油圧アク
チュエータをその複合操作性を損うことなく駆動するこ
とができるうえ、作業機の息つき等による作業効率の低
下も防止することができる。[Effects of the Invention] As described above, according to the present invention, it is possible to drive a plurality of hydraulic actuators without impairing the combined operability thereof, and to prevent a decrease in work efficiency due to breathing of a work machine or the like. can do.
第１図は本発明の一実施例を示すブロック図、第２図は
電磁弁の流量制御特性を示す特性図、第３図は油圧ポン
プの吐出流量と吐出圧力の関係を示す図、第４図は油圧
ポンプの１回転当りの吐出流量と操作レバーのストロー
クおよび斜板角制御信号との関係を示す図である。 １……エンジン、２……油圧ポンプ、３……斜板角、操
作機構、5,7……電磁弁、６……油圧シリンダ、８……
油圧モータ、9,10……操作レバー、11……回転数検出
器、12……圧力検出器、13……制御装置。FIG. 1 is a block diagram showing one embodiment of the present invention, FIG. 2 is a characteristic diagram showing flow control characteristics of a solenoid valve, FIG. 3 is a diagram showing a relationship between a discharge flow rate and a discharge pressure of a hydraulic pump, FIG. The figure shows the relationship between the discharge flow per rotation of the hydraulic pump, the stroke of the operating lever, and the swash plate angle control signal. 1 ... Engine, 2 ... Hydraulic pump, 3 ... Swash plate angle, operating mechanism, 5,7 ... Solenoid valve, 6 ... Hydraulic cylinder, 8 ...
Hydraulic motor, 9,10… Operation lever, 11… Rotation detector, 12… Pressure detector, 13… Control device.
Claims (4)
をそれぞれ対応する複数の油圧アクチュエータに導く複
数の電磁弁と、 前記複数の電磁弁の開度の指令値をそれぞれ発生する複
数の操作レバーと、 前記油圧ポンプの吐出圧を検出する圧力センサと、 前記原動機の回転数を検出する回転数検出センサと、 前記複数の操作レバーから発生された前記複数の電磁弁
の開度の指令値および前記圧力センサにより検出された
油圧ポンプの吐出圧および前記回転数検出センサにより
検出された前記原動機の回転数に基づき前記複数の電磁
弁の開度を制御する開度制御信号を発生するとともに前
記油圧ポンプの吐出流量を制御する吐出流量制御信号を
発生する制御手段と を具備する油圧制御装置において、 前記制御手段は、 前記複数の電磁弁の駆動圧力範囲の一点を前記油圧ポン
プの吐出流量と前記複数の電磁弁の開度とのバランス点
として設定し、このバランス点を保つように前記複数の
電磁弁の開度を制御する開度制御信号を発生することを
特徴とする油圧制御装置。A motor, a hydraulic pump driven by the motor, a plurality of solenoid valves having a predetermined pressure compensation characteristic, and guiding discharge hydraulic oil of the hydraulic pump to a plurality of hydraulic actuators respectively corresponding to the motor; A plurality of operation levers each generating a command value of an opening degree of the plurality of solenoid valves; a pressure sensor detecting a discharge pressure of the hydraulic pump; a rotation speed detection sensor detecting a rotation speed of the prime mover; The plurality of solenoid valves based on a command value of the opening degree of the plurality of solenoid valves generated from the operation lever and the discharge pressure of the hydraulic pump detected by the pressure sensor and the rotation speed of the prime mover detected by the rotation speed detection sensor. Control means for generating an opening control signal for controlling the opening of the solenoid valve and generating a discharge flow control signal for controlling the discharge flow of the hydraulic pump. In the hydraulic control device, the control unit may set one point of a driving pressure range of the plurality of solenoid valves as a balance point between a discharge flow rate of the hydraulic pump and an opening degree of the plurality of solenoid valves, and maintain this balance point. A hydraulic control device for generating an opening control signal for controlling the opening of the plurality of solenoid valves.
が減少した場合は、この減少分に対応して前記複数の電
磁弁の開度を制御する開度制御信号を小さな値に補正し
て出力することを特徴とする特許請求の範囲第１項記載
の油圧制御装置。2. The motor has a predetermined horsepower limit, and the control means, when the discharge flow rate of the hydraulic pump is reduced due to the horsepower limitation of the motor, corresponds to the reduced amount. 2. The hydraulic control device according to claim 1, wherein an opening control signal for controlling the opening of the plurality of solenoid valves is corrected to a small value and output.
御されるものであり、 前記制御手段は、 前記回転数検出センサにより検出された前記原動機の回
転数に対応して前記複数の電磁弁の開度を制御する開度
制御信号を補正して出力することを特徴とする特許請求
の範囲第１項記載の油圧制御装置。3. The rotation of the prime mover is controlled by using a preset rotation speed as a target rotation speed, and the control means controls the rotation speed of the prime mover detected by the rotation speed detection sensor. 2. The hydraulic control apparatus according to claim 1, wherein an opening control signal for controlling the opening of the plurality of solenoid valves is corrected and output.
き前記複数の電磁弁の開度の総和を算出し、該算出値が
前記油圧ポンプの最大吐出流量に対応して設定された所
定値を越えないように前記複数の電磁弁の開度を制御す
る開度制御信号を補正して出力することを特徴とする特
許請求の範囲第１項記載の油圧制御装置。4. The control means calculates a total sum of the openings of the plurality of solenoid valves based on an opening control signal for controlling the openings of the plurality of solenoid valves, and the calculated value is a maximum value of the hydraulic pump. 2. The method according to claim 1, wherein an opening control signal for controlling the opening of the plurality of solenoid valves is corrected and output so as not to exceed a predetermined value set in accordance with the discharge flow rate. Hydraulic control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62026147A JP2613041B2 (en) | 1987-02-06 | 1987-02-06 | Hydraulic control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62026147A JP2613041B2 (en) | 1987-02-06 | 1987-02-06 | Hydraulic control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63195402A JPS63195402A (en) | 1988-08-12 |
| JP2613041B2 true JP2613041B2 (en) | 1997-05-21 |
Family
ID=12185431
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62026147A Expired - Fee Related JP2613041B2 (en) | 1987-02-06 | 1987-02-06 | Hydraulic control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2613041B2 (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7121189B2 (en) | 2004-09-29 | 2006-10-17 | Caterpillar Inc. | Electronically and hydraulically-actuated drain value |
| US7146808B2 (en) | 2004-10-29 | 2006-12-12 | Caterpillar Inc | Hydraulic system having priority based flow control |
| US7204185B2 (en) | 2005-04-29 | 2007-04-17 | Caterpillar Inc | Hydraulic system having a pressure compensator |
| US7204084B2 (en) | 2004-10-29 | 2007-04-17 | Caterpillar Inc | Hydraulic system having a pressure compensator |
| US7210396B2 (en) | 2005-08-31 | 2007-05-01 | Caterpillar Inc | Valve having a hysteretic filtered actuation command |
| US7243493B2 (en) | 2005-04-29 | 2007-07-17 | Caterpillar Inc | Valve gradually communicating a pressure signal |
| US7302797B2 (en) | 2005-05-31 | 2007-12-04 | Caterpillar Inc. | Hydraulic system having a post-pressure compensator |
| US7320216B2 (en) | 2005-10-31 | 2008-01-22 | Caterpillar Inc. | Hydraulic system having pressure compensated bypass |
| US7331175B2 (en) | 2005-08-31 | 2008-02-19 | Caterpillar Inc. | Hydraulic system having area controlled bypass |
| US7441404B2 (en) | 2004-11-30 | 2008-10-28 | Caterpillar Inc. | Configurable hydraulic control system |
| US7614336B2 (en) | 2005-09-30 | 2009-11-10 | Caterpillar Inc. | Hydraulic system having augmented pressure compensation |
| US7621211B2 (en) | 2007-05-31 | 2009-11-24 | Caterpillar Inc. | Force feedback poppet valve having an integrated pressure compensator |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2677803B2 (en) * | 1987-11-25 | 1997-11-17 | 日立建機株式会社 | Hydraulic drive |
| JPH082189Y2 (en) * | 1988-09-26 | 1996-01-24 | 株式会社小松製作所 | Arm operation circuit device |
| JPH0269509U (en) * | 1988-11-17 | 1990-05-25 | ||
| JP2520771B2 (en) * | 1990-07-18 | 1996-07-31 | 株式会社小松製作所 | Control method and apparatus for loading work vehicle |
| US7260931B2 (en) * | 2005-11-28 | 2007-08-28 | Caterpillar Inc. | Multi-actuator pressure-based flow control system |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5865304A (en) * | 1981-10-09 | 1983-04-19 | Japan Steel Works Ltd:The | Oil pressure control apparatus |
| DE3321483A1 (en) * | 1983-06-14 | 1984-12-20 | Linde Ag, 6200 Wiesbaden | HYDRAULIC DEVICE WITH ONE PUMP AND AT LEAST TWO OF THESE INACTED CONSUMERS OF HYDRAULIC ENERGY |
| JPS60208605A (en) * | 1984-03-31 | 1985-10-21 | Ishikawajima Harima Heavy Ind Co Ltd | Control device for onboard deck machinery |
-
1987
- 1987-02-06 JP JP62026147A patent/JP2613041B2/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7121189B2 (en) | 2004-09-29 | 2006-10-17 | Caterpillar Inc. | Electronically and hydraulically-actuated drain value |
| US7146808B2 (en) | 2004-10-29 | 2006-12-12 | Caterpillar Inc | Hydraulic system having priority based flow control |
| US7204084B2 (en) | 2004-10-29 | 2007-04-17 | Caterpillar Inc | Hydraulic system having a pressure compensator |
| US7441404B2 (en) | 2004-11-30 | 2008-10-28 | Caterpillar Inc. | Configurable hydraulic control system |
| US7204185B2 (en) | 2005-04-29 | 2007-04-17 | Caterpillar Inc | Hydraulic system having a pressure compensator |
| US7243493B2 (en) | 2005-04-29 | 2007-07-17 | Caterpillar Inc | Valve gradually communicating a pressure signal |
| US7302797B2 (en) | 2005-05-31 | 2007-12-04 | Caterpillar Inc. | Hydraulic system having a post-pressure compensator |
| US7210396B2 (en) | 2005-08-31 | 2007-05-01 | Caterpillar Inc | Valve having a hysteretic filtered actuation command |
| US7331175B2 (en) | 2005-08-31 | 2008-02-19 | Caterpillar Inc. | Hydraulic system having area controlled bypass |
| US7614336B2 (en) | 2005-09-30 | 2009-11-10 | Caterpillar Inc. | Hydraulic system having augmented pressure compensation |
| US7320216B2 (en) | 2005-10-31 | 2008-01-22 | Caterpillar Inc. | Hydraulic system having pressure compensated bypass |
| US7621211B2 (en) | 2007-05-31 | 2009-11-24 | Caterpillar Inc. | Force feedback poppet valve having an integrated pressure compensator |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS63195402A (en) | 1988-08-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2613041B2 (en) | Hydraulic control device | |
| JP3697136B2 (en) | Pump control method and pump control apparatus | |
| US6938719B2 (en) | Speed control system for wheeled hydraulic traveling vehicle | |
| WO1999017020A1 (en) | Torque control device for hydraulic pump of hydraulic construction equipment | |
| JPH10196606A (en) | Controller for hydraulic pump | |
| JPH10141310A (en) | Pressure oil feeder | |
| JP3535667B2 (en) | Hydraulic drive for construction machinery | |
| WO1990009528A1 (en) | Hydraulic circuit for working machines | |
| US7513110B2 (en) | Control apparatus of construction machine and method for calculating input torque | |
| JP2678355B2 (en) | Control equipment for construction machinery | |
| JP2651079B2 (en) | Hydraulic construction machinery | |
| JPH07139507A (en) | Actuator controller of construction machine | |
| JP3535701B2 (en) | Control device for hydraulic motor | |
| JP4282871B2 (en) | Hydraulic traveling vehicle | |
| JPH05215101A (en) | Control method of pump inclination quantity | |
| JP2001193702A (en) | Hydraulic driving device for construction equipment | |
| JPH11303150A (en) | Method and device for controlling hydraulic pump | |
| JPH02291435A (en) | Drive control device of hydraulic construction equipment | |
| JPH10252703A (en) | Travel control device for construction machine | |
| JPH0874805A (en) | Oil pressure control device for construction machine | |
| JP3099538B2 (en) | Switching control device for directional control valve | |
| JP2001295681A (en) | Wheel traveling type hydraulic construction machine | |
| JP2821339B2 (en) | Control device of construction machine with attachment | |
| JP3175992B2 (en) | Control device for hydraulic drive machine | |
| JPH0626079A (en) | Torque control device of hydraulic construction machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |