JPH0631405U - Control device for electromagnetic proportional control valve in work vehicle - Google Patents
Control device for electromagnetic proportional control valve in work vehicleInfo
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- JPH0631405U JPH0631405U JP7401892U JP7401892U JPH0631405U JP H0631405 U JPH0631405 U JP H0631405U JP 7401892 U JP7401892 U JP 7401892U JP 7401892 U JP7401892 U JP 7401892U JP H0631405 U JPH0631405 U JP H0631405U
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Abstract
(57)【要約】
【目的】 電磁比例制御弁による油圧アクチユエータの
作動速度制御を、温度変化に拘らず精度良くしかも安定
して行うことができるようにする。
【構成】 温度変化に応じて変動するソレノイド６ａ、
６ｂのコイル抵抗値をアンプ回路２０を介して入力し、
該入力した抵抗値に基づいて電磁比例制御弁６の入力電
流値を補正する。
(57) [Summary] [Purpose] To enable the operating speed control of a hydraulic actuator by an electromagnetic proportional control valve to be performed accurately and stably regardless of temperature changes. [Structure] A solenoid 6a that fluctuates according to temperature changes,
Input the coil resistance value of 6b through the amplifier circuit 20,
The input current value of the electromagnetic proportional control valve 6 is corrected based on the input resistance value.
Description
【０００１】[0001]
本考案は、トラクタ、田植機、コンバイン等の作業用走行車における電磁比例 制御弁の制御装置に関するものである。 The present invention relates to a control device for an electromagnetic proportional control valve in a work vehicle such as a tractor, a rice transplanter, or a combine harvester.
【０００２】[0002]
一般に、この種作業用走行車のなかには、作業部を昇降せしめるリフトシリン ダ等の油圧アクチユエータを、ソレノイド部に入力される電流値に基づいて流量 を比例制御する電磁比例制御弁を用いて作動速度制御すべく構成されるものがあ る。しかるに、前記電磁比例制御弁においては、温度変化に伴うコイル抵抗値の 変化や作動油の粘度変化に起因して制御流量が変動するため、作動油の温度が相 違する作業開始時と終了時とでは、入力電流値が同一であるにも拘らず油圧アク チユエータの作動速度が大きく相違してしまうことになり、この結果、制御の精 度および安定性の低下が問題となつていた。 Generally, in this type of work vehicle, a hydraulic actuator such as a lift cylinder that raises and lowers the working part is operated using an electromagnetic proportional control valve that proportionally controls the flow rate based on the current value input to the solenoid part. Some are configured to do so. However, in the solenoid proportional control valve, the control flow rate fluctuates due to changes in the coil resistance value and changes in the viscosity of the hydraulic oil due to temperature changes. In this case, although the input current value was the same, the operating speeds of the hydraulic actuators were greatly different, and as a result, the deterioration of control accuracy and stability became a problem.
【０００３】[0003]
本考案は、上記の如き実情に鑑みこれらの欠点を一掃することができる作業用 走行車における電磁比例制御弁の制御装置を提供することを目的として創案され たものであつて、走行機体に設けられる油圧アクチユエータの作動速度制御を、 ソレノイド部に入力される電流値に基づいて流量を比例制御する電磁比例制御弁 によつて行うべく構成してなる作業用走行車において、前記電磁比例制御弁の入 力電流値を制御する制御部に、温度変化に応じて変動するソレノイド部のコイル 抵抗値を測定し、該測定したコイル抵抗値に基づいて電磁比例制御弁の入力電流 値を補正する入力電流補正手段を設けたことを特徴とするものである。 そして本考案は、この構成によつて、油圧アクチユエータの作動速度制御を、 温度変化に拘らず精度良くしかも安定して行うことができるようにしたものであ る。 The present invention was devised with the object of providing a control device for an electromagnetic proportional control valve in a work traveling vehicle that can eliminate these drawbacks in view of the above circumstances, and is provided in a traveling vehicle body. In a working vehicle configured to control the operating speed of a hydraulic actuator to be controlled by an electromagnetic proportional control valve that proportionally controls the flow rate based on the current value input to the solenoid section, the electromagnetic proportional control valve The control unit that controls the input current value measures the coil resistance value of the solenoid unit that fluctuates according to temperature changes, and the input current that corrects the input current value of the solenoid proportional control valve based on the measured coil resistance value. It is characterized in that a correction means is provided. The present invention, with this structure, enables the operating speed of the hydraulic actuator to be controlled accurately and stably regardless of temperature changes.
【０００４】[0004]
次に、本考案の一実施例を図面に基づいて説明する。図面において、１はトラ クタの走行機体であつて、該走行機体１の後部には、昇降リンク機構２を介して ロータリ耕耘式の作業部３が昇降自在に連結されており、そして作業部３は、単 動式リフトシリンダ４の油圧作動に伴うリフトアーム５の上下揺動に基づいて昇 降するが、これらの基本構成は何れも従来通りである。 Next, an embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 is a traveling machine body of a tractor, and a rotary tillage type working section 3 is movably connected to a rear portion of the traveling machine body 1 via an elevating link mechanism 2, and the working section 3 Moves up and down based on the vertical swing of the lift arm 5 accompanying the hydraulic operation of the single-acting lift cylinder 4, and the basic configuration of each of these is the same as the conventional one.
【０００５】 ６は前記リフトシリンダ４の伸長作動（作業部上昇）および縮小作動（作業部 下降）を制御する電磁比例制御弁であつて、該電磁比例制御弁６は、上昇用およ び下降用ソレノイド６ａ、６ｂの励磁作動に基づいて上昇用および下降用メイン バルブＶ1、Ｖ2をパイロツト操作することによりリフトシリンダ４の伸縮作動切 換を行うと共に、上昇用および下降用ソレノイド６ａ、６ｂに入力される電流値 に基づいて流量を比例制御してリフトシリンダ４の作動速度制御を行うが、前記 入力電流値はパルス幅変調制御に基づいて調整されており、このため作動パルス のデユーテイ比（ＯＮ時間比率）によつてリフトシリンダ４の作動速度が決定さ れるようになつている。また、本実施例の油圧回路では、油温等の温度変化が生 じた場合に図１３に示す様な温度特性を示す。即ち、上昇作動においては、温度 上昇に伴つて上昇用ソレノイド６ａのコイル抵抗値が増加し、該コイル抵抗値の 増加に伴うコイル電流値の減少に基づいて流量が減少する一方、下降作動におい ては、温度上昇に伴つて下降用ソレノイド６ｂのコイル抵抗値が増加し、該コイ ル抵抗値の増加に伴うコイル電流値の減少に基づいて流量が減少するものの、降 下速度調節バルブＶ3の絞り抵抗が減少するため流量が増加することになる。Reference numeral 6 denotes an electromagnetic proportional control valve for controlling the extension operation (working part raising) and the contraction operation (working part lowering) of the lift cylinder 4, which is used for raising and lowering. The lift cylinder 4 is expanded / contracted by piloting the rising and lowering main valves V 1 and V 2 based on the exciting operation of the lifting solenoids 6a and 6b, and the lifting and lowering solenoids 6a and 6b are switched. The operating speed of the lift cylinder 4 is controlled by proportionally controlling the flow rate based on the current value input to the input current value. The input current value is adjusted based on the pulse width modulation control. Therefore, the duty ratio of the operating pulse is adjusted. The operating speed of the lift cylinder 4 is determined by the (ON time ratio). Further, the hydraulic circuit of the present embodiment exhibits temperature characteristics as shown in FIG. 13 when a temperature change such as oil temperature occurs. That is, in the ascending operation, the coil resistance value of the ascending solenoid 6a increases as the temperature rises, and the flow rate decreases as the coil current value decreases as the coil resistance value increases, while in the descending operation. increases the temperature rise coil resistance accompaniment with the lowering solenoid 6b is, although the flow rate is reduced based on the reduction of the coil current value with the increase of the coil resistance, the lower the speed adjusting valve V 3 later Since the throttling resistance decreases, the flow rate increases.
【０００６】 一方、８は運転席９の近傍に配設される操作パネルであつて、該操作パネル８ には、作業部３を昇降操作するためのポジシヨンレバー１０（操作信号はレバー 角センサ１０ａを介して出力）、自動制御を切換え操作するための自動制御切換 えスイツチ１１、後述する耕深自動制御の目標耕深を設定するための耕深設定ボ リユーム１２、後述するダツシング防止制御の開始位置を設定するための位置設 定ボリユーム１３、制御モードを切換え操作するためのモード切換えスイツチ１ ４等の操作具が設けられているが、各操作具の操作信号は制御部１５に入力され るようになつている。On the other hand, 8 is an operation panel arranged near the driver's seat 9. The operation panel 8 has a position lever 10 for operating the working unit 3 (the operation signal is a lever angle sensor). Output via 10a), automatic control switching switch 11 for switching the automatic control, plowing depth setting volume 12 for setting a target plowing depth for automatic plowing depth control, which will be described later, and dashing prevention control, which will be described later. Although operation tools such as a position setting volume 13 for setting a start position and a mode switching switch 14 for switching control modes are provided, an operation signal of each operation tool is input to the control unit 15. It is becoming like this.
【０００７】 前記制御部１５は、所謂マイクロコンピユータ（ＣＰＵ、ＲＯＭ、ＲＡＭ等を 含む）を用いて構成されるものであり、そしてこのものは、前述の操作具のみな らず、リフトアーム５の上下揺動角を検知するアーム角センサ１６、リヤカバー １７の上下揺動角に基づいて耕深を検知する耕深検知センサ１８、エンジン回転 数を検知するエンジン回転センサ１９等から信号を入力すると共に、これら入力 信号に基づく判断で、前記電磁比例制御弁６の上昇用ソレノイド６ａおよび下降 用ソレノイド６ｂに駆動トランジスタＴｒ１、Ｔｒ２を介して作動パルス信号を 出力するが、さらに本考案の制御部１５は、アンプ回路２０を介して上昇用ソレ ノイド６ａのアース電流値を入力するようになつている。即ち、上昇用ソレノイ ド６ａのアース電流を抵抗Ｒによつて分流すると共に、該分流した電流をアンプ 回路２０で増幅した後、Ａ／Ｄコンバータ（アナログ−デジタル変換回路）２２ を介して制御部１５に入力すべく構成されており、このため制御部１５において は、温度変化に伴つて変動する上昇用ソレノイド６ａのコイル抵抗値に基づいて 電磁比例制御弁６の温度測定を行うことができるようになつている。The control unit 15 is configured by using a so-called micro computer (including CPU, ROM, RAM, etc.), and this control unit 15 is not limited to the above-mentioned operation tool, and is not limited to the lift arm 5. Signals are input from an arm angle sensor 16 that detects a vertical swing angle, a working depth detection sensor 18 that detects a working depth based on a vertical swing angle of the rear cover 17, an engine rotation sensor 19 that detects an engine speed, and the like. The operation pulse signal is output to the ascending solenoid 6a and the descending solenoid 6b of the electromagnetic proportional control valve 6 through the drive transistors Tr1 and Tr2 based on the determination based on these input signals. The earth current value of the rising solenoid 6a is input via the amplifier circuit 20. That is, the earth current of the rising solenoid 6a is shunted by the resistor R, the shunted current is amplified by the amplifier circuit 20, and then the control section is passed through the A / D converter (analog-digital conversion circuit) 22. Therefore, the control unit 15 can measure the temperature of the electromagnetic proportional control valve 6 based on the coil resistance value of the rising solenoid 6a that fluctuates with the temperature change. It has become.
【０００８】 次に、前記制御部１５に予め制御手順が記憶された制御、つまり工場検査ライ ンで実行される測定基準データ補正制御、ポジシヨンレバー１０の操作位置とリ フトアーム５の検知位置とを一致させるべく作業部３を昇降制御するポジシヨン 制御、さらに耕深設定ボリユーム１２の設定耕深と耕深検知センサ１８の検知耕 深とを一致させるべく作業部３を昇降制御する耕深自動制御、非作業位置から下 降する作業部３の下降速度を位置設定ボリユーム１３の設定位置から徐々に減速 するダツシング防止制御について説明する。Next, the control procedure in which the control procedure is stored in advance in the control section 15, that is, the measurement reference data correction control executed in the factory inspection line, the operation position of the position lever 10 and the detection position of the left arm 5 are detected. Position control for raising and lowering the working unit 3 in order to match the working depth, and automatic plowing depth control for raising and lowering the working unit 3 in order to match the set working depth of the working depth setting volume 12 and the working depth detected by the working depth detection sensor 18. The dashing prevention control for gradually reducing the descending speed of the working unit 3 descending from the non-working position from the setting position of the position setting volume 13 will be described.
【０００９】 前記測定基準データ補正制御は、モード切換えスイツチ１４をチエツクモード 位置にセツトし、さらに所定の操作を行つた場合に実行されるが、該制御を実行 する際には、一定に保つた作動油の温度を予め測定器を用いて測定すると共に、 該測定した温度が予め設定される何れの温度範囲に属するかを前記自動制御切換 えスイツチ１１の切換え操作に基づいて制御部１５に入力しておくものとする。 そしてこれらの前準備が完了した後に測定基準データ補正制御を実行すると、該 制御は、作業部３を繰り返し昇降させるべく上昇用ソレノイド６ａおよび下降用 ソレノイド６ｂに作動パルスを出力すると共に、上昇作動時における前記コイル 抵抗値に基づいて温度測定値を複数サンプリングし、さらにサンプリングした温 度測定値を平均化した後、その平均値に基づいてメモリ（バツクアツプ付き）に 記憶される測定基準データを補正するようになつている。つまり、アンプ回路２ ０や電磁比例制御弁６における品質のバラツキによつて測定誤差を生じる不都合 を未然に防止するようになつている。The measurement reference data correction control is executed when the mode switching switch 14 is set to the check mode position and a predetermined operation is performed, but it is kept constant when the control is executed. The temperature of the hydraulic oil is measured in advance using a measuring device, and the temperature range to which the measured temperature belongs is input to the control unit 15 based on the switching operation of the automatic control switching switch 11. I will keep it. When the measurement reference data correction control is executed after completion of these preparations, the control outputs an operation pulse to the ascending solenoid 6a and the descending solenoid 6b to repeatedly move the working unit 3 up and down, and at the time of ascending operation. In the coil, multiple temperature measurement values are sampled based on the resistance value, and the sampled temperature measurement values are averaged, and then the measurement reference data stored in the memory (with backup) is corrected based on the average value. It is becoming like this. That is, it is possible to prevent the inconvenience of causing a measurement error due to variations in quality of the amplifier circuit 20 and the electromagnetic proportional control valve 6.
【００１０】 一方、ポジシヨン制御では、ポジシヨンレバー１０の操作位置とリフトアーム ５の検知位置とを比較し、そしてポジシヨンレバー１０の操作位置がリフトアー ム５の検知位置よりも高い場合には、その差に応じたデユーテイ比の上昇作動パ ルスを出力する一方、ポジシヨンレバー１０の操作位置がリフトアーム５の検知 位置よりも低い場合には、その差に応じたデユーテイ比の下降作動パルスを出力 し、またポジシヨンレバー１０の操作位置がリフトアーム５の検知位置に一致す る場合には、作動パルスの出力を停止することになるが、ポジシヨンレバー１０ の操作位置がリフトアーム５の検知位置よりも高く、かつその差が大きい場合に は、設定範囲内でデユーテイ比が最大の上昇作動パルスを出力するようになつて いる。そしてこの状態では、コイル抵抗値に基づいて温度測定値を複数サンプリ ングし、さらにサンプリングした温度測定値を平均化した後、その平均値に基づ いて作動パルスのデユーテイ比を補正するようになつている。即ち、作業部３が 非作業位置まで上昇操作される機体回行毎にデユーテイ比の補正を行うと共に、 補正を行う際には作動パルスのＯＮ時間、つまり温度測定時間を可及的に長く確 保して測定精度の向上を計つているが、さらに本実施例では、エンジン回転数に 基づいて測定値補正を行うため、エンジン回転数の変化に伴う電圧変動によつて 測定誤差が生じる不都合を解消することができるようになつている。On the other hand, in the position control, the operation position of the position lever 10 is compared with the detection position of the lift arm 5, and when the operation position of the position lever 10 is higher than the detection position of the lift arm 5, While the duty ratio increasing operation pulse corresponding to the difference is output, when the operation position of the position lever 10 is lower than the detection position of the lift arm 5, a duty ratio decreasing operation pulse corresponding to the difference is output. When the position is output and the operation position of the position lever 10 coincides with the detection position of the lift arm 5, the operation pulse output is stopped. When the position is higher than the detection position and the difference is large, the rising operation pulse with the maximum duty ratio within the set range is output. It In this state, a plurality of temperature measurement values are sampled based on the coil resistance value, the sampled temperature measurement values are averaged, and the duty ratio of the working pulse is corrected based on the average value. ing. That is, the duty ratio is corrected every time the working unit 3 is raised to the non-working position and the duty ratio is corrected, and the ON time of the operation pulse, that is, the temperature measurement time is set to be as long as possible when performing the correction. Although the measurement accuracy is improved by keeping the above, the measurement value correction is performed based on the engine speed in the present embodiment, and therefore, there is a problem that a measurement error occurs due to a voltage fluctuation accompanying a change in the engine speed. It can be resolved.
【００１１】 また、前記耕深自動制御では、まず自動制御切換えスイツチ１１およびポジシ ヨンレバー１０の操作状態に基づいて耕深自動制御がＯＮ状態であるか否かを判 断する。つまり、自動制御切換えスイツチ１１が耕深自動位置にセツトされ、か つポジシヨンレバー１０が下限位置まで操作された状態において耕深自動制御を 実行するが、耕深自動制御のＯＮ状態では、ポジシヨンレバー１０を非作業位置 まで上昇操作した際にセツトされる作業始めフラグのセツト状態を判断する。そ して作業始めフラグがリセツト状態である場合には、耕深設定ボリユーム１２の 設定耕深と耕深検知センサ１８の検知耕深とを一致させるべく作業部３を通常の 速度で昇降制御する一方、作業始めフラグがセツト状態である場合には、前述し たダツシング防止制御を実行した後、作業部３が設定耕深位置近傍に達した段階 で作業始めフラグをリセツトするようになつている。そして耕深自動制御におい ては、前記温度測定に基づいてデユーテイ比が補正された作動パルスを使用する ことになるが、ダツシング防止制御ではさらに厳密なパルス補正がなされるよう になつている。即ち、ダツシング防止制御の減速域では、作動パルスのＯＮ時間 を、予め設定される最小ＯＮ時間ｔ0に達するまで順次減少（減少幅＝Δｔ）さ せるが、前記最小ＯＮ時間を前述した温度測定値に基づいて補正しており、この ため温度変化に伴つてダツシング防止制御時の下降速度が遅くなりすぎたり、充 分に減速されない等の不都合を解消することができるようになつている。Further, in the automatic working depth control, it is first determined whether or not the automatic working depth control is ON based on the operating states of the automatic control switching switch 11 and the position lever 10. That is, the automatic control switching switch 11 is set to the automatic plowing depth position, and the automatic plowing depth control is executed when the position lever 10 is operated to the lower limit position. The set state of the work start flag that is set when the operation lever 10 is raised to the non-work position is determined. When the work start flag is in the reset state, the working unit 3 is controlled to move up and down at a normal speed so that the set working depth of the working depth setting volume 12 and the working depth detected by the working depth detection sensor 18 match. On the other hand, when the work start flag is in the set state, the work start flag is reset when the working unit 3 reaches the vicinity of the set working depth position after executing the above-mentioned dashing prevention control. . In the automatic plowing control, an operating pulse whose duty ratio is corrected based on the temperature measurement is used. In the anti-dashing control, more precise pulse correction is performed. That is, in the deceleration range of the dashing prevention control, the ON time of the operating pulse is gradually decreased until the preset minimum ON time t 0 is reached (decrease width = Δt). The correction is performed based on the value, so that it is possible to eliminate inconveniences such as the descending speed during the dashing prevention control becoming too slow or the speed not being sufficiently reduced due to the temperature change.
【００１２】 叙述の如く構成された本考案の実施例において、電磁比例制御弁６は、上昇用 および下降用ソレノイド６ａ、６ｂに入力される電流値に基づいてリフトシリン ダ４の作動を制御することになるが、前記入力電流値を制御する制御部１５は、 上昇用ソレノイド６ａのコイル抵抗値に基づいて電磁比例制御弁６の温度測定を 行うと共に、該温度測定に基づいて上昇用および下降用ソレノイド６ａ、６ｂの 入力電流値を補正しており、従つて、電磁比例制御弁６は、温度変化に拘らず精 度の高い流量制御を行うことになる。この結果、作動油の温度が相違する作業開 始時と終了時とでリフトシリンダ４の作動速度が大きく相違してしまうような不 具合を解消して、作業部昇降制御の精度および安定性を著しく向上させることが できる。In the embodiment of the present invention configured as described above, the electromagnetic proportional control valve 6 controls the operation of the lift cylinder 4 based on the current values input to the ascending and descending solenoids 6a and 6b. However, the control unit 15 for controlling the input current value measures the temperature of the electromagnetic proportional control valve 6 based on the coil resistance value of the raising solenoid 6a, and raises and lowers the temperature based on the temperature measurement. The input current values of the solenoids 6a and 6b are corrected, so that the electromagnetic proportional control valve 6 performs highly accurate flow rate control regardless of temperature changes. As a result, the problem that the operating speed of the lift cylinder 4 is greatly different between the start and end of work when the temperature of the hydraulic oil is different is eliminated, and the accuracy and stability of the work unit lifting control is improved. It can be significantly improved.
【００１３】 しかも、前記入力電流値の補正を、殊更特別なフイードバツク機構を設けるこ となく、極めて簡略なアンプ回路２０を用いて行うため、コストアツプを招来す ることがなく極めて都合がよい。Moreover, since the correction of the input current value is performed using the extremely simple amplifier circuit 20 without providing a special feed back mechanism, it is very convenient without causing cost up.
【００１４】 さらに、温度測定は、温度変化に伴つて変動する上昇用ソレノイド６ａのコイ ル抵抗値に基づいて行われるため、測定精度を著しく向上させることができる。Further, since the temperature measurement is performed based on the coil resistance value of the rising solenoid 6a that fluctuates with the temperature change, the measurement accuracy can be significantly improved.
【００１５】 また、温度測定に基づく入力電流値の補正は、機体回行毎（作業部上昇操作時 毎）に自動的に実施されるため、常に温度変化に拘らず精度の高い作業部昇降制 御を行い得る許りか、作業中の補正に基づいて入力電流値が変動する不都合も解 消することができる。Further, since the correction of the input current value based on the temperature measurement is automatically performed every time the machine travels (every time the working unit is lifted), the working unit lifting control is always highly accurate regardless of the temperature change. It is possible to eliminate the inconvenience that the input current value fluctuates based on the correction during the work.
【００１６】 また、前記作業部上昇時には、作動パルスのＯＮ時間を最大にするため、測定 時間を可及的に長く確保でき、もつて温度測定の測定精度を著しく向上させるこ とができる。Further, since the ON time of the operation pulse is maximized when the working unit is raised, the measurement time can be secured as long as possible, and the measurement accuracy of the temperature measurement can be remarkably improved.
【００１７】 また、電源の電圧変動要因であるエンジン回転数の変動を検出し、これに基づ いて測定値の補正を行うため、エンジン回転数の変動に伴う測定誤差の発生を確 実に防止することができる。Further, since the fluctuation of the engine speed that is the voltage fluctuation factor of the power supply is detected and the measurement value is corrected based on this, the occurrence of the measurement error due to the fluctuation of the engine speed is surely prevented. be able to.
【００１８】 またさらに、工場検査ラインでは、走行機体１毎に測定基準データの補正を行 うため、アンプ回路２０、電磁比例制御弁６等の品質のバラツキによる測定誤差 を無くして測定精度の著しい向上を計ることができる。Further, in the factory inspection line, since the measurement reference data is corrected for each traveling machine body 1, the measurement error due to the variation in quality of the amplifier circuit 20, the electromagnetic proportional control valve 6 and the like is eliminated, and the measurement accuracy is remarkable. You can measure improvement.
【００１９】 尚、本考案は、前記実施例に限定されないものであることは勿論であつて、例 えば工場検査ラインにおける測定基準データの補正を、図１１に示す第二実施例 の様に行うこともできる。即ち、第二実施例では、測定器を用いて測定した作動 油温度を制御部１５に入力するにあたり、入力温度を、耕深設定ボリユーム１２ の操作に基づいて無段階に設定入力するようになつており、このため温度範囲を 入力する前記第一実施例に比して測定基準データの補正を極めて精度良く行うこ とができる。It should be noted that the present invention is not limited to the above-mentioned embodiment, and of course, for example, correction of measurement reference data in a factory inspection line is performed as in the second embodiment shown in FIG. You can also That is, in the second embodiment, when the operating oil temperature measured by using the measuring device is input to the control unit 15, the input temperature is set and input steplessly based on the operation of the working depth setting volume 12. Therefore, the correction of the measurement reference data can be performed with extremely high accuracy as compared with the first embodiment in which the temperature range is input.
【００２０】[0020]
以上要するに、本考案は叙述の如く構成されたものであるから、油圧アクチユ エータの作動速度を電磁比例制御弁によつて制御するものでありながら、電磁比 例制御弁の入力電流値は、温度変化に応じて変動するソレノイド部のコイル抵抗 値に基づいて補正されるため、電磁比例制御弁の制御流量が温度変化に伴つて変 動することを防止できる。従つて、作動油の温度が相違する作業開始時と終了時 とで油圧アクチユエータの作動速度が大きく相違してしまうような不具合を悉皆 解消し、この結果、油圧アクチユエータの作動速度制御における精度および安定 性を著しく向上させることができる。 In summary, since the present invention is configured as described above, the input current value of the electromagnetic ratio control valve is controlled by the electromagnetic proportional control valve while controlling the operating speed of the hydraulic actuator by the electromagnetic proportional control valve. Since the correction is made based on the coil resistance value of the solenoid that fluctuates according to the change, it is possible to prevent the control flow rate of the electromagnetic proportional control valve from changing with the temperature change. Therefore, the problem that the hydraulic actuator operating speed is greatly different between when the work is started and when the work temperature is different due to the difference in the temperature of the hydraulic oil is eliminated.As a result, the accuracy and stability of the hydraulic actuator operating speed control are eliminated. The property can be significantly improved.
【００２１】 しかも、前記入力電流値の補正は、ソレノイド部の抵抗値測定に基づいて行わ れるため、殊更特別なフイードバツク機構を設けることなく、アンプ回路を設け る程度の簡略な構成により実施可能となつて極めて都合がよい。Moreover, since the correction of the input current value is performed based on the measurement of the resistance value of the solenoid portion, it can be performed by a simple structure such as providing an amplifier circuit without providing a special feedback mechanism. This is extremely convenient.
【図１】トラクタの側面図である。FIG. 1 is a side view of a tractor.
【図２】操作パネルの平面図である。FIG. 2 is a plan view of an operation panel.
【図３】制御機構の概略構成を示すブロツク回路図であ
る。FIG. 3 is a block circuit diagram showing a schematic configuration of a control mechanism.
【図４】測定基準値設定制御のフローチヤートである。FIG. 4 is a flow chart of measurement reference value setting control.
【図５】ポジシヨン制御のフローチヤートである。FIG. 5 is a flow chart of position control.
【図６】ポジシヨン制御の作用を示すタイミングチヤー
トである。FIG. 6 is a timing chart showing the operation of position control.
【図７】補正範囲を示すグラフ図である。FIG. 7 is a graph showing a correction range.
【図８】耕深自動制御のフローチヤートである。FIG. 8 is a flow chart with automatic control of plowing depth.
【図９】ダツシング防止制御のフローチヤートである。FIG. 9 is a flow chart of dashing prevention control.
【図１０】ダツシング防止制御の作用を示すタイミング
チヤートである。FIG. 10 is a timing chart showing the action of the dashing prevention control.
【図１１】第二実施例を示す測定基準値設定制御のフロ
ーチヤートである。FIG. 11 is a flow chart of measurement reference value setting control showing a second embodiment.
【図１２】電磁比例制御弁を含む油圧回路図である。FIG. 12 is a hydraulic circuit diagram including an electromagnetic proportional control valve.
【図１３】電磁比例制御弁の温度特性を示すグラフであ
る。FIG. 13 is a graph showing temperature characteristics of an electromagnetic proportional control valve.
１ 走行機体 ３ 作業部 ４ リフトシリンダ ６ 電磁比例制御弁 ６ａ 上昇用ソレノイド ６ｂ 下降用ソレノイド １０ ポジシヨンレバー １５ 制御部 ２０ アンプ回路 1 Traveling Aircraft 3 Working Section 4 Lift Cylinder 6 Electromagnetic Proportional Control Valve 6a Ascending Solenoid 6b Lowering Solenoid 10 Position Lever 15 Controller 20 Amplifier Circuit
Claims (1)
タの作動速度制御を、ソレノイド部に入力される電流値
に基づいて流量を比例制御する電磁比例制御弁によつて
行うべく構成してなる作業用走行車において、前記電磁
比例制御弁の入力電流値を制御する制御部に、温度変化
に応じて変動するソレノイド部のコイル抵抗値を測定
し、該測定したコイル抵抗値に基づいて電磁比例制御弁
の入力電流値を補正する入力電流補正手段を設けたこと
を特徴とする作業用走行車における電磁比例制御弁の制
御装置。1. A working traveling system configured to control an operating speed of a hydraulic actuator provided in a traveling machine body by an electromagnetic proportional control valve that proportionally controls a flow rate based on a current value input to a solenoid section. In the vehicle, the control unit that controls the input current value of the electromagnetic proportional control valve measures the coil resistance value of the solenoid unit that changes according to the temperature change, and based on the measured coil resistance value, the electromagnetic proportional control valve A control device for an electromagnetic proportional control valve in a work vehicle, comprising input current correction means for correcting an input current value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1992074018U JP2579210Y2 (en) | 1992-09-30 | 1992-09-30 | Control device for electromagnetic proportional control valve in work vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1992074018U JP2579210Y2 (en) | 1992-09-30 | 1992-09-30 | Control device for electromagnetic proportional control valve in work vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0631405U true JPH0631405U (en) | 1994-04-26 |
| JP2579210Y2 JP2579210Y2 (en) | 1998-08-20 |
Family
ID=13534956
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1992074018U Expired - Fee Related JP2579210Y2 (en) | 1992-09-30 | 1992-09-30 | Control device for electromagnetic proportional control valve in work vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2579210Y2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006340621A (en) * | 2005-06-07 | 2006-12-21 | Yanmar Co Ltd | Tilling control system for farming implement |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102340822B1 (en) * | 2017-06-08 | 2021-12-20 | 엘에스엠트론 주식회사 | Proportional control valve calibration system for agricultural working machine |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0367502A (en) * | 1989-08-04 | 1991-03-22 | Iseki & Co Ltd | Hydraulic lifting control device for ground-based work equipment |
-
1992
- 1992-09-30 JP JP1992074018U patent/JP2579210Y2/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0367502A (en) * | 1989-08-04 | 1991-03-22 | Iseki & Co Ltd | Hydraulic lifting control device for ground-based work equipment |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006340621A (en) * | 2005-06-07 | 2006-12-21 | Yanmar Co Ltd | Tilling control system for farming implement |
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| Publication number | Publication date |
|---|---|
| JP2579210Y2 (en) | 1998-08-20 |
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