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Rotation control device, rotation control method, and construction machine

A technology of a rotation control device and a control method, which is applied to electric speed/acceleration control, cranes, earth movers/shovels, etc., and can solve the problems of moving to the bottom and not being completely stationary.

Inactive Publication Date: 2007-04-18
KOMATSU LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, in an electric rotary shovel, for example, on a sloping ground, even if the rotating body that is rotating downward is stopped midway, the rotating body cannot be completely stationary due to the weight of the boom or rocker arm, and there is a possibility of slippery motion in its original state. to the bottom position

Method used

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  • Rotation control device, rotation control method, and construction machine
  • Rotation control device, rotation control method, and construction machine
  • Rotation control device, rotation control method, and construction machine

Examples

Experimental program
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Effect test

no. 1 Embodiment approach

[0032] [1-1] Overall composition

[0033] Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.

[0034] 1A is a schematic diagram showing a state in which the electric rotary shovel (construction machine) 1 according to this embodiment is arranged with the front of the rotary body 4 facing upward on the slope, and FIG. B shows that the rotary body 4 is rotated downward, and It is a schematic diagram of a state where it is stopped halfway (approximately 90° position, refer to FIG. 2 ). FIG. 2 is a plan view schematically showing the electric rotary shovel 1 . In addition, FIG. 3 is a block diagram showing the overall configuration of the electric rotary shovel 1 , and FIG. 4 is a diagram for explaining control of the rotary body 4 in the electric rotary shovel 1 .

[0035] In Fig. 1A, Fig. 1B and Fig. 2, the electric rotary shovel 1 is equipped with a revolving body 4, which is arranged on a track frame (track frame) const...

no. 2 Embodiment approach

[0075] FIG. 8 shows a second embodiment of the present invention.

[0076] In this embodiment, the control system change unit 150 of the rotation control device 100 switches the control law of the control command generation unit 130 from the speed control of the P control to the PI (Proportional Integral : Speed ​​control of proportional integral) control. Therefore, since position control is not performed in this embodiment, the rotational position output means, reference position storage means, and reference position storage means update means in the first embodiment are not provided. Other configurations are the same as those of the first embodiment.

[0077] According to this embodiment, since the deviation between the target speed and the actual speed after the target speed reaches "0" is regarded as a residual deviation in speed control under normal P control, the actual speed does not become "zero" of the target speed. 0", it is difficult to maintain a static state, b...

no. 3 Embodiment approach

[0080] 9 and 10 show a third embodiment of the present invention.

[0081] The control structure of the rotation control device 100 in this embodiment, as shown in FIG. .

[0082] In this embodiment, instead of switching the control law of the control command generator 130 , as shown in FIG. 10 , the speed gain K, which is the control gain, is switched to a larger value to maintain the stationary state of the rotating body 4 . Therefore, in the control gain storage means 190, a plurality of speed gains of the rotating body 4 used for switching the speed gain at this time are stored.

[0083] In addition, in this embodiment, as shown in FIG. 9 , an operation state determination mechanism 170 is provided to determine whether the operation amount of the rotary control lever 10 is "0", that is, whether it is in the neutral position. Accordingly, it is determined whether or not the operator's operation is an operation for reliably stopping the rotating body 4 .

[0084] In additio...

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Abstract

In an electrically rotated shovel (construction machine), to stop a rotating body (4), a control system changing means (150) provided in a rotation control device (100) switches a control rule from speed control to position control at the time point at which a target speed is determined to be lower than a speed threshold value. Switching to the position control enables braking torque greater than that in the speed control to be outputted to an electric motor (5), and as a result, the rotating body (4) can be reliably maintained stationary.

Description

technical field [0001] The present invention relates to a rotation control device, a rotation control method, and a construction machine in which a revolving body is rotated by a motor, which are applicable to a construction machine equipped with a work machine and which control the rotation of a revolving body driven by an electric motor. Background technique [0002] In recent years, hybrid electric rotary shovels have been developed in which a rotary body is driven by an electric motor and other work machines or traveling bodies are driven by a hydraulic driver (for example, refer to Patent Document 1). [0003] In such an electric rotary excavator, since the rotating body is rotated by the electric motor, even if the rotating body is rotated at the same time as the hydraulically driven boom or arm (arm) is raised, the movement of the rotating body It is also not affected by the upward motion of the boom or rocker. Therefore, compared with the case where the rotating bod...

Claims

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Application Information

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IPC IPC(8): E02F9/20B66C23/84E02F9/12E02F9/24
CPCE02F9/123E02F9/2075E02F9/24E02F9/128E02F9/2095E02F9/20G05D13/62E02F9/12B66C23/84
Inventor 森永淳河口正井上宏昭
Owner KOMATSU LTD
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