JPH04149603A - Automatic controller for hydraulically-driven machine - Google Patents

Abstract

PURPOSE:To improve the control accuracy of this controller by securing the switch between a normal control mode and a control gain adjustment mode, performing a trial digging operation in the latter mode to set and store the adjustment value of the control gain based on the control deviation obtained from the trial digging operation, and fetching the stored value in the normal control mode. CONSTITUTION:A boom feedforward gain adjustment arithmetic means 32 calculates the adjustment value of the feedforward gain from the control deviation obtained for each control cycle when a hydraulically-driven machine has a trial operation in a feedforward gain adjustment mode. A boom feedforward gain fine adjustment value storage means 33 stores the value calculated by the means 32. The mode of a control means 16 is switched to the feedforward gain adjustment mode and a trial digging operation is carried out. Thus the adjustment value of the feedforward gain is calculated from the control deviation obtained from the trial digging operation and then stored by the means 33. Then the calculated adjustment value is fetched and the machine is controlled when the means 16 is switched to a normal control mode. In such a way, the control accuracy is improved for an automatic controller of the hydraulically-driven machine.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention is applicable to hydraulic systems in which feedforward control and feedback control are executed in parallel, such as linear excavation control of hydraulic excavators and horizontal retraction control of cranes. This invention relates to an automatic control device for a driving machine.

C. Prior Art] In general, in hydraulically driven machines such as cranes and excavators, if the rigidity of the machine to be controlled is low, its dynamic characteristics, that is, the characteristics of the operating speed (output) in response to the drive signal (human power) to the hydraulic drive unit. becomes highly vibrating. Therefore,
When performing feedback control (for example, proportional control) on such a controlled object, setting the proportional gain to a large value tends to result in an oscillatory response, making it practically unusable, so the proportional gain should be set to a small value. will be restricted.

However, if such a feedback gain is small, it is difficult to make the actual drive amount follow the target value using only feedback control, and the control deviation between the two inevitably becomes large. Therefore, in automatic control of such a hydraulically driven machine, in addition to the feedback control described above, feedforward control is introduced to perform a corrective operation taking into account external influences to improve responsiveness.

[Problem to be solved by the invention]

The feedback control described above constantly monitors the difference between the target value and the controlled variable (control deviation) and sets the controlled variable based on this, so it inherently cannot respond to changes in the characteristics of the controlled object or disturbances. It has an easy-to-do nature. Therefore, if the gain of such feedback control cannot be sufficiently increased and control is performed to compensate for it with feedforward control, the change in the characteristics of the controlled object and Becomes vulnerable to external disturbances. In particular, the hydraulic drive unit tends to have a large dead zone, and it is practically difficult to proceed with control while ignoring this.

In this way, when there are variations in the characteristics of the controlled object (particularly the hydraulic equipment section), it is necessary to finely adjust the control gain according to the characteristics in order to maintain high control accuracy. In particular, it is desirable to set the feedback gain as large as possible within a range that does not give rise to oscillatory deviations.

However, adjusting the control gain as described above for each machine at the manufacturing stage requires a huge amount of time and effort, hinders the mass production of control devices, and often leads to lower costs. It becomes a hindrance. In addition, in order to suppress the above-mentioned variations, it is also possible to use a servo valve equipped with a My6 feedback system instead of a simple electromagnetic proportional pressure reducing valve, or to configure a minor feedback loop by installing sensors at various locations. , the cost increase due to this cannot be avoided.

In view of these circumstances, the present invention provides an automatic control device for a hydraulically driven machine that can contribute to improving control accuracy and reducing machine costs by realizing automation of fine adjustment of control gains. The purpose is to

[Means to solve the problem]

The present invention includes a detection means for detecting the amount of drive of a hydraulic drive unit;
The detection signal of the detection means is inputted, and the control means controls the drive of the hydraulic drive unit based on the detection signal, and the control means includes a feedback calculation means for calculating a feedback control amount and a feedforward control amount. In an automatic control device for a hydraulically driven machine, the automatic control device for a hydraulically driven machine is provided with a feedforward calculation means for calculating, a mode switching means for switching the mode of the control means between a normal control mode and a feedforward gain (or feedback gain) 1g adjustment mode; Feedforward gain (or feedback gain) adjustment A feedforward gain (or feedback gain) that calculates a value related to feedforward gain (or feedback gain) adjustment from the control deviation for each control cycle when the hydraulically driven machine performs trial operation in Moto. It comprises an adjustment calculation means and a feedforward gain (or feedback gain) adjustment storage means for storing the calculated value, and also reads the value stored by the feedforward gain (or feedback gain) adjustment storage means. The feedforward calculation means (
(feedback calculation means).

Note that the value related to the adjustment of the feedforward gain (feedback gain) here may be a gain fine adjustment value obtained by subtracting a preset standard gain from the adjusted new gain, or a value related to the adjustment of the new gain. It may be the same.

[For production]

In the above configuration, first, the mote of the control means is switched to the feedforward gain adjustment mode (or feedback gain adjustment mode), and by executing a trial excavation operation of the hydraulically driven machine in this mode, wide forward is possible from the control deviation at this time. The value related to gain adjustment (or feedback gain fine adjustment value) is calculated,
It is stored by the feedforward gain fine adjustment value storage means (feedback gain fine adjustment value storage means). Thereafter, when the mode of the control means is switched to normal control mode, control incorporating the above values, that is, control in which the gain is automatically finely adjusted, is executed.

〔Example〕

An embodiment of the present invention will be described based on the drawings.

FIG. 3 shows a hydraulic excavator as an example of a hydraulically driven machine equipped with the automatic control device of the present invention, and this figure shows a state during slope excavation work. A boom 2 is pivotally attached to the revolving body 1 of the hydraulic excavator main body so that it can be raised and raised,
An arm 3 is rotatably attached to the tip of the boom 2, and a packet 4 is rotatably attached to the tip of the arm 3. The boom 2, the arm 3, and the packet 4 are driven by the telescoping operations of a boom cylinder (hydraulic drive section) 5, an arm cylinder (hydraulic drive section) 6, and a packet cylinder (hydraulic drive section) 7, respectively.

At or near each of the pivot points, there are various detectors as shown in FIG. An arm angle detector (detection means) 9 for detecting α2 and a packet angle change detector (detection means) 10 for detecting the angle of the packet 4 relative to the ground are provided.

An arm lever (not shown) for manually controlling the arm 3 is provided in the operating room of the revolving structure 1, and its operation speed is determined from the pilot pressure of the remote control valve to the arm lever pilot pressure detector in both arm raising and lowering directions. 11.12
It is becoming more and more detected.

Furthermore, an excavation angle setting switch 13 is provided in the operator's cab.
, an automatic/manual changeover switch 14, and a mode changeover switch (mode changeover means) 15 consisting of a PID switch, etc.
Or is provided. The excavation angle setting switch 13 is the third
The inclination angle β of the slope G as shown in the figure is set as the target excavation angle. In addition, by setting the automatic/manual switching switch 4 to the automatic side with the packet 4 placed in a predetermined posture at the excavation start point, the height position of the arm tip B relative to the slope G and the packet The ground angle is the target value y bo.

It is set as θ30.

In Fig. 3, α3 is the packet angle with respect to arm 3, 11 is the distance from arm base wAO to boom tip A, and 12 is the distance from boom tip A to am tip B (
arm length). In addition, the horizontal coordinate axis and y are the vertical coordinate axes, and in the case of slope excavation, the coordinates of the arm tip 8 position can be calculated based on the coordinate axes x' and y' rotated by the excavation angle β with respect to the coordinate axes x and y. It will be done.

Detection signals of each of the above detectors 8 to 12, various switches 13 to
15 switch signals are input to the controller 16.

This controller 16 outputs a control signal based on the operation of the arm lever, and the arm cylinder hydraulic pressure control section 17
In this embodiment, arm cylinder 6, boom cylinder 5, and packet cylinder 7 are drive-controlled through boom cylinder hydraulic control section 18 and packet cylinder hydraulic control section 19. In this embodiment, only arm 3 is manually operated by operating the arm lever. Along with this rotation of arm 3,
Drive control of the boom 2 and the packet 4 is automatically performed to perform excavation while maintaining the ground height position yb' of the arm tip B relative to the slope G and the packet ground angle θ3 at the above target values. The controller (control means) 16 calculates the control amount of the boom 2 (boom cylinder 5) and the packet 4 (packet cylinder 7) necessary to move the packet 4 linearly in the direction of the arrow in FIG. and output this.

As shown in FIG. 2, this controller 16 includes a digital calculation section 20, an A/D converter 21, a RAM 22,
ROM23, EEPROM24, and D/A converter 2
5, the various detection signals and command signals (switch signals) are sent to the digital calculation unit 2 through the A/D converter 21.
It is input to 0.

The voltage outputted from this digital calculation unit 20 through the D/A converter 25 is converted by the voltage-current converter 26, and then converted into oil pressure by the electromagnetic proportional pressure reducing valve 27, thereby controlling the operation of each cylinder 5 to 7. Speed control is performed.

This controller 16 includes the mode changeover switch 15.
By the operation of , the normal control mode and the adjustment mode are switched, and the adjustment mode is switched to each mode in the following order.

(1) Offset value adjustment mode for position detectors 8 to 10 (2) Actuator dead zone compensation value adjustment mode for cylinders 5 to 7 (3) Actuator correction gain setting mode for each cylinder 5 to 7 (4) Boom feed forward gain adjustment Mode (5) Packet feedforward gain adjustment mode (6) Boom feedback gain adjustment mode (7) Packet feedback gain adjustment mode 1 Next, the control contents performed in each of these modes will be described in detail below.

Australia Normal control mode This mode is a mode for carrying out actual slope excavation work in a state in which each control element has been finely adjusted in advance by each adjustment mode described in detail later.

Figure 4 is a block diagram showing the control contents of the controller 16 when switched to this mode. This controller 16 is roughly divided into an arm control block 16a, a boom control block 16b1, and a packet control block 16c.

(1) Arm control block 16a In this block 16a, first, the arm lever signal from the arm lever pilot pressure detector 11 (12) is multiplied by a predetermined gain by the calculation means 28, and the basic control amount u2□ is output. . In addition, arm link correction means 29
The correction is added to output the primary correction control amount u22, and the secondary correction control amount u2 corrected by the nonlinear compensation means 30 is output as the control amount of the arm cylinder 6.

The arm link correction means 29 takes into consideration that the actual expansion/contraction speed of the arm cylinder 6 and the rotational angular velocity of the arm 3 are not in a strictly proportional relationship, and maintains a proportional relationship throughout the entire stroke of the cylinder. A predetermined correction is made so that the

The nonlinear compensating means 30 adjusts the output current value to the proportional electromagnetic pressure reducing valve due to the nonlinearity of the proportional electromagnetic pressure reducing valve 27 shown in FIG. Considering the non-linearity that occurs between the expansion and contraction speed of the arm cylinder 6 and the expansion/contraction speed of the arm cylinder 6, this is corrected to maintain linearity. Calculations are performed using the correction gain and dead zone compensation fine adjustment values respectively stored by the adjustment value storage means 31b.

With such a configuration, the arm 3 is manually controlled at a constant angular velocity according to the command speed of arm lever operation.

(b) Boom control block 16b This block 16b performs elevation control of the boom 2 so as to keep the height of the arm tip B above the ground constant while the arm 3 is rotating. The boom angle and the detection signal (angle signal) from the arm angle rain detector 8.9 are inputted to this boom control block 16b, and based on these angle signals and the basic control amount u21 of the arm control blocks 1 and 6a. The boom cylinder feedforward calculation means 32
Accordingly, a boom cylinder feedforward control amount ull for causing the height position of the arm tip B with respect to the slope G to follow a constant target value ybo is calculated.

The contents of this calculation will be explained. Here, in order to simplify the explanation, a case will be explained in which the inclination angle β of the slope G in FIG. In this case, the coordinate systems x, y and the coordinate system x'
, y match, so we will proceed with the coordinate system x, y.

At this time, the height position yb of the boom tip B above the ground is expressed by the following equation.

Vtl =l l sinθl +12・sin (
θl−α2) From this, the arm tip speed yb becomes yb = (J I C0I01+ A'2cos(θl−α2)) θ1 −12co+(θl −C2) C2. Here, 01 is the boom angular velocity, and C2 is the arm angular velocity. If yb is constant, yb =.

Therefore, 1 2-cthI (θl −C2)θ 1 =

α 211−coSθ 1 +l 2 cos
(θl a 2 ) is obtained, and using this formula, the boom cylinder feed force word nailing amount u in Fig. 2 is obtained.
11 is Kff (12cc++ (θ!-α2))U
F=u21 Allco+θl+1!2CO1 (given by θ1−a2+.K[t is a feedforward gain, and this feedforward gain KN has a boom field forward gain standard value KJi set in advance)
o plus the fine adjustment value ΔKft stored in the boom feedback gain fine adjustment value storage means (feedforward adjustment storage means) 33 is used, and If is the feedforward gain fine adjustment value Δ which will be described later. The one set in the gain adjustment mode is used.

On the other hand, the coordinate calculating means 34 calculates the actual height position yb of the arm tip B by coordinate calculation based on the boom angle signal and the arm angle signal, and uses this calculated value yb and the target value yb of the arm tip height position. .

The feedback control amount u12 is calculated by the proportional integration means (feedback calculation means) 35 from the deviation Δyb.

This proportional integration means 35 has a feedback gain of 1 for the proportional gain Kp and the integral gain.
The feedback control amount υ12 is calculated based on the following equation.

u12=Kp·Δyb+Ki·Σ(Δyb) Here, Σ(Δyb) is the sum (integrated value) of the control deviations Δyb obtained at each fixed control cycle from the start of control to the present time. The proportional gain Kp and the integral gain Kl have a standard value Kpo.

The fine adjustment value ΔKp stored in the boom feedback gain fine adjustment value storage means (feedback gain adjustment storage means) 36 in the Kio, the value obtained by adding 1 to Δ is used,
These fine adjustment values ΔKp and Δ are set to 1 in the boom feedback adjustment mode, which will be described later.

A boom cylinder basic control amount u13 is obtained by adding this feedback control amount u12 and the feedforward control amount u11, and this is corrected by the boom link correction means 37 (primary correction control amount u14) and the boom attitude correction means 38 (secondary correction control amount u15) and correction by the nonlinear compensation means 39 are added to finally obtain the boom cylinder control output u1.

Like the arm link correction means 29 in the arm control block 16a, the boom link correction means 37 performs correction to maintain a proportional relationship between the expansion/contraction speed of the boom cylinder 5 and the rotational angular speed of the boom 2. The nonlinear compensating means 39 compensates for the linearity between the output current value to the boom cylinder hydraulic pressure control section 18 and the boom cylinder speed, similarly to the nonlinear compensating means 30, and includes the boom actuator correction gain storage means 40a and the boom actuator. A computation is performed in which 2 and the fine adjustment value ΔW are taken into the correction cane stored in the dead zone compensation fine adjustment value storage means 40b. These values are also set in the actuator correction gain adjustment mode and the actuator unfavorable zone compensation value adjustment mode, which will be described later.

The boom attitude correction means 38 takes into account that the moment of inertia of the boom 2 changes depending on the boom angle θ1, which changes the boom cylinder pressure and changes the cylinder speed, and multiplies the correction gain according to the boom angle. , performs correction to keep the boom angular velocity constant.

With the above configuration, the elevation control of the boom 2 is performed so that the arm tip B moves linearly along the excavation surface G while keeping the height above the ground constant.

(c) Packet control block 16c this block 1
6c controls the rotation of the packet 4 so that the angle θ3 of the packet 4 from the ground is kept constant while the arm 3 is rotating. In this packet control block 16c, the feedback control amount u32 is determined by the proportional integration means 41 from the deviation Δθ3 between the detected value of the packet angle θ3 by the packet angle detector 10 and the target value θ30 of the packet angle. This proportional integration means 41 also has a proportional gain Kp and an integral gain of 1 as a feedback gain, and calculates a feedback control amount u32 using the following equation.

u12=Kp ・Δθ3+Ki ・Σ(Δθ3) For these proportional gains and also for the integral gain K, preset standard values K po and K io are stored in a packet feedback gain fine adjustment value storage means (feedback gain adjustment storage means). The fine adjustment value ΔKp stored in 42,
A value obtained by adding 1 to Δ is used.

On the other hand, the basic control amount u21 of the arm control block 16a and the basic control amount u13 of the boom control block 16b are taken into the packet feedforward calculation means 29, and both control amounts u21. Based on u13, a packet cylinder feedforward control amount u31 for causing the packet angle θ3 to follow the target value θ30 is calculated.

The specific calculation contents will be explained. First, the packet angle θ3
is expressed by the following equation.

θ3=θ1−α2−α3,. If υ3 =ltI -a2-1x3θ3=0, &3 =θ1-h2 Based on this, u 31 = K II (u 13- u 21) is obtained, and from this equation, the packet feedforward control amount L
131 is calculated. The feedforward gain K11 in this mode is also a preset standard value K(10
A value obtained by adding the gain fine adjustment value ΔKll stored in the packet feed forward gain fine adjustment value storage means (feed forward gain adjustment storage means) 44 to
For this fine adjustment value ΔKll, a value set in a packet feedforward gain adjustment mode, which will be described later, is used.

The feedback control amount u32 and the feedforward control amount u31 are added together to determine the basic packet control amount LI33. Then, by adding correction (primary correction control amount u34) by the packet link correction means 46 and correction by the nonlinear compensation means 46 to this, the packet cylinder control output u3 is obtained.

This nonlinear compensation means 46 also performs calculations based on the actuator correction gain stored in the packet actiniator correction gain storage means 47a and the fine adjustment value ΔW stored in the packet actuator dead zone compensation fine adjustment value storage means 43b.

As described above, control is executed to keep the ground angle θ3 of the packet 4 constant (target value), and this control is combined with the linear movement control of the arm tip B by the boom control block 1.6b to adjust the angle θ3 from the ground to the actual slope. Excavation work is realized.

Note that the gain standard values Kffo, Kpo, and Kia set in each feedforward calculation means 32.43 and proportional control means 35.41 are the same as RO in FIG.
While it is stored in M23, the gain fine adjustment value ΔK
ll, ΔKpo, ΔKio are EEPROM24
It is stored in the memory and can be rewritten as needed.

Next, in this normal control mode, each nonlinear compensation means 3
The contents of the calculations performed at 0.39.46 are shown in Figures 5 and 6.
This will be explained with reference to the figures.

Figure 6 shows an example of the steady speed characteristics of the actuators represented by each cylinder, that is, the characteristics of the operating speed (output) in response to the control signal input to the actuator. The nonlinearity of the above characteristics can be divided into factors caused by the dead zone AF of the actuator and other factors.

The nonlinearity compensating means 48 shown in FIG. 5 compensates for the nonlinearity of the elements other than those caused by the AF, and the dynamic characteristic is, for example, the 6th one.
When represented by a curve R1 as shown in the figure, the control amount is linearized by multiplying the input value by an inverse function of the function representing this curve (represented by a curve R2).

The output value of the dead band nonlinear compensation means 48 is multiplied by the actuator correction gain Ka stored in the actuator correction gain storage means by the actuator correction gain multiplier 49. The actuator correction gain of 2 is set in consideration of variations in the characteristics of the output operation speed of the actuator, and is calculated and set by the actuator correction gain adjustment mode described later.

On the other hand, the dead zone compensation standard value WQ preset in this linearity compensation means 30 (39, 46) includes the actuator dead zone compensation fine adjustment value storage means 31b (41b, 47
The dead zone compensation fine adjustment value ΔW stored in b) is added to the adder 50.
The adjusted dead zone compensation value W is calculated by adding the dead zone compensation value W to the output value of the actuator correction gain multiplier 49 in the dead zone compensation value adder 50. The output value is calculated. The above-mentioned actuator dead zone compensation fine adjustment value ΔWO is expressed as an excess or deficiency amount based on the dead zone compensation standard value WO, taking into account that the dead zone varies depending on the actuator or control valve. Set in compensation value adjustment mode.

(1) Position detector offset value adjustment mode Before executing the above-mentioned normal control, each control element is adjusted, and the adjustment mode is first switched to the position detector offset value adjustment mode.

This mode is used to adjust the characteristics and mounting conditions of various detectors in view of their variations.

Specifically, an operation is performed in which each movable part is stopped at a position where it can be clearly positioned, such as the end position of the movable range, and the offset is determined and stored from the detection signal at this time.

(2) Actuator dead zone compensation value adjustment mode After the fine adjustment of the detector is performed, the finely adjusted state is switched to the next dead zone compensation value adjustment mode. This mode is
This is a mode for calculating and storing a fine adjustment value of the compensation value, taking into account that there are variations in the dead zone of the actuators of each cylinder 5 to 7.

The functional configuration of the controller 16 in this mode is shown in Figure 7. Note that this configuration is common to the adjustment modes of the actuators of the boom cylinder 5, arm cylinder 6, and packet cylinder 7, and therefore will be explained together in one drawing.

In the figure, an initial position storage means 52 stores the positions (initial positions) of each actuator (cylinders 5 to 7 in this case) when starting an adjustment operation. The displacement calculation means 53 calculates the difference between the current actuator position and the above-mentioned initial position, that is, the displacement amount of each actuator. The output signal storage means 54 sequentially stores the drive signals for each actuator outputted from the signal output means 55 at a constant cycle, and also stores the displacement amount calculated by the displacement amount calculation means 53 at a predetermined value (described later). At the point in time, the output signal at this time is outputted to the actuator dead zone compensation fine adjustment value calculation means 56. Signal output means 5
Reference numeral 5 outputs a drive signal for each actuator according to the displacement amount calculated by the displacement amount calculation means 53.

The actuator dead zone compensation fine adjustment value calculation means 56 calculates the dead zone compensation value W of the actuator based on the output signal output from the output signal storage means 54, and also calculates the dead zone compensation value W and the dead zone compensation set in advance. The difference from the standard value wo is set as the actuator dead zone compensation fine adjustment value ΔW, and is stored in the actuator dead zone compensation fine adjustment value storage means 31b (41b, 47b). This fine adjustment value ΔW is EEFRO in terms of hardware.
It is stored in M24 and can be rewritten as needed.

Next, the setting operation of the fine adjustment value ΔW that is actually performed in this mode will be explained. In this embodiment, as shown in FIG. 12, taking into consideration that there is hysteresis between the output to the actuator and the operating speed, two dead zone compensation values wl are set as shown in FIG.

An operation to obtain w2 is performed.

First, the fine adjustment value Δw corresponding to the dead zone compensation value wl in the same figure
The operation for setting 1 (first adjustment operation) is shown in the flowchart of FIG.

Prior to adjustment, initialization, that is, the signal output means 55
The output value u-ch+ck of is set to the initial value 0, and the current actuator position is stored as the initial position x-ini (step Sl).

Next, a value obtained by adding a preset constant value Δu-chtck to the output values u − and ch e c k is set as a new value u-check (step S2), and this value a-check is used as the actual value. A control signal is output to the actuator as an output value (step S3).

This step S2. By repeatedly continuing S3 (No in step S4), the output value increases in proportion to time as shown in the upper part of Fig. does not change. After that, the above output value further increases,
A point in time when the actuator position changes and the difference between the current position and the initial position r-in (i.e., the amount of displacement) becomes equal to or greater than the preset amount 411 (YES in step S4).

At point PI in Fig. 9), the value u-check at this time is set as the dead zone compensation value, and this value u-check
A value is calculated by subtracting a preset dead zone compensation value wiO from ck, and this value is stored in the actuator dead zone compensation fine adjustment value storage means 31b (41b, 47b) as the first actuator dead zone compensation fine adjustment value Δwl. (Step S5).

Then, the output signal to the actuator is returned to O, and the first adjustment operation ends.

Next, a second process as shown in the flowchart of FIG.
adjustment operation, that is, the dead zone compensation fine adjustment value ΔW2 of Atsushi 2
The operation to set will begin.

Here, the operations from steps 81 to S3 are the same as above, and the output value o-check increases with time, but when the displacement amount reaches the preset value 612 or more (
YES in step S7; point P2 in Figure 11), the actuator position at this time is stored as w-old (
Step S8). The value ΔX2 is set to a value such that it is determined that the actuator has started moving and is in a stable state.

After this point, the current output value a-chec
The value obtained by subtracting the constant value Δu-check from k is set as the new output value o-check (step S9).
, a signal is sent to the actuator using this new value as the actual output value (step 510).

Then, by repeatedly continuing the operations from step 38 to SIO described above (No in step Sll), the stored value x-old is sequentially updated, while the output value u-Chec
k decreases with time and the actuator's operating speed decreases, but when the difference between the memory value x-old (i.e. the previous actuator position) and the current position matches or reverses (YES in step - At point P3 in Figure 11, that is, when the actuator has almost stopped, the output value u-che+k at this time is set as the second actuator dead zone compensation value W2, and from this value the preset second actuator Dead band compensation standard value w
2o is the second actuator dead zone compensation fine adjustment value Δw2H and is stored in the actuator dead zone compensation fine adjustment value storage means 31b (41b, 47b) (step 512).

By adding the actuator dead zone fine adjustment values Δwl and ΔW2 set and stored in this way to the dead zone compensation standard value WO in the normal control mode,
Appropriate control will be executed in consideration of the dead zone characteristics of each actuator.

Note that the above two fine adjustment values Δw1. Proper use of ΔW2,
In other words, the two dead zone compensation values Wl (=wo+Δw
l ) and w2 (=wo+ΔW2) may be used appropriately depending on the characteristics of the machine. for example,
The average value of both may be always used as the dead zone compensation value W, or as shown in FIG. 13, the first dead zone compensation value W1 is used at the start of control, and then the second dead zone compensation value W2 is used. It may be made to gradually decrease up to.

Further, control may be performed in which the first dead zone compensation value w1 is used when the speed is increasing, and the second dead zone compensation value W2 is used when the speed is decreasing.

(3) Actuator correction gain setting mode This mode is used to set the actuator correction gain Ka to correct the variation in the actual operating speed characteristics with respect to the output of the actuator. The correction gain Ka is set to a ratio a O/a between the standard value ao of the slope of the output-speed characteristic and the individual value a.

FIG. 14 shows the functional configuration for setting this correction gain Ka. Again, bum cylinder 5,
Since the configuration required for setting the correction gain for each actuator of the arm cylinder 6, packet cylinder 1, and cylinder 7 is common, each mode will be collectively explained using only this FIG. 14.

Here, a constant signal is output to the actuator, the movable parts (boom 2, arm 3, and packet 4 in this example) are actually moved to find the rotation speed at this time, and from this speed, the correction gain is set by 1. An operation is performed to obtain the following.

In the figure, angular range setting means 57 sets the range in which the movable part is moved by actuating the actuator, and the time measurement range in which time is actually measured within this range. For example, when the rotation limit angles of the movable part are the angles θat and θa2 shown in FIG. The range of angles θbl to θb2 in the figure is set, and the range for measuring time during this rotation range is the angle 0 to θ in the figure.
Set the range of C2.

The constant output signal generating means 58 has the above-mentioned set rotation range θb1.
In order to move the movable part back and forth many times within the range of ~θb2,
It is configured to output an appropriate signal to the actuator and increase the level of the output signal by a fixed value each time the rotation is repeated.

That is, a signal with a level proportional to the number of rotations is output to the actuator.

The time measuring means 59 measures the time required for the rotating part to pass through the time measuring range θc1 to θC2 set by the angular range setting means 57 when the movable part rotates. In addition, the speed storage means 60 calculates the rotation speed at each rotation with the output value of the actuator based on the time measured by the time measurement means 59 in the time measurement range and the angular width (θc2-θC1) in the same range. This is stored as combination data.

The actuator correction gain calculation means 62 calculates a total correction gain based on each speed stored in the speed storage means 61!
This calculation calculates the preset dead zone compensation standard value WO2, the fine adjustment value ΔW stored in the dead zone compensation fine adjustment value storage means 31b (41b47b).
This is done in consideration of the ζ dead zone compensation value W.

Specifically, when the data related to high output and speed stored in the speed storage means 61 is plotted on a graph by subtracting the dead zone compensation value, the result is as shown in FIG. In the figure, a straight line L1 indicates a standard starting speed characteristic, and a characteristic standard value aQ, which is the slope thereof, is stored in the controller 16 in advance.

On the other hand, the straight line L2 is obtained from the plotted points, and its slope becomes the characteristic value a.

The actuator correction gain calculating means 62 sets the ratio ao/a between the characteristic standard value ao and the individual value a as the actuator correction gain! The actuator correction gain storage means 31a (41a.

47a). Therefore, by executing control using 2 as the stored actuator correction gain in the normal control mode, control that takes into account variations in the output-speed characteristics of each actuator is realized.

Note that this correction gain Ka is also EEPRO in terms of hardware.
It is stored in M24 and can be rewritten as necessary.

(4) Boom feedforward gain adjustment mode (5) Packet feedforward gain adjustment mode These modes are trial equivalents of actual excavation operation to ensure that appropriate feedforward control is executed depending on the individual differences of the machine. This is a mode in which fine adjustment values for each feedforward gain are set by performing operations.

FIG. 17 shows the functional configuration of the controller 16 in the boom feedforward gain adjustment mode. As is clear from the comparison with FIG. 4, the feedback control of the boom 2 by the proportional integral means 35 is not performed here, and the actual arm tip height yb and target value yb
The difference (control deviation) Δyh with respect to o (control deviation) is stored in the deviation storage means 63 at every fixed control period.

Boom feedforward gain fine adjustment value calculation means (feedforward gain adjustment calculation means) shown in the same figure
64 sequentially calculates the correction amount of the feedforward gain from the integrated value Σ(Δyb) of deviations stored in one trial excavation operation, and adjusts the boom cylinder feedforward based on the gain corrected by the integrated value of each correction amount. Calculation means 3
2 to perform feedforward control of the trial excavation operation, and set the cumulative value of the correction amount at the time when the cumulative value Σ(Δyh) of the above deviation falls within the allowable range as the boom feedforward gain fine adjustment value ΔKfI. , is stored in the boom feedforward gain fine adjustment value storage means 33.

Similarly, FIG. 18 shows the functional configuration of the controller 16 in the packet feedforward gain adjustment mode. Also here, the feedback control of the packet 4 by the proportional integration means 41 is not performed, and the difference (control deviation) Δ between the actual packet ground angle θ3 and the target value θ30
θ3 is stored in the deviation storage means 65 at every fixed control period.

Similarly to the boom feedforward gain fine adjustment value calculation means 64, the packet feedforward gain fine adjustment value calculation means (feedforward gain adjustment calculation means) 66 shown in FIG. The correction amount of the feedforward gain is sequentially obtained from the integrated value Σ(Δθ3) of the correction amount, and the packet cylinder feedforward calculation means 43 is caused to perform feedforward control of the trial excavation operation based on the gain corrected by the integrated value of the correction amount each time. In addition, the integrated value Σ(Δy
The integrated value of the correction amount at the time when b) falls within the allowable range is set as the boom feedforward gain fine adjustment value ΔK11, and is stored in the boom feedforward gain fine adjustment value storage means 44.

Both feedforward gain fine adjustment value calculation means 64.6
The functional configuration of No. 6 is shown in FIG. Note that since the adjustment modes for both boom feedforward gain and packet feedforward gain will be explained here, the control deviations Δyh and Δθ3 in both modes will be explained in common.
are commonly expressed as Δh.

In FIG. 19, the correction amount calculation means 68 calculates the feedforward gain corresponding to the integrated value Σ(Δh) of the deviation Δh stored in the deviation storage means 63 (65) in one trial excavation operation. Correction amount Fft(Σ(Δh)
) is calculated.

In this embodiment, the cumulative deviation value Σ(Δh) and the feedforward gain correction amount Fit(Σ(Δh)) are
The relationships shown in the figure are given. That is,
The cumulative deviation value Σ(Δh) is a positive tolerance value Va (>0)
Only in a region that is equal to or greater than or equal to or less than the negative tolerance value −v3 (<, 0), a corresponding feed forward gain correction amount F11 (Σ(Δh)) is set.

The integrated value storage means 69 stores the correction amount Fll(Σ(Δh)
) are sequentially stored, this integrated value is given to the feedforward calculation means 32 (43) as a provisional feedforward gain fine adjustment value, and feedforward control is performed during the trial excavation operation based on this. be.

Each time one trial excavation operation is completed, the permissibility determining means 70 determines whether the integrated value Σ(Δh) of the deviation is within the permissible range, that is, within the range of (-Va≦0≦Va) in FIG. This is to determine whether or not it is true. The fine adjustment value setting means 71 determines the cumulative deviation value Σ(Δh) using the tolerance determining means 70.
is determined to be within the allowable range, the cumulative value of the correction amount at that point is calculated as the feedforward gain fine adjustment value Δ
It is set as Kf1 and stored in the feedforward gain fine adjustment value storage means 33 and 44.

Next, the fine adjustment value setting operation actually performed in this mode will be explained with reference to the flowchart of FIG. 211.

First, prior to adjusting the feedforward gain, the feedback gain is set to 0 (step 521) to disable feedback control. On the other hand, ++ is set to 0 for the feedforward gain fine adjustment value Δ, and the feedforward gain Kf+ is set to the preset gain standard value Kffo, thereby initializing the feedforward gain KI[(step 522).

Next, while performing a trial excavation operation that is equivalent to the actual excavation operation, the deviation Δh is determined and stored sequentially at every fixed control period during this operation (step 523), and the integrated value Σ(Δh) is calculated. Calculate (step 524).

The integrated value Σ(Δh) of this deviation is the tolerance range (-Va-
Va) (NO in either step 825 or 826), the correction amount FIjCΣ(Δh)) corresponding to this integrated value Σ(Δh) is calculated, and this is used as a provisional feedforward gain fine adjustment. The value added to the value ΔKN is updated as ++ to the new feedforward gain fine adjustment value Δ, and the value obtained by adding this provisional feedforward gain fine adjustment value ΔKN to the gain standard value K fio is set as the provisional feedforward gain. The gain Kl+ is set as step 527), and the next trial excavation operation is performed based on this gain Kl+.

By repeating such an operation, the provisional feedforward gain fine adjustment value ΔKN has a correction amount F11(Σ
(Δh)) is successively integrated, and the feedforward gain Ki1 is corrected.

Then, when the integrated value Σ(Δh)) of the above deviation falls within the allowable range (step 825. YES in S26),
The temporary fine adjustment value ΔK[[, which is the integrated value at this time, is set as the formal feedforward gain fine adjustment value and stored (step 828).

The value obtained by adding the feedforward gain fine adjustment value ΔKN set and stored in this way to the standard value and zero is used as the feedforward gain Kll in the normal control mode, so that the feedforward gain suitable for the characteristics of the machine is adjusted. Forward control will be realized.

Note that each control deviation described above can be weighted. For example, if you want to emphasize the start-up state of the machine, use jl
! As shown in 225tff(a), a weighting coefficient Cy is introduced that gradually decreases from the initial value Cvs to a steady-state value Cvo in the initial state and remains constant at the steady-state value Cvo after this state, and this weighting coefficient Cv and The deviation Δh may be multiplied by the ratio to the steady-state value Cva. In this case, assuming that the actual trend of the control deviation is shown in FIG. 5B, the weighted trend of the control deviation is shown in FIG. If such weighting is performed, it becomes possible to provide a gain that fits particularly immediately after the start of control.

(6) Boom feedback gain adjustment mode (7) Packet feedback gain adjustment mode Similar to the feedforward control described above, these modes are modes in which fine adjustment values for each feedback gain are set by trial operations equivalent to actual excavation operations. It is.

Figure 23 shows the functional configuration of the controller 16 in the boom feedback gain adjustment mode. Again, the actual arm tip height yb and the target value ybo
The difference (control deviation) Δyb between the two is stored in the deviation storage means 72 at every fixed control cycle.

The boom feedback gain equipment set value calculation means (feedback gain adjustment calculation means) 73 calculates the feedback proportional gain and integral gain based on the vibration state of the deviation Δh (vibration count value in this embodiment) and the integrated value Σ(Δyb). The correction amount is determined respectively, and the proportional integration means 35 performs feedback control of the trial excavation operation based on the gain corrected by the integrated value of each correction amount. The amount of correction at the time when the boom feedback gain fine adjustment value ΔKp, Δ is set as 1 and is stored in the boom feedback gain fine adjustment value storage means 36.

Similarly, FIG. 24 shows the functional configuration of the controller 16 in the packet feedback gain adjustment mode. Here, too, the difference (control deviation) Δθ3 between the actual packet ground angle θ3 and the target value θ30 is stored in the deviation storage means 75 at every fixed control cycle, and the packet feedback gain is finely adjusted based on the vibration state and integrated value. Value calculation means (feedback gain adjustment calculation means) 7
6, the amount of correction of the feedback gain is sequentially obtained, and the feedback control of the trial excavation operation is executed by the proportional integration means 41 based on the gain corrected by the integrated value of each correction amount, and the vibration state and the integration of the above-mentioned deviation are executed. The amount of correction at the time when the value falls within the allowable range is set as the packet feedback gain fine adjustment values ΔKp, ΔKi and stored in the packet feedback gain fine adjustment value storage means 42.

The functional configuration of both feedback gain fine adjustment value calculation means 73 and 76 is shown in FIGS. 25 and 28. Note that this mode is switched in the order of proportional gain adjustment mode and integral gain adjustment mode, so the former mode is shown in FIG. 25, and the latter mode is shown in FIG.

In FIG. 25, the vibration state calculation means 78 calculates the vibration state of the deviation Δh stored in the deviation storage means 72 (75) in one trial excavation operation, and in this embodiment, the vibration count value n is calculated.

This vibration count value n is calculated as shown in FIG. The initial value of the auxiliary count value in the figure is 0, and if the direction of increase/decrease in deviation is the same as the previous time, 1 is added to it, and if it is different from the previous time, it is reset to 0, and when it reaches 3. will be reset. The initial value of the flag is 0, and when the auxiliary count value reaches 3 for the first time,
If this is in the increasing direction, it is set to 1, and if it is in the decreasing direction, it is set to -1. Thereafter, when the auxiliary count value is 3 and the direction of increase/decrease is reversed, the sign is inverted.

The vibration count value n has an initial value of 0, and is incremented by 1 each time the flag changes.

Therefore, in this calculation, the number of times the direction of increase/decrease in deviation is macroscopically switched is counted.

Note that the vibration count value n may be set using other methods. For example, as shown in FIGS. 28(a) and (b), a vibration detection width with a width δ is set above and below an appropriate vibration detection offset value ho that is expected to be the center of vibration, and the inside of this detection width is The vibration count value n may be added (increasing by 7) each time the deviation moves outward from
As shown in the figure (a), when there is a large deviation vibration, a large number of vibration count values n are counted, and as shown in the figure (b), when the deviation vibration is extremely gentle, The vibration count value n is hardly counted.

The correction amount calculating means 79 calculates a corresponding correction amount Fp (n) of the feedback proportional gain based on the vibration count value n calculated as described above.

In this embodiment, a relationship as shown in FIG. 29 is given between the vibration count value n and the proportional gain correction amount Fp (n). In other words, only in a region where the vibration count value is equal to or greater than a preset allowable value na (>0), the trend of the control deviation is considered to be oscillatory, and a corresponding negative feedforward gain correction amount Fp (n
) is now set.

The integrated value storage means 80 sequentially stores the integrated value of the correction amount Fp(n) calculated by the correction amount calculation means 79 for each trial excavation operation, and uses this integrated value as a provisional feedback gain fine adjustment value. is given to the proportional integration means 35 (41), and feedback control during the trial excavation operation is performed based on this.

The permissibility determining means 81 determines whether the vibration count value n is within the permissible range, that is, within the range below the permissible value na, each time one trial excavation operation is completed.

The fine adjustment value setting means 82 sets the cumulative value of the correction amount at that time as the feedback proportional gain fine adjustment value ΔKp when the vibration count value n is determined to be within the permissible range by the tolerance determination means 81. Then, it is stored in the feedback gain fine adjustment value storage means 36 (42).

On the other hand, in the integral gain adjustment mode, the second
As shown in FIG. 6, the correction amount calculation means 68, integrated value storage means 69, and tolerance determination means 70 explained in FIG.
, and a correction amount calculation means 83 similar to the fine adjustment value setting means 71, an integrated value storage means 84, an allowance determination means 85, and a fine adjustment value setting means 86, and similarly to the feedforward gain adjustment mode. , integrated value of deviation Δ
A feedback integral gain fine adjustment value ΔK is set according to h.

What is different from feedforward gain adjustment is the integrated deviation value Σ(Δh) and the gain correction amount Fi (Σ(Δ
h)), and the relationship between the two is shown in FIG. In other words, the integrated deviation value Σ(
Even if Δh) is in the region greater than or equal to the positive tolerance value v1, the negative tolerance value −■! Even in the following areas, a positive correction amount Fi (Σ(Δh)) is set according to its absolute value.

Next, the setting operations of the proportional gain fine adjustment value and the integral gain fine adjustment value which are actually performed in this filled pack adjustment mode will be explained with reference to the flowcharts of FIG. 31 and FIG. 32, respectively.

First, in the proportional gain adjustment mode, as shown in FIG. 31, prior to feedback gain adjustment, the feedforward gain is finely adjusted based on the fine adjustment value ΔKf+ set in the feedforward gain adjustment mode. (Step 531). Although not shown, in each nonlinear compensation means 30, 39, and 46, the correction gain Ka set in the actuator correction gain setting mode and the actuator dead zone compensation fine adjustment value is also used.
and the dead zone compensator side set value ΔW are taken into account. On the other hand, the feedback proportional gain fine adjustment value ΔKIl is set to O, and the feedback proportional gain Kp is set to a preset gain standard value Kpo.
and thereby the feedback proportional gain Kp
is initialized (step 532).

Next, while performing a trial excavation operation equivalent to the actual excavation operation, the deviation Δh is determined and stored in sequence at every fixed control cycle during this operation (step 533), and the vibration count value n is calculated. (Step 534).

This vibration count value n is the allowable value n! If the value is above (NO in step S35), find the correction amount Fp (n) corresponding to this vibration count value n, and add this to the provisional feedback proportional gain fine adjustment value Δ to create a new The feedback proportional gain fine adjustment value ΔKp is updated and set, and the value obtained by adding this provisional feedback proportional gain fine adjustment value ΔKp to the gain standard value Kpa is set as the provisional feedback proportional gain Klf (step 836), and the next trial excavation is performed. make the action take place.

By repeating this operation, the provisional feedback proportional gain fine adjustment value Δ becomes the correction amount Fp (
n) is successively integrated, and the feedback proportional gain Kp is corrected. Then, when the vibration count value falls within the allowable range (YES in step S35),
), the temporary fine adjustment value ΔKp, which is the integrated value at this time, is set as the official feedback proportional gain fine adjustment value,
Stored (step 537). After the proportional gain adjustment mode is completed as described above, the mode is switched to the integral gain adjustment mode shown in Figure 32 (step 538).
.

In this integral gain adjustment mode, not only the feedforward gain K[f but also the fine adjustment value of the proportional gain Kp is performed in advance based on the just-stored proportional gain fine adjustment value ΔKp (step 541). After that,
Similar to the operation in the feedforward gain adjustment mode shown in FIG. 21, the feedback integral gain Ki
is initialized (step 542), the deviation between the trial excavation operation and the control cycle is stored (step 543), its integrated value Σ(Δh)) is calculated (step 544), and the integral gain Ki and its fine adjustment are performed. The value Δ is corrected by 1 (step 547) until the integrated value Σ(Δh)) satisfies the allowable condition (No in either step S45 or 546).
) is continued, and when the permissible conditions are met (step S45
．． 846 (YES), the integrated value at this point is Δ! is set and stored as the formal feedback integral gain fine adjustment value (step 548).

To the proportional gain fine adjustment value Δ set as above,
By using control in which 1 is introduced into the integral gain fine adjustment value Δ in the normal control mode, feedback control that takes machine characteristics into consideration is realized.

In addition, also in the above integral gain adjustment mode, it is possible to weight each control deviation as explained in FIG. 22 above.

According to such a device, control accuracy can be improved by executing ms in the normal control mode using the correction gain and fine adjustment value set and stored in each adjustment mode. Furthermore, the above correction gain and each fine adjustment value are stored in the EEPROM 24 and can be rewritten as appropriate. Adjustment values can be modified and changed.

Note that the present invention is not limited to the embodiments described above, and can also take the following embodiments as examples.

(1) In the above embodiment, a proportional gain and an integral gain are introduced as feedback gains, but it is also possible to apply only a proportional gain or a differential gain. .

(2) In the above embodiment, when adjusting the feedback proportional gain, the vibration count value n was calculated as a value representing the vibration state of the deviation, but instead of this, for example, the integrated value Σ1Δh1 of the absolute value of the deviation and the integrated value of the deviation Alternatively, the difference from Σ(Δh) may be calculated.

That is, as shown in the 33rd EI (a), when there is almost no vibration of the deviation, the integrated value Σ of the absolute value of the deviation
1Δh1 and the integrated deviation value Σ(Δh) are almost equal, and the difference between the two is almost 0. However, when significant oscillation is observed as shown in FIG. 33(b), the deviation Since the integrated value Σ(Δh) is almost O, the above difference becomes very large. Therefore, it is possible to determine the degree of oscillation of the deviation from the value of this difference.

In this case, the relationship between the difference (Σ1Δh1-Σ(Δh)) and the correction amount may be set in the same manner as in the graph of FIG. 29, and it is also possible to weight the deviation in the same manner as above. .

(3) In the above embodiment, a device capable of switching between a large number of adjustment modes in addition to the feedforward control mode and the feedback control mode was shown, but in the present invention, at least fine adjustment of the feedforward gain or feedback gain is performed. If so, the effect can be demonstrated. However, as in the above example, if you first adjust the offset value of each detector and fine-tune the nonlinear compensation of the actuator, and then adjust the control gain in this state, the actuator characteristics can be made sufficiently linear. The control gain will be adjusted with the target in mind, and the gain adjustment will be more rational and accurate.

(4) In the above embodiment, the gain fine adjustment value Δ is used as the "value related to gain adjustment" in the present invention.

ΔKp and Δ are respectively calculated and stored by 1, but instead of this, the adjusted new gains Klf and Kp
, Ki itself may be stored.

(5) The present invention is applicable not only to the linear excavation control of a hydraulic excavator as described above, but also to the control of various hydraulic drive machines in which feedforward control and feedback control are executed.

For example, control accuracy can be improved in the same manner as in the above embodiments regarding systems for horizontal retraction control of hydraulic cranes, horizontal extrusion, packet tilt angle maintenance, and automatic return control for large hydraulic excavators.

[Effects of the Invention] As described above, the present invention enables the control means to be switched between the normal control mode and the control gain (feedforward gain or feedbar gain) adjustment mode, and performs a trial excavation operation in the gain adjustment mode. Values related to control gain adjustment are set and memorized from the control deviation at this time, and then control is performed using the memorized values in the normal control mode. Rather than fine-tuning the control gain one by one, it is possible to automatically adjust the appropriate control gain with a simple operation after commercialization. This has the effect of improving control accuracy.

[Brief explanation of drawings]

Fig. 1 is an input/output signal diagram of a controller installed in a hydraulic syllable according to an embodiment of the present invention, Fig. 2 is a hardware configuration diagram of the controller, and Fig. 3 shows the state of slope excavation work using the hydraulic syllable. 4 is a block diagram showing the control contents of the controller in the normal control mode, FIG. 5 is a block diagram showing the calculation contents of the nonlinear compensation means in the controller, and FIG. 6 is a block diagram showing the dynamic characteristics of the actuator. A graph showing an example, FIG. 7 is a block diagram showing the control contents of the controller in the actuator dead zone compensation value adjustment mode, and FIG. 8 is a flow chart showing the first control operation of the controller in the same mode.
Figure 9 is a graph showing the relationship between the output value and the actuator position that increases over time in the same operation.
Figure 0 is a flowchart showing the second control operation of the controller, Figure 11 is a graph showing the relationship between the output value and actuator position that changes over time in the same operation, and Figure 12 is the output to the actuator and its operation. A graph showing hysteresis with speed, Fig. 13 is a graph showing an example of control using two dead zone compensation values, Fig. 14 is a block diagram showing the control contents of the above controller in actuator correction gain setting mode, and Fig. 15 is a graph showing a control example using two dead zone compensation values. Explanatory diagram showing the angle range set in the same controller, 1st
Figure 6 is a graph showing the relationship between the characteristic signal value and standard value required for the same controller, Figure 17 is a block diagram showing the control details of the controller in the boom feed forward gain adjustment mode, and Figure 18 is the packet feed. A block diagram showing the control contents of the controller in the forward gain adjustment mode, FIG. 19 is a block diagram showing the calculation contents of the feedforward gain fine adjustment value calculating means in the feedforward gain adjustment mode, and FIG. A graph showing the relationship between the required integrated value of the control 1M difference and the feedforward gain correction amount, FIG. 21 is a flowchart showing the actual control operation of the controller in the same mode, and FIG.
Figures (a), (b), and (c) are graphs showing the relationship between time, weighting coefficient, deviation, and weighted deviation when weighting the control deviation, and Fig. 23 shows the relationship between the time and the weighted deviation when weighting the control deviation. Fig. 24 is a block diagram showing the control contents of the controller in the packet feedback gain adjustment mode, and Fig. 25 shows the calculation contents of the feedback gain fine adjustment value calculation means in the feedback proportional gain adjustment mode. Fig. 26 is a block diagram showing the calculation contents of the feedback gain fine adjustment value calculation means in the feedback integral gain adjustment mode, and Fig. 27 (brown) shows the calculation of the vibration count value used in the feedback proportional gain adjustment mode. Graphs showing one example of the method, Figure 28 (a) and (b) are graphs showing another example of the method of calculating the same vibration count value, and Figure 29 is a graph showing the vibration count value and proportionality calculated in the feedback proportional gain adjustment mode. A graph showing the relationship between the gain correction amount and FIG. 30, a graph showing the relationship between the integrated value of deviation obtained in the feedback integral gain adjustment mode and the gain correction amount, and FIG. 31 a graph showing the relationship between the gain correction amount and the feedback integral gain adjustment mode. 32 is a flowchart showing the actual control operation of the controller in the feedback integral gain adjustment mode, and FIG. 33 is a flowchart showing the actual control operation of the controller in the feedback integral gain adjustment mode. It is a graph for explaining the relationship with the value obtained by subtracting the value. 2...Boom, 3...Arm, 4...Packet,
5... Boom cylinder (hydraulic drive unit), 6... Arm cylinder (hydraulic drive unit), 7... Packet cylinder (hydraulic drive unit), 8... Arm angle detector (detection means), 9 ...Arm angle detector (detection means), 10...
- Packet angle detector (detection means), 15...Mode changeover switch (mode changeover means), 16...Controller (controlling means), 32...Boom cylinder feed forward calculation means, 33...Boom feed Forward gain fine adjustment value storage means (feedforward gain storage means), 35.41... proportional integral means (feedback calculation means), 36... boom feedback gain fine adjustment value storage means (feedback gain adjustment storage means), 42...Packet feedback gain fine adjustment value storage means (feedback gain adjustment storage means)
, 44...Packet feedforward gain fine adjustment value storage means (feedforward gain adjustment storage means)
, 63.65.72.75...deviation storage means, 64.
...Boom feedforward gain fine adjustment value calculation means (feedforward gain adjustment calculation means), 66...
-Packet feedforward gain fine adjustment value calculation means (feedforward gain adjustment calculation means), 73...
- Boom feedback gain fine adjustment value calculation means (feedback gain adjustment calculation means), 76...Packet feedback gain fine adjustment value calculation means (feedback gain adjustment calculation means). Patent Applicant Kobe Steel Shinshiki Co., Ltd. Attorney Etsushi Kotani Patent Attorney Chief 1) Masamukai Patent Attorney Takao Ito Fig. Fig. Fig. Fig. Gain (f, f hair Fρ(n)↑ Fig. Fig. Fig. Fig. Fig.

Claims (1)

[Scope of Claims] 1. A detection means for detecting the amount of drive of the hydraulic drive section, and a control means to which a detection signal of the detection means is input and controls the drive of the hydraulic drive section based on the detection signal, In an automatic control device for a hydraulically driven machine in which the control means is provided with a feedback calculation means for calculating a feedback control amount and a feedforward calculation means for calculating a feedforward control amount, the mode of the control means is set to a normal control mode. mode switching means for switching between the feedforward gain adjustment mode and the feedforward gain adjustment mode; and a feedforward gain for calculating a value related to the feedforward gain adjustment from a control deviation for each control cycle when the hydraulically driven machine performs a trial operation in the feedforward gain adjustment mode. The apparatus comprises an adjustment calculation means and a feedforward gain adjustment storage means for storing a value related to the calculated feedforward gain adjustment, and an adjusted gain that stores the value stored by the feedforward gain adjustment storage means. An automatic control device for a hydraulically driven machine, characterized in that the feedforward calculation means is configured to calculate an actual feedforward control amount in the normal control mode. 2. A detection means for detecting the drive amount of the hydraulic drive section, and a control means to which a detection signal of the detection means is inputted and for controlling the drive of the hydraulic drive section based on the detection signal, and a feedback signal is provided to the control means. In an automatic control device for a hydraulically driven machine provided with a feedback calculation means for calculating a control amount and a feedforward calculation means for calculating a feedforward control amount, the mode of the control means is set to a normal control mode and a feedback gain adjustment mode. mode switching means for switching to the feedback gain adjustment mode; feedback gain adjustment calculation means for calculating a value related to feedback gain adjustment from the control deviation for each control cycle when the hydraulically driven machine performs a trial operation in the feedback gain adjustment mode; and feedback gain adjustment storage means for storing values related to gain adjustment, and calculates an actual feedback control amount in the normal control mode using the adjusted gain that stores the value stored by the feedback gain adjustment storage means. An automatic control device for a hydraulically driven machine, characterized in that the feedback calculation means described above is configured as follows.