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KR920010084A - Optimum working flow control device of excavator and its control method - Google Patents

Optimum working flow control device of excavator and its control method Download PDF

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Publication number
KR920010084A
KR920010084A KR1019900017672A KR900017672A KR920010084A KR 920010084 A KR920010084 A KR 920010084A KR 1019900017672 A KR1019900017672 A KR 1019900017672A KR 900017672 A KR900017672 A KR 900017672A KR 920010084 A KR920010084 A KR 920010084A
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South Korea
Prior art keywords
actuator
pedal
calculating
amount
excavator
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Application number
KR1019900017672A
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Korean (ko)
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KR950004017B1 (en
Inventor
이진한
Original Assignee
김연수
삼성중공업 주식회사
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Publication date
Application filed by 김연수, 삼성중공업 주식회사 filed Critical 김연수
Priority to KR1019900017672A priority Critical patent/KR950004017B1/en
Priority to GB9120108A priority patent/GB2251232B/en
Priority to US07/765,162 priority patent/US5308219A/en
Priority to ITMI912587A priority patent/IT1251898B/en
Priority to FR9111930A priority patent/FR2667407B1/en
Priority to DE4132597A priority patent/DE4132597C2/en
Publication of KR920010084A publication Critical patent/KR920010084A/en
Application granted granted Critical
Publication of KR950004017B1 publication Critical patent/KR950004017B1/en

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

내용 없음No content

Description

굴삭기의 최적작동유량제어장치 및 그 제어방법Optimum working flow control device of excavator and its control method

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 본 발명에 따른 장치가 갖추어진 굴삭기의 개략적인 유압회로도.1 is a schematic hydraulic circuit diagram of an excavator equipped with a device according to the invention.

제2도는 본 발명의 장치에 따른 제어시스템의 구성도.2 is a block diagram of a control system according to the apparatus of the present invention.

제3도는 펌프의 토출유량 및 유량배분을 제어하는 과정을 나타낸 플로우챠트.3 is a flowchart showing a process of controlling the discharge flow rate and the flow rate distribution of the pump.

Claims (3)

굴삭기의 각 액튜에이터에 그 작동상태를 검출하기 위한 변위 감지센서(23a, 23b, 23c, 23d, 23e, 23f)가 설치되고, 이 감지센서(23a, 23b, 23c, 23d, 23e, 23f)와 상기 각 액튜에이터의 작동을 조절해 주는 조작레버/페달(21)가 마이콤이 내장된 전자식콘트롤러(24)와 전기적으로 연결되는 한편, 이 전자식콘트롤러(24)는 엔진(1)에 의해 구동되는 제1 및 제2펌프(3, 4)의 사판각을 내부파일롯트압력으로 조절해 주는 사판각조절밸브(19a, 19b)와, 상기 각 액튜에이터로 공급되는 작동압유의 공급량을 제어하는 각 제어밸브 (23a, 23b, 23c, 23d, 23e, 23f)의 스푸울 이동량을 역시 내부파일롯트압력으로 조절해주는 전자 비례제어밸브블럭((22a, 22b) 및, 상기 각 액튜에이터를 작동시켜 주기 위한 조작레버/페달(21)과 각각 전기적으로 연결된 굴삭기의 최적작동유량제어장치.Each actuator of the excavator is provided with displacement sensors 23a, 23b, 23c, 23d, 23e, and 23f for detecting its operating state, and the detection sensors 23a, 23b, 23c, 23d, 23e, and 23f. An operation lever / pedal 21 for controlling the operation of each actuator is electrically connected to an electronic controller 24 with a built-in microcomputer, while the electronic controller 24 is provided with a first and second drive by the engine 1. The swash plate angle control valves 19a and 19b for adjusting the swash plate angles of the second pumps 3 and 4 to the internal pilot pressure, and the control valves 23a for controlling the supply amount of the working pressure oil supplied to the respective actuators. Electronic proportional control valve blocks (22a, 22b) for adjusting the sprue movements of 23b, 23c, 23d, 23e, and 23f to the internal pilot pressure, and an operation lever / pedal 21 for operating the respective actuators. Optimal working flow control device for excavators electrically connected to each other. 굴삭기의 각 액튜에이터를 담당하는 해당 조작레버/페달(21)을 조작함에 따라 그 조작각도에 해당하는 크기의 전기적신호를 접수받아 조작량을 판단하는 조작레버/페달(21)의 조작량판단단계와; 상기 조작레버/페달(21)의 조작량에 따라 작동시키고자 하는 액튜에이터의 작동요구량에 부합하는 제1 및 제2펌프(3, 4)의 요구토출유량을 계산하는 펌프의 요구토출유량계산단계; 상기 조작레버/페달(21)의 조작량에 따라 그에 부합하는 양만큼의 작동압유가 해당 액튜에이터에 주입되도록 관련 제어밸브의 스푸울을 이동시키기 위한 해당 액튜에이터 제어밸브의 요구조작량계산단계; 상기펌프의 요구토출량계산단계에서 계산된 펌프의 토출유량과 액튜에이터 제어밸브의 요구조작량계산단계에서 계산된 제어밸브의 조작량에 따라 상기 제1 및 제2펌프(3, 4)가 각각 담당해야 할 토출유량을 계산하는 토출량배분계산단계 및; 이 토출량배분계산 단계에서 처리된 최종신호를 가지고 사판각조절기구(20a, 20b)를 조절해주도록 증폭기(26)를 통해 사판각조절밸브(19a, 19b)로 출력하는 신호출력단계로 이루어진 굴삭기와 최적작동유량제어방법.An operation amount judging step of the operation lever / pedal 21 for judging an operation amount by receiving an electrical signal having a size corresponding to the operation angle according to the operation of the operation lever / pedal 21 for each actuator of the excavator; A required discharge flow rate calculating step of calculating a required discharge flow rate of the first and second pumps (3, 4) corresponding to the operation requirements of the actuator to be operated according to the operation amount of the operation lever / pedal (21); Calculating a required operation amount of the actuator control valve for moving the sprue of the associated control valve so that the operating pressure oil corresponding to the operation amount of the operation lever / pedal 21 is injected into the actuator; According to the discharge flow rate of the pump calculated in the calculation of the required discharge amount of the pump and the operation amount of the control valve calculated in the calculation of the required operation amount of the actuator control valve, the first and second pumps 3 and 4 should each be discharged. A discharge amount distribution calculating step of calculating a flow rate; An excavator comprising a signal output step of outputting the swash plate angle control valves 19a and 19b through the amplifier 26 to adjust the swash plate angle adjustment mechanisms 20a and 20b with the final signal processed in the discharge amount distribution calculation step. Optimal operating flow control method. 굴삭기의 각 액튜에이터를 담당하는 해당 조작레버/페달(21)을 조작함에 따라 그 조작각도에 해당하는 크기의 전기적신호를 접수받아 조작량을 판단하는 조작레버/페달(21)의 조작량판단단계와; 상기 조작레버/페달(21)의 조작량에 따른 액튜에이터의 요구이동 속도(Vi)와 각 액튜에이터에 설치된 변위감지센서를 통해 감지된 전기적신호로 해당 액튜에이터의 현재이동속도(Vf)를 각각 계산하는 액튜에이터속도계산단계; 이 액튜에이터속도계산단계에서 계산된 2개속도의 상대적차이(Vi-Vf)를 구하여 이 속도 차이 값에 따라 어느 액튜에이터에 과부하가 걸려 있는지 아닌지를 판단하는 과부하 검출단계; 현재 2개이상의 액튜에이터와 제 1 및 제 2펌프(3,4)가 동시에 작동하는 중인지 아닌지를 판단함과 더불어 전회에 과부하에 대응하는 제어과정이 셋팅되어 있는지 아닌지를 판단하는 복합동작판단단계; 상기 전회의 제어과정에서 셋팅된 입력값인 이미 제어되어 있는 입력속도(VO) 현재 액튜에이터의 속도(Vf)를 비교하여 이 2개의 값이 동일하다고 판단되면 계속 셋팅된 제어값으로 출력하고 상기 Vf와 VO값이 다른 경우에는 각 액튜에이터에 걸리는 부하에 따라 요구하는 일정비율이 출력량을 계산하는 각 액튜에이터에 해한 일정비율의출력량계산단계 및; 이 일정비율의 출력량계산단계에서 계산된 값에 따라 해당 액튜에이터의 제어밸브를 조절해 주기 위한 조절신호를 증폭기(25a, 25b)를 통해 전자비례제어밸브블록(22a, 22b)로 출력해주는 제어신호출력 단계로 이루어진 굴삭기의 과부하시 최적유량제어방법.An operation amount judging step of the operation lever / pedal 21 for judging an operation amount by receiving an electrical signal having a size corresponding to the operation angle according to the operation of the operation lever / pedal 21 for each actuator of the excavator; Computing the current movement speed (V f ) of the actuator with the electrical movement detected by the required movement speed (V i ) of the actuator and the displacement sensor installed in each actuator according to the manipulation amount of the operation lever / pedal (21) Actuator speed calculating step; The relative difference between the two speeds calculated in this actuator speed calculation step ( An overload detection step of determining which actuator is overloaded according to this speed difference value by obtaining V i -V f ); A composite operation judging step of judging whether two or more actuators and the first and second pumps 3 and 4 are operating at the same time as well as determining whether a control process corresponding to an overload is set the previous time; Input that is already controlling the input value set by the last time control process speed (V O) if the two values are determined to be identical by comparing the current actuator velocity of (V f) and outputting a continue the set control value is the Calculating the output ratio of a constant ratio for each actuator whose required ratio is calculated according to the load on each actuator when the V f and V O values are different; Control signal output that outputs a control signal for controlling the actuator's control valve according to the value calculated in the step of calculating the output ratio of the predetermined ratio to the electromagnetic proportional control valve block 22a, 22b through the amplifiers 25a, 25b. Optimal flow control method in case of overload of excavator consisting of two steps. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019900017672A 1990-09-29 1990-11-01 Optimum working flow control device of excavator and its control method KR950004017B1 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
KR1019900017672A KR950004017B1 (en) 1990-11-01 1990-11-01 Optimum working flow control device of excavator and its control method
GB9120108A GB2251232B (en) 1990-09-29 1991-09-20 Automatic actuating system for actuators of excavator
US07/765,162 US5308219A (en) 1990-09-29 1991-09-23 Process for automatically controlling actuators of excavator
ITMI912587A IT1251898B (en) 1990-09-29 1991-09-27 AUTOMATIC DRIVE SYSTEM FOR EXCAVATOR ACTUATORS
FR9111930A FR2667407B1 (en) 1990-09-29 1991-09-27 AUTOMATIC CONTROL SYSTEM FOR MEANS OF IMPLEMENTING AN EXCAVATOR.
DE4132597A DE4132597C2 (en) 1990-09-29 1991-09-30 Method and device for controlling an excavator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019900017672A KR950004017B1 (en) 1990-11-01 1990-11-01 Optimum working flow control device of excavator and its control method

Publications (2)

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KR920010084A true KR920010084A (en) 1992-06-26
KR950004017B1 KR950004017B1 (en) 1995-04-22

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KR1019900017672A KR950004017B1 (en) 1990-09-29 1990-11-01 Optimum working flow control device of excavator and its control method

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20000021940A (en) * 1998-09-30 2000-04-25 토니헬샴 Booster for work equipment of construction machine
KR20000021942A (en) * 1998-09-30 2000-04-25 토니헬샴 Automatic control method of relief pressure of construction machine
KR20210115009A (en) * 2019-09-30 2021-09-24 히다찌 겐끼 가부시키가이샤 working machine
KR20220113441A (en) * 2019-12-17 2022-08-12 와커 헤미 아게 Fine Aqueous Particle Stabilized Pickering Emulsion and Particles Prepared Therefrom

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100621985B1 (en) * 2005-08-02 2006-09-11 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 Driving system
KR101401124B1 (en) * 2007-12-24 2014-05-30 두산인프라코어 주식회사 Hydraulic pump control apparatus for construction machinery
KR102471489B1 (en) 2015-07-15 2022-11-28 현대두산인프라코어(주) A construction machinery and method for the construction machinery

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20000021940A (en) * 1998-09-30 2000-04-25 토니헬샴 Booster for work equipment of construction machine
KR20000021942A (en) * 1998-09-30 2000-04-25 토니헬샴 Automatic control method of relief pressure of construction machine
KR20210115009A (en) * 2019-09-30 2021-09-24 히다찌 겐끼 가부시키가이샤 working machine
KR20220113441A (en) * 2019-12-17 2022-08-12 와커 헤미 아게 Fine Aqueous Particle Stabilized Pickering Emulsion and Particles Prepared Therefrom

Also Published As

Publication number Publication date
KR950004017B1 (en) 1995-04-22

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