JPH04149604A - Automatic controller for hydraulically-driven machine - Google Patents

Abstract

PURPOSE:To attain the highly accurate control of the hydraulically-driven machine by attaining the switch between a normal control mode and a correction gain setting mode, calculating the correction gain from the output-velocity characteristic obtained when a mobile area is actually driven in the latter mode and storing this calculated gain, and fetching the correction gain in the normal control mode. CONSTITUTION:A control means 16 is provided with a mode switch means, a fixed output signal generating means 58 which actually actuates a hydraulically-driven part, a velocity detection means 59 for the hydraulically-driven part, an actuator correction gain computing means 62 which calculates the actuator correction gain from the operating velocity characteristic set to the output value of the means 59, and the actuator correction gain storage means 31a, 41a and 47a. Then the mode of the means 16 is switched to a correction gain setting mode, and the velocity is detected when a mobile area of a hydraulically-driven machine is actually actuated. Thus the correction gain is calculated from the output-velocity characteristic and the standard characteristic value. Then this calculated gain is stored and the machine is controlled in a normal control mode based on the correction gain. As a result, the machine is controlled in consideration of the characteristic variance of the hydraulically-driven part.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention is applied to linear excavation control of hydraulic excavators, horizontal retraction control of cranes, etc. This relates to automatic control devices for machines.

[Conventional technology]

In general, in hydraulically driven machines such as cranes and excavators, it is important to compensate for the nonlinearity of actuators (hydraulic cylinders) for actuating their movable parts, especially their dead zones.

That is, the above-mentioned actuator does not operate at a speed proportional to the output in a strict sense, but has a characteristic that it does not operate at all until it receives a signal of a certain value or more, for example at the time of starting operation. Such a dead zone region particularly appears conspicuously in the actuator (ie, hydraulic drive section) of a hydraulically driven machine, and it is virtually difficult to proceed with high-precision hydraulic drive control by ignoring this dead zone region.

Therefore, conventionally, a certain dead zone compensation value for compensating for the dead zone of the hydraulic drive unit as described above is set in advance, and control is performed to correct the actual control amount using this dead zone compensation value.

[Problem to be solved by the invention]

The dead zone characteristics of the hydraulic drive section are not necessarily constant, and generally vary from one to another. Therefore, when performing dead zone compensation using a constant dead zone compensation value as described above, it is not possible to perform correction that takes into account the characteristics of each hydraulic drive unit, and it is desired to realize more accurate control.

Despite these variations in the characteristics of hydraulic equipment,
In order to maintain high control accuracy, it is necessary to finely adjust dead zone compensation according to the above characteristics.

However, adjusting the dead zone compensation value for each machine at the manufacturing stage would require a huge amount of time and effort, impede mass production of control devices, and reduce cost. It becomes a hindrance. In addition, in order to suppress the above-mentioned variations, it is possible to use a servo valve equipped with a minor wide back system instead of a simple electromagnetic proportional pressure reducing valve, or to configure a minor feedback valve by installing sensors at various locations. Higher costs due to this cannot be avoided.

Furthermore, the non-linearity of the dynamic characteristics of the hydraulic drive section is not only due to the dead zone as described above, but also due to, for example, the characteristics (slope) of the actual operating speed with respect to the output to the hydraulic drive section.
This is a major factor causing the above nonlinearity.

In view of these concerns, the present invention provides a hydraulic drive system that can improve control accuracy with a low-cost structure by automatically adjusting nonlinear compensation according to variations in the characteristics of the hydraulic drive section. The purpose is to provide automatic control equipment for machines.

[Means to solve the problem]

The present invention includes a detection means for detecting the amount of drive of a hydraulic drive unit;
A control means receives a detection signal of the detection means and controls the drive of the hydraulic drive section based on the detection signal, and the control means is provided with a nonlinear compensation means for compensating for nonlinearity of the hydraulic drive section. In an automatic control device for a hydraulically driven machine, the mode switching means switches the mote of the control means between a normal control mode and a correction gain setting mode; A signal output means for actually operating the hydraulic drive section, a speed detection means for detecting the operating speed of the hydraulic drive section, a relationship between the detected speed and the output value, and an operation for the preset output value. a correction gain calculation means for calculating a correction gain from a speed characteristic value;
and a correction gain storage means for storing the calculated correction gain, and the nonlinear compensation means is configured to perform nonlinear compensation incorporating the correction gain stored in the correction gain storage means in the normal control mode. (Claim 1).

The present invention also provides an automatic control device for a hydraulically driven machine in which the control means is provided with a dead zone compensating means for compensating for nonlinearity due to a dead zone of the hydraulic drive section, in which the mode of the controlling means is set to a normal control mode and a dead zone compensation mode. mode switching means for switching to a value adjustment mode; signal output means for outputting a control signal for the hydraulic drive unit while changing the output value in the dead zone compensation value setting mode; and a dead zone compensation adjustment calculation means for calculating a value related to the dead zone compensation adjustment based on the relationship between the dead zone compensation and the dead zone compensation adjustment calculation means, and a dead zone compensation storage means for storing the calculated value regarding the dead zone compensation, and a value stored by the dead zone compensation storage means. The dead zone compensation means is configured to perform actual dead zone compensation in the normal control mode using the acquired dead zone compensation value (claim 2).

[For production]

In the apparatus according to claim 1, the mode of the control means is first switched to the correction gain setting mode, and the speed at which the movable part of the hydraulically driven machine is actually operated is detected by the signal output in this motor. A correction gain is calculated from the output-speed characteristic value and a preset standard output-speed characteristic value and is stored. Then, by performing control that takes this correction gain into account or in the normal control mode, control that takes into account variations in the characteristics of the hydraulic drive unit can be realized.

In the device according to claim 2, first, the mode of the control means is switched to the dead zone compensation value adjustment mode, and in this mode, the relationship between the output value and the actual drive amount of the hydraulic drive section is determined, and the dead zone compensation is performed based on this relationship. Values for the value adjustments are calculated and stored. Then, control that takes into account the dead zone compensation value obtained from this value is performed in the normal control mode, thereby realizing control that takes into account variations in the dead zone characteristics of the hydraulic drive unit.

〔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. The revolving body 1 of the hydraulic excavator main body has a boom (movable part) 2 that can be raised and raised.
is pivotally mounted, and an arm (movable part) 3 is attached to the tip of this bum 2.
However, packets (movable parts) 4 are rotatably attached to the tips of the arms 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 change detector (detection means) 9 for detecting α2 and a packet angle 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.
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 changeover switch 14 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 and the packet relative to the ground at this time can be changed. Each angle is a target value y bo.

It is set as θ30.

In FIG. 3, α3 is the packet angle with respect to the arm 3, II is the distance from the arm base end O to the boom tip A, and 12 is the distance from the boom tip A to the arm tip B (arm length). In addition, X is the horizontal coordinate axis and y is the vertical coordinate axis. In the case of slope excavation, the coordinates of the arm tip 8 are calculated based on the coordinate axes x' and y' rotated by the excavation angle β with respect to the coordinate axes X and Y. will be held.

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, the drive of the arm cylinder 6, boom cylinder 5, and packet cylinder 7 is controlled through the boom cylinder hydraulic control section 18 and the packet cylinder hydraulic control section 19, and only the arm 3 is operated manually by operating the arm lever. , Drive control of the boom 2 and packet 4 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 as the arm 3 rotates. is automatically performed, and the controller (control means) 16 controls the boom 2 (boom cylinder 5) and packet 4 (packet cylinder 5) necessary to linearly move the packet 4 in the direction of the arrow in FIG. 7) Calculates the control amount and outputs it.

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.

From this digital calculation unit 20, a D/'A converter 25
The voltage outputted through is converted by a voltage-current converter 26 and then converted into oil pressure by an electromagnetic proportional pressure reducing valve 27, thereby controlling the operating speed of each cylinder 5-7.

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 band compensation value adjustment mode for cylinders 5 to 7 (3) Actuator correction gain setting mode for each cylinder 5 to 7 (4) Boom feedforward 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.

*Normal control mode This mode is controlled by each adjustment mode described in detail later.
This mode is for performing actual slope excavation work with the elements finely adjusted in advance.

FIG. 4 is a block diagram showing the control contents of the controller 16 when switched to this mode. This controller 16 includes an arm control block 16a, a boom control block 16b1, and a packet control program 16.
It is broadly classified into c.

(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 calculating means 28, and the basic control amount u21 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 further 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 dead zone of the proportional electromagnetic pressure reducing valve 27 shown in FIG. Taking into account the nonlinearity that occurs between the expansion and contraction speed of the arm cylinder 6, this is corrected to maintain linearity, and the arm actuator correction gain storage means 31a1 and arm actuator dead zone compensation fine adjustment, which will be described in detail later, are used. Value storage means (dead band compensation adjustment storage means) 31
In step b, calculations are performed using the stored correction gain and dead zone compensation fine adjustment values.

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. Detection signals (angle signals) from the boom angle and arm angle side detectors 8.9 are input to the boom control block 16b, and based on these angle signals and the basic control amount u2+ of the arm control block 16a, the boom The cylinder feedforward calculation means 32 calculates a boom cylinder feedforward control amount u11 for causing the height position of the arm tip B with respect to the slope G to follow a constant target value ybo.

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 system 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.

yb=Il+ioθl+A'2 1nn(θl-α2)
From this, the arm tip speed yb is 7b=llll・isθ1+12, COI (θ1−α2))θ1−1′l
cos (θl −a2) a2. Here θ1
is the boom angular velocity, and α2 is the arm angular velocity. If yb is constant, yb =.

Therefore, 1 2-cos(θ1-a2) θ1-
α21 l ・cosθ l +1
:"cot(θ i -a2) is obtained, and using this formula, the boom cylinder feedforward control amount ull in FIG.
2)) U 11 :u 21 11co+θ1+l 2 cos(θ1−α2) is given. Note that Kth is a feedforward gain, and this feedforward gain Kl+ has a boom feedforward gain standard value Kf set in advance.
4o plus the fine adjustment value ΔK11 stored in the boom feedforward gain fine adjustment value storage means 33 is used, and this feedforward gain fine adjustment value ΔKl
l is set in the feedforward gain adjustment mode, which will be described later.

On the other hand, the coordinate calculation means 34 calculates the actual height position y'b 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 arm tip height position. value yb.

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 u12 is calculated based on the following equation.

u12=Kp 'Δyb+Ki ・Σ(Δyb) Here, Σ(Δyb) is the total sum (integrated value) of the control deviation Δyb obtained at each constant control cycle from the start of control to the present time.
It is. The proportional gain Kp and the integral gain Ki have their standard values Kpo.

The fine adjustment values ΔKp and Δ plus 1 stored in the boom feedback gain fine adjustment value 36 in Kio are used, and 1 is set for these fine adjustment values ΔKp and Δ in the boom feedback adjustment mode described later. things are used.

A boom cylinder basic control amount u13 is obtained by adding this feedback control amount u12 and the feedforward control amount ull, 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 ui5) and correction by the nonlinear compensator 39 are added to finally obtain the boom cylinder control output u1.

Like the arm link correcting means 29 in the arm control program 16a, the boom link correcting means 37 performs correction to maintain a proportional relationship between the expansion/contraction speed of the boom cylinder 5 and the rotational angular speed 5 of the boom 2. Nonlinear compensation means 3
9 compensates for the linearity between the output current value to the boom cylinder hydraulic control t&18 and the boom cylinder speed, similar to the nonlinear compensation means 30, and includes a boom actuator correction gain storage means 40a and a boom actuator dead zone compensation fine adjustment. A computation is performed in which 8 and the fine adjustment value ΔW are incorporated into the correction gain stored in the value storage means (dead band compensation adjustment storage means) 40b. These values also apply to A.
The values set in the actuator correction gain adjustment mode and the actuator dead zone compensation value adjustment mode are used.

The boom attitude correction means 38 takes into consideration 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 16e this block 1
6C is for controlling the rotation of the packet 4 so as to keep the ground angle change θ3 of the bucket and soto 4 constant while the arm 3 is rotating. In this packet control block 16e, 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.

ui2=Kp ・Δθ3+Ki ・Σ(Δθ3) These g) The proportional gain Kp and the integral gain are set to 1, and the preset standard values K po and K lo are set to 7.
A value obtained by adding the fine adjustment values ΔKp and ΔK[ stored in the gain fine adjustment value storage means 42 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 the packet angle θ is calculated based on both control amounts u2+ and u13.
A packet cylinder feedforward control amount u31 for making the cylinder 3 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.

If θ3=θl−α2−α3,°, υ3=θl −1012−a3θ3 0, then Δ3−υ1−&2 Based on this, u 3i= K ff (u N −u 21) is obtained, and from this formula, the packet feed Huna word control amount u3
+ is calculated. The feedforward gain Kff in this mode is also a preset target value K! i
A value obtained by adding a gain fine adjustment value ΔKl+ stored in the packet feedforward gain fine adjustment value storage means 44 to 0 is used, and this fine adjustment value ΔKN is a value set in the packet feedforward gain adjustment mode described later. is used.

The feedback control amount u32 and the feedforward control amount u31 are added together to obtain the basic packet control amount u33. 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 actuator correction gain storage means 47a and the fine adjustment value ΔW stored in the packet actuator dead zone compensation fine adjustment value storage means (dead zone compensation adjustment storage means) 43b. I do.

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 linear movement control of the arm tip IB by the boom control block 16b to perform actual slope excavation work. Realized.

Incidentally, the gain standard values Klfo, Kpo, and Kio set in each feedforward calculation means 32, 43 and proportional control means 35, 41 are the same as those in the ROM shown in FIG.
2, while the gain fine adjustment value ΔK is stored in 23.
fl, 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
Figure 5 and East 6 show the calculation contents performed at 0.39.46.
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 dead zone nonlinear compensating means 48 shown in FIG. 5 compensates for the nonlinearity of the elements other than those caused by the dead zone AF among the above elements, and the above characteristic is, for example, the measure 6.
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 (represented by a curve R2) of the function representing this curve.

An actuator correction gain multiplier 49 converts the output value of the nonlinear compensation means 48 into an actuator correction gain stored in the actuator correction gain storage means! is multiplied. This actuator correction gain Ka is set in consideration of variations in the output-actuation speed characteristics of the actuator, and is calculated and set by an actuator correction gain adjustment mode, which will be described later.

On the other hand, the dead zone compensation standard value WO preset by the nonlinear compensation means 30 (39, 46) includes the actuator dead zone compensation fine adjustment value storage means 31b (41b, 4
The dead zone compensation fine adjustment value ΔW stored in step 7b) is added to the adder 5.
0 is added to calculate an adjusted dead zone compensation value W, and this dead zone compensation value W is added to the output value of the actuator correction gain multiplier 49 by a dead zone compensation value adder (dead zone compensation means) 51. By doing this, the final output value is calculated. The above actuator dead zone compensation fine adjustment value ΔWO is the dead zone compensation standard value wO, taking into account that the dead zone varies depending on the actuator and control valve.
It is expressed as an excess or deficiency amount based on the reference value, and is set in the actuator dead zone compensation value adjustment mode, which will be described later.

(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 Band Compensation Value Adjustment Mode After the detector has been finely adjusted, the mode is switched to the next dead zone compensation value adjustment mode in the finely adjusted state. 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.

FIG. 7 shows the functional configuration of the controller 16 in this mode. 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 position calculating means 53 calculates the difference between the current actuator position ff1i 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 stores the displacement amount calculated by h6 by the displacement amount calculation means 53 at a predetermined value (described later). ), the output signal at this time is output to the actuator dead zone compensation fine adjustment value calculation means 56. The signal output means 55 outputs a drive signal for each actuator based on the displacement amount calculated by the displacement amount calculation means 53.

The actuator dead zone compensation fine adjustment value calculation means (dead zone compensation adjustment 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 of the actuator based on the output signal output from the output signal storage means 54.
The difference from the preset dead zone compensation standard value WO is set as the actuator dead zone compensation fine adjustment value ΔW, and the actuator dead zone compensation fine adjustment value storage means 31b (41b).

47b). This fine adjustment value ΔW is stored in the EEPROM 24 in terms of hardware, and can be rewritten as necessary.

Next, the setting operation of the fine adjustment value ΔW actually performed in this mote 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 W1 in the same figure
The operation for setting i (first adjustment operation) is shown in the flowchart of FIG.

Prior to adjustment, initialization, that is, the signal output means 55
The output value o-cheek is set to the initial value 0, and the current actuator position is stored as the initial position x-ini (step 81).

Next, a constant value Δu-ch that is set in advance to the output value υ-cbeek! The value obtained by adding +k is the new value o-ch! c.
k (step S2), and this value o-che
A control signal is output to the actuator with ck as the actual output value (step S3). By repeatedly continuing S3 (NO in step S4), the output value increases in proportion to time, as shown in the upper part of the '119 diagram, but while the output value is in the dead zone region of the output actuator, the actuator position remains unchanged. does not change. Thereafter, the output value further increases, and the actuator position changes until the difference (i.e. displacement) between the current position and the initial position x-in becomes equal to or greater than the preset amount Δx1 (in step S4). YES
At point Pl) in FIG. 9, the value *-Ch++k at this time is set as the dead zone compensation value, and this value u-+h:
A value obtained by subtracting a preset dead zone compensation value wlo from ck is calculated, 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 ΔW1. (Step S5).

Then, the output signal to the actuator is returned to 0, and the first adjustment operation ends.

Next, the second adjustment operation as shown in the flowchart of the 10th BC, that is, the second dead zone compensation fine adjustment value ΔW
2 is started.

Here, the operations from Steps 31 to S3 are the same as above, and the output value 1i-Ch+ck increases with time, but when the displacement amount reaches the preset value Δx2 or more (YES in Step S7, the At point P2) in FIG. 11, the actuator position at this time is stored as x-old (step 38). 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 u-chec
The value obtained by subtracting the constant value Δlow check from k is set as the new output value o-check (step S9).
, a signal is output to the actuator using this new value as the actual output value (step 510).

Then, by repeatedly continuing the operations from step 88 to SIO described above (No in step Sll), the memory value x-o1d is sequentially updated, while the 8-force value a-che
k decreases with time, and the operating speed of the actuator decreases, or when the difference between the stored value At point P3) in Figure 11, that is, when the actuator has almost stopped, the output value ~check at this time is set to be higher than the second actuator dead zone compensation value w2, and from this value the preset second The value obtained by subtracting the actuator dead zone compensation standard value W20 is stored as the second actuator dead zone compensation fine adjustment value ΔW2 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 wa in the normal control mode,
Appropriate control will be executed that takes into account the dead zone characteristics of each actuator.

It should be noted that the above two fine adjustment values ΔWl and ΔW2 are used properly, in other words, the two dead zone compensation values W1 (=WO−Δ
wl ), W2 (=W(1+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, As shown in FIG. 13, the first dead zone compensation value w1 may be used at the start of the control, and then gradually decreased to the second dead zone compensation value W2. Control may be performed in which the first - dead zone compensation value w1 is used in some cases, and the second dead zone compensation value W2 is used in cases where there is a decreasing tendency.

(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 the ratio ao/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 and packet cylinder 7 is common, each mode will be explained together 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 the above correction gain Ka is calculated from this speed. The desired action is performed.

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, the rotation limit angle of the movable part is the angle θ21. shown in FIG. If θ1, the angle range setting means 57 sets the angle θ in the figure, which is a narrower range than the above-mentioned movable range, as the range in which the movable part is actually moved.
Set this range b1 to θb, and further set the angle θc1 to θC2 in the same figure as the range for measuring time within this rotation range.
Set the range.

A constant output signal generating means (signal output means) 58 outputs an appropriate signal to the actuator so that the movable part is reciprocated many times within the set rotation range θbl to θ112, and repeats rotations. It is configured to increase the level of the output signal by a fixed value each time. That is,
A signal with a level proportional to the number of rotations is output to the actuator.

The time measuring means (speed detecting means) 59 is configured such that when the movable part rotates, this rotating part is the angle range setting means 57.
This is to measure the time required to pass through the time measurement range θC1 to θc2 set in . The speed storage means 60 also stores the time measured by the time measurement means 59 in the time measurement range and the angular width (θc2−θcl) in the same range.
The rotation speed at each rotation is calculated from the above, and this speed is stored as combination data with the output value of the actuator.

The actuator correction gain calculation means 62 performs a correction based on each speed stored in the speed storage means 61.
This calculation is performed using a preset dead zone compensation standard value W0 and Aii dead zone compensation fine adjustment value storage means 31b (41b).

This is performed by considering the dead zone compensation value W, which is the sum of the fine adjustment value ΔW stored in step 47b).

Specifically, when the output-speed data stored in the speed storage means 61 is plotted on a graph by subtracting the dead zone compensation value W, the result is as shown in FIG. 16. In FIG. 41, the straight line L1 indicates the standard output speed. A characteristic standard value aO indicating the characteristic and its slope 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 individual value a of the characteristic.

The actuator correction gain calculation means 62 sets the ratio ad/'a between the characteristic target value aO and the individual value a as 3 as the actuator correction gain, and 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 changed as needed.

(4) Boom feedforward gain adjustment mode (5) Packet feedforward gain adjustment mode These modes are used to perform trials equivalent to actual excavation operations in order to perform appropriate feedforward control according to the individual differences of the machine. This is a mode in which the fine adjustment value of each feedforward gain is set by performing the operation.

FIG. 17 shows the functional configuration of the controller 16 in the boom feedforward gain adjustment mode. As is clear from the comparison in FIG.
The difference (control deviation 1) Δyb with respect to bo is stored in the deviation storage means 631 at every constant control synchronization.

The boom feed field gain fine adjustment value calculation means 64 shown in the figure calculates the deviation [calculated value Σ(Δyb') from the wide 7 medium word gain] of the deviation stored in one trial excavation operation.
The amount of correction is sequentially obtained, and based on the gain corrected by the integrated value of each correction amount, the boom cylinder feedforward calculation means 32 performs feedforward control of the trial excavation operation, and the integrated value Σ(Δyb ) is within the allowable range, the integrated value of the correction amount is set as the boom feedforward gain fine adjustment value ΔFdl, and 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 packet feed gain adjustment mode 1. Also here, the feedback control of the bucket lift 4 by the proportional integration means 41 is not performed, and the difference (control deviation) between the actual packet ground angle θ3 and the target value θ30 is
Δθ3 is stored in the deviation storage means 65 at every fixed control cycle.

Similarly to the boom feedforward gain fine adjustment value calculation means 64, the packet feedforward gain fine adjustment value calculation means 66 shown in the figure also calculates the accumulated deviation value Σ(Δθ3) stored in one trial excavation operation. The correction amount of the feedforward gain is sequentially obtained, and the packet cylinder feedforward calculation means 43 is made to perform feedforward control of the trial excavation operation based on the gain corrected by the cumulative value of each correction amount, and the cumulative value Σ of the deviation is The boom feedforward gain fine adjustment value Δ
This value is set as Kli and 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 the boom feedforward gain and the packet feedforward gain will be explained here, the control deviations Δyb and Δθ in both modes will be explained in common.
3 is commonly expressed as Δh.

In FIG. 19, the correction amount calculation means 68 calculates the corresponding feedforward gain based on the integrated value Σ(Δh) of the deviation Δh stored in the deviation storage means 63 (65) in one trial excavation operation. Correction amount Fi1 (Σ(Δh))
In this example, the integrated deviation value Σ
(Δh) and feedforward gain correction amount Ff1(Σ
(Δh) is given a relationship as shown in FIG. In other words, only in the region where the integrated deviation value Σ(Δh) is greater than or equal to the positive tolerance value Va (>0) or less than or equal to the negative tolerance value -■3(kuO), the corresponding feedforward gain correction amount Fi+ is (Σ(Δh)) will be set.

The integrated value storage means 69 stores the correction amount Fl+(Σ(Δh) calculated by the correction amount calculation means 66 for each trial excavation operation.
) are sequentially stored, and this integrated value is used as a provisional feedforward gain fine adjustment value and is given to the feedforward calculation means 32 (43), based on which feedforward control is performed during the trial excavation operation. It is something.

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 (-■2≦0≦Va) in FIG. This is to determine whether or not. The fine adjustment value setting means 7] determines the cumulative deviation value Σ(Δh) by the tolerance determination means 70.
If it is determined that the amount of correction is within the allowable range, the cumulative value of the correction amount at that point is set as the feedforward gain fine adjustment value Δ
This value is set as Kll 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 described with reference to the flowchart of FIG.

First, prior to adjusting the feed forward gain, the feedback gain is set to O (step S2+) to disable feedback control. On the other hand, the feedforward gain fine adjustment value Δ is set to 0, and the feedforward gain Kli is set to the preset gain target value K11o, thereby initializing the feedforward gain Kl+. (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 (-v1 to
Vi), if it is not within (step S25.S
26), the correction amount Fff(Σ(Δh)) corresponding to this integrated value Σ(Δh) is calculated, and this is added to the provisional feedforward gain fine adjustment value ΔKN to create a new feed. In addition to updating the forward gain fine adjustment value ΔKN, the value obtained by adding ++ to the gain standard value Kffo to this provisional feedforward gain fine adjustment value Δ is set as a provisional feedforward gain Kit (step S47'). The next trial excavation operation is performed based on the gain KN.

By repeating such an operation, the provisional feedforward gain fine adjustment value ΔK11 has a correction amount F11 (
Σ(Δh)) is successively integrated, and the feedforward gain Kll is modified.

Then, when the integrated value Σ(Δh) of the above deviation falls within the allowable range (YES in steps S25 and S26),
The provisional fine adjustment value ΔKll, which is the integrated value at this time, is set as the formal feedforward gain fine adjustment value and stored (step 528).

The value obtained by adding the feedforward gain fine adjustment value ΔKN set and stored in this way to the standard value K11o is used as the feedforward gain Kll in the normal control mode, thereby providing feedforward control suitable for the characteristics of the machine. 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,
As shown in Figure 2 (a), a weighting coefficient Cv is introduced that gradually decreases from the initial value Cvs to a steady value Cvo in the initial state, and after this state it remains constant at the steady value Cvo. The deviation Δh may be multiplied by the ratio between the coefficient Cv and the steady-state value CIO. In this case, if the actual trend of the control deviation is shown in the same figure (b), the weighted trend of the control deviation is shown in the same figure (c). It becomes possible to provide a gain that fits 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.

FIG. 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 fine adjustment value calculation means 73 is
Vibration shape of the above deviation Δh! ! ! (in this embodiment, the vibration count value) and the integrated value Σ(Δyb), the correction amounts of the feedback proportional gain and the integral gain are determined, and the proportional integration means 35 calculates the correction amount of the feedback proportional gain and the integral gain, respectively, based on the gain corrected by the integrated value of each correction amount. performs feedback control of the trial excavation operation, and sets the amount of correction at the time when the vibration state and integrated value of the deviation are within the allowable range as the boom feedback gain fine adjustment values ΔKp, Δ, and the boom feedback This is stored in the 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. The amount of correction of the feedback gain is sequentially determined by the value calculation means 76, and the feedback control of the trial excavation operation is executed by the proportional integration means 41 based on the gain corrected by the cumulative value of each correction amount, and the vibration of the deviation is The amount of correction when the status and integrated value fall within the allowable range is the packet feedback gain fine adjustment value ΔKp
, Δ are set as 1 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 26. 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. 26.

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 O, 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 an may be set using other methods. For example, as shown in Sections 28e (a) and (b), a vibration detection width with a width δ is set above and below an appropriate vibration detection offset value he that is expected to be the center of vibration, and from the inside of this detection width The vibration count value n may be added each time the deviation shifts to the outside. in this case,
As shown in the figure (a), when there is a vibration with a large deviation, the vibration count value n of the number of meals is counted, and the figure (a)
As shown in b), when the vibration of the deviation is extremely slow, the vibration count value n is hardly counted.

The correction amount calculating means 79 calculates the 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). That is, only in a region where the vibration force value is equal to or greater than a preset allowable value na (>O), the trend of the control deviation is considered to be oscillatory, and a corresponding negative feedback 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.

When the permissible determination means 81 determines that the vibration force value n is within the permissible range, the fine adjustment value setting means 82 sets the cumulative value of the correction amount at that time as a feedback proportional gain fine adjustment value. It is set as ΔKp and stored in the feedback gain fine adjustment value storage means 36 (42).

On the other hand, in the integral gain adjustment mode, the 26th
As shown in the figure, the correction amount calculation means 68, the integrated value storage means 69, the allowance determination means 70, which were explained in FIG.
and correction amount calculation means 8 similar to the fine adjustment value setting means 71.
3. An integrated value storage means 84, an allowance determination means 85, and a fine adjustment value setting means 8G are provided, and the integrated value Δh of the deviation is provided in the same way as in the foot gauge adjustment mode.
The feedback integral gain fine adjustment value ΔK is set accordingly.

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 area above the positive tolerance value Va or in the area below the negative tolerance value -Va, the positive correction amount Fi (Σ(Δh)) is set according to its absolute value. It has become so.

Next, the setting operations of the proportional gain fine adjustment value and the integral gain fine adjustment value which are actually performed in this feedback 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 Figure 3, prior to feedback gain adjustment, the feedforward gain is finely adjusted based on the fine adjustment value ΔKll 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 compensation fine adjustment value ΔW are calculated. On the other hand, the feedback proportional gain fine adjustment value ΔKp is set to 0, and the feedback proportional gain Kp is set to a preset gain standard value Kpo, thereby initializing the feedback proportional gain Kp (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).

If this vibration count value n is greater than or equal to the allowable value n3 (NO in step S35), the correction amount Fp (n) corresponding to this vibration count value n is calculated, and this is set as a provisional feedback proportional gain fine adjustment value ΔKp. The value added to this temporary feedback proportional gain fine adjustment value ΔKp is updated and set as a new feedback proportional gain fine adjustment value ΔKp, and the value obtained by adding this temporary feedback proportional gain fine adjustment value Δ to the gain standard value Kpo is set as a temporary feedback proportional gain Kf1. Then, in step 836), the next trial excavation operation is performed.

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)
Then, the provisional fine adjustment value ΔKp, which is the integrated value at this time, is set as the formal feedback proportional gain fine adjustment value and 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 FIG. 32 (step 538).

In this integral gain adjustment mode, not only the feedforward gain Klf but also the fine adjustment value of the proportional gain is previously performed 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.
is initialized (step 542), the deviation between the trial excavation operation and the control period is stored (step 543), its integrated value Σ(Δh)) is calculated (step 544), and the integral gain is set to 1 and its derivative. The adjustment value ΔKi is corrected (step 547) until the integrated value Σ(Δh)) satisfies the allowable conditions (No in either step 345 or 346).
) continues, and when the permissible conditions are met (step 345
, 346), the integrated value Δ at this point is set to 1 as a formal feed-to-tock integral gain fine adjustment value, and is stored (step 548).

Proportional gain fine adjustment value ΔKp 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 control 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, when calculating the correction gain,
Although the speed is calculated from the time required for the movable part to pass through a certain predetermined angular range, the speed may be directly detected by a speed sensor.

(2) In the above embodiment, there are two dead zone compensation values wl.

Although W2 is determined and these are used selectively, in the present invention, only the value related to the adjustment of one of the dead zone compensation values may be determined.

(3) In the above embodiment, a device capable of switching between many adjustment modes in addition to the actuator dead zone compensation value adjustment mode and the actuator compensation gain setting mode was shown. Even if the adjustment mode is provided independently, its effects can be exhibited. However, if the nonlinear compensation of the actuator is finely adjusted using the device of the present invention as in the above embodiment, and the control gain is adjusted in this state, the actuator characteristics can be made sufficiently linear. Since the control gain is adjusted, it has the effect of contributing to more rational and accurate gain adjustment.

(4) In the above embodiment, the dead zone compensation fine adjustment value, which is the difference between the new dead zone compensation value and the preset dead zone compensation standard value, is calculated and stored as the "value related to adjustment of the dead zone compensation value" of the present invention. However, the same effect as above can be obtained by storing the new adjusted dead zone compensation value itself.

(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. 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 in large hydraulic excavators, packet tilt angle maintenance, automatic return control, and the like.

"Effects of the Invention" As described above, according to the present invention, the following effects can be obtained.

First, in the device according to claim 1, the control means can be switched between a normal control mode and a correction gain setting mode 1, and correction is made from the output-speed characteristics when the movable part is actually driven in the correction gain setting mode. The gain is calculated and memorized, and then control is performed in the normal control mode that incorporates the correction gain, so the correction gain is automatically applied after the product is commercialized, not at the manufacturing stage. This setting has the effect of realizing highly accurate control that takes into account variations in the dynamic characteristics of each actuator with a low-cost structure.

Further, in the device according to claim 2, the control means can be switched between a normal control mode and a dead zone compensation value adjustment mode, and the control means is configured to be able to switch between a normal control mode and a dead zone compensation value adjustment mode, and the actual driving amount of the hydraulic drive section when outputting the drive signal in the dead zone compensation value adjustment mode is The value related to the adjustment of the dead zone compensation value is calculated and stored, and then control is performed using the stored value in the normal control mode, so the dead zone compensation value is adjusted one by one at the manufacturing stage. Rather than making fine adjustments, it is possible to automatically adjust the appropriate control gain through simple operations at the stage after commercialization, and this allows for improved control accuracy regardless of variations in the dynamic characteristics of each actuator. There is an effect that can be achieved by trying to improve the situation.

[Brief explanation of drawings]

Fig. 1 is an input/output signal diagram of a controller installed in a hydraulic excavator according to an embodiment of the present invention, Fig. 2 is a hardware configuration diagram of the same controller, and Fig. 3 is a slope excavation operation using the above-mentioned hydraulic excavator. 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 operation contents of the nonlinear compensation means in the controller. A graph showing an example of dynamic characteristics, 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 characteristic individual values and standard values required for the same controller, Figure 17 is a block diagram showing the control details of the controller in boom feedforward gain adjustment mode, and Figure 18 is packet feedforward. FIG. 19 is a block diagram showing the control contents of the above-mentioned cositroller in the 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. 21 is a flowchart showing the actual control operation of the controller in ν mode, and FIGS. 22(a), (b), and (c ) is a graph showing the relationship between time, weight index, deviation, and weighted deviation when weighting the control deviation, and Fig. 23 is a block diagram showing the control lineup of the controller in the boom feedback gain adjustment mode. , FIG. 24 is a block diagram showing the control contents of the controller in the packet feedback gain adjustment mode, FIG. 25 is a block diagram showing the calculation contents of the feedback gain fine adjustment value calculation means in the feedback proportional gain adjustment mode, and 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,
FIG. 27 is a graph showing an example of the method of calculating the vibration count value used in the feedback proportional gain adjustment mode, and FIGS. 28(a) and 28(b) are graphs showing other examples of the method of calculating the vibration count value, FIG. 29 is a graph showing the relationship between the vibration count value and the proportional gain correction amount obtained in the feedback proportional gain adjustment mode,
FIG. 30 is a graph showing the relationship between the cumulative deviation value and the gain correction amount obtained in the feedback integral gain adjustment mode, and FIG. 31 is a flowchart showing the actual control operation of the controller in the feedback proportional gain adjustment mode. FIG. 32 is a flowchart showing the actual control operation of the controller in the feedback integral gain adjustment mode. 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 change switch (mode change means), 16...Controller (control means), 30.39.46...Nonlinear compensation means, 31a...Arm actuator Correction gain storage means 31b...Arm actuator dead zone compensation fine adjustment value storage means (dead zone compensation adjustment storage means 40a...
Boom actuator correction gain storage means, 40b...
・Boom actuator dead zone compensation fine adjustment value storage means (
47a...Packet actuator correction gain storage means, 47b...Packet actuator dead zone compensation fine adjustment value storage means (dead zone compensation adjustment storage means) 51...Dead zone compensation value adder (dead zone compensation means), 55... signal output means, 56... actuator dead band compensation fine adjustment value calculation means (dead band compensation adjustment calculation means), 58... constant output signal generation means (signal output means), 59... Time measuring means (speed detecting means), 62... Actuator correction gain storage means. Patent Applicant Kobe Steel Co., Ltd. Agent Patent Attorney Etsushi Kotani 111'1 111'1 111'1 111'1 (n)↑ Suiino rEfi Figure

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 nonlinear compensating means for compensating for the nonlinearity of the hydraulic drive section, mode switching is performed to switch the mode of the control means between a normal control mode and a correction gain setting mode. means, signal output means for actually operating the hydraulic drive section by outputting a plurality of types of signals having different output values in the correction gain setting mode, speed detection means for detecting the operating speed of the hydraulic drive section; correction gain calculation means for calculating a correction gain from the relationship between the detected speed and the output value and a characteristic value of the operating speed with respect to the preset output value; and correction gain storage means for storing the calculated correction gain. and an automatic control device for a hydraulically driven machine, characterized in that the nonlinear compensation means is configured to perform nonlinear compensation incorporating the correction gain stored in the correction gain storage means in the normal control mode. . 2. 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, and the control means has the above-mentioned control means. In an automatic control device for a hydraulic drive machine provided with a dead zone compensating means for compensating for a dead zone of a hydraulic drive part,
mode switching means for switching the mode of the control means between a normal control mode and a dead zone compensation value adjustment mode; and a signal output means for outputting a control signal for the hydraulic drive unit while changing the output value in the dead zone compensation value setting mode; Dead band compensation adjustment calculation means for calculating a value related to adjustment of the dead band compensation value from the relationship between the above output value and the actual drive amount of the hydraulic drive unit; and a dead band compensation adjustment for storing the calculated value related to the adjustment of the dead band compensation value. storage means, and the dead zone compensation means is configured to perform actual dead zone compensation in the normal control mode using a dead zone compensation value that incorporates the value related to dead zone compensation stored by the dead zone compensation adjustment storage means. An automatic control device for hydraulically driven machines featuring: