JPH11230109A - Control device for hydraulically driven machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce a cost by utilizing a sensor already arranged in a hydraulically driven machine, and also improve the operation characteristic of a lever by distributing a flow having a ratio according to the manipulated variable of each lever from a hydraulic pump to each hydraulic actuator without previously memorizing the pump maximum discharge flow even when the hydraulic pump is saturated. SOLUTION: A correction efficient α1 to correct the manipulated variable of a corresponding operating lever 6 (opening area A1 according to the manipulated variable) is calculated based on the real flow Qr1 detected by real flow detecting means 8a1 and a target flow Qm1 detected by target flow detecting means 8b1. The manipulated variable of the corresponding operating lever 6 (the opening area Al according to the manipulated variable) is corrected to A1' (=α1.A1) by using this correction coefficient α1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for driving and controlling a hydraulic actuator according to an operation amount of an operating element in a hydraulically driven machine such as a hydraulic shovel or a crane.

[0002]

2. Description of the Related Art Generally, in a hydraulically driven machine such as a construction machine, a drive command signal indicating the operation amount of a plurality of operation levers is transmitted to a corresponding plurality of operation valves (flow control valves).
In addition, the opening areas of the plurality of operation valves are changed according to the drive command signal, whereby the corresponding plurality of hydraulic actuators are driven. That is, when a plurality of operating levers are simultaneously operated, the hydraulic pressure discharged from the hydraulic pump is supplied to a plurality of hydraulic actuators via a plurality of operating valves on a plurality of hydraulic oil supply paths, and the plurality of hydraulic actuators are simultaneously operated. Driven.

In such a configuration, there is a so-called load sensing system as a technique for eliminating the so-called load dependency of the drive speed of a hydraulic actuator during a combined operation.

In this system, a valve called a pressure compensating valve is provided between a hydraulic pump and a flow control valve or between a flow control valve and a hydraulic actuator, and a valve for pressure oil passing through the flow control valve is provided. The differential pressure between the front and rear pressures is compensated so as to be the same value for any of the drive shafts (booms, arms, and the like in construction machines). That is, the general formula of the hydraulic circuit is as follows: Q = cAＡ (ΔP) (where Q is the flow rate passing through the throttle of the flow control valve, c is the flow rate constant, A is the opening area of the throttle, ΔP is the throttle The differential pressure ΔP is the same for each drive shaft, so that a flow rate Q proportional to the drive command value (opening area A) commanded by the operator is obtained. I have.

Further, the discharge pressure of the hydraulic pump is controlled so that the discharge pressure of the hydraulic pump becomes a pressure obtained by adding the above-mentioned differential pressure to the maximum value of the load pressure of the operating hydraulic actuator. This prevents a change in speed (load pressure dependency) due to a difference in load pressure between the hydraulic actuators during the combined operation.

On the other hand, this system has the drawback that the structure of the valve is complicated and that hunting is liable to occur due to poor hydraulic stability.

Therefore, in order to solve this problem, Japanese Patent Publication No. 6-41762 and Japanese Patent Publication No. 6-41764 attempt to configure a system without using the pressure compensating valve.

That is, in the above-mentioned publication, a pressure sensor is attached to detect the differential pressure ΔP, and the differential pressure is calculated using the general formula of the hydraulic circuit, Q = c · A · √ (ΔP). In the case of ΔP, the opening area A for realizing the target flow rate Q is obtained from the relational expression of A = Q / (c · √ (ΔP)) by an inverse calculation.

In Japanese Patent Application Laid-Open No. Hei 8-270019, the opening area is similarly obtained using a pressure sensor.

As described above, the opening area required to obtain the target flow rate for each of the different pressure differences ΔP in the respective hydraulic actuators is inversely calculated from the above general formula, so that the actuator speed in the combined operation can be obtained. Of load dependency.

The above is the contents of the conventional "pressure compensation control".

Here, it is desired that “pressure compensation control” similar to that of the prior application can be performed with a simple configuration without detecting a differential pressure.

That is, in the above-described conventional technology, it is necessary to mount a pressure sensor for each hydraulic actuator in order to detect pressure information and perform pressure compensation. This pressure sensor must be provided only for "pressure compensation control",
For this reason, the problem that cost becomes high arises.

In Japanese Patent Publication No. 6-41764, for example, assuming that QA [l / min] flows through one actuator and QB [l / min] flows through the other actuator, the openings corresponding to the respective actuators are denoted by A,
B, if the flow coefficient is c and the differential pressure before and after is ΔP, QA, QB
QA = c · A · √ (ΔP) QB = c · B · √ (ΔP)

Here, Q in consideration of the lever operation amount
A and QB are obtained by multiplying QA and QB by the ratio of each lever operation amount to the total value of all lever operation amounts. That is, assuming that the respective lever operation amounts are XLA and XLB, the lever operation amount and the opening correspond one-to-one, so the relationship between the ratio of the individual lever operation amount to the total value of all the lever operation amounts and the opening is XLA / (XLA + XLB) = A / (A + B) XLB / (XLA + XLB) = B / (A + B)

Therefore, the total flow rate in consideration of the ratio distribution of the lever operation amount is given by the following equation: (XLA / (XLA + XLB) .QA) + (XLB / (XLA + XL)
B) · QB) = c · √ (ΔP) · (A + B) −c · √ (Δ
P) · 2AB / (A + B).

However, c · √ (ΔP) · 2AB /
Since the valve opening is insufficient for (A + B), a problem arises in that the target flow rate cannot be obtained.

In Japanese Patent Application Laid-Open No. 8-270019, in order to cope with a case where the total of the target flow rates of the respective actuators exceeds the maximum discharge flow rate QMAX of the pump, the value of QMAX is stored in the controller in advance, and this stored value is stored. Using the value
The valve opening was calculated to correspond to the ratio of each lever operation amount to the total value of all lever operation amounts.
That is, it was necessary to store QMAX in advance.

The present invention has been made in view of such circumstances, and by using a sensor already provided in a hydraulic drive machine, cost can be reduced, and even when the hydraulic pump is saturated, It is an object of the present invention to improve lever operability by distributing a flow rate of a ratio corresponding to each lever operation amount from a hydraulic pump to each hydraulic actuator without storing a pump maximum discharge flow rate in advance.

[0020]

Therefore, according to a first aspect of the present invention, there is provided a hydraulic pump, a plurality of hydraulic actuators provided corresponding to a plurality of operators, and an operation amount of the operators. A plurality of operation valves for supplying discharge hydraulic oil of the hydraulic pump at a corresponding flow rate to a corresponding hydraulic actuator, wherein the hydraulic drive machine drives the hydraulic actuator in accordance with the operation of the operating element. ,
Actual flow rate detecting means for detecting an actual flow rate of the pressure oil supplied to the hydraulic actuator for each of the plurality of hydraulic actuators; A target flow rate detecting means for detecting a target flow rate, and a correction coefficient for correcting an operation amount of a corresponding operating element based on the actual flow rate detected by the actual flow rate detecting means and the target flow rate detected by the target flow rate detecting means. A correction coefficient calculating means for calculating, and an operation amount correcting means for correcting the operation amount of the corresponding operating element using the correction coefficient are provided.

According to the first invention, as shown in FIG. 2, based on the actual flow rate Qr1 detected by the actual flow rate detection means 8a1 and the target flow rate Qm1 detected by the target flow rate detection means 8b1, a corresponding operator A correction coefficient α1 for correcting the operation amount of 6 (opening area A1 corresponding to the operation amount) is calculated, and using this correction coefficient α1, the operation amount of the corresponding operating element 6 (opening area A1 corresponding to the operation amount). Is corrected to A1 '(= α1 · A1).

As described above, by correcting the operation amount,
The same "pressure compensation control" as in the related art can be performed without detecting the differential pressure ΔP. As a result, the configuration of the "pressure compensation control" device can be simplified.

That is, in the hydraulic drive machine, a sensor capable of detecting the flow rate supplied to each hydraulic actuator is already provided for controlling each hydraulic actuator.

For example, in an urban hydraulic excavator having a compact design, a rotation angle sensor is attached to each work machine in order to prevent interference between the cabin and the bucket, and is supplied to the hydraulic actuator by using this. It is possible to detect the actual flow rate of the pressure oil.

Therefore, according to the present invention, it is not necessary to newly provide a sensor only for "pressure compensation control", and the cost can be reduced.

Further, in the present invention, the actual flow rate Qri and the target flow rate Qmi are obtained, and the correction is performed in consideration of the difference between the actual flow rate and the target flow rate due to load dependency. Therefore, even if the discharge amount of the hydraulic pump is saturated,
A flow rate at a ratio corresponding to the operation amount of each operation lever can be distributed from the hydraulic pump to each hydraulic actuator.
Therefore, lever operability is improved.

According to a second aspect of the present invention, in the same hydraulic drive machine, there is provided an actual flow rate detecting means for detecting an actual flow rate of the pressure oil supplied to each hydraulic actuator for each of the plurality of hydraulic actuators. A target opening detecting means for detecting a target opening of an operation valve corresponding to an operation amount of the operating element for each of the plurality of operating elements, and an actual flow rate detected by the actual flow rate detecting means and detected by the target opening detecting means. Correction coefficient calculation means for calculating a correction coefficient for correcting the operation amount of the corresponding operation element based on the target opening thus set; and operation amount correction for correcting the operation amount of the corresponding operation element using the correction coefficient. Means.

According to the second invention, as shown in FIG. 3, based on the actual flow rate Qr1 detected by the actual flow rate detecting means 8a1 and the target opening A1 detected by the target opening detecting means 8b1, a corresponding operator A correction coefficient α1 for correcting the operation amount of 6 (opening area A1 corresponding to the operation amount) is calculated, and using this correction coefficient α1, the operation amount of the corresponding operating element 6 (opening area A1 corresponding to the operation amount). Is corrected to A1 '(= α1 · A1).

As described above, by correcting the operation amount,
The same effect as that of the first invention can be obtained. Also,
Since the target flow rate detecting means 8b1 is not required, the first
It can be simpler than the configuration of the device of the invention.

According to a third aspect of the present invention, in the same hydraulic drive machine, there is provided an actual flow rate detecting means for detecting an actual flow rate of the pressure oil supplied to each hydraulic actuator for each of the plurality of hydraulic actuators. A target flow rate detecting means for detecting a target flow rate of the pressure oil corresponding to an operation amount of each of the plurality of operating elements, and a pressure supplied to all hydraulic actuators detected by the actual flow rate detecting means. First ratio distribution calculating means for calculating, for each hydraulic actuator, a first ratio distribution of the actual flow rate of the pressure oil supplied to each hydraulic actuator to the total value of the actual flow rate of the oil, and the target flow rate detecting means The second ratio of the target flow rate of the pressure oil corresponding to the operation amount of each operation element to the total value of the target flow rates of the pressure oil corresponding to the operation amounts of all the operation elements detected in And a second ratio distribution calculating means for calculating the share for each operator, and a second ratio distribution calculating means for the first ratio distribution calculated by the first ratio distribution calculating means. Correction coefficient calculating means for calculating the ratio of the ratio distribution of 2 as a correction coefficient for correcting the operation amount of the corresponding operation element, and operation of correcting the operation amount of the corresponding operation element using the correction coefficient And an amount correcting means.

According to a fourth aspect of the present invention, in the same hydraulic drive machine, there is provided an actual flow rate detecting means for detecting an actual flow rate of the pressure oil supplied to each of the plurality of hydraulic actuators. A target opening detecting means for detecting a target opening of an operating valve corresponding to an operation amount of each of the plurality of operating elements, and a pressure supplied to all hydraulic actuators detected by the actual flow rate detecting means. First ratio distribution calculating means for calculating, for each hydraulic actuator, a first ratio distribution of the actual flow rate of the pressure oil supplied to each hydraulic actuator to the total value of the actual flow rate of the oil, and the target opening detecting means The second of the target opening of the operating valve corresponding to the operation amount of each operation element with respect to the total value of the target opening of the operation valve corresponding to the operation amount of all the operation elements detected in The second ratio distribution calculating means for calculating the ratio distribution for each operator, and the second ratio distribution calculating means for the first ratio distribution calculated by the first ratio distribution calculating means. Correction coefficient calculating means for calculating the ratio of the second ratio distribution as a correction coefficient for correcting the operation amount of the corresponding operation element; and correcting the operation amount of the corresponding operation element using the correction coefficient. An operation amount correction means is provided.

According to a fifth aspect of the present invention, in the same hydraulic drive machine, there is provided an actual flow rate detecting means for detecting an actual flow rate of the pressure oil supplied to each hydraulic actuator for each of the plurality of hydraulic actuators. A target flow rate detecting means for detecting a target flow rate of the pressure oil corresponding to the operation amount of each of the plurality of control elements, and the target flow rate detection means for the actual flow rate detected by the actual flow rate detection means. Correction coefficient calculating means for calculating a ratio of the detected target flow rate as a correction coefficient for correcting the operation amount of the corresponding operation element; and correcting the operation amount of the corresponding operation element using the correction coefficient. An operation amount correction means is provided.

According to the third and fourth aspects of the present invention, regardless of whether the discharge flow rate from the hydraulic pump is saturated or not, the ratio of each lever operation amount to the total value of all lever operation amounts becomes: The pump discharge flow rate can be diverted to the actuator. On the other hand, according to the fifth aspect, when the discharge flow rate from the hydraulic pump has not reached saturation, it is possible to control the speed of the actuator faithfully with the lever operation.

According to a sixth aspect of the present invention, in the same hydraulic drive machine, there is provided an actual flow rate detecting means for detecting an actual flow rate of the pressure oil supplied to each hydraulic actuator for each of the plurality of hydraulic actuators. A target flow rate detecting means for detecting a target flow rate of the pressure oil corresponding to an operation amount of each of the plurality of operating elements, and a pressure supplied to all hydraulic actuators detected by the actual flow rate detecting means. First ratio distribution calculating means for calculating, for each hydraulic actuator, a first ratio distribution of the actual flow rate of the pressure oil supplied to each hydraulic actuator to the total value of the actual flow rate of the oil, and the target flow rate detecting means The second ratio of the target flow rate of the pressure oil corresponding to the operation amount of each operation element to the total value of the target flow rates of the pressure oil corresponding to the operation amounts of all the operation elements detected in And a second ratio distribution calculating means for calculating the share for each operator, and a second ratio distribution calculating means for the first ratio distribution calculated by the first ratio distribution calculating means. A first correction coefficient calculating means for calculating a ratio of the ratio distribution of 2 as a first correction coefficient for correcting the operation amount of the corresponding operating element; and a first correction coefficient calculating means for calculating an actual flow rate detected by the actual flow rate detecting means. A second correction coefficient calculating means for calculating a ratio of the target flow rate detected by the target flow rate detecting means as a second correction coefficient for correcting the operation amount of the corresponding operating element, and the first correction coefficient or The second
Switching selection means for switching and selecting the correction coefficient of the operation element, and operation amount correction means for correcting the operation amount of the corresponding operating element using the switching and the selected first correction coefficient or second correction coefficient. It is equipped with.

In a seventh aspect based on the sixth aspect, the switching selecting means switches the first correction coefficient or the second correction coefficient in accordance with the magnitude of the operation amount of the corresponding operating element. , To be selected.

That is, according to the sixth and seventh aspects,
Since it can be switched and selected according to the situation, regardless of whether the discharge flow rate from the hydraulic pump is saturated or not, the ratio of the individual lever operation amount to the total value of all lever operation amounts will be The discharge flow rate can be diverted to the actuator, and when the discharge flow rate from the hydraulic pump has not reached saturation, the speed of the actuator can be controlled faithfully according to the lever operation. Therefore, it is possible to more closely match the operation feeling required by the operator, and work efficiency is dramatically improved.

According to an eighth aspect of the present invention, in a similar hydraulically driven machine, the posture detecting means for detecting the postures of the plurality of working machines and the posture detected by the posture detecting means, A correction coefficient changing means for changing a correction coefficient for correcting the operation amount of the operation element, and an operation amount correction means for correcting the operation amount of the corresponding operation element using the correction coefficient are provided.

According to the eighth aspect, when the boom 11 and the arm 12 start the skiving operation (solid line) as shown in FIG. 8 (b), θ1 + θ2 becomes small and fine operability is required. As shown in the storage table 82 of FIG. 7A, the aperture can be changed to a larger one (a smaller aperture correction coefficient), and the aperture can be corrected to be faithful to αi or βi. On the other hand, when the boom 11 and the arm 12 finish the skiving operation (dotted line) as shown in FIG. 7B, θ1 + θ2 becomes large and a speed is required, so that the storage table 82 shown in FIG. In this manner, the aperture correction amount can be changed to a smaller one (a larger aperture correction coefficient), and the aperture need not be corrected.

[0039]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a control apparatus for a hydraulic drive machine according to the present invention.

In this embodiment, a construction machine such as a hydraulic shovel is assumed as the hydraulic drive machine.

FIG. 1 shows the configuration of a control device for a hydraulic excavator.

As shown in the figure, the apparatus is driven by an engine (not shown), and the swash plate tilt angle is changed in accordance with a drive command output from the control unit 8, whereby the discharge flow rate is changed. Hydraulic cylinders 2 and 3 as two hydraulic actuators provided respectively corresponding to operation levers 6 and 7 as two operators, a hydraulic pump 1 and the hydraulic cylinder 2 described above. , 3
Are respectively provided in the two pressure oil supply paths 31 and 32 between them, and their opening areas are changed according to drive command signals S1 and S2 output from the control unit 8, and according to the changed opening areas. Flow control valves 4 and 5 as two operation valves for supplying the hydraulic oil having the flow rates to the corresponding hydraulic cylinders 2 and 3, respectively, and the operation amounts V1 and V2 of the operation levers 6 and 7, respectively.
Processing such as correction is performed as described later, and drive command signals S1 and S2 corresponding to the corrected manipulated variables are output to the corresponding flow rate control valves 4 and 5, respectively. And a control unit 8 for controlling the operation of the hydraulic cylinders 2 and 3 to be driven.

The operating lever 6 is a boom 11 serving as a working machine.
This is an electric lever for driving (connected to the hydraulic cylinder 2), and outputs an electric signal proportional to the amount operated by the operator. Similarly, the operation lever 7 is an electric lever for driving the arm 12 (connected to the hydraulic cylinder 3), which is a work machine, and outputs an electric signal proportional to the amount operated by the operator.

The base of the boom 11 is rotatably disposed at a predetermined position 16 of the bracket of the base 15. The rod end of the hydraulic cylinder 2 is fixed to the boom 11, and when the hydraulic cylinder 2 is driven to expand and contract,
The boom 11 is rotated by a desired rotation angle θ1 about the rotation fulcrum 16 as a rotation center. This rotation angle θ1
Is detected by a rotation angle sensor 13 which is a potentiometer disposed at a rotation fulcrum 16 of the boom 11.

On the other hand, the base of the arm 12 is
The first end portion 17 is rotatably disposed. The rod end of the hydraulic cylinder 3 is fixed to the arm 12, and the hydraulic cylinder 3 is driven to expand and contract,
The arm 12 is rotated by a desired rotation angle θ2 about the rotation fulcrum 17 as a rotation center. This rotation angle θ2
Is detected by a rotation angle sensor 14 which is a potentiometer disposed at a rotation fulcrum 17 of the arm 12.

The rotation angle θ of the rotation angle sensors 13 and 14
1, the θ2 detection signal is input to the control unit 8 as information indicating the positions and postures of the working machines 11, 12 together with the electric signals V1, V2 indicating the operation amounts of the operation levers 6, 7, and is shown in FIG. The processing is executed.

FIG. 2 is a block diagram for explaining the arithmetic processing performed by control unit 8. In FIG. 2, for convenience of explanation, the arithmetic processing is described as being performed by each arithmetic unit. However, it is needless to say that all the arithmetic processing may be performed by software.

Now, it is assumed that the operation lever 6 is operated to extend the boom hydraulic cylinder 2 and the operation lever 7 is operated to extend the arm hydraulic cylinder 3 as indicated by arrows in FIG.

A signal indicating the operation amount V1 of the operation lever 6 (the operation direction is indicated by plus or minus) and the boom potentiometer 1
3 is input. And the operation lever 6
The pressing area of the cylinder rod (piston) of the hydraulic chamber of the hydraulic cylinder 2 on the side where the pressure oil flows in is selected according to the operation direction (plus or minus) of the hydraulic cylinder 2. Now, since the operation lever 6 is operated in the extension direction, the area B for pressing the cylinder rod on the bottom chamber side is selected as the cylinder pressing area. If the operation lever 6 is operated in the retracting direction, the area H for pressing the cylinder rod on the head chamber side is selected.

On the other hand, the rotation angle θ1 is previously stored in the control unit 8.
And the boom cylinder stroke CS1 are stored as a storage table in such a manner that the boom cylinder stroke CS1 decreases as the value of the rotation angle θ1 increases. Therefore, the boom cylinder stroke C corresponding to the current rotation angle θ1 is determined by the detection signal θ1 of the boom potentiometer 13.
S1 is read from the storage table, and CS1 is differentiated to determine the boom cylinder speed CS1 '. Next, the flow rate Qr1 is obtained by multiplying the area B by the boom cylinder speed CS1 '. Thus, the flow rate Qr1 actually flowing into the boom hydraulic cylinder 2 can be detected. Similarly to the above, the flow rate detecting means 8a2 includes:
A signal indicating the operation amount V2 of the operation lever 7 and a detection signal θ2 of the arm potentiometer 14 are input. Then, an area B for pressing the cylinder rod on the bottom chamber side of the hydraulic cylinder 3 is selected according to the direction (extension direction) of the operation lever 7. Similarly, the rotation angle θ2 is previously stored in the control unit 8.
And the arm cylinder stroke CS2 are stored as a storage table in such a manner that the arm cylinder stroke CS2 increases as the rotation angle θ2 increases. Therefore, the boom cylinder stroke C corresponding to the current rotation angle θ2 is determined by the detection signal θ2 of the arm potentiometer 14.
S2 is read from this storage table, and CS2 is differentiated to obtain an arm cylinder speed CS2 '. Next, the flow rate Qr2 is obtained by multiplying the area B by the arm cylinder speed CS2 '. Thus, the flow rate Qr2 actually flowing into the arm hydraulic cylinder 3 can be detected.

The flow rate storage means 8 b 1, 8 b 2 of the control unit 8 stores a signal V indicating the operation amount of the operation levers 6, 7 as operation elements.
1, V2 and the target flow rates Qm1 and Qm2 indicate that as the manipulated variables V1 and V2 increase in the extension direction, the flow rates Qm1 and Qm1 increase.
With the relation that Qm2 increases, the operation amount V
As V2 increases in the degenerate direction, flow rates Qm1, Qm
Each of them is stored as a storage table in such a manner that m2 becomes large. Thus, the target flow rate to the hydraulic actuator according to the operation of the operator is stored.

The opening area storage means 8h1, 8h2 of the control unit 8
The relationship between the signals V1, V2 indicating the operation amounts of the operation levers 6, 7, which are the operation elements, and the opening areas A1, A2 of the flow control valves 4, 5, is such that the operation amounts V1, V2 increase in the extension direction. With the relation that the opening areas A1 and A2 increase as the operating amounts V1 and V2 increase in the degenerating direction,
Each is stored as a storage table.

First ratio distribution coefficient calculating means 8 of control unit 8
In c, the actual value of the pressure oil flowing into each hydraulic cylinder (specified by i) with respect to the total value of the actual flow rate of the pressure oil flowing into the hydraulic cylinders 2 and 3 detected by the flow rate detecting means 8a1 and 8a2 Is calculated as the first ratio distribution coefficient kri as in the following equation (1). The following equation (1) is a general equation assuming n hydraulic actuators. In the present embodiment, n = 2.

Kri = Qri / (Qr1 +... Qri +... Qrn) (1) That is, first, the actual flow rates Qr1 and Q to the hydraulic cylinders 2 and 3 calculated by the flow rate detection means 8a1 and 8a2.
r2 is added to obtain the total flow rate ΣQr. Then, the coefficient kr1 for the boom 11 is obtained by calculating the flow rate Qr1 detected by the flow rate detection means 8a1 as follows:
(Qr1 / Σ)
Qr). Similarly, the coefficient kr2 for the arm 12 is
The flow rate is calculated by dividing the flow rate Qr2 detected by the flow rate detection means 8a2 by the 求 め Qr obtained above (Qr2 / ΣQr).

The second ratio distribution coefficient calculating means 8 of the control unit 8
In d, the individual operation levers (i) for the total value of all the target flow rates read out from the flow rate storage means 8b1 and 8b2
) Is calculated as the second ratio distribution coefficient kmi as in the following equation (2).

Kmi = Qmi / (Qm1 +... Qmi +... Qmn) (2) That is, first, from the flow rate storage means 8b1 and 8b2,
The flow rate Qm1 corresponding to the operation amount V1, V2 of each operation lever,
Qm2 are read out, and these are added to determine the total flow rate ΣQm. Then, the coefficient km1 for the boom 11 is calculated by dividing the flow rate Qm1 read from the flow rate storage means 8b1 by the ΣQm obtained above (Qm1 / ΣQm). Similarly,
The coefficient km2 for the arm 12 is determined by the flow rate storage means 8b2.
Is the flow rate Qm2 read from the
It is calculated by dividing by m (Qm2 /
{Qm).

The ratio distribution opening correction coefficient calculating means 8e1 and 8e2 of the control unit 8 include the second ratio distribution coefficient calculating means 8
By dividing the second ratio distribution coefficients km1 and km2 calculated by d by the first ratio distribution coefficients kr1 and kr2 calculated by the first ratio distribution coefficient calculation means 8c, respectively, the ratio distribution opening correction coefficient is obtained. α1 and α2 are calculated as in the following equation (3).

Αi = kmi / kri (3) In the aperture correction coefficient limiting means 8f1 and 8f2 of the control unit 8, the ratio distribution aperture correction coefficients α1 and α2 calculated by the aperture correction coefficient calculation means 8e1 and 8e2 are more than 1. If it is large, it is limited to 1.

The opening area correcting means 8g1 and 8g2 of the control unit 8
Then, from the opening area storage means 8h1, 8h2, the opening areas A1, A2 of the flow control valves 4, 5, corresponding to the operation amount signals V1, V2,
A2 is read, and the aperture areas A1 and A2 are multiplied by the ratio distribution aperture correction coefficients α1 and α2 output from the aperture correction coefficient limiting means 8f1 and 8f2, thereby obtaining the following equation (4): The opening area A1 is α1 × A1 = A1 '
And the opening area A2 is corrected so that α2 × A2 = A2 ′. Drive command signals S1 and S2 corresponding to the corrected opening areas A1 'and A2' are output to the flow control valves 4 and 5, respectively.

Ai ′ = Ai · αi (4) That is, the drive command signals S 1 and S 2 are used to drive the main spool of the boom flow control valve 4, the electromagnetic proportional pilot valve 9, and the main spool of the arm flow control valve 5. Is added to each solenoid of the electromagnetic proportional pilot valve 10 for driving the solenoid valve. As a result, these pilot valves 9, 1
From 0, a pilot pressure proportional to each input electric signal is applied to the flow control valves 4 and 5, respectively.
It is driven to become 1 'and A2'. Then, the hydraulic oil of the flow rate corrected according to the correction opening areas A1 'and A2' is supplied from the flow control valves 4 and 5 to the boom hydraulic cylinder 2 and the arm hydraulic cylinder 3, respectively.

The above contents will be described with specific numerical values.

Now, the operator operates the levers 6 and 7 corresponding to the boom raising and the arm excavation, and the boom flow rate Qm1 = 100 l corresponding to the operation signal V1 from the lever 6.
/ Min is read from the flow rate storage means 8b1, and the arm flow rate Qm2 = 1 corresponding to the operation signal V2 from the lever 7
It is assumed that 20 l / min has been read from the flow rate storage means 8b2. At this time, the load applied to the arm is equivalent to the operation amount of the lever, and the actual flow rate Qr2 is determined by the flow rate detection means 8.
It is assumed that 120 l / min is detected by a2 and the actual flow rate Qr1 is detected as 150 l / min by the flow rate detection means 8a1 because the load on the boom is light.

Then, from the equation (1), the first boom ratio distribution coefficient kr1 = 150/270 =
0.56, and similarly, the first ratio distribution coefficient of the arm kr2 = 120/270 =
0.44 is required.

On the other hand, according to the equation (2), the second ratio distribution coefficient km1 of the boom = 100/220 =
0.45 is obtained, and similarly, the second ratio distribution coefficient km 2 of the arm = 120/220 =
0.55 is required.

Next, from the equation (3), the boom ratio distribution aperture correction coefficient α1 = 0.45 / 0.5
6 = 0.80, and similarly, the arm ratio distribution aperture correction coefficient α2 = 0.55 / 0.4
4 = 1.25.

In the aperture correction coefficient setting means 8f1, 8f2,
If the calculated ratio distribution aperture correction coefficients α1, α2 are larger than 1, they are set to 1, so that the aperture correction coefficient α2 is 1
Becomes

Then, in the opening area correcting means 8g1 and 8g2, the corrected opening area A1 '= α1 × A1 = 0.8 × A1 =
0.8A1 is obtained, and similarly, the corrected opening area of the arm A2 '= α2 × A2 = 1.0 × A2 =
A2 is obtained, and drive command signals S1 and S2 corresponding to the corrected opening areas A1 'and A2' are output to the flow control valves 4 and 5, respectively.

For this reason, the opening area A1 'of the boom flow control valve 4 becomes the above-mentioned corrected opening area 0.8A1 and is reduced until it becomes 80% of the original opening area A1 corresponding to the operation amount V1. The flow rate of the pressure oil supplied to the relatively small boom hydraulic cylinder 2 is limited. On the other hand, the opening area A2 'of the arm flow control valve 5 remains the original opening area A2 corresponding to the operation amount V2, and the flow rate of the pressure oil supplied to the arm hydraulic cylinder 3 side having a relatively large load. Is not restricted.

In this manner, "pressure compensation control" similar to the conventional one is performed.

According to the above-described embodiment, the correspondence between the manipulated variable signals V1, V2 and the target flow rates Qm1, Qm2 is stored in the flow rate storage means 8b1, 8b2 as a storage table. If the ratio of the target flow rate to the amount and the ratio of the opening area to the operation amount are exactly the same, FIG.
As shown in the figure, the second ratio distribution coefficient km
1, km2 may be directly calculated.

Generally, in a hydraulic circuit, the following equation (5) is established, where Q is a flow rate passing through the throttle of the flow control valve, c is a flow rate constant, A is an opening area of the throttle, and ΔP is a differential pressure across the throttle. . Q = c · A · √ (ΔP) (5) As can be seen from the above equation (5), since Q and A are in a proportional relationship, the target flow rate distribution Qmi / ΣQm and the opening area ratio distribution Ai / ΣA has the same value.

In the second ratio distribution coefficient calculating means 8d of FIG. 3, the individual operating levers (i) for the total value of all the opening areas read from the opening area storage means 8h1, 8h2 are set.
Is determined as the second ratio distribution coefficient kmi as in the following equation (2) '.

Kmi = Ai / (A1 +... Ai +... An) (2) ′ That is, first, the opening areas A1 and A2 corresponding to the operation amounts V1 and V2 of the respective operation levers are obtained from the opening area storage means 8h1 and 8h2. Each of them is read out and added to obtain the total opening area ΔA. Then, the coefficient km1 of the boom 11 is calculated by dividing the opening area A1 read from the opening area storage means 8h1 by ΣA obtained above (A1 / ΣA). Similarly, the coefficient km2 for the arm 12 is calculated by dividing the opening area A2 read from the opening area storage means 8h2 by ΣA obtained above (A2 / ΣA).

Therefore, it is possible to calculate the coefficients km1 and km2 without using the flow rate storage means 8b1 and 8b2.

FIG. 4 is a diagram showing another embodiment different from FIGS.

In FIG. 2, the ratio distribution opening correction coefficient calculating means 8e1 and 8e2 use the second ratio distribution coefficient km
1, km2 is divided by the first ratio distribution coefficient kr1, kr2 to obtain a ratio distribution aperture correction coefficient α1 (km1 /
kr1) and α2 (km2 / kr2) are calculated, but the actual flow rates Qr1 and Qr1 detected by the flow rate detecting means 8a1 and 8a2 are calculated.
The opening correction coefficient for correcting the opening area of the flow control valves 4 and 5 may be calculated by directly dividing the target flow rates Qm1 and Qm2 read from the flow rate storage means 8b1 and 8b2 by Qr2.

As shown in FIG. 4, in the absolute opening correction coefficient calculating means 8e1 'and 8e2', the flow rate storing means 8b1 and 8e2 'are used.
The target flow rates Qm1 and Qm2 read from b2 are directly divided by the flow rates Qr1 and Qr2 detected by the flow rate detection means 8a1 and 8a2, so that the absolute aperture correction coefficients β1 and β2 as in the following equation (6). Are calculated respectively.

Βi = Qmi / Qri (6)

In the opening area correction means 8g1 and 8g2, the corrected opening area Ai 'is calculated as in the following equation (7), as in the above equation (4).

Ai '= Ai.beta.i (7) The above contents will be described with specific numerical values.

Now, the operator operates the levers 6 and 7 corresponding to the boom raising and the arm excavation, and the boom flow rate Qm1 = 100 l corresponding to the operation signal V1 from the lever 6.
/ Min is read from the flow rate storage means 8b1, and the arm flow rate Qm2 = 1 corresponding to the operation signal V2 from the lever 7
It is assumed that 20 l / min has been read from the flow rate storage means 8b2. At this time, the load applied to the arm is equivalent to the operation amount of the lever, and the actual flow rate Qr2 is determined by the flow rate detection means 8.
It is assumed that 120 l / min is detected by a2 and the actual flow rate Qr1 is detected as 150 l / min by the flow rate detection means 8a1 because the load on the boom is light.

Then, from the equation (6), the boom absolute aperture correction coefficient β1 = 100/150 =
0.67 is obtained. Similarly, the absolute aperture correction coefficient β2 of the arm is β2 = 120/120 =
1.00 is required.

Then, in the opening area correcting means 8g1 and 8g2, the corrected opening area of the boom A1 '= β1 × A1 = 0.67 × A1 from the equation (7).
= 0.67A1. Similarly, the corrected opening area of the arm A2 '= β2 × A2 = 1.00 × A2
= A2, and drive command signals S1, S2 corresponding to these corrected opening areas A1 ', A2' are output to the flow control valves 4, 5, respectively.

For this reason, the opening area A1 'of the boom flow control valve 4 becomes the corrected opening area 0.67A1 and is reduced to 67% of the original opening area A1 corresponding to the operation amount V1. The flow rate of the pressure oil supplied to the relatively small boom hydraulic cylinder 2 is limited. On the other hand, the opening area A2 'of the arm flow control valve 5 remains the original opening area A2 corresponding to the operation amount V2, and the flow rate of the pressure oil supplied to the arm hydraulic cylinder 3 side having a relatively large load. Is not restricted. That is, the flow rate of the pressure oil is limited to a lever.

Further, according to the embodiment shown in FIG. 4, it is possible to simplify the components as compared with the embodiment shown in FIG.

Now, as shown in FIG. 5, switches 51 to 54 are provided for selecting the switching so that either the ratio distribution aperture correction coefficient α or the absolute aperture correction coefficient β can be switched and selected. You may.

As shown in FIG. 5, a switch 51 is provided between the flow rate detecting means 8a1 and the first ratio distribution coefficient calculating means 8c, and a switch 52 is provided between the flow rate storage means 8b1 and the second ratio distribution coefficient calculating means. The switch 53 is provided between the flow rate detecting means 8a2 and the first ratio distribution coefficient calculating means 8c, and the switch 54 is provided between the flow rate storing means 8b2 and the second ratio distribution coefficient calculating means 8d. And is provided between them.

According to the embodiment shown in FIG. 5, the operator now manually operates switches 51 to 54 to set α
Is switched to the direction in which is selected, the configuration is switched to the same configuration as the embodiment of FIG. 2 described above, and the opening areas of the flow control valves 4 and 5 are corrected using the ratio distribution opening correction coefficient α.

On the other hand, the operator operates the switches 51 to 54
Is manually operated to switch to the direction of selecting β, the configuration is switched to the same configuration as the embodiment of FIG.
The opening areas of the flow control valves 4 and 5 are corrected using the absolute opening correction coefficient β.

As described above, the switch determines whether to correct the opening area of the flow control valve using the ratio distribution opening correction coefficient α or to correct the opening area of the flow control valve using the absolute opening correction coefficient β. , Switching, and selection, lever-like pressure compensation can be applied according to the situation.

The switches 51 to 54 may not be constituted by manual switches, but may be switches which are automatically switched and selected according to the magnitude of the operation amount of the operation lever. That is, as shown in the correspondence relationship between the operation amounts of the operation levers 6 and 7 and the opening areas Ai of the flow control valves 4 and 5 in FIG. 6, the threshold value Sc is set in advance, and the lever operation amount Vi is When the threshold value Sc is reached, the aperture correction coefficient becomes βi
From αi to αi.

FIG. 6A shows an example in which the threshold value Sc is set at an intermediate position from zero operation amount (neutral position) to the full lever position.

FIG. 6B illustrates a case where the threshold value Sc is set at the full lever position.

Here, while the lever operation amount is small (so-called fine control range), the actuator is moved according to the lever operation amount with fine operability, and the lever operation amount is large (full lever position). ,
There is a demand that a certain amount of “load” be applied to allow a large flow rate to flow to match the operator's operational feeling.

That is, while the lever operation amount is small,
Using the ratio distribution aperture correction coefficient α = 0.8 calculated in the previous example, the aperture is squeezed to 80% of the original aperture area, and when the lever operation amount is large and in the unsaturated state, the absolute distribution aperture correction similarly calculated in the previous example is used. The aperture is narrowed down to 67% of the original aperture area using the coefficient β = 0.67.

In the embodiment shown in FIG. 6, since the discharge amount of the hydraulic pump is not saturated while the lever operation amount is small, the absolute opening correction coefficient β is selected, and the flow control is performed using the opening correction coefficient β. Since the opening areas of the valves 4 and 5 are corrected, the fine operability is improved, and when the lever operation amount is large (full lever position), the ratio distribution opening correction coefficient α is selected. Since the opening areas of the flow control valves 4 and 5 are corrected using α, the control of the “load” to some extent at the time of the unsaturated condition is performed, which is consistent with the operator's operational feeling of wanting to flow a large amount of flow. , Can respond to the above request.

In FIG. 6, αi and βi may be interchanged.

Now, in the aperture correction coefficient limiting means 8f1 and 8f2 shown in FIGS. 2 to 5, the magnitudes of αi and βi must not be larger than 1, that is, the correction aperture area Ai 'is controlled by the operation levers 6,7. Is limited so as not to become larger than the original opening area Ai according to the operation amount of the operation lever. However, as shown in FIG. 7, the operation amount of the operation lever is adjusted so that the maximum values of the opening correction coefficients αi and βi become 1. The correspondence between Vi and the opening correction coefficients αi and βi is stored in the storage table 80 in advance, and the opening correction coefficient α read from the storage table 80 is stored.
i, βi and aperture correction coefficient calculating means 8e1 ″, 8e
The magnitudes of the aperture correction coefficients αi and βi calculated by e2 ″ are
Compared by the comparison means 81, the larger aperture correction coefficient αi,
βi may be output to the opening area correction means 8g1, 8g2. Even in this case, the magnitudes of αi and βi should not be larger than 1, that is, the corrected aperture area A
i ′ can be limited so as not to be larger than the original opening area Ai according to the operation amounts of the operation levers 6 and 7.

In the above-described embodiment, since the positions of the working machines 11 and 12 are detected by the potentiometers 13 and 14, the correction amount of the opening area may be changed according to the working machine's posture.

FIGS. 8A and 8B exemplify a case where the opening area is corrected by a process different from those shown in FIGS.

As shown in the figure, the aperture correction coefficients αi, βi
Is stored in advance in a storage table 82 and read out from the storage table 82 so that the total value of the rotation angles θ1 + θ2 of the boom 11 and the arm 12 and the opening correction coefficients αi and βi are set so that the maximum value becomes 1. The magnitudes of the aperture correction coefficients αi and βi and the magnitudes of the aperture correction coefficients αi and βi calculated by the aperture correction coefficient calculation means 8e1 ″ and 8e2 ″ are compared with the comparison means 8
1, the larger aperture correction coefficients αi and βi are output to the aperture area correction means 8g1 and 8g2.

According to this configuration, when the boom 11 and the arm 12 start the skiving operation (solid line) as shown in FIG. 11B, θ1 + θ2 becomes small and fine operability is required. As shown in the storage table 82 of (a), the opening correction amount can be changed to a larger one (a smaller opening correction coefficient), and the opening can be corrected so as to be faithful to αi or βi. On the other hand, when the boom 11 and the arm 12 finish the skiving operation (dotted line) as shown in FIG. 7B, θ1 + θ2 becomes large and a speed is required, so that the storage table 82 shown in FIG. In this manner, the aperture correction amount can be changed to a smaller one (a larger aperture correction coefficient), and the aperture need not be corrected.

In the storage table 82 of FIG. 9A, the posture of the work machine may be determined only by θ2 instead of θ1 + θ2.

In the embodiment described above, the construction machine such as a hydraulic shovel has been described. However, the invention can be applied to any hydraulically driven machine. Also, mainly
Although it is assumed that the present invention is applied to the control of two working machines such as a boom and an arm, the present invention can be applied to three or more working machines.

Although the description has been made mainly on the assumption that the hydraulic actuator is a hydraulic cylinder, the present invention can be similarly applied to a hydraulic motor used for driving a revolving unit, traveling, or the like.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of an embodiment of a control device for a hydraulic drive machine according to the present invention.

FIG. 2 is a block diagram illustrating a configuration of a control unit illustrated in FIG. 1;

FIG. 3 is a block diagram illustrating a configuration of a control unit different from that of FIG. 2;

FIG. 4 is a block diagram illustrating a configuration of a control unit different from FIGS. 2 and 3;

FIG. 5 is a configuration diagram of a control unit that can switch between the configuration of the control unit shown in FIG. 2 and the configuration of the control unit shown in FIG. 4;

6 (a) and 6 (b) are diagrams illustrating an embodiment in which the switching of FIG. 5 is performed in accordance with the magnitude of the lever operation amount.

FIG. 7 is a diagram showing the limitation of the size of the aperture correction coefficient in FIG.
FIG. 6 is a diagram illustrating a case where processing is performed in a different process from FIG.

FIGS. 8A and 8B show correction of the opening area in FIGS.
FIG. 6 is a diagram exemplifying a case where processing is performed in a process different from that in FIG. 5.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Variable displacement hydraulic pump 2 ... Boom hydraulic cylinder 3 ... Arm hydraulic cylinder 4 ... Boom flow control valve 5 ... Arm flow control valve 6 ... Boom operation lever 7 ... Arm operation lever 8 ... Control part 9 ... Electromagnetic proportional pilot valve for boom 10 ... Electromagnetic proportional pilot valve for arm 11 ... Boom 12 ... Arm 13 ... Rotation angle sensor for boom 14 ... Rotation angle sensor for arm 15 ... Base

Claims (8)

[Claims] 1. A hydraulic pump, a plurality of hydraulic actuators provided corresponding to a plurality of operators, and a hydraulic actuator corresponding to a discharge hydraulic oil of the hydraulic pump having a flow rate corresponding to an operation amount of the operators. A plurality of operation valves for supplying, and a hydraulic drive machine configured to drive the hydraulic actuator in accordance with an operation of the operation element, wherein a pressure supplied to the hydraulic actuator for each of the plurality of hydraulic actuators Actual flow rate detecting means for detecting an actual flow rate of oil; target flow rate detecting means for detecting a target flow rate of pressure oil corresponding to the operation amount of each of the plurality of operation elements; A correction coefficient operation for calculating a correction coefficient for correcting the operation amount of the corresponding operation element based on the actual flow rate detected in step S1 and the target flow rate detected by the target flow rate detection means. A control device for a hydraulically driven machine, comprising: a calculation unit; and an operation amount correction unit that corrects an operation amount of the corresponding operation element using the correction coefficient. 2. A hydraulic pump, a plurality of hydraulic actuators provided corresponding to a plurality of operators, and a hydraulic actuator corresponding to a discharge pressure oil of the hydraulic pump having a flow rate corresponding to an operation amount of the operators. A plurality of operation valves for supplying, and a hydraulic drive machine configured to drive the hydraulic actuator in accordance with an operation of the operation element, wherein a pressure supplied to the hydraulic actuator for each of the plurality of hydraulic actuators Actual flow rate detecting means for detecting an actual flow rate of oil; target opening detecting means for detecting a target opening of an operation valve corresponding to an operation amount of each of the plurality of operation elements; A correction coefficient for calculating a correction coefficient for correcting the operation amount of the corresponding operating element based on the actual flow rate detected in step S1 and the target opening detected by the target opening detection means. A control device for a hydraulically driven machine, comprising: a calculation unit; and an operation amount correction unit that corrects an operation amount of a corresponding operation element using the correction coefficient. 3. A hydraulic pump, a plurality of hydraulic actuators provided corresponding to a plurality of operators, and a hydraulic actuator corresponding to a discharge pressure oil of the hydraulic pump having a flow rate corresponding to an operation amount of the operators. A plurality of operation valves for supplying, and a hydraulic drive machine configured to drive the hydraulic actuator in accordance with an operation of the operation element, wherein a pressure supplied to the hydraulic actuator for each of the plurality of hydraulic actuators Actual flow rate detecting means for detecting an actual flow rate of oil; target flow rate detecting means for detecting a target flow rate of pressure oil according to an operation amount of each of the plurality of operating elements; and the actual flow rate detecting means. Of the actual flow rate of the hydraulic oil supplied to each hydraulic actuator to the total value of the actual flow rate of the hydraulic oil supplied to all the hydraulic actuators detected in First ratio distribution calculating means for calculating a first ratio distribution for each hydraulic actuator, and a total value of target flow rates of pressure oil corresponding to the operation amounts of all the operating elements detected by the target flow rate detecting means A second ratio distribution calculating means for calculating, for each of the operators, a second ratio distribution of the target flow rate of the pressure oil corresponding to the operation amount of each of the operators with respect to, and the first ratio distribution calculating means. Correction coefficient calculating means for calculating a ratio of the second ratio distribution calculated by the second ratio distribution calculating means to the obtained first ratio distribution as a correction coefficient for correcting the operation amount of the corresponding operating element A control device for a hydraulically driven machine, comprising: an operation amount correction unit that corrects an operation amount of the corresponding operation element using the correction coefficient. 4. A hydraulic pump, a plurality of hydraulic actuators provided corresponding to a plurality of operators, and a hydraulic actuator corresponding to the hydraulic pressure of the hydraulic pump at a flow rate corresponding to the operation amount of the operators. A plurality of operation valves for supplying, and a hydraulic drive machine configured to drive the hydraulic actuator in accordance with an operation of the operation element, wherein a pressure supplied to the hydraulic actuator for each of the plurality of hydraulic actuators Actual flow rate detecting means for detecting an actual flow rate of oil; target opening detecting means for detecting a target opening of an operation valve corresponding to the operation amount of each of the plurality of operation elements; and the actual flow rate detection means. Actual flow rate of hydraulic oil supplied to each hydraulic actuator with respect to the sum of actual flow rates of hydraulic oil supplied to all hydraulic actuators detected in A first ratio distribution calculating means for calculating the first ratio distribution for each hydraulic actuator, and a total of target opening of the operation valve corresponding to the operation amounts of all the operating elements detected by the target opening detecting means. A second ratio distribution calculating means for calculating, for each operation element, a second ratio distribution of the target opening of the operation valve corresponding to the operation amount of each operation element with respect to the value, and the first ratio distribution calculation means. Correction coefficient calculation for calculating the ratio of the second ratio distribution calculated by the second ratio distribution calculating means to the calculated first ratio distribution as a correction coefficient for correcting the operation amount of the corresponding operating element. A control device for a hydraulically driven machine, comprising: a control unit; and an operation amount correction unit that corrects an operation amount of the corresponding operation element using the correction coefficient. 5. A hydraulic pump, a plurality of hydraulic actuators provided corresponding to a plurality of operators, and a hydraulic actuator corresponding to a discharge pressure oil of the hydraulic pump having a flow rate corresponding to an operation amount of the operators. A plurality of operation valves for supplying, and a hydraulic drive machine configured to drive the hydraulic actuator in accordance with an operation of the operation element, wherein a pressure supplied to the hydraulic actuator for each of the plurality of hydraulic actuators Actual flow rate detecting means for detecting an actual flow rate of oil; target flow rate detecting means for detecting a target flow rate of pressure oil according to an operation amount of each of the plurality of operating elements; and the actual flow rate detecting means. The ratio of the target flow rate detected by the target flow rate detection means to the actual flow rate detected in step is calculated as a correction coefficient for correcting the operation amount of the corresponding operation element. A control device for a hydraulically driven machine, comprising: a correction coefficient calculating means for performing the operation; and an operation amount correcting means for correcting an operation amount of the corresponding operating element using the correction coefficient. 6. A hydraulic pump, a plurality of hydraulic actuators provided corresponding to a plurality of operators, and a hydraulic actuator corresponding to a discharge pressure oil of the hydraulic pump having a flow rate corresponding to an operation amount of the operators. A plurality of operation valves for supplying, and a hydraulic drive machine configured to drive the hydraulic actuator in accordance with an operation of the operation element, wherein a pressure supplied to the hydraulic actuator for each of the plurality of hydraulic actuators Actual flow rate detecting means for detecting an actual flow rate of oil; target flow rate detecting means for detecting a target flow rate of pressure oil according to an operation amount of each of the plurality of operating elements; and the actual flow rate detecting means. Of the actual flow rate of the hydraulic oil supplied to each hydraulic actuator to the total value of the actual flow rate of the hydraulic oil supplied to all the hydraulic actuators detected in First ratio distribution calculating means for calculating a first ratio distribution for each hydraulic actuator, and a total value of target flow rates of pressure oil corresponding to the operation amounts of all the operating elements detected by the target flow rate detecting means A second ratio distribution calculating means for calculating, for each of the operators, a second ratio distribution of the target flow rate of the pressure oil corresponding to the operation amount of each of the operators with respect to, and the first ratio distribution calculating means. Calculating a ratio of the second ratio distribution calculated by the second ratio distribution calculating means to the first ratio distribution as a first correction coefficient for correcting the operation amount of the corresponding operating element; A correction coefficient calculating means for calculating a ratio of a target flow rate detected by the target flow rate detecting means to an actual flow rate detected by the actual flow rate detecting means; Second correction calculated as a correction coefficient The number calculating means, switching the first correction coefficient or the second correction coefficient,
A hydraulically driven machine comprising: a switching selection unit for selecting; and an operation amount correction unit for correcting an operation amount of the corresponding operating element using the switching and the selected first correction coefficient or second correction coefficient. Control device. 7. The switching selection unit according to claim 4, wherein the switching selection unit switches and selects the first correction coefficient or the second correction coefficient according to the magnitude of the operation amount of the corresponding operation element. Control device for hydraulic drive machine. 8. A hydraulic pump, a plurality of hydraulic actuators provided corresponding to the plurality of operators, a plurality of working machines provided corresponding to the plurality of hydraulic actuators, and an operation amount of the operator And a plurality of operation valves for supplying a discharge pressure oil of the hydraulic pump at a flow rate corresponding to the hydraulic actuator to a corresponding hydraulic actuator, and a hydraulic drive machine configured to drive the working machine in accordance with an operation of the operation element In, posture detecting means for detecting the posture of the plurality of work machines, based on the posture detected by the posture detecting means, a correction coefficient changing means for changing a correction coefficient for correcting the operation amount of the operating element, A control device for a hydraulically driven machine, comprising: an operation amount correction unit that corrects an operation amount of the corresponding operation element using the correction coefficient.