JP4773990B2 - Torque control device for 3-pump system for construction machinery - Google Patents

Description

  The present invention relates to a torque control device for a three-pump system for construction machinery, and in particular, includes at least three variable displacement hydraulic pumps driven by one prime mover (engine), and the absorption torque of these three hydraulic pumps is The present invention relates to a torque control device for a three-pump system for a construction machine such as a hydraulic excavator that is controlled so as not to exceed an output torque of an engine.

  As a hydraulic drive device for a construction machine such as a hydraulic excavator, there is a three-pump system that includes three hydraulic pumps driven by a single engine and that drives a plurality of hydraulic actuators by pressure oil discharged from these three hydraulic pumps. One known example is described in Japanese Patent Laid-Open No. 2002-242904. The three-pump system described in Patent Literature 1 controls the maximum absorption of the first and second hydraulic pumps by controlling the capacities of the first and second hydraulic pumps based on the discharge pressures of the first and second hydraulic pumps. A first regulator that controls the absorption torque of the first and second hydraulic pumps so that the torque does not exceed an assigned maximum absorption torque of the first and second hydraulic pumps, and a third hydraulic pump based on the discharge pressure of the third hydraulic pump And a second regulator for controlling the absorption torque of the third hydraulic pump so that the maximum absorption torque of the third hydraulic pump does not exceed the allocated maximum absorption torque of the third hydraulic pump. The first regulator has a pressure receiving portion that acts in the capacity decreasing direction of the first and second hydraulic pumps, and guides the discharge pressure of the third hydraulic pump to the pressure receiving portion via a pressure reducing valve, and the pressure reducing valve is connected to the pressure receiving portion. Control is performed so that the introduced pressure does not exceed a predetermined pressure. As a result, when the discharge pressure of the third hydraulic pump increases, the maximum absorption torque (assigned maximum absorption torque) of the first and second hydraulic pumps is reduced until the discharge pressure of the third hydraulic pump reaches a predetermined pressure. By doing so, the absorption torque of the three hydraulic pumps is controlled so as not to exceed the engine output torque, and the engine output torque can be used effectively.

  Patent Document 2 (Japanese Patent Publication No. 62-8618) proposes a control method entitled “Control Method of Drive System Including Internal Combustion Engine and Hydraulic Pump”. In this control method, the difference (rotational speed deviation) between the target rotational speed and the actual engine rotational speed from the rotational speed sensor is obtained, and control is performed to reduce the input torque of the hydraulic pump in accordance with the rotational speed deviation. Thus, when the engine speed decreases due to a transient increase in engine load, the input torque of the hydraulic pump is reduced to enable a rapid increase in engine speed, thereby preventing a decrease in engine performance. This pump torque control is generally called speed sensing control.

JP 2002-242904 A Japanese Examined Patent Publication No. 62-8618

  In the torque control device of the three-pump system described in Patent Document 1, the discharge pressure of the third hydraulic pump is guided to the first regulator via the pressure reducing valve as described above, and the maximum absorption torque of the first and second hydraulic pumps Is adjusted so that the absorption torque of the three hydraulic pumps does not exceed the engine output torque, and the engine output torque can be used effectively.

  However, in the three-pump system described in Patent Document 1, a pressure reducing valve is indispensable for carrying out the control as described above, and accordingly, a dedicated pressure receiving portion is provided in the first regulator, and the pressure receiving portion and It is also necessary to connect the discharge oil passage of the third hydraulic pump with a pipe. Therefore, the number of parts of the hydraulic circuit is increased, the structure of the first regulator is complicated, and the configuration of the hydraulic circuit is expensive.

  In the speed sensing control described in Patent Document 2, the maximum absorption torque of the hydraulic pump is temporarily reduced when the engine load is transiently increased, so that the engine speed can be increased quickly and the deterioration of the engine performance is prevented. is doing. Therefore, when a third hydraulic pump is additionally installed in this prior art hydraulic system to form a three-pump system, speed sensing is performed during operation using the two hydraulic pumps of the first and second hydraulic pumps. The same effect can be obtained by the control. However, in the combined operation using the three hydraulic pumps of the first to third hydraulic pumps, the absorption torque of the third hydraulic pump acts as an excessive load torque for the engine, so the engine speed is greatly reduced. try to. At this time, the conventional speed sensing control cannot cope with such a large decrease in the engine speed (a large increase in the engine speed deviation), resulting in an engine stall. That is, in the conventional speed sensing control, it is impossible to control the absorption torque of the three hydraulic pumps so as not to exceed the engine output torque, and the engine output torque cannot be used effectively.

  The object of the present invention is to control the absorption torque of the three hydraulic pumps so as not to exceed the output torque of the engine so that the output torque of the engine can be used effectively, and when the engine load is transiently increased by speed sensing control. It is possible to provide a torque control device for a three-pump system for a construction machine that can prevent a decrease in engine performance and can have a simple and inexpensive system configuration.

  (1) In order to achieve the above object, the present invention comprises a prime mover, command means for commanding a target rotational speed of the prime mover, variable displacement first and second hydraulic pumps driven by the prime mover, The capacity of the first and second hydraulic pumps is controlled by controlling the capacity of the first and second hydraulic pumps based on the discharge pressures of the third hydraulic pump driven by the prime mover and the first and second hydraulic pumps. In the torque control device for a three-pump system for construction machinery having a regulator for controlling absorption torque, a pressure sensor for detecting the discharge pressure of the third hydraulic pump, and a rotation speed sensor for detecting the actual rotation speed of the prime mover, The deviation between the target rotational speed commanded by the command means and the actual rotational speed of the prime mover detected by the rotational speed sensor is calculated, and the first speed detected by the pressure sensor is calculated. One of a plurality of torque correction tables having different gains is selected according to the discharge pressure of the hydraulic pump, the corresponding torque correction value is obtained by referring to the rotation speed deviation in the torque correction table, and the torque correction value is used as a reference. A target absorption torque for controlling the absorption torque of the first and second hydraulic pumps by adding to the torque is obtained, and control means for controlling the regulator so as to obtain the target absorption torque is provided.

  In the present invention configured as described above, in the control means, for example, a first torque correction table in which a first gain suitable for performing normal speed sensing control is set as a plurality of torque correction tables having different gains; A second torque correction table in which a second gain larger than the first gain is prepared, and the first torque correction value is obtained when the discharge pressure of the third hydraulic pump is at the minimum pressure or a lower pressure close to the minimum pressure. When the discharge pressure of the third hydraulic pump is higher than that, the second torque correction value is selected so that the absorption torque of the three hydraulic pumps does not exceed the engine output torque. The engine output torque can be used effectively, and the speed sensing control can be used during a transient increase in engine load. It is possible to prevent a decrease in engine performance.

  That is, when the first and second hydraulic pumps are used and the third hydraulic pump is not used, the discharge pressure of the third hydraulic pump is low, so that the control means has a plurality of torque correction tables with different gains. From this, a first torque correction table in which a first gain suitable for performing normal speed sensing control is selected to obtain a torque correction value.

  At this time, if the hydraulic actuator driven by the oil discharged from the first and second hydraulic pumps is in a driving state not accompanied by a large load fluctuation, the actual rotational speed of the prime mover (hereinafter referred to as the engine) is set to the target rotational speed. Since the rotational speed deviations are substantially equal to each other and become 0 or a smaller value, the torque correction value obtained using the first torque correction table is similarly 0 or a smaller value. As a result, the target absorption torque becomes substantially equal to the reference torque, and the regulator is controlled so that this target absorption torque is obtained. As a result, the assigned maximum absorption torque of the first and second hydraulic pumps is substantially equal to the reference torque, and the engine output torque can be used effectively.

  On the other hand, when the load (discharge pressure) of the first and second hydraulic pumps increases rapidly and the engine load torque increases rapidly, the engine rotational speed decreases transiently and the rotational speed deviation increases. At this time, in the first torque correction table, a torque correction value corresponding to the rotational speed deviation is obtained using the first gain suitable for performing normal speed sensing control, and the target absorption torque is equivalent to the torque correction value. The regulator is controlled so that the target absorption torque is obtained because the torque becomes smaller than the reference torque. As a result, the engine speed can be quickly increased to prevent a decrease in engine performance.

  During the operation using the three hydraulic pumps of the first to third hydraulic pumps, the discharge pressure of the third hydraulic pump increases, so that the control means selects the first torque correction table from among the plurality of torque correction tables having different gains. A torque correction value is obtained by selecting a second torque correction table in which a second gain larger than the gain is set. At this time, the engine load torque increases, the engine speed decreases, and the engine speed deviation increases, so the second torque correction table uses the second gain larger than the first gain to rotate the engine. A large torque correction value corresponding to the number deviation is obtained, and the target absorption torque becomes smaller than the reference torque by the amount of the torque correction value, and the regulator is controlled so as to obtain this target absorption torque. As a result, the assigned maximum input torque of the first and second hydraulic pumps is reduced, and the absorption torque of the three hydraulic pumps is controlled so as not to exceed the engine output torque.

  Further, since the second gain at this time is larger than the first gain KT1 suitable for performing normal speed sensing control, when the engine speed is to be significantly reduced by using the third hydraulic pump, the engine The assigned maximum absorption torque of the first and second hydraulic pumps can be reduced in response to a decrease in the rotation speed, and the first and second hydraulic pumps can be torque controlled without causing engine stall.

  Further, since the control for reducing the assigned maximum absorption torque of the first and second hydraulic pumps when using the third hydraulic pump is performed using the same control means as the control means for calculating the normal speed sensing control, the system Can be made simple and inexpensive.

  (2) In the above (1), the control means includes a first torque correction table in which a first gain suitable for performing normal speed sensing control is set as the plurality of torque correction tables, and the first gain. A second torque correction table in which a larger second gain is set is provided.

  (3) In the above (1), preferably, the regulator is arranged with the spring means so as to act in a capacity increasing direction of the first and second hydraulic pumps, and the first and second hydraulic pumps. A plurality of pressure receiving portions acting in the direction of capacity reduction, and the control means includes an electromagnetic proportional valve that converts the target absorption torque into a hydraulic signal, and at least one of the plurality of pressure receiving portions of the regulator In addition to guiding the discharge pressures of the first and second hydraulic pumps, another one of the plurality of pressure receiving portions is configured as a part of the control means, and the output pressure of the electromagnetic proportional valve is guided to the pressure receiving portion.

  According to the present invention, the absorption torque of the three hydraulic pumps is controlled so as not to exceed the engine output torque, the engine output torque can be used effectively, and when the engine load is transiently increased by speed sensing control. The engine performance can be prevented from deteriorating, and the system can be made simple and inexpensive.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing the whole of a three-pump system for a construction machine provided with a torque control device according to an embodiment of the present invention. This embodiment is intended for a hydraulic excavator as a construction machine.

  In FIG. 1, a three-pump system for a construction machine according to the present embodiment includes a prime mover 1, a variable displacement first hydraulic pump 2, a second hydraulic pump 3, and a third hydraulic pump 4 driven by the prime mover 1. Three main pumps, a fixed displacement pilot pump 5 driven by the prime mover 1, a control valve unit 6 connected to the first, second and third hydraulic pumps 2, 3 and 4, and a control valve unit A plurality of hydraulic actuators 7, 8, 9, 10, 11, 12,.

  The control valve unit 6 has three valve groups 6a, 6b and 6c corresponding to the first, second and third hydraulic pumps 2, 3 and 4, and each of the three valve groups 6a, 6b and 6c is plural. Are supplied from the first, second and third hydraulic pumps 2, 3, 4 to the plurality of hydraulic actuators 7, 8, 9, 10, 11, 12,. The oil flow (direction and flow rate) is controlled. The flow control valves of the three valve groups 6a, 6b and 6c are known center bypass types, and the corresponding hydraulic actuator operating means (operating lever device) is not operated, and the flow control valves are in the neutral position. In some cases, the discharge lines 2a, 3a, 4a of the first, second and third hydraulic pumps 2, 3, 4 are communicated with the tank. At this time, the discharge pressures of the first, second and third hydraulic pumps 2, 3 and 4 are reduced to the tank pressure.

  The plurality of hydraulic actuators 7, 8, 9, 10, 11, 12,... Include, for example, a swing motor of an excavator, an arm cylinder, a left and right traveling motor, a bucket cylinder, and a boom cylinder. For example, the hydraulic actuator 7 is a swing motor. The hydraulic actuator 8 is an arm cylinder, the hydraulic actuator 9 is a left traveling motor, the hydraulic actuator 10 is a right traveling motor, the hydraulic actuator 11 is a bucket cylinder, and the hydraulic actuator 12 is a boom cylinder.

  Main relief valves 15, 16, 17 are provided in the discharge lines 2 a, 3 a, 4 a of the first, second and third hydraulic pumps 2, 3, 4, and a pilot relief valve 18 is provided in the discharge line 5 a of the pilot pump 5. Is provided. The main relief valves 15, 16, and 17 regulate the discharge pressure of the first, second, and third hydraulic pumps 2, 3, and 4, and set the maximum pressure of the main circuit. The pilot relief valve 18 regulates the maximum discharge pressure of the pilot pump 5 and sets the pressure of the pilot hydraulic source.

  The prime mover 1 is a diesel engine, and the diesel engine (hereinafter simply referred to as an engine) 1 is provided with a dial type rotation speed command operation device 21 and an engine control device 22. The rotational speed command operating device 21 is command means for commanding the target rotational speed of the engine 1, and the engine control device 22 includes a controller 23, a governor motor 24, and a fuel injection device (governor) 25. The controller 23 receives a command signal from the rotation speed command operating device 21, performs a predetermined calculation process, and outputs a drive signal to the governor control motor 24. The governor control motor 24 rotates in accordance with the drive signal, and controls the fuel injection amount of the fuel injection device 25 so that the target rotational speed commanded by the rotational speed command operating device 21 is obtained.

  The torque control device according to the present embodiment is provided in such a three-pump system, and controls the capacity of the first and second hydraulic pumps 2 and 3 (the displacement volume or the inclination of the swash plate). The first regulator 31 that controls the absorption torque (consumed torque) of the first and second hydraulic pumps 2 and 3 and the capacity of the third hydraulic pump 4 (the displacement volume or the tilt of the swash plate) are controlled. A second regulator 32 for controlling the absorption torque (consumption torque) of the hydraulic pump 3, a pressure sensor 34 for detecting the discharge pressure of the third hydraulic pump 4, a rotational speed sensor 51 for detecting the rotational speed of the engine 1, An electromagnetic proportional valve 35 and the controller 23 are provided.

  The first regulator 31 includes springs 31 a and 31 b that act in the direction of increasing the capacity of the first and second hydraulic pumps 2 and 3, and pressure receiving portions 31 c that act in the direction of decreasing the capacity of the first and second hydraulic pumps 2 and 3. 31d, 31e. The discharge pressures of the first and second hydraulic pumps 2 and 3 are introduced into the pressure receiving portions 31c and 31d through the pilot lines 37 and 38, and the control pressure from the electromagnetic proportional valve 35 is supplied to the pressure receiving portion 31e as the control oil passage 39. Is introduced through. The springs 31 a and 31 b and the pressure receiving portion 31 e have a function of setting a maximum absorption torque that can be used by the first and second hydraulic pumps 2 and 3. With such a configuration, the first regulator 31 has the maximum absorption torque (assigned maximum absorption) in which the absorption torque of the first and second hydraulic pumps 2 and 3 is set by the springs 31a and 31b and the control pressure guided to the pressure receiving portion 31e. The capacity of the first and second hydraulic pumps 2 and 3 is controlled so as not to exceed (torque).

  The second regulator 32 includes a spring 32a that acts in the direction of increasing the capacity of the third hydraulic pump 4, and a pressure receiving portion 32b that acts in the direction of decreasing capacity of the third hydraulic pump 4, and the pressure receiving portion 31b includes a third hydraulic pressure. The discharge pressure of the pump 4 is introduced through the pilot line 40. The spring 32 a has a function of setting the maximum absorption torque (assigned maximum absorption torque) of the third hydraulic pump 4. With such a configuration, the second regulator 32 controls the capacity of the third hydraulic pump 4 so that the absorption torque of the third hydraulic pump 4 does not exceed the maximum absorption torque set by the spring 32a.

  The pressure sensor 34 outputs a detection signal corresponding to the discharge pressure of the third hydraulic pump 4, the rotation speed sensor 51 detects the rotation speed (actual rotation speed) of the engine 1, and these detection signals are input to the controller 23. The The controller 23 performs predetermined arithmetic processing and outputs a drive signal to the electromagnetic proportional valve 35. The electromagnetic proportional valve 35 generates a control pressure corresponding to the drive signal from the controller 23 using the discharge pressure of the pilot pump 5 as a base pressure, and this control pressure is sent to the pressure receiving portion 31e of the first regulator 31 via the signal line 39. Led. Thereby, the 1st regulator 31 adjusts the maximum absorption torque of a 1st and 2nd hydraulic pump according to the control pressure guide | induced to the pressure receiving part 31e.

  FIG. 2 shows the discharge pressure (average value) of the first and second hydraulic pumps 2 and 3 controlled by the first regulator 31 and the capacity (displacement volume or inclination of the swash plate) of the first and second hydraulic pumps 2 and 3. FIG.

  In FIG. 2, broken lines A, B, and C are torque control characteristics set by the springs 31a and 31b, and a broken line A indicates that the hydraulic actuator related to the third hydraulic pump 4, for example, the hydraulic actuator 12 is not operating. When the discharge pressure of the third hydraulic pump 4 is reduced to the minimum pressure P0 (see FIG. 3), the broken line B indicates that the discharge pressure of the third hydraulic pump 4 is the minimum pressure P0 (see FIG. 3). Absorption torque control start pressure by the second regulator 32 (minimum discharge pressure of the third hydraulic pump 4 for which the absorption torque control by the second regulator 32 is implemented) P2 (see FIG. 3) and an intermediate pressure P1 (see FIG. 3) The broken line C is when the discharge pressure of the third hydraulic pump 4 is at the pressure P2.

  When the discharge pressure of the third hydraulic pump 4 is at the minimum pressure P0, the capacities of the first and second hydraulic pumps change as follows based on the torque control characteristic of the broken line A (hereinafter referred to as characteristic line A as appropriate). To do.

  When the average value of the discharge pressures of the first and second hydraulic pumps 2 and 3 is within the range of P0 to P1A, the absorption torque control is not performed, and the capacity of the first and second hydraulic pumps 2 and 3 is the maximum capacity. It is on the characteristic line L1 and is the maximum (constant). At this time, the absorption torque of the first and second hydraulic pumps 2 and 3 increases as their discharge pressures increase. When the average value of the discharge pressures of the first and second hydraulic pumps 2 and 3 exceeds P1A, the absorption torque control is performed, and the capacities of the first and second hydraulic pumps 2 and 3 decrease along the characteristic line A. As a result, the absorption torque of the first and second hydraulic pumps 2 and 3 is controlled so as not to exceed the prescribed torque Ta (the maximum absorption torque assigned to the first and second hydraulic pumps 2 and 3) represented by the constant torque curve TA. The In this case, the pressure P1A is the start pressure of the absorption torque control by the first regulator 31, and P1A to Pmax are the discharge pressure ranges of the first and second hydraulic pumps 2 and 3 in which the absorption torque control by the first regulator 31 is performed. It is. Pmax is the maximum value of the average value of the discharge pressures of the first and second hydraulic pumps 2 and 3, and is a value corresponding to the relief set pressure of the main relief valves 15 and 16. When the discharge pressures of the first and second hydraulic pumps 2 and 3 increase to Pmax, the main relief valves 15 and 16 are operated, and further increase in pump discharge pressure is limited.

  When the discharge pressure of the third hydraulic pump 4 increases, the characteristic line of the absorption torque control shifts in the horizontal axis direction from the broken line A to the broken lines B and C by the control of the present invention (total torque speed sensing control) described later, Accordingly, the starting pressure of the absorption torque control by the first regulator 31 changes (decreases) from P1A to P1B and P1C, and the discharge pressure range in which the absorption torque control by the first regulator 31 is performed is from P1A to Pmax to P1A to P1A. Pmax changes from P1A to Pmax. Accordingly, the assigned maximum absorption torque of the first and second hydraulic pumps 2 and 3 decreases from Ta to Tb and Tc.

  FIG. 3 is a diagram showing the relationship between the discharge pressure of the third hydraulic pump 4 controlled by the second regulator 32 and the capacity of the third hydraulic pump 4 (displacement volume or tilt of the swash plate). In FIG. 3, a solid line D is a torque control characteristic set by the spring 32a.

  When the discharge pressure of the third hydraulic pump 4 is within the range of P0 to P2, the absorption torque control is not performed, and the capacity of the third hydraulic pump 4 is on the maximum capacity characteristic line L2 and is maximum (constant). . At this time, the absorption torque of the third hydraulic pump 4 increases as the discharge pressure increases. When the discharge pressure of the third hydraulic pump 4 exceeds P2, absorption torque control is performed, and the capacity of the third hydraulic pump 4 decreases along the characteristic line of the solid line D. Thus, the absorption torque of the third hydraulic pump 4 is controlled so as not to exceed the specified torque Td (the maximum absorption torque assigned to the third hydraulic pump) represented by the constant torque curve TD. In this case, the pressure P2 is the starting pressure of the absorption torque control by the second regulator 32, and P2 to Pmax are the discharge pressure range of the third hydraulic pump 4 in which the absorption torque control by the second regulator 32 is performed. Pmax is the maximum value of the discharge pressure of the third hydraulic pump 4 and is a value corresponding to the relief set pressure of the main relief valve 17. When the discharge pressure of the third hydraulic pump 4 rises to Pmax, the main relief valve 17 is activated, and further increase in the pump discharge pressure is restricted.

  FIG. 4 is a functional block diagram showing processing functions related to the torque control device of the controller 23. The controller 23 includes a pump base torque calculator 42, a rotational speed deviation calculator 43, a correction torque selector 44, a first correction torque calculator 45a, a second correction torque calculator 45b, and a first adder 45c. The second addition unit 46, the solenoid valve output pressure calculation unit 47, and the solenoid valve drive current calculation unit 48 are provided.

  The pump base torque calculation unit 42 calculates the total maximum absorption torque that can be used by the three pumps of the first, second, and third hydraulic pumps 2, 3, and 4 as the pump base torque (reference torque) Tr. The target rotational speed command signal is input from the rotational speed command operating device 21 and is referred to a table stored in the memory, and the pump base torque Tr corresponding to the target rotational speed is calculated. The relationship between the target rotational speed and the pump base torque Tr is set in the memory table so that the pump base torque Tr decreases as the target rotational speed decreases.

  FIG. 5 is a diagram showing the relationship between the engine output torque Te and the pump base torque (pump maximum absorption torque) Tr. The output torque Te of the engine 1 decreases as the engine speed decreases. The pump maximum absorption torque Tr needs to be within the range of the output torque Te of the engine 1. Therefore, the pump maximum absorption torque Tr also decreases as the target rotational speed decreases.

Here, the pump base torque (reference torque) Tr is a value corresponding to the specified torque Ta when the discharge pressure of the third hydraulic pump 4 is at the minimum pressure P0. That is,
Tr = Ta
The rotational speed deviation calculation unit 43 subtracts the target rotational speed from the actual rotational speed of the engine 1 detected by the rotational speed sensor 51 to calculate the rotational speed deviation ΔN. That is, when the actual rotational speed is Ne and the target rotational speed is Nr, the following calculation is performed.

ΔN = Ne−Nr
The correction torque selection unit 44 selects one of the first and second correction torque calculation units 45a and 45b according to the discharge pressure of the third hydraulic pump (hereinafter referred to as Pp3), and selects the selected correction torque calculation unit. Outputs rotation speed deviation ΔN. The correction torque selector 44 selects one of the first and second correction torque calculators 45a and 45b as follows according to the discharge pressure Pp3 of the third hydraulic pump.

(1) P0 ≦ Pp3 ≦ Pa → select the first correction torque calculation unit 45a (2) Pa <Pp3 → select the second correction torque calculation unit 45b Here, Pa is smaller than P2 as shown in FIG. And a pressure value relatively close to P0.

  The first correction torque calculation unit 45a has a first torque correction table T1 for obtaining a first torque correction value ΔT1 of speed sensing control from the rotation speed deviation ΔN, and the rotation speed deviation ΔN is obtained from the first torque correction table T1. To calculate the first torque correction value ΔT1 of the corresponding speed sensing control. More specifically, the first torque correction table T1 sets a first gain KT1 suitable for performing normal speed sensing control as a gain for obtaining the first torque correction value ΔT1 from the rotational speed deviation ΔN. There is a relationship between the rotational speed deviation ΔN and the first gain KT1 as described below.

ΔN ≧ ΔNa (negative value) → KT1 = 0
ΔN <ΔNa → KT1 = a
Here, “ΔNa” is a rotation speed deviation (negative value) suitable for starting normal speed sensing control, and “a” is a gain suitable for performing normal speed sensing control.

  The first correction torque calculator 45a calculates a first torque correction value ΔT1 for speed sensing control by multiplying the rotation speed deviation ΔN by a first gain KT1 corresponding to the ΔN.

  The second correction torque calculation unit 45b has a second torque correction table T2 for obtaining a second torque correction value ΔT2 of the speed sensing control from the rotation speed deviation ΔN, and the rotation speed deviation ΔN is calculated from the second torque correction table T2. To calculate the second torque correction value ΔT2 of the corresponding speed sensing control. More specifically, the second torque correction table T2 is a table in which a second gain KT2 larger than the first gain KT1 is set as a gain for obtaining the second torque correction value ΔT2 from the rotational speed deviation ΔN. The relationship between the rotational speed deviation ΔN and the second gain KT2 is set.

ΔN ≧ 0 → KT2 = 0
ΔN <0 → KT2 = b
Here, “b” is suitable for performing control for reducing the absorption torque of the first and second hydraulic pumps in accordance with the increase of the absorption torque of the third hydraulic pump (hereinafter, referred to as full torque speed sensing control as appropriate). It is a gain of speed sensing control and has a relationship of b> a.

  The first addition unit 45c adds the first and second torque correction values ΔT1 and ΔT2 calculated by the first and second correction torque calculation units 45a and 45b, thereby calculating the correction torque selected by the correction torque selection unit 44. The torque correction value calculated by the unit is output as a torque correction value ΔT.

The second addition unit 46 adds the torque correction value ΔT of the speed sensing control calculated by the first addition unit 45c to the pump base torque Tr calculated by the pump base torque calculation unit 42, and calculates the target absorption torque Tn. In other words,
Tn = Tr + ΔT
The solenoid valve output pressure calculation unit 47 calculates a control pressure for setting the target torque Tn as the maximum absorption torque of the first and second hydraulic pumps 2 and 3 in the first regulator 31, and the second addition The target absorption torque Tn obtained by the unit 46 is referred to a table stored in the memory, and the output pressure Pc of the electromagnetic proportional valve 35 corresponding to the target absorption torque Tn is calculated. In the memory table, the relationship between the target absorption torque Tn and the output pressure Pc is set so that the output pressure Pc decreases as the target absorption torque Tn increases.

  The solenoid valve drive current calculator 48 calculates the drive current Ic of the solenoid proportional valve 35 for obtaining the output pressure Pc of the solenoid proportional valve 35 obtained by the solenoid valve output pressure calculator 47, and the solenoid valve output pressure. The output pressure Pc of the electromagnetic proportional valve 35 obtained by the calculation unit 47 is referred to a table stored in the memory, and the drive current Ic of the electromagnetic proportional valve 35 corresponding to the output pressure Pc is calculated. In the memory table, the relationship between the output pressure Pc and the drive current Ic is set so that the drive current Ic increases as the output pressure Pc increases. This drive current Ic is amplified by an amplifier (not shown) and output to the electromagnetic proportional valve 35.

  In the above, the controller 23, the electromagnetic proportional valve 35, and the pressure receiving part 31e of the first regulator 31 are the engine 1 (detected by the rotational speed sensor 51 and the target rotational speed commanded by the rotational speed command operating device 21 (command means)). The deviation ΔN from the actual rotational speed of the prime mover) is calculated, and one of a plurality of torque correction tables T1, T1 having different gains is selected according to the discharge pressure of the third hydraulic pump 4 detected by the pressure sensor 34, A corresponding torque correction value ΔT is obtained by referring to the rotational speed deviation ΔN in the torque correction table, and the torque correction value ΔT is added to the reference torque Tr to control the absorption torque of the first and second hydraulic pumps 2 and 3. Therefore, the control means for obtaining the target absorption torque Tn for controlling the first regulator 31 so as to obtain the target absorption torque Tn is configured.

  Next, the operation of the present embodiment configured as described above will be described.

  For example, the pressure oil from the first and second hydraulic pumps 2 and 3 is supplied to the hydraulic actuators 7 and 12 through corresponding flow control valves included in the valve groups 6a and 6b of the control valve unit 6 to drive them. During operation (when using the first and second hydraulic pumps 2 and 3 and not using the third hydraulic pump 4), the discharge pressure of the third hydraulic pump 4 is at the minimum pressure P0, and P0 ≦ Pp3 ≦ Since it is Pa, the correction torque selection unit 44 of the controller 23 selects the first correction torque calculation unit 45a among the first and second correction torque calculation units 45a and 45b, and the first correction torque calculation unit 45a Corresponds to the rotational speed deviation ΔN by the first torque correction table T1 in which the first gain KT1 suitable for normal speed sensing control is set. Calculating a first torque correction value ΔT1 has.

  At this time, when the hydraulic actuators 7 and 12 are in a driving state not accompanied by a large load fluctuation, the actual rotational speed of the engine 1 substantially coincides with the target rotational speed and is calculated by the rotational speed deviation calculating unit 43. Therefore, the first correction torque calculation unit 45a similarly calculates 0 or a smaller value as the torque correction value, and the second addition unit 46 calculates the target absorption torque. As Tn, a value substantially equal to the pump base torque (reference torque) Tr is calculated. Thereby, in the first regulator 31, the torque control characteristic of the broken line A shown in FIG. 2 is set, and the capacities (maximum absorption torque) of the first and second hydraulic pumps are controlled based on this torque control characteristic.

  That is, when the average discharge pressure of the first and second hydraulic pumps 2 and 3 becomes higher than P1A in FIG. 2, the capacity of the first and second hydraulic pumps 2 and 3 increases as the average discharge pressure increases. In this way, the absorption torque of the first and second hydraulic pumps 2 and 3 is controlled so as not to exceed the specified torque Ta represented by the constant torque curve TA. Here, as described above, the prescribed torque Ta is a value corresponding to the pump base torque Tr (Ta = Tr), and the engine output torque can be used effectively.

  On the other hand, when the average discharge pressure of the first and second hydraulic pumps 2 is higher than P1A in FIG. 2 and the capacities of the first and second hydraulic pumps 2 and 3 are controlled on the characteristic line A, the first and second hydraulic pumps 2 and 3 are controlled. 2 When the load (discharge pressure) of the hydraulic pumps 2 and 3 is suddenly increased and the load torque of the engine 1 is suddenly increased, the rotational speed (actual rotational speed) of the engine 1 is delayed due to a delay in control of the fuel injection device 25. Decreases transiently. In such a case, the rotation speed deviation calculation unit 43 in FIG. 4 calculates the rotation speed deviation ΔN as a negative value and a larger absolute value, and the first correction torque calculation unit 45a By multiplying the rotation speed deviation ΔN by the first control gain KT1, the first torque correction value ΔT1 is also a negative value, and the absolute value is calculated as a larger negative value. Then, the second addition unit 46 adds the torque correction value ΔT1 as a negative value to the pump base torque Tr, thereby reducing the target absorption torque Tn from the pump base torque Tr by the absolute value of the torque correction value ΔT1. As a result, the maximum absorption torque set in the first regulator 31 also decreases by the absolute value of the torque correction value ΔT1, and the absorption torque control characteristic line shown in FIG. 2 shifts from the polygonal line A to the polygonal line B side. Similarly, the absorption torque of the first and second hydraulic pumps controlled by the regulator 31 also decreases (reducing torque control). As a result of the torque reduction control by speed sensing control as described above, the rotational speed of the engine 1 can be quickly increased to prevent the engine performance from being lowered and the work performance can be improved.

  Next, as an operation state in which the first to third hydraulic pumps 2 to 4 are used, the operation state in which the first and second hydraulic pumps 2 and 3 drive the hydraulic actuators 7 and 12 as described above. Further, a case where a hydraulic actuator related to the third hydraulic pump 4, for example, the hydraulic actuator 12 is driven will be considered. Before the hydraulic actuator 12 is driven, the first and second hydraulic pumps 2 and 3 operate on the characteristic line A in FIG. 2, and after the hydraulic actuator 12 is driven, the third hydraulic pump 4 has the characteristic line in FIG. Suppose it operates on D. In this case, since the discharge pressure Pp3 of the third hydraulic pump 4 is higher than Pa in FIG. 2 (Pp3> Pa), in the correction torque selection unit 44 of the controller 23, the first and second correction torque calculation units 45a, The second correction torque calculation unit 45b is selected from among 45b, and the second correction torque calculation unit 45b sets the second gain KT2 larger than the first gain KT1 suitable for performing the normal speed sensing control. Based on the 2-torque correction table T2, a second torque correction value ΔT2 corresponding to the rotational speed deviation ΔN at that time is calculated.

  At this time, immediately after the hydraulic actuator 12 is driven, the absorption torque of the third hydraulic pump 4 is excessive with respect to the engine 1, so that the rotational speed of the engine 1 decreases and the rotational speed deviation calculation of FIG. In the unit 43, the rotation speed deviation ΔN is a negative value and the absolute value is calculated as a larger value. Further, in the second correction torque calculator 45b, the second torque correction value ΔT2 is also calculated as a relatively large negative value by multiplying the rotation speed deviation ΔN by the second control gain KT2. Then, the second addition unit 46 adds the torque correction value ΔT2 as a negative value to the pump base torque Tr, thereby reducing the target absorption torque Tn from the pump base torque Tr by the absolute value of the torque correction value ΔT2. As a result, the maximum absorption torque set in the first regulator 31 also decreases by the absolute value of the torque correction value ΔT2, and the absorption torque control characteristic line shown in FIG. 2 shifts from the polygonal line A to the polygonal line C. Similarly, the absorption torque of the first and second hydraulic pumps controlled by the regulator 31 also decreases (total torque control). Further, the second control gain KT2 at this time is larger than the first gain KT1 suitable for performing normal speed sensing control, and is a gain suitable for performing full torque speed sensing control. When the engine speed is about to decrease significantly by driving the hydraulic actuator related to No. 4, the assigned maximum absorption torque of the first and second hydraulic pumps is reduced in response to the decrease in the engine speed with good response, and the engine stall is reduced. The first and second hydraulic pumps 2 and 3 can be torque controlled without waking up.

  As described above, according to the present embodiment, the absorption torque of the three hydraulic pumps 2 to 4 is controlled so as not to exceed the output torque of the engine 1, and the output torque of the engine 1 can be used effectively, and the speed can be increased. Sensing control can prevent a decrease in engine performance when the engine load increases transiently.

  Further, in the present embodiment, the pressure reducing valve conventionally used for performing the total torque control is not necessary, and the same control means (the controller 23, the electromagnetic proportional valve 35, the first control valve as the normal speed sensing control) is performed. Since the full torque speed sensing control is performed using the pressure receiving portion 31e and the piping 39) of one regulator 31, the system can be made simple and inexpensive.

  A second embodiment of the present invention will be described with reference to FIG. FIG. 6 is a diagram showing a regulator portion of the torque control device according to the second embodiment. In the figure, the same components as those shown in FIG. In the present embodiment, the first regulator and the second regulator are provided with a function of controlling the capacity (discharge flow rate) of the first to third hydraulic pumps according to the required flow rate.

  In FIG. 6, the first and second hydraulic pumps 2 and 3 include a first regulator 131, and the third hydraulic pump 4 includes a second regulator 132. The first and second hydraulic pumps 2 and 3 adjust the displacement volume (capacity) by adjusting the tilt angle of the swash plates 2b and 3b, which are displacement displacement variable members, by the first regulator 131, and according to the required flow rate. While controlling the pump discharge flow rate, the pump absorption torque is adjusted. The third hydraulic pump 4 adjusts the displacement volume (capacity) by adjusting the tilt angle of the swash plate 4b, which is a displacement displacement variable member, by the second regulator 131, and controls the pump discharge flow rate according to the required flow rate. Adjust pump absorption torque.

  The first regulator 131 includes a tilt control actuator 112 that operates the swash plates 2 b and 3 b, a torque control servo valve 113 that controls the actuator 112, and a position control valve 114. The tilt control actuator 112 is linked to the swash plates 2b and 3b and has a pump tilt control spool 112a having different pressure receiving areas at the pressure receiving portions provided at both ends, and a small area pressure receiving portion side of the pump tilt control spool 112a. A tilt control increasing torque receiving chamber 112b is provided, and a tilt control decreasing torque receiving chamber 112c is provided on the large area pressure receiving portion side. The tilt control increasing torque receiving chamber 112b is connected to the discharge line 5a of the pilot pump 5 via an oil passage 135, and the tilt control decreasing torque receiving chamber 112c is connected to the discharge passage 5a of the pilot pump 5 with an oil passage 135 and torque control. The servo valve 113 and the position control valve 114 are connected.

  The torque control servo valve 113 includes a torque control spool 113a, springs 113b1 and 113b2 positioned on one end side of the torque control spool 113a, a first PQ control pressure receiving chamber 113c and a second PQ control positioned on the other end side of the torque control spool 113a. A pressure receiving chamber 113d and a reduced torque control pressure receiving chamber 113e are provided. The first PQ control pressure receiving chamber 113c is connected to the discharge line 2a of the first hydraulic pump 2 through the signal line 115a, and the second PQ control pressure receiving chamber 113d is connected to the discharge line 3a of the second hydraulic pump 3 through the signal line 115b. The reduced torque control pressure receiving chamber 113d is connected to the output port of the electromagnetic proportional valve 35 via the oil passage 39. As described above, the electromagnetic proportional valve 35 is operated by a drive signal (electric signal) from the controller 23 (FIG. 1).

  The position control valve 114 includes a position control spool 114a, a weak spring 114b for position holding located on one end side of the position control spool 114a, and a control pressure receiving chamber 114c located on the other end side of the position control spool 114a. Yes. A hydraulic signal 116 corresponding to the operation amount (required flow rate) of the operation system related to the first and second hydraulic pumps 2 and 3 is guided to the control pressure receiving chamber 114c. The hydraulic signal 116 can be generated by various known methods. For example, the highest operating pilot pressure among the operating pilot pressures generated by the operating lever device may be selected and used as the hydraulic signal 116. Further, when the flow control valve is a center bypass type valve, a throttle is provided on the downstream side of the center bypass line, the pressure upstream of the throttle is taken out as a negative control pressure, and the negative control pressure is inverted as a hydraulic signal 116. Also good.

  The pump tilt control spool 112a controls the tilt angle (capacity) of the swash plate of the first and second hydraulic pumps 2 and 3 by the pressure balance of the pressure oil in the pressure receiving chambers 112b and 112c. The discharge pressure on the high pressure side of the first and second hydraulic pumps 2 and 3 is guided to the PQ control pressure receiving chamber 113c of the torque control servo valve 113, and the torque control spool 113a moves to the left in the drawing as the pressure increases. . As a result, the discharge oil of the pilot pump 5 flows into the pressure receiving chamber 112c, the pump tilt control spool 112a is moved to the right in the figure, and the swash plates 2b, 3b of the first and second hydraulic pumps 2, 3 are reduced in volume by pushing the pump. Drive in the direction to reduce the pump absorption torque by reducing the pump capacity. As the discharge pressures of the first and second hydraulic pumps 2 and 3 become lower, the reverse operation is performed, and the swash plates 2b and 3b of the first and second hydraulic pumps 2 and 3 are driven in the direction of increasing the displacement of the pump. Then, the pump absorption volume is increased to increase the pump absorption torque.

  The torque control characteristics of the torque control servo valve 113 with respect to the first and second hydraulic pumps 2 and 3 are determined by the pressures led to the springs 113b1 and 113b2 and the reduced torque control pressure receiving chamber 113e, and according to the output pressure of the electromagnetic proportional valve 35. As described above, the torque control characteristic shifts (see FIG. 2). As a result, the maximum absorption torque (assigned maximum absorption torque) of the first and second hydraulic pumps 2 and 3 is controlled to decrease as the discharge pressure of the third hydraulic pump 4 increases, thereby preventing the engine 1 from being overloaded. In addition, when the third hydraulic pump 4 is not used or when the discharge pressure of the third hydraulic pump 4 is lower than P2 in FIG. The output torque of the engine 1 can be effectively utilized by that amount.

  The second regulator 131 includes a tilt control actuator 212 that operates the swash plate 4 b, a torque control servo valve 213 that controls the actuator 212, and a position control valve 214. The tilt control actuator 212, the torque control servo valve 213, and the position control valve 214 are configured similarly to the tilt control actuator 112, the torque control servo valve 113, and the position control valve 114 of the first regulator 131. Equivalent parts are shown with reference numerals in which numbers in the 10s are changed to numbers in the 200s. However, since the torque control servo valve 113 does not require adjustment of the set torque, there is no equivalent to the first and second reduced torque control pressure receiving chambers 113d and 113e.

  The operation of the second regulator 132 is substantially the same as the operation of the first regulator 131. However, the absorption torque control characteristic is determined by the spring 213b of the torque control servo valve 213 and is constant (see FIG. 3).

  In the present embodiment configured as described above, the first regulator 131 and the second regulator 132 have a function of controlling the capacity (discharge flow rate) of the first to third hydraulic pumps 2 to 4 according to the required flow rate. The same effects as those of the first embodiment can be obtained.

  Although several embodiments of the present invention have been described above, various modifications can be made to these embodiments within the spirit of the present invention.

  For example, in the above-described embodiment, two torque correction tables T1 and T2 of the first and second torque correction tables T2 and T2 are provided in the controller 23 as a plurality of torque correction tables having different gains selected according to the discharge pressure of the third hydraulic pump. Although a table is provided, three or more tables may be provided. For example, as the second torque correction table T2, there are provided two tables, a torque correction table T21 in which a gain KT21 slightly larger than the first gain KT1 is set and a torque correction table in which a gain KT22 larger than the gain KT21 is set. Corresponding to the two tables, the discharge pressure range of the third hydraulic pump of Pa or more in FIG. 3 is divided into a first range of Pa <Pp3 ≦ Pb and a second range of Pb <Pp3. When the discharge pressure of the pump 4 is in the first range, the torque correction table T21 is selected, and when the discharge pressure of the third hydraulic pump 4 is in the second range, the torque correction table T22 is selected. A corresponding torque correction value is obtained by referring to the rotational speed deviation ΔN in the torque correction table. As a result, a more appropriate torque correction value corresponding to the magnitude of the discharge pressure of the third hydraulic pump (the magnitude of the excessive load torque with respect to the engine) can be calculated, and smooth full torque speed sensing control can be performed.

  In the above embodiment, the third hydraulic pump is a variable displacement type, but may be a fixed displacement type.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram which shows the whole 3 pump system for construction machines provided with the torque control apparatus concerning the 1st Embodiment of this invention. It is a figure which shows the relationship between the discharge pressure (average value) of the 1st and 2nd hydraulic pump by a 1st regulator, and the capacity | capacitance (displacement volume or inclination of a swash plate) of a 1st and 2nd hydraulic pump. It is a figure which shows the relationship between the discharge pressure of the 3rd hydraulic pump by a 2nd regulator, and the capacity | capacitance (a displacement or inclination of a swash plate) of a 3rd hydraulic pump. It is a functional block diagram which shows the processing function regarding the torque control apparatus of a controller. It is a figure which shows the relationship between an engine output torque and a pump base torque (reference torque). It is a figure which shows the regulator part of the torque control apparatus concerning the 2nd Embodiment of this invention.

Explanation of symbols

1 prime mover (engine)
2 1st hydraulic pump 3 2nd hydraulic pump 4 3rd hydraulic pump 6 Control valve units 6a, 6b, 6c Valve groups 7-12 Multiple hydraulic actuators 15, 16, 17 Main relief valve 18 Pilot relief valve 21 Speed command operation Device 22 Engine control device 23 Controller 24 Governor control motor 25 Fuel injection device 31 First regulator 31a, 31b Spring 31c, 31d, 31e Pressure receiving portion 32 Second regulator 34 Pressure sensor 35 Electromagnetic proportional valve 42 Pump base torque calculating portion 43 Number of revolutions Deviation calculation unit 44 Correction torque selection unit 45a First correction torque calculation unit 45b Second correction torque calculation unit 45c First addition unit 46 Second addition unit 47 Solenoid valve output pressure calculation unit 48 Solenoid valve drive current calculation unit 51 Rotational speed sensor 131 First regulator 132 Second regulator Regulator 112, 212 Tilt control actuator 113, 213 Torque control servo valve 113
113b1, 113b2 Spring 113c First PQ control pressure receiving chamber 113d Second PQ control pressure receiving chamber 113e Reduced torque control pressure receiving chamber 114, 214 Position control valve T1 First torque correction table T2 Second torque correction table

Claims (3)

Prime mover,
Command means for commanding a target rotational speed of the prime mover;
Variable displacement first and second hydraulic pumps driven by the prime mover;
A third hydraulic pump driven by the prime mover;
A construction machine comprising a regulator for controlling the absorption torque of the first and second hydraulic pumps by controlling the capacities of the first and second hydraulic pumps based on the discharge pressures of the first and second hydraulic pumps. In the torque control device of the three pump system for
A pressure sensor for detecting a discharge pressure of the third hydraulic pump;
A rotational speed sensor for detecting an actual rotational speed of the prime mover;
A deviation between the target rotational speed commanded by the command means and the actual rotational speed of the prime mover detected by the rotational speed sensor is calculated, and gain is obtained according to the discharge pressure of the third hydraulic pump detected by the pressure sensor. Is selected, a corresponding torque correction value is obtained by referring to the rotation speed deviation in the torque correction table, and this torque correction value is added to a reference torque to obtain the first and the second torque correction tables. Torque control of a three-pump system for construction machinery, comprising: a control means for obtaining a target absorption torque for controlling the absorption torque of the second hydraulic pump and controlling the regulator so as to obtain the target absorption torque apparatus. The torque control device for a three-pump system for construction machinery according to claim 1,
The control means includes a first torque correction table in which a first gain suitable for performing normal speed sensing control is set as the plurality of torque correction tables, and a second gain in which a second gain greater than the first gain is set. A torque control device for a three-pump system for construction machinery, comprising a two-torque correction table. The torque control device for a three-pump system for construction machinery according to claim 1,
The regulator has a plurality of pressure receiving portions arranged with the spring means to act in the capacity increasing direction of the first and second hydraulic pumps and acting in the capacity decreasing direction of the first and second hydraulic pumps. ,
The control means includes an electromagnetic proportional valve that converts the target absorption torque into a hydraulic signal,
The discharge pressures of the first and second hydraulic pumps are guided to at least one of the plurality of pressure receiving portions of the regulator, and the other one of the plurality of pressure receiving portions is configured as a part of the control means. A torque control device for a three-pump system for a construction machine, characterized in that the output pressure of the electromagnetic proportional valve is led to a section.

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