JPS62242028A - Slow start position controller for working machine for construction equipment - Google Patents

Abstract

PURPOSE:To improve the precision of achievement to a target position, by finding the variation value of speed command based on a deviation between the present position and the former position of a service machine, to compare with the maximum allowable value, and by starting the machine on each correction speed command due to arithmetic means. CONSTITUTION:On control start command 1, the input of the set value 2 of a target position and the detected position of a working position 3 on control start is provided, and the deviation is multiplied by a previously set feedback gain, and speed command is performed arithmetic. After that, the variation value of the speed command based on a deviation between the present position and the former position is found. When the variation value is compared with a previously set maximum allowable quantity and the variation value is smaller, then the speed command is set to be the correction speed command of the present position, as it is. When the variation value is equal to or more than the maximum allowable value, then the value of the maximum allowable value added to the correction speed command of the former position is performed arithmetic 4 as the correction speed command, and on the basis of the arithmetic operation, a working machine is driven. As a result, slow start control can be executed.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to a boom for construction machinery such as a hydraulic excavator.

Slow start position fi that can relieve the shock at start-up in positioning control of work equipment such as arms and packets
This is related to the ll @ IA location.

(Prior art) In position control in which a work machine, etc. is positioned at a speed according to the deviation between the set value of the target position and the detected value of the current position, when the given speed command is directly "C-driven, the work machine suddenly may move, causing an unpleasant shock to the operator, or
The dirt inside the packet may fall off.

Conventionally, as shown in Japanese Unexamined Patent Publication No. 55-7335Q, this impact has been conventionally alleviated by changing the set value of the target position from the current position to the setting 1a by moving the vJ salary through a first-order delay element. There is known a soft start control device for a working machine that is set by taking out the detected value and gradually increases the deviation from the detected value of the current device from 0.

In addition, in order to improve positioning accuracy, it is necessary to increase the feedback gain in feedback control, and if this feedback gain is increased, the change in speed command to the drive system becomes large, causing illumination when moving the work equipment.
This is particularly noticeable when the target position is far away.

In order to avoid this, in the conventional lift start υ control device disclosed in the above-mentioned publication, the value of the feedback gain is uniformly switched in two stages in accordance with the magnitude of the deviation using a compensator.

However, if the deviation is set so that it gradually increases from O in the initial stage of startup, and the drive is performed with the corresponding speed command, the gradual startup I! ! 1iiiIII, it takes an extra operating time, and even in compensators designed to shorten the operating time and improve positioning efficiency, the operating time becomes longer due to the use of a small feedback gain.

(Object of the Invention) In view of the above-mentioned circumstances, the present invention is capable of performing slow start control that does not give an unpleasant shock to the operator when driving a working machine in a construction machine, and also enables the target position to be quickly reached with high precision. The object of the present invention is to provide a slow start position Ml device that can perform position control.

(Structure of the Invention) The present invention provides a position control device for a working machine in a construction machine that moves a controlled object at a speed according to a deviation between a target position and a detected position. and the detected value of the work machine position at the start of control 2IllFl, and calculate the speed command by multiplying these S differences by a preset feedback gain, and the work calculated by this calculation means. Find the change value between the speed command based on the deviation at the machine's current position and the speed command based on the deviation at the previous position, compare this change value with the maximum allowable value set in advance, and if the change value is less than the maximum allowable value. The speed command calculated based on the deviation of the current position is used as the corrected speed command at the current position, and when the above change value is greater than the maximum allowable value, the value obtained by adding the maximum allowable value to the speed command at the previous position is used as the current position. and calculation means for calculating as a corrected speed command in
The present invention is characterized in that the calculation means and the drive means are connected so that the working machine can be started based on the corrected speed command.

In the above configuration, the change value of the speed command for each target position during operation, that is, the increase, can be regulated to be below the maximum allowable value in practice without giving an unpleasant shock to the operator, and the maximum The work equipment can be moved based on a modified speed command that makes maximum use of the range of speed changes up to the allowable value, and even if the feedback gain is increased, the change in speed and reaction at startup is restricted to below the maximum allowable value above. The work machine can be started slowly based on the speed command, and the positioning can be performed with high precision to avoid delays in opening when reaching the target position.

(Embodiment) Fig. 1 shows a basic embodiment of the slow start position control TM device of the present invention, in which 1 is a control start command generating means such as a switch, 2 is a target position M (set value) by manual operation, etc. ), 3 is a current position detector of the work machine, 4 is an arithmetic processing unit, and 5 is a drive means for the work machine.

This slow start position control device includes IIj1m start command generating means 1. Target image fi setting method 12. i5 and current position detector 3
are connected to the arithmetic processing unit 4 so that a control start command, a set value, and a detected value can be input, respectively, and the driving means 5 performs the production 1 based on the corrected speed command output from the cylinder processing unit @4.
! The machine is started, moved in the direction of the target position, and then moved again based on the detected value of the moved position by the processing device W4 and the drive means 5, and these steps are repeated until the target position is reached. It is.

The current position detector 3 uses, for example, an encoder, a potentiometer, etc., and connects them to an arm or a boom.

It is provided at each hinge of a working machine such as a packet, electrically detects the current position of the working machine, and is connected to the arithmetic processing process 4 via an AD (analog-to-digital) converter or the like.

The driving means 5 is a control valve IL! It consists of a hydraulic amplifier 6, a control valve 7°, a work machine cylinder 8, etc., and receives a speed command signal from the arithmetic processing unit 4 and controls the switching direction, pressure, flow, etc. of hydraulic oil from the control valve drive amplifier 6. An ll1tIl signal is issued to the control valve 7, hydraulic oil flows into and out of the working machine cylinder 8, and the working machine cylinder 8 is extended to move each working machine in the direction of the target position.

Next, the processing procedure of the 311 calculation process 51M4 will be explained with reference to the flowchart of FIG.

When starting the pruning processing device M4 and starting the slow start position control, in step S1, zero is set as the initial II value of the front position speed command fflVo used in the arithmetic processing step.

In step S2, the sea bream wvn start command generating means 1. From the target position setting means 2 and the current position detector 3, the control start command signal, the set value θ of the target position, and the detected value θ of the current position are input, and in step S3, the illumination is performed based on the control start command signal. It is determined whether or not all has started, and if YES, the process proceeds to the next step.

In the next step, step S4, the input setting value θr
A deviation E is calculated as a relative difference between the moving vehicle and the detected value θ, and the speed command Itiv at the current position is calculated in step S8 by multiplying this deviation E by the feedback gain set in step s5.

In step S7, a speed change value Δ■ is calculated, which is the difference between the speed command value V calculated in step S6 and the speed command Vo at the front position input as the first JIIIIfJ or the speed command Vo set in step St2 described later. Then, in step Sg, this speed change value ΔV and the maximum permissible speed change value ΔV n+ax set in step S8 are compared in magnitude.

Here, the maximum allowable value ΔV a+ax is the maximum value among the shocks that occur due to speed changes in driving the work equipment, which corresponds to a shock that does not cause a shock to the operator. .

Speed change value Δ when driving from the current position in step Ss
When V is smaller than the maximum allowable value ΔV laX, in step SID, the speed command value V at the current position is used as the modified speed command value Vs for driving the work equipment, and conversely, the speed change value Δ■ at the current position is Maximum allowable value ΔV wax
If the speed command value Vok1.Vok1. is larger than Vok1.Vok1. The value obtained by adding the maximum allowable value ΔV laX is set as the corrected speed command 11iVs at the current position.

Then, when repeating the calculation process of the corrected speed command value again based on the work machine position after movement by this correction 311 degree command, the speed command value vO at the previous position (i.e. development II) used for this process , is replaced with the corrected speed command value ys at the current position in step S12,
After outputting the corrected speed command 11VstrN signal to the driving means 5 in step S13, the process returns to step S2 again.
Step S2 to Step 84. Step S81 Step S7. Steps S8 to S13 are repeated to output the corrected speed command value at the next working machine position.

Here, the maximum allowable value Δy s of the speed change in step S8
Once you have set the ax settings once, you do not need to set them again unless you want to change them.

These calculation processes end when the control IIjl start command is NO in step S3.

Arithmetic processing like this @! In 114, in the position υ control of the work equipment, the change in speed command between the front position and the current position is kept within a range that does not give an unpleasant shock to the operator, and the speed change is gradually increased from zero. Instead, a speed change up to the maximum speed change value in the above range is allowed from the initial stage of startup, and a modified speed command that effectively uses the maximum speed change within the maximum allowable value is output.

By driving the work machine based on this corrected speed command signal, the work machine can be started slowly and
It is possible to reach the target position in a short time under the following conditions.

FIG. 3 shows the relationship between the movement speed command value of the working machine and time, and the change in movement speed over time due to the corrected speed command in the present invention is shown by a solid line.

Here, the speed command is a constant value V regardless of the passage of time.
The section indicating wax is determined by the maximum speed limit due to the mechanical capacity of the driving means 5, and is a speed command value that is the same value as the speed change value Δy max or a speed command value that is smaller than this speed change value ΔV wax at the initial stage of startup. Driving is started from point (2), and when the point a is reached, the driving state is set to the above-mentioned constant value Vn+ax, and the state remains unchanged until the deceleration starting point is automatically determined by feedback control.

Also, the broken line in the figure shows the case where the feedback gain is increased using the conventional device described above, which results in a large change in the speed command and a large impact. Therefore, this tendency becomes larger as the value of the feedback gain is increased.

1. That is, in the present invention, even if the value of the feedback gain in step S5 becomes too large, the comparison calculation from step S9 to step S11:
s is the speed change value ΔV and the maximum allowable value Δv max of the speed change, regardless of the magnitude of the feedback gain.
Since YiW is determined based only on the relationship between the two, it is possible to perform highly accurate slow starting position control without generating an unpleasant shock to the operator.

Note that if a dead zone occurs in the control valve 7 due to a delay in operation, step a in step S1 of the V4 calculation device 4 in FIG.
, II lit fi1 If you set the speed command value Vd that can eliminate the dead zone instead of zero in the initial value setting before starting, it will become as shown by the dashed line in Fig. 3, and U) due to the dead zone of valve opening 7. Delays can be eliminated and the time required to reach the target position can be shortened.

(Effects of the Invention) According to the slow start position control device for a work machine in a construction machine of the present invention, the change in speed command for making the work machine reach a target position between the previous position and the current position can be controlled in a manner that does not make the operator uncomfortable. It is possible to regulate the speed change to a range that does not cause a shock, and instead of requiring the speed change to gradually increase from zero, it allows the speed change to the maximum speed change value in the above range from the first 11 after startup. Then, the working machine can be moved based on the modified S degree command that makes full use of the speed change range up to the maximum allowable fa.

Therefore, by avoiding driving the work equipment based on this corrected speed command signal, the work equipment is effectively controlled to start slowly, and compared to the conventional case where the speed change is gradually increased from zero, it is possible to move the work equipment to the target position. position υ that can be reached in a short time
I can do l.

In particular, even if the feedback gain is reduced to improve the positioning accuracy and shorten the operation time, the speed change at startup will not exceed the maximum allowable value above. Even when approaching the target position from a distance, it is possible to control the starting position quickly and with high precision without causing an unpleasant shock to the operator.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing the basic configuration of an embodiment according to the present invention, Fig. 2 is a Noroch 1P diagram showing the processing procedure of the arithmetic processing yP and Hi groups in Fig. 1, and Fig. 3 is a diagram showing the speed command value and 9 is a relational diagram showing the relationship with time 1... Control start command generation means, 2... Target position setting means, 3... Current position detection type, 4... Operation Ti# processing equipment , 5... driving means,
6... Control valve drive amplifier, 7... Control valve, 8...
Work machine cylinder. Patent applicant Kobe Co., Ltd.! ! J Steel Works Representative Patent Attorney Etsushi Kotani
Patent Attorney Chief 1) Masayuki Patent Attorney Norio Itaya Figure 1 Figure 3

Claims (1)

[Claims] 1. In a position control device for a work machine in a construction machine that moves a controlled object at a speed according to the deviation between the target position and the detected position, the set value of the target position and the work machine position at the time of control start are determined based on a control start command. a calculation means that calculates a speed command by inputting the detected value of and multiplies these deviations by a preset feedback gain; Find the change value from the speed command based on the deviation in position, compare this change value with the maximum allowable value set in advance, and if the change value is less than the maximum allowable value, the speed calculated based on the deviation of the current position It has calculation means that calculates the command as a modified speed command at the current position, and when the above-mentioned change value is equal to or greater than the maximum allowable value, calculates a value obtained by adding the maximum permissible value to the speed command at the previous position as the modified speed command at the current position. A slow start position control device for a working machine in a construction machine, characterized in that the calculating means and the driving means are connected to each other so that the working machine can be started based on the modified speed command.