JPS58113601A - Oil hydraulic control device - Google Patents

Abstract

PURPOSE:To obtain optimum responsiveness invariably for the whole device even if the responsiveness for a valve mechanism varies by feeding back the factors related with the responsiveness for the valve mechanism of an oil hydraulic cylinder so as to adjust the gain of an amplifier and the valve mechanism. CONSTITUTION:A viscosity sensor 8 is provided between a valve mechanism 6 and an oil hydraulic cylinder 7, and the gain of an amplifier 5 is increased when the viscosity of an operating oil is increased and on the contrary the gain of the amplifier 5 is decreased when the viscosity of the operating oil is decreased so that the responsiveness of the oil hydraulic control device approaches an optimum curve. That is, the viscosity of the operating oil is invariably measured by the viscosity sensor 8, and the viscosity of the operating oil is converted to digital data by an analog-digital converter 9 to be applied to a data processing curcuit 10, which is composed of a micro-computer and reads out a correction condition based on the data indicating the viscosity of the operating oil so as to control the gain of the amplifier 5.

Description

DETAILED DESCRIPTION OF THE INVENTION In land preparation machines such as cloudy motor graders and motor crane arms, which are related to the mining hydraulic control system of the present invention, blade width is required to create accurate horizontal or sloping terrain. Repelinda control of the controlled object is being performed.

Generally, lift control is performed using a hydraulic cylinder for lifting blades, etc., so the conventional method for controlling the lift cylinder is to configure a feedback loop like the one shown in Fig. 1 to control the hydraulic cylinder 1. It is organized.

To explain in detail regarding the JIEI diagram, the blade 2, which is operated by the operation of the hydraulic cylinder l, has a sensor 3 (this sensor 3
If the purpose is to produce a horizontal surface, it may be a tracing sensor for the aqueous system in the d Rade receiver, and if the purpose is to produce a tilted ETII tube, it may be an inclinometer. ) is provided, and the amplifier 5 is set so that the deviation (a) between the measured value a obtained by processing the output of the sensor 3 in the signal processing circuit 4 and the preset reference value approaches O.
operates the pulp mechanism.

Incidentally, it has been widely known that a hydraulic control device having such a feedback loop has characteristics as shown in FIG. Among them, the curve (A) is the curve when the response is low, the curve ←) is the curve when the response is too low and hunting occurs, and the curve C→ is the curve for the optimal response. It goes without saying that it is desirable to obtain the curve (C).The factor that affects the response characteristics of the hydraulic control device is the amplifier 5.
, the gain of the pulp mechanism 6, and the responsiveness of the hydraulic cylinder l to the pulp mechanism 6. Among these, the keys of the amplifier 5 and the pulp mechanism 6 rarely change greatly after the M8 adjustment, but the responsiveness of the hydraulic cylinder 1 varies greatly depending on the viscosity of the hydraulic oil. The viscosity of this hydraulic oil fluctuates greatly depending on the temperature of the hydraulic oil, so in the case of a conventional mechanism, each time there is a change in the outside air quality or a long period of operation, the amplifier 50 dyne? It was necessary to adjust the PL artificially to accommodate changes in the viscosity of the hydraulic oil.

The present invention has been made in view of these drawbacks, and even if the responsiveness of the hydraulic cylinder l to the pulp mechanism changes due to changes in the viscosity of the hydraulic oil, it will always be optimal without artificial Wj41I. Hydraulic control system at which can obtain characteristics such as
The purpose is to provide.

That is, the present invention adjusts the gain of the intensifier and the pulp mechanism by removing factors related to the responsiveness of the hydraulic cylinder to the pulp mechanism, thereby improving the responsiveness of the hydraulic cylinder to the pulp mechanism. Even if there are fluctuations, the hydraulic control system as a whole always maintains optimal responsiveness.

Embodiments of the present invention will be described in detail with reference to Figure wJt below.

Figure 3 is a block diagram showing an embodiment of the present invention. In this embodiment, the viscosity of the hydraulic oil is detected to adjust the gain of the amplifier. That is, in general, when the viscosity of the hydraulic oil increases due to a decrease in oil temperature, the responsiveness of the hydraulic cylinder 1 decreases, and conversely, when the viscosity of the hydraulic oil decreases due to an increase in the oil temperature, the responsiveness of the hydraulic cylinder 1 increases. . Therefore, in the embodiment shown in FIG. 3, a viscosity sensor 8 is provided between the pulp mechanism 6 and the hydraulic cylinder 70, so that when the viscosity of the hydraulic oil increases, the entire r input of the amplifier 5 increases, and conversely, when the viscosity of the hydraulic oil decreases, the amplifier 50 dyne increases. By lowering the response characteristics of the hydraulic control device,
It should approach the curve (c) in the figure.

That is, in the embodiment shown in FIG. 3, the viscosity of the hydraulic oil is constantly measured by a viscosity sensor 8, and the data indicating the viscosity of the hydraulic oil is converted into digital data by an analog digital converter (hereinafter referred to as a converter) 9. The data is converted into data and applied to the data processing circuit 10. This data processing circuit IO is constituted by a microcomputer, reads out a correction condition memo Ull based on data indicating the viscosity of the hydraulic oil, and reads out a correction condition memo Ull.
Control 0 dyne.

A data table consisting of correction condition data for adjusting the gain of the amplifier 5 is prepared in the correction condition memory 1.The contents of this data table include the sensitivity of the viscosity sensor 8, the pulp mechanism 1, and the hydraulic cylinder 2. The data processing circuit 10 reads the correction condition data from the correction condition memory 1 according to the data indicating the viscosity added from the converter 9, which varies depending on the characteristics of the amplifier 5 and the characteristics of the amplifier 5. Perform the gain adjustment in step 5.

For example, if the amplifier 5 has an AGC circuit (=autodyne control circuit) 51 and the pulp mechanism is a servo pulp 61 as shown in figure m4, the A
Nine voltages are applied to the GC circuit 51 depending on the viscosity of the hydraulic oil. As a result, when the viscosity of the hydraulic oil increases, the gain of the amplifier 5 increases, and when the viscosity of the hydraulic oil decreases, the gain of the amplifier 5 decreases.

Therefore, when the viscosity of the hydraulic oil increases, the operating range of the servo pulp 61 expands, and when the viscosity of the hydraulic oil decreases, the operating range of the servo pulp 61 narrows. Therefore, according to this embodiment, due to the change in the viscosity of the hydraulic oil, Hydraulic pressure 5.1 Even if the responsiveness of the cylinder to the pulp mechanism 6 changes, the responsiveness of the hydraulic cylinder to the deviation C does not change. Therefore, according to this embodiment, once the amplification rM50 dyne adjustment is performed, even if the viscosity of the hydraulic oil changes, the characteristics of the hydraulic control system as a whole will approach the curve shown in Figure 2, f→.

Next, FIG. 5 shows an example in which a pulp machine @6 according to a modification of the above embodiment has a solenoid pulp 62. When the pulp mechanism 6 has a solenoid pulp 62, the opening/closing of the solenoid pulp 62 is generally controlled by varying its duty cycle using a pulse width modulation method. That is, in this modification, the PWM circuit 63 compares the sawtooth wave generated by the sawtooth wave oscillator 64 with the deviation C' amplified by the amplifier 5 to vary the duty cycle of the solenoid pulp 6'2. There is. In this modified example of FIG.
The components having the same reference numerals as in the embodiment shown in the figure operate in exactly the same manner as in the embodiment of FIG. 4, and the dyne of the amplifier 5 changes in response to changes in the viscosity of the hydraulic fluid. That is, also in the modification shown in FIG. 5, when the viscosity of the hydraulic oil increases, the dyne of the amplifier 5 also increases, and when the viscosity of the hydraulic oil decreases, the gain of the amplifier 5 also decreases.

Therefore, according to the modified example of Figure 5, even if the viscosity of the hydraulic oil increases and the responsiveness of the hydraulic cylinder l to the pulp mechanism 6 decreases, the higher the viscosity of the hydraulic oil, the more responsive it is to fluctuations in the deviation C. If the duty cycle of the pulp mechanism 6 fluctuates greatly, the viscosity of the hydraulic oil decreases, and even if the responsiveness of the hydraulic cylinder 1 to pulp I [6 increases, the viscosity of the hydraulic oil decreases. The variation in the duty cycle of the pulp mechanism 6 with respect to the variation in C is reduced. That is, #15
In the case of the modified example shown in the figure, even if the responsiveness of the hydraulic cylinder l to the pulp mechanism 6 changes due to a change in the viscosity of the hydraulic oil, the responsiveness of the hydraulic cylinder l to the deviation C does not change.

That is, even in the modification shown in FIG. 5, once the amplifier 50 dyne is adjusted, even if the viscosity of the hydraulic oil changes, the characteristics of the leveling control device as a whole will approach the curve #E2.

In addition, although the above-mentioned embodiment and its modification example showed the example which provided the viscosity sensor 8 for determining the viscosity of the hydraulic oil, when the hydraulic oil to be used is specified, the viscosity sensor 8 can be substituted. A temperature sensor may be provided to detect the temperature of the hydraulic oil.

Furthermore, in the above description, an example was explained in which the correction condition memo IJ11 is configured with a data table and the data processing circuit 1o configured with a microcomputer reads out the correction conditions from the data table based on the detected viscosity and detected temperature. , a correction condition memory 11i is configured with a potentiometer driven by the output of the viscosity sensor 8 and has characteristics similar to a broken line, and in turn, a data processing circuit 10t is configured with an analog calculation circuit, and the output of the viscosity sensor 8 and the output of the correction condition memory 11 are The gain of the amplifier 5 may be vI4ui. In this case, a data converter for adjusting the output level of the viscosity sensor 8 to the output level of the correction condition memory 11 is used instead of the ~Φ converter 9.

Next, another embodiment of the present invention will be described.

That is, in the embodiments described so far, the response to the pulp mechanism of a hydraulic cylinder is detected using the temperature and viscosity of the hydraulic oil as a parameter, but in the following, other elements are used as parameters. An example in which a change in responsiveness of a hydraulic cylinder to a pulp mechanism is detected is shown below.

In the embodiment shown in Fig. 6, a change in the responsiveness of the hydraulic cylinder 2 to the valve mechanism 1 is detected using a change in the output of the sensor 3 as a parameter.

In the embodiment shown in FIG. 6, the same parts as in the prior art are given the same reference numerals as in FIG. 1182 to avoid redundant explanation.

First, since the output of the sensor 3 indicates the position of the blade 2, when the output is expressed over time, it becomes a curve as shown in FIG. 2.

Furthermore, when the viscosity of the hydraulic oil increases (if the hydraulic cylinder 1 is replaced, the responsiveness to the pulp mechanism of the hydraulic cylinder 1 decreases), the curve of the output signal of the sensor 3 changes from the curve shown in Figure 2 0) to the curve shown in Figure 2 0). 1 and the viscosity of the hydraulic oil decreases, the curve of the output signal of the sensor 3 becomes the second curve from the curve f → in Figure 2.
1 naka) approach the curve.

Therefore, in the embodiment shown in FIG. 6, the differential circuit 12 detects the change in the output signal of the sensor 3 and adjusts the gain' of the amplifier 5.

That is, the output of the differentiating circuit 12 indicates the rate of change of the output of the sensor 3, and the reference value memo 'J13 stores the slope of the curve (c) in the m2 diagram (more specifically, the inclination of the curve (c) in Figure 2 e→ A preset voltage corresponding to the slope of the car 1 is given). The output of this differentiating circuit 12 and the reference value memo'J
The output of 13 is applied to the control circuit 14, and the output of the control circuit 14
When the output of the differential circuit 12 becomes lower than the output of the reference memory 1 (the cause is that the viscosity of the hydraulic oil increases, and the output curve of the sensor 3 becomes more than the curve in Figure 2 (a))
When the width gauge 50 dynes is increased to tl, and conversely, the output of the differentiator circuit 12 increases as well as the output of the reference memory l (the cause is that the viscosity of the hydraulic oil becomes low, and the output curve of the sensor 3 changes as shown in Figure 2). When the curve becomes closer to the middle), the gain of the amplifier 5 is lowered.

Also in the embodiment shown in FIG. 6, the trench width device 5 and the pulp mechanism 6 are constructed in the same manner as in FIG. 4 or FIG. 5, so the embodiment shown in FIG. Therefore, even if the responsiveness of the hydraulic cylinder 1 to the pulp mechanism 6 changes, the responsiveness of the hydraulic cylinder 1 to the deviation air does not change.

That is, even in the embodiment shown in FIG. 6, once the gain of the amplifier 5 is adjusted, even if the viscosity of the hydraulic oil changes, the characteristics of the leveling control device as a whole approach the curve shown in FIG. 2 (c). become.

In addition, in the embodiment shown in FIG. 186 above, Hiro, the differential circuit 12,
Although an example has been described in which the reference value memory 13 and the control circuit 14 perform analog processing, it is also possible to configure these with a microcomputer and perform the equal-mom processing digitally. In addition, in an example using four microphones and a computer, the rate of change immediately before hunting starts (sensor 3)
By storing in memory the differential value of the output (differential value of the output of

Next, another embodiment of the present invention will be described.

FIG. 7 is a block diagram showing one embodiment of the present invention.
In the embodiment shown in FIG. 7, the valve machine I of the hydraulic cylinder 2 is used as a meter that receives a signal obtained by envelope detection of the output of the sensor 3.
A change in responsiveness to II was detected.

First, the output of the sensor 3 exhibits a characteristic as shown in FIG. 2 (0) (→f→) depending on the responsiveness of the hydraulic cylinder 2 to the pulp mechanism 1.
5 performs envelope detection and is applied to a comparison circuit 16. Note that the input of the envelope detection circuit 15 is the second one.
Figure f1! , (ca), f→, the output Fi of the envelope detection circuit 15 is
(There are seven comparison circuits.) The comparison circuit 16 compares the output of the envelope detection circuit 15 with a reference value (indicated by Ov in FIG. 8) and outputs the difference between the two.

, 188, (the target curve is the curve obtained from the envelope detection circuit 15 when hunting occurs, and only when hunting occurs in this way, the output of the envelope detection circuit 15 becomes higher than the reference value. That is, the output of the comparison circuit 16 becomes a positive voltage only when hunting occurs in the system.

Next, the timer 17 monitors the output of the comparison circuit 16,
If the output of the comparison circuit 16 does not become positive for a certain period of time or more, that is, if the system does not cause hunting for a certain period of time,
Add starter mother Rus to generator 18.

This energizer 18 starts oscillating in response to a start pulse and is configured to generate a triangular wave (or a sawtooth wave), and this triangular wave is applied to the control circuit 19.

The output of the comparator circuit 16 is added to the other input of this control circuit 19, and when the triangular wave is applied from the generator 18, the control circuit 19 applies this triangular wave to the amplifier 5,
When the triangular wave is not applied from the generator 18, the polarity of the output of the comparison circuit 16 is inverted and applied to the amplifier 5.

Therefore, since the triangular wave is now being applied to the control circuit 19, the control circuit 19 increases the control voltage of the amplifier 5 in addition to the triangular wave [amplifier 5], and the amplifier 50 dyne increases.

In the embodiment shown in Fig. m7, the amplifier 5 and the pulp mechanism 6 are constructed in the same way as in the embodiment shown in Fig. 4 or 15, and as the key of the amplifier 5 increases, the response to the deviation C of the hydraulic cylinder 1 changes. going up.

As a result, the responsiveness of the entire hydraulic control system increases,
Eventually, hunting occurs and the output of the sensor 3 also shows a curve as shown in the m2 diagram (b).

When the curve of the sensor 3 becomes a curve as shown in Fig. 2 (b), the output of the envelope detection circuit 16 becomes as shown in Fig. 8), a curve like that shown in FIG.

The output of the comparator circuit 16 is applied as a reset input to the generator 18, and when the polarity of the output of the generator 18Fi and the comparator circuit 16 becomes positive, it is reset and the generation of the triangular wave is stopped.

On the other hand, the output of the comparison circuit 16 is also applied to the control circuit 19, and when the triangular wave is moored or stopped (i.e.,
When the output of comparator circuit 16 becomes positive), the output of comparator circuit 16 is inverted and applied to amplifier 5, lowering amplifier 50 dyne. In this way, when the r-in of the amplifier 5 decreases, the responsiveness to the deviation C of the hydraulic cylinder 1 decreases, and the characteristics change in a direction that prevents engine failure.

Therefore #! In the embodiment shown in FIG. 7, once the amplifier 5
After 0 dyne adjustment, even if the viscosity of the hydraulic oil changes, the characteristics of the leveling control system as a whole will approach the curve shown in Figure 2 (→).

In the embodiments shown in FIGS. 6 and 7 described above, an example is shown in which the response of the hydraulic cylinder to the pulp mechanism is detected using the change in the output of the sensor 3 as a parameter, and 9 is output from the signal processing circuit 4. Changes in the measured value a, changes in the deviation between the measured value a and the reference value, etc. are detected as a meter to detect the responsiveness of the hydraulic cylinder to the pulp mechanism, and subsequent control is performed using the same configuration. is also possible.

Next, another embodiment of the present invention will be described.

FIG. 99 is a block diagram showing another embodiment of the present invention,
In the embodiment shown in FIG. 9, the response of the hydraulic cylinder l to the pulp mechanism 6 is changed by digitally analyzing changes in the deviation between the measured value a outputted by the signal processing circuit 4 and a preset reference value S. is detected and the duty cycle of the pulp mechanism 6 is controlled.

That is, in the embodiment shown in FIG. 9, the pulp mechanism 6 is composed of a solenoid pulp, and the amplifier 5 is composed of a positive conversion section 52, an arithmetic processing section 53, a generator control section 54, a pulse generator 55, and an output amplification section 56. The duty cycle of the pulp mechanism 6 is controlled by the output of the arithmetic processing section 53.

First, a measured value a indicating the blade position information is applied from the sensor 4 to the converter 52, and the ~1 converter 52 converts this measured value a' (H measured value a'' obtained by converting it into digital data)
is added to the arithmetic processing section 53.

A preset reference value is added to the other input of the arithmetic processing unit 53 as digital data i, and the arithmetic processing unit 53 determines the duty of the pulp mechanism 6 based on the measured value a′ and the reference value i. Determine the cycle.

That is, the arithmetic processing unit 53 calculates (1) the deviation between the reference value and the measured value 1', and (2) the rate of change of the measured value a' (i.e., the measured value a').
The output d of the arithmetic processing unit 53 is calculated based on the differential value of
added to. Then, the generator 1141 section 54 applies a control signal e at a level corresponding to the output dO value of the arithmetic processing section 53 to the arm pulse generator 55, and outputs the rHJ and rL of the /f pulse f from the /f pulse generator 55.
Control J time.

First, if there is no deviation between the reference value and the measured value a', the output dO value of the calculation process s53 will be zero. As a result, the control signal applied from the generator control section 54 to the pulse generator 55 is at a steady level, and the output from the pulse generator 55 is A? For the pulse f, the times of rHJ and rLJ are the same. This signal f is amplified by an output amplifying section 56 and applied to the pulp mechanism 6.

Now, for some reason, the position of blade 2 is lower than the value a.
If ' is lowered, the output d□ value of the arithmetic processing unit 53 increases, and the level of the control signal e applied from the generator control unit 54 to the pulse generator 55 also increases.

Therefore, the pulse f output from the pulse generator 55
In this case, the rHJ time becomes longer than the "L" time by υ, and the duty cycle of the pulp mechanism 6 also becomes longer. As a result, the amount of hydraulic oil injected into the hydraulic cylinder 1 increases and the position of the blade 2 rises.

Furthermore, the arithmetic processing unit 53 also monitors changes in the measured value a' and controls the duty cycle of the pulp mechanism 6 based on the rate of change in the measured value a'.

Now, suppose that the hydraulic oil has a high viscosity and the responsiveness of the hydraulic cylinder l to the pulp mechanism 6 is lower than the standard characteristic (curve f → in Figure 2), then the measured value a' will rise gradually. Become something. Then, the arithmetic processing section 54 further increases the value of its output d, and as a result, the level of the control signal - applied from the generator control section 54 to the energizer 55 further increases. Therefore, the rHJ time of the /4' pulse generator 55 generates a longer rHJ, and the date cycle of the pulse mechanism 6 also becomes longer.

On the other hand, assuming that the viscosity of the hydraulic oil is low and the responsiveness of the hydraulic cylinder l to the pulp machine 4116 is higher than the standard characteristic (Fig. 2 (→O curve)), the measured value a' is ゛.

The rate of increase will also be rapid. Then calculation processing @5
4 slightly decreases the value of the output d, and as a result, the generator control unit 54 outputs the output d. The level of the control signal .sub.55 is also slightly reduced. Therefore, the rHJ time of the rHJ generated by the Norsnoenerator 55 is slightly shorter, and the duty cycle of the Norsnowelp mechanism 6 is also slightly shorter. Therefore, even in the embodiment shown in Figure #19, Even if the responsiveness of the hydraulic cylinder 1 to the pulp mechanism 6 changes, the responsiveness to the reference value of the hydraulic cylinder 1 and the measured value a and O deviation does not change. Therefore, in Figure 9!
i! In this embodiment as well, once the gain of the amplifier 5 is adjusted, the response characteristic of the hydraulic control system as a whole approaches the curve shown in Fig. Is2.

Next, another embodiment of the present invention will be described.

Figure 10 is a block diagram showing another embodiment of the present invention. In the embodiment shown in Figure 10, by comparing the curve of the measured value a with the standard curve, the
The response to the lube mechanism 6 is detected and the gain of the amplifier 5 is adjusted.

In other words, if a deviation occurs between the measured value 1 and the reference value, the measured value 1 will vary depending on the responsiveness of the hydraulic cylinder l to the knob mechanism 6. Draw a curve.

This measured value a is multi-valued quantized by the converter 22 and applied to the comparator circuit 21 as the measured value a'', where it is sampled at the timing shown in FIG. 11(b).

On the other hand, the standard curve memory 20 stores the standard curve shown in FIG. The content line portion 11 is applied to the comparator circuit 21 at the same timing as the sampling timing shown in FIG.

The comparison circuit 21 compares the measured value a'' with the output value of the standard curve memory 20 and adds the difference between the two to the amplifier circuit 5.

The amplifier circuit 5 is constituted by a microcomputer and amplifies the deviation between the measured value a'' and the reference value according to the output value of the comparison circuit 21O.

Specifically, when the value of the comparator circuit 21 becomes positive (the value of the comparator circuit 21 becomes a positive value when the measured value a# is lower than the value of the standard curve memory 20, the measured value When a'' is lower than the value in the standard curve memory 20, it becomes a negative value.) Amplify by avoiding the deviation t-yin between the measured value a'' and the reference value
When the value of the comparison circuit 21 becomes negative, the deviation between the measured value a'' and the reference value A is amplified by reducing the gain.

Incidentally, the gain is increased or decreased depending on the structure of the pulp mechanism, and if the pulp mechanism 6 is a solenoid pulp, then the gain is increased or decreased by increasing or decreasing the duty ratio, or if the pulp mechanism is a solenoid, for example, the gain is increased or decreased by changing the amplitude, etc. .

Accordingly, according to the embodiment shown in Fig. 9, the hydraulic cylinder
Even if the responsiveness to the pulp mechanism 6 changes, the responsiveness to the measured value &" and the reference value of the hydraulic cylinder will not change. Therefore, even in the embodiment shown in FIG. 10, once the dyne is adjusted, the rest is easy. The characteristics of the entire leveling control device always approach the 21st/f1 curve.

In the above, the embodiment shown in Fig. 1θ has been described for the case where digital processing is performed, but the standard curve memory is configured with a memory having characteristics similar to an analog broken line, and the comparison circuit is configured with a differential amplifier, for example. If configured, it is possible to perform analog processing.

As explained above, according to the present invention, in any of the embodiments, even if the responsiveness of the hydraulic cylinder to the nozzle mechanism changes, the responsiveness of the hydraulic cylinder to the deviation between the measured value and the reference value does not change. .

Therefore, according to the present invention, once the gain of the amplifier is adjusted, even if the viscosity of the hydraulic oil changes due to a change in temperature or an increase in operating hours, the response characteristics of the leveling device as a whole will not change.

In the above description, the explanation has been given regarding the leveling control of blades such as a motor gray end and a motor gray arm, but the present invention can be widely applied as a general hydraulic control device.

m1llO Brief explanation Part 1 II is a general hydraulic control device professional diagram, sig
ma is a diagram showing the response characteristics of the hydraulic control device, FIG. 3 is a block diagram showing an embodiment of the present invention, FIG. 4 is an internal block diagram of the amplifier, and FIG. 5 is an internal program of the amplifier and pulp mechanism.
Figure 186 is a diagram showing another embodiment of the present invention.
7 is a block diagram of another embodiment of the present invention, and FIG. 8 is a block diagram of another embodiment of the present invention.
9 is a block diagram showing another embodiment of the present invention, FIG. 10 is a block diagram showing another embodiment of the present invention, and FIG. 11 is a JIIO diagram. FIG. 3 is a diagram showing a numbered timing tube according to an embodiment.

l-Hydraulic cylinder, 2...Grade, 3...Sensor, 4-Signal processing circuit, 5...Amplifier, 6...Pulp mechanism, 7...Grade leveling road surface, 8...Viscosity sensor , 9・
-・Micro combination, -ta, 1G... converter, l
1-... Correction condition method 4, 12... Differential circuit, 13...
...Reference value memory, 14--Control circuit, 15...Envelope detection circuit, 16--Comparison circuit, 17...
sea bream! , 18... Generator, 1G-... Control circuit, 20... Standard curve memory, 21... Comparison circuit,
22...φ converter.

Claims (8)

[Claims] (1) A hydraulic cylinder, a pulp mechanism that controls the flow rate of hydraulic oil injected into the hydraulic cylinder, and a hydraulic pressure that commands the pulp mechanism to open or close depending on the deviation between the position of the hydraulic cylinder and a preset reference value. In the control device, a first means for detecting a factor involved in the responsiveness of the hydraulic cylinder to the nozzle mechanism, and a second means for controlling the amplifier O gain based on the output of the first means. Hydraulic control device with (2) The hydraulic control device according to claim (1), further comprising a temperature sensor for detecting the temperature of the hydraulic oil as the recording means. (3) The hydraulic control device according to claim 0, further comprising a viscosity sensor for detecting the viscosity of the hydraulic oil as the first means. (4) Claim No. 1, further comprising means for detecting a rate of change in the position of the hydraulic cylinder as the means for j11.
Hydraulic control device described in ). (5) A hydraulic cylinder, a pulp ms that controls the flow rate of hydraulic oil injected into the hydraulic cylinder, and a deviation tube between the position of the hydraulic cylinder and a preset reference value, which is amplified to instruct the opening and closing of the pulp ms. In a hydraulic control device having an amplifier that outputs a signal, the pulp &
A hydraulic control device comprising: first means for detecting a factor involved in responsiveness to a pulp mechanism; and second means for controlling a duty cycle of the pulp mechanism based on an output of the first means. (6) The hydraulic control device according to claim 1 & M (5), further comprising a temperature sensor for detecting the temperature of the hydraulic oil as the first means. (7) The hydraulic control device according to claim (5), further comprising a viscosity sensor for detecting the viscosity of the hydraulic oil as the first means. (8) Claim 1tl, wherein the first means includes means for detecting a rate of change in the position of the hydraulic cylinder.
The hydraulic control device according to all (5).