Hydraulic construction machine

Abstract

The pump control device (14) and the valve control device (13) each include an instruction calculator (2 to 7) that calculates a control instruction for operating a control target (100) using an operation amount of an operation and at least one control parameter, and inputs the control instruction to the control target (100), and an ideal output calculator (10) that calculates an ideal output of an actuator (27) associated with the operation amount of the operation, that is, an ideal output. The pump control device (14) adjusts at least one pump control parameter in a manner such that a difference between a control output and the ideal output becomes small in a case where a movement of the movable portion (24) is a power running operation. The valve control device (13) adjusts at least one valve control parameter in a manner such that a difference between a control output and the ideal output becomes small in a case where a movement of the movable portion (24) is a non-power running operation.

Description

Technical Field

[0001] This invention relates to hydraulic engineering machinery, including a control device for controlling the controlled object. Background Technology

[0002] For hydraulic engineering machinery such as hydraulic excavators, improving the operability of operator-driven operations is crucial for increasing work efficiency on-site.

[0003] For example, Patent Document 1 discloses a hydraulic actuator control device including a current control unit. When the drive operation starts from the neutral position, the hydraulic actuator control device supplies a current larger than the target current corresponding to the operation amount of the operating lever to the electromagnetic proportional flow control valve for a specified short time, so as to reduce the response delay when starting the hydraulic actuator from the stop state and improve operability.

[0004] Patent document 2 discloses an engineering machine including a control device that outputs a command current for driving a solenoid proportional valve based on an operation signal from an operating device. The control device has a correction function to ensure different initial responses depending on the hydraulic actuator. This correction function corrects the command current so that when the operating device is started to be operated from a neutral position, the command current becomes greater than the target current corresponding to the operation amount of the operating device within a predetermined time.

[0005] Patent document 3 discloses a hydraulic engineering machine including a control device for ensuring energy efficiency and improving the initial responsiveness of the hydraulic actuator. After the first operating lever is operated from a neutral position, the control device adds a specified corrected flow rate (greater than the minimum flow rate of the first hydraulic pump) to the target flow rate of the pump during a specified correction time, thereby correcting the target flow rate.

[0006] Patent document 4 discloses an engineering machine including a control unit for maintaining a fixed relationship independent of changes in reach, which is the relationship between the boom operation amount and the reach amount of the reach of the reach during a vertical movement operation involving the up and down movement of the distal end of the auxiliary device. During operation in the load direction, i.e., boom raising operation, the control unit corrects the pump flow rate determined by the boom raising operation amount based on the reach, thereby reducing the pump flow rate when the reach is large and increasing the pump flow rate when the reach is small. On the other hand, during boom lowering operation where the weight of the auxiliary device is acting, the control unit corrects the secondary pressure of the proportional valve installed in the boom lowering pilot line based on the reach, thereby reducing the opening of the control valve when the reach is large and increasing the opening of the control valve when the reach is small.

[0007] However, the input-output characteristics of the controlled object, which includes a proportional valve that receives instructions from the control device and an actuator that moves movable parts such as a boom, can sometimes change significantly due to major reasons such as replacement of remote auxiliary devices or aging of components in construction machinery. However, the control devices in Patent Documents 1 to 4 do not consider changes in the input-output characteristics of the controlled object; therefore, when the input-output characteristics of the controlled object change significantly, the actuator output, i.e., the control output, will not become commensurate with the operating amount. Furthermore, for example, in power-running operations such as boom raising and non-power-running operations such as boom lowering, the controlled object is different, and the degree of aging varies depending on the components constituting the controlled object. Therefore, it is necessary to ensure that even when the input-output characteristics of the controlled object change significantly, the power-running and non-power-running operations of the movable parts are each close to an ideal operation commensurate with the operating amount.

[0008] Existing technical documents

[0009] Patent documents

[0010] Patent Document 1: Japanese Patent Publication No. 5-195546

[0011] Patent Document 2: Japanese Patent Publication No. 2017-110774

[0012] Patent Document 3: Japanese Patent Publication No. 2019-44933

[0013] Patent Document 4: Japanese Patent Publication No. 2012-225084 Summary of the Invention

[0014] To address the aforementioned issues, the present invention aims to provide a hydraulic engineering machine that, even with significant variations in the input and output characteristics of the controlled object, enables both powered and non-powered operating actions to approximate ideal actions commensurate with the amount of operation.

[0015] One aspect of the present invention relates to a hydraulic engineering machine comprising: a support body; a movable part capable of relative displacement with respect to the support body; a hydraulic pump for injecting working oil; an actuator that operates to receive a supply of working oil to actuate the movable part; a control valve located between the hydraulic pump and the actuator, and capable of opening and closing to change the flow rate of the working oil supplied to the actuator; an operating device that receives an operation to actuate the movable part; an action determination device that determines whether the action of the movable part performed according to the operation received by the operating device is a powered operation or a non-powered operation, wherein a powered operation refers to an action performed by the movable part against a load acting on the movable part, and a non-powered operation refers to an action performed by the movable part in the direction along which the load acting on the movable part is directed; a pump control device for adjusting the injection quantity of the hydraulic pump; a valve control device for adjusting the opening degree of the control valve; and an output detector for detecting the output of the actuator, i.e., a control output, wherein the pump control device includes: a pump command calculator, which uses... The valve control device comprises: a valve command calculator that uses the operation amount and at least one pump control parameter to calculate a control command for operating a controlled object including the hydraulic pump and the actuator, and inputs the calculated control command to the controlled object; a pump control ideal output calculator that calculates the ideal output of the actuator associated with the operation amount; and a pump control parameter adjuster that adjusts the at least one pump control parameter in a manner that reduces the difference between the control output and the ideal output when the operation of the movable part is the power operation operation. Attached Figure Description

[0016] Figure 1 This is a side view showing an example of a hydraulic engineering machine according to an embodiment of the present invention.

[0017] Figure 2 This is a diagram illustrating an example of the hydraulic circuit and control unit in the hydraulic engineering machinery.

[0018] Figure 3 This is a block diagram illustrating an example of a control device within the control unit.

[0019] Figure 4 This is a flowchart illustrating an example of the processing of the control device.

[0020] Figure 5 The graphs are examples of the relationships between the amount of operation received by the operating device of the hydraulic engineering machinery, the electrical output and time, and the control output and time.

[0021] Figure 6 This is a block diagram representing the feedback system that constitutes the control loop.

[0022] Figure 7 This is a diagram illustrating another example of the hydraulic circuit and control unit of the hydraulic engineering machinery.

[0023] Figure 8 This is a diagram illustrating yet another example of the hydraulic circuit and control unit of the hydraulic engineering machinery.

[0024] Figure 9 This is another example of a graph showing the relationship between the amount of operation received by the operating device of the hydraulic engineering machinery and time, the relationship between electrical output and time, and the relationship between control output and time.

[0025] Figure 10 This is a diagram illustrating yet another example of the hydraulic circuit and control unit of the hydraulic engineering machinery.

[0026] Figure 11 This is another example of a graph showing the relationship between the amount of operation received by the operating device of the hydraulic engineering machinery and time, the relationship between electrical output and time, and the relationship between control output and time. Detailed Implementation

[0027] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Figure 1 This is a side view of a hydraulic excavator 20, which is an example of a hydraulic engineering machine involved in this embodiment. Figure 2 This is a diagram illustrating an example of the hydraulic circuit and control unit in a hydraulic excavator 20.

[0028] like Figure 1 and Figure 2 As shown, the hydraulic excavator 20 includes a self-propelled lower traveling body 21, an upper slewing body 22 rotatably supported on the lower traveling body 21, a working device 23, multiple hydraulic actuators, multiple hydraulic pumps, a pilot pump 47, multiple control valves, multiple operating devices, multiple proportional valves, and an output detector 12 (see reference). Figure 3 ) and control unit 1.

[0029] The upper slewing body 22 includes an upper frame 30 rotatably supported on the lower traveling body 21, a cab 31 supported on the upper frame 30, and a counterweight 32 disposed behind the cab 31. The lower traveling body 21 and the upper slewing body 22 are examples of support structures.

[0030] The working device 23 includes a boom 24 that is undulatingly supported on the upper frame 30, a stick 25 that is rotatably supported on the distal end of the boom 24, and a bucket 26 that is rotatably supported on the distal end of the stick 25. The boom 24 is an example of a movable part.

[0031] Multiple hydraulic actuators include boom cylinder 27, stick cylinder 28, bucket cylinder 29, and swing motor 33.

[0032] Each of the multiple hydraulic pumps is a hydraulic pump used to supply working oil to at least one of a plurality of hydraulic actuators. The multiple hydraulic pumps include... Figure 2 The variable capacity hydraulic pump 41 is shown. The pilot pump 47 is a hydraulic pump used to supply pilot pressure to multiple control valves respectively. The multiple hydraulic pumps and the pilot pump 47 are each driven by an engine (not shown).

[0033] In addition, Figure 2 The diagram only illustrates the circuit for actuating the boom cylinder 27; the circuits for actuating the stick cylinder 28, bucket cylinder 29, and swing motor 33 are omitted. Each of the circuits for actuating the stick cylinder 28, bucket cylinder 29, and swing motor 33 has a circuit with... Figure 2 The circuit shown is identical to the one used to actuate the boom cylinder 27.

[0034] The boom working cylinder 27 is a hydraulic working cylinder that operates in the following manner: it receives power from... Figure 2 The hydraulic pump 41, as shown, supplies working oil, causing the boom 24 to move up and down. Figure 1 As shown, the base end of the working cylinder body of the boom working cylinder 27 is rotatably mounted on the upper frame 30 of the upper rotating body 22, and the distal end of the piston rod of the boom working cylinder 27 is rotatably mounted on the boom 24. Figure 2 As shown, the boom working cylinder 27 has a rod chamber 27R and a head chamber 27H.

[0035] The boom cylinder 28 is a hydraulic cylinder that operates by receiving working oil from one of a plurality of hydraulic pumps to rotate the boom 25. The bucket cylinder 29 is a hydraulic cylinder that operates by receiving working oil from one of a plurality of hydraulic pumps to rotate the bucket 26. The swing motor 33 is a hydraulic motor that operates by receiving working oil from one of a plurality of hydraulic pumps to rotate the upper frame 30 of the upper swing body 22 relative to the lower traveling body 21.

[0036] Multiple control valves include Figure 2 The boom control valve 42, stick control valve (not shown), bucket control valve (not shown), and swing control valve (not shown) are shown. Each of the multiple control valves has a spool valve and a pair of pilot ports that receive pilot pressure from the pilot pump 47.

[0037] The boom control valve 42 is located between the hydraulic pump 41 and the boom working cylinder 27, and opens and closes by changing the direction and flow rate of the working oil supplied to the boom working cylinder 27. The stick control valve is located between a hydraulic pump and the stick working cylinder 28, and opens and closes by changing the direction and flow rate of the working oil supplied to the stick working cylinder 28. The bucket control valve is located between a hydraulic pump and the bucket working cylinder 29, and opens and closes by changing the direction and flow rate of the working oil supplied to the bucket working cylinder 29. The swing control valve is located between a hydraulic pump and the swing motor 33, and opens and closes by changing the direction and flow rate of the working oil supplied to the swing motor 33.

[0038] Multiple operating devices include: boom operating device 43 (see reference) Figure 2 The control unit 1 receives operations to move the boom 24; a stick control device (not shown) receives operations to move the stick 25; a bucket control device (not shown) receives operations to move the bucket 26; and a slewing control device (not shown) rotates the upper slewing body 22 relative to the lower traveling body 21. Each of the multiple control devices has a lever that can be operated by the operator. Each of the multiple control devices is an electronic lever device that outputs a command signal (electrical signal) corresponding to the operation received by the lever and the amount of operation. The output command signal is input to the control unit 1.

[0039] Specifically, the boom operating device 43 is configured to accept boom raising operations for raising the boom 24 and boom lowering operations for lowering the boom 24. The boom raising operation is the movement of the boom 24 so that its distal end leaves the ground, and the boom lowering operation is the movement of the boom 24 so that its distal end approaches the ground. The boom raising operation is as follows: Figure 2 As shown, the injection rate of hydraulic pump 41 needs to be adjusted to displace the working device 23 in a direction against gravity. The boom raising action is an example of a powered operation in which the boom 24 moves against the load acting on the working device 23 containing the boom 24. The boom lowering action requires adjusting the opening of the boom control valve 42 to displace the working device 23 at the desired speed in the direction of gravity acting on the working device 23. The boom lowering action is an example of a non-powered operation in which the boom 24 moves in the direction of the load acting on the working device 23 containing the boom 24. The boom raising operation is an example of a powered operation, and the boom lowering operation is an example of a non-powered operation (regenerative operation).

[0040] If the boom operating device 43 accepts a boom raising operation, it will input a boom raising command signal corresponding to the boom raising operation and its operation amount to the control unit 1. If the boom operating device 43 accepts a boom lowering operation, it will input a boom lowering command signal corresponding to the boom lowering operation and its operation amount to the control unit 1. The basic structure and function of the stick operating device, bucket operating device, and slewing operating device are the same as those of the boom operating device 43, therefore detailed descriptions are omitted.

[0041] Each of the multiple proportional valves reduces the pressure of the pilot pump 47 and outputs pressure oil according to the control command input from the control unit 1. Each of the multiple proportional valves is, for example, an electromagnetic proportional valve. The multiple proportional valves include a pair of boom proportional valves 44 and 45, a pair of stick proportional valves (not shown), a pair of bucket proportional valves (not shown), a pair of swing proportional valves (not shown), and a pump proportional valve 46.

[0042] Specifically, each of the pair of boom proportional valves 44 and 45 reduces the pressure of the oil from the pilot pump 47 according to the control command (command current) input from the control unit 1, and outputs the pilot pressure corresponding to the control command to the boom control valve 42. The pair of boom proportional valves 44 and 45 are respectively provided on a pair of pilot lines, which connect the pilot pump 47 and a pair of pilot ports of the boom control valve 42.

[0043] If the boom operating device 43 accepts a boom lowering operation, a control command from the control unit 1 is input to the boom proportioning valve 44. The boom proportioning valve 44 generates a pilot pressure corresponding to the control command, and the generated pilot pressure is supplied to a pilot port of the boom control valve 42. Figure 2 (The port on the left side of the boom control valve 42). The spool of the boom control valve 42 is displaced by a displacement amount (the amount of displacement measured from the neutral position) corresponding to the supplied pilot pressure. As a result, the boom control valve 42 is adjusted to an opening degree (opening amount) corresponding to the displacement amount, allowing working oil injected from the hydraulic pump 41 to be supplied to the rod chamber 27R of the boom working cylinder 27 at a flow rate corresponding to the displacement amount, and allowing working oil to be discharged from the head chamber 27H and returned to the oil tank.

[0044] If the boom operating device 43 accepts a boom raising operation, a control command from the control unit 1 is input to the boom proportional valve 45. The control unit 1, for example, outputs a command value corresponding to the amount of the boom raising operation as the control command. The boom proportional valve 45 generates a pilot pressure corresponding to the control command, and this pilot pressure is supplied to another pilot port of the boom control valve 42. Figure 2 (The right port of the boom control valve 42). The spool of the boom control valve 42 is displaced by a displacement amount (the amount of displacement from the neutral position) corresponding to the supplied pilot pressure. As a result, the boom control valve 42 is adjusted to an opening degree (opening amount) corresponding to the displacement amount, allowing working oil injected from the hydraulic pump 41 to be supplied to the head chamber 27H of the boom working cylinder 27 at a flow rate corresponding to the displacement amount, and allowing working oil to be discharged from the rod chamber 27R and returned to the oil tank.

[0045] Each of the two stick proportional valves, according to control commands input from control unit 1, reduces the pressure of the oil from pilot pump 47 and outputs the corresponding pilot pressure to the stick control valve. Similarly, each of the two bucket proportional valves, according to control commands input from control unit 1, reduces the pressure of the oil from pilot pump 47 and outputs the corresponding pilot pressure to the bucket control valve. The two swing proportional valves, according to control commands input from control unit 1, reduce the pressure of the oil from pilot pump 47 and output the corresponding pilot pressure to the swing control valve. The basic structure and function of these proportional valves are the same as those of the boom proportional valves 44 and 45, therefore detailed descriptions are omitted.

[0046] The pump proportional valve 46 reduces the pressure of the hydraulic oil from the hydraulic pump (e.g., pilot pump 47) according to the control command (command current) output from the control unit 1, and outputs the operating pressure corresponding to the control command to the hydraulic pump 41. The pump proportional valve 46 is provided in the pump line connecting the pilot pump 47 and the hydraulic pump 41. When the operating pressure is input to the hydraulic pump 41, the capacity (tilt angle) of the hydraulic pump 41 is adjusted to the capacity (tilt angle) corresponding to the operating pressure. As a result, the injection volume of the hydraulic pump 41 is adjusted.

[0047] The control unit 1 includes: a pump control device 14 for adjusting the injection volume of the hydraulic pump 41; a valve control device 13 for adjusting the opening of the boom control valve 42; and an action determiner 17 for determining the action of the boom 24.

[0048] Figure 3 This is a block diagram representing an example of a control device in control unit 1. Figure 3 The control devices shown illustrate the structures of the pump control device 14 and the valve control device 13, respectively.

[0049] Figure 3 The output detector 12 shown is used to detect the output, i.e., the control output y(k), of the boom cylinder 27. The control output y(k) of the boom cylinder 27 can be, for example, the operating speed of the boom cylinder 27, or a physical quantity corresponding to the operating speed of the boom cylinder 27. The physical quantity corresponding to the operating speed can be, for example, the flow rate of the working oil supplied to the boom cylinder 27, the flow rate of the working oil discharged from the boom cylinder 27, or the operating speed of the boom 24 during its undulating motion. Therefore, the output detector 12 can be a speed sensor that detects the operating speed of the boom cylinder 27, a flow sensor that detects the flow rate of the working oil supplied to or discharged from the boom cylinder 27, or a speed sensor that detects the operating speed of the boom 24 during its undulating motion.

[0050] Figure 2 The motion determiner 17 determines whether the action of the boom 24, performed according to the operation received by the boom operating device 43, is a boom raising or boom lowering action. If the boom operating device 43 receives a boom raising operation, the boom raising command signal is input to the control unit 1, and the motion determiner 17 determines that the action of the boom 24 is a boom raising action (powered operation action). If the boom operating device 43 receives a boom lowering operation, the boom lowering command signal is input to the control unit 1, and the motion determiner 17 determines that the action of the boom 24 is a boom lowering action (non-powered operation action).

[0051] like Figure 3As shown, the pump control device 14 and the valve control device 13 each control the control object 100 that responds to the actual input up(k) as a control command and outputs a control output y(k). In this embodiment, the control object 100 controlled by the pump control device 14 includes the pump proportional valve 46, the pump 41, and the boom cylinder 27, while the control object 100 controlled by the valve control device 13 includes the boom proportional valve 44, the boom control valve 42, and the boom cylinder 27. The k in parentheses within the reference numerals indicates a time.

[0052] Figure 3 The block diagram illustrates the structure of the pump control device 14 and the valve control device 13. In this embodiment, although the specific values ​​of parameters, etc., described later may differ, the basic structures of the pump control device 14 and the valve control device 13 are the same.

[0053] like Figure 3 As shown, the pump control device 14 and the valve control device 13 each include a target setter 2, a subtractor 3, a controller 4, a static compensator 5, a dynamic compensator 6, a subtractor 7 (an example of a synthesizer), a parameter adjuster 9, a subtractor 8, an ideal output calculator 10, and a memory 11. The target setter 2, subtractor 3, controller 4, static compensator 5, dynamic compensator 6, subtractor 7, subtractor 8, parameter adjuster 9, and ideal output calculator 10 are, for example, composed of a CPU (Central Processing Unit) or an ASIC (Application Specific Integrated Circuit). The static compensator 5, dynamic compensator 6, and subtractor 7 are examples of control input correctors. The target setter 2, subtractor 3, controller 4, static compensator 5, dynamic compensator 6, and subtractor 7 are examples of instruction calculators. The instruction calculator of the pump control device 14 is an example of a pump instruction calculator, and the instruction calculator of the valve control device 13 is an example of a valve instruction calculator. The parameter adjuster 9 of the pump control device 14 is an example of a pump control parameter adjuster, and the parameter adjuster 9 of the valve control device 13 is an example of a valve control parameter adjuster. The ideal output calculator 10 of the pump control device 14 is an example of an ideal output calculator for pump control, and the ideal output calculator 10 of the valve control device 13 is an example of an ideal output calculator for valve control.

[0054] The target setter 2 sets the target output r(k) of the control output y(k) based on the operation amount received by the boom operating device 43. Specifically, the target setter 2 in the pump control device 14 sets the target output r(k) corresponding to the operation amount of the boom raising operation, for example, based on a preset mapping that represents the relationship between the operation amount of the boom raising operation and the target output r(k). The target setter 2 in the valve control device 13 sets the target output r(k) corresponding to the operation amount of the boom lowering operation, for example, based on a preset mapping that represents the relationship between the operation amount of the boom lowering operation and the target output r(k).

[0055] Subtractor 3 calculates the deviation e(k) by subtracting the control output y(k) from the target output r(k).

[0056] Controller 4 (control input calculator) calculates the control input uc(k) to make the deviation e(k) zero based on the control output y(k). Controller 4 is equivalent to the upstream controller. In each of the pump control device 14 and valve control device 13, the control structure is layered, with the downstream control loop 50, which directly controls the controlled object 100, operating according to the instructions from the upstream controller, i.e., controller 4. Control loop 50 will be described below.

[0057] Controller 4 can also be configured, for example, by using PID (Proportional Integral Derivative) control to calculate the control input uc(k) that makes the deviation e(k) zero. The formula used for PID control is, for example, equation (17) described later. In addition, controller 4 can also use various feedback or feedforward controls other than PID control, such as P (Proportional) control, PD (Proportional Derivative) control, and PI (Proportional Integral) control, to calculate the control input uc(k).

[0058] The static compensator 5 multiplies the static gain fi0 (an example of a static parameter) by the control input uc(k) to calculate the static compensation input that compensates for variations in the static characteristics of the controlled object 100. Static characteristics refer to the time-independent characteristics of the controlled object 100. For example, a static characteristic corresponds to a proportion that the control output y(k) can take. The static gain f0 is the gain used to compensate for variations in this static characteristic. For example, if the dynamic compensation input calculated by the dynamic compensator 6 is too large, the actual input up(k) will be too small, and the value of the control output y(k) will be significantly smaller than the intended proportion. To avoid this, the static compensator 5 multiplies the static gain f0 by the control input uc(k).

[0059] The dynamic compensator 6 calculates the dynamic compensation input to compensate for variations in the dynamic characteristics of the controlled object 100 based on the dynamic gain (an example of a dynamic parameter) and the control output y(k). Dynamic characteristics refer to time-dependent characteristics such as the rise and fall characteristics of the controlled object 100. The dynamic gain is the gain used to compensate for variations in these dynamic characteristics. The dynamic gain includes, for example, the proportional gain Kp and the derivative gain K. D Dynamic compensator 6, for example, is based on Kp·y(k)+K D The formula Δy(k) is used to calculate the dynamic compensation input. Here, Δy(k) represents the derivative of y(k).

[0060] In the pump control device 14 and the valve control device 13, the static gain f0 is initially set separately, and the dynamic gain (proportional gain Kp and derivative gain K) is initially set separately. D Therefore, the initial static gain f0 set in the pump control device 14 and the initial static gain f0 set in the valve control device 13 can be different from each other, and the initial dynamic gain set in the pump control device 14 and the initial dynamic gain set in the valve control device 13 can also be different from each other. The static gain f0 and dynamic gain set in the pump control device 14 are each examples of pump control parameters. The static gain f0 and dynamic gain set in the valve control device 13 are each examples of valve control parameters.

[0061] Subtractor 7 calculates the actual input up(k) as a control command by subtracting the dynamic compensation input from the static compensation input, and inputs the actual input up(k) to the controlled object 100. Thus, the control input uc(k) is adjusted to compensate for the dynamic and static characteristics of the controlled object 100. Specifically, subtractor 7 in the pump control device 14 inputs the calculated actual input up(k) to the pump proportional valve 46 of the controlled object 100 (see reference). Figure 2 The subtractor 7 in the valve control device 13 inputs the calculated actual input up(k) to the boom proportional valve 44 of the controlled object 100 (see reference). Figure 2 The actual input up(k) is represented by, for example, the following equation.

[0062] up(k)=f0·uc(k)-Kp·y(k)-K D ·Δy(k)

[0063] The aforementioned static compensator 5, dynamic compensator 6, subtractor 7, and controlled object 100 constitute control loop 50. Control loop 50 is a downstream control loop that directly controls the controlled object 100. Control loop 50 responds to the control input uc(k) and outputs control output y(k).

[0064] The ideal output calculator 10 uses a transfer function, i.e., an input-output model Gm(z), to represent the ideal input-output relationship between the control input uc(k) and the control output y(k). -1 The ideal output yr(k) corresponding to the control input uc(k) is calculated. The ideal input-output relationship is equivalent to the relationship between the control input uc(k) and the control output y(k) when designing the controller 4. Hereinafter, the relationship between the control input uc(k) and the control output y(k) will be referred to as the input-output characteristics of the control loop 50. For example, when the controller 4 is designed based on the input-output characteristics of the initial control loop 50 containing the initial controlled object 100, the input-output model has the input-output characteristics of the initial control loop 50. Therefore, even if the input-output characteristics of the controlled object 100 change from the initial characteristics, causing the input-output characteristics of the control loop 50 to change from the initial input-output characteristics, the ideal output calculator 10 can still calculate the ideal output yr(k) that follows the input-output characteristics of the initial control loop 50. Input-output model Gm(z -1 For example, it can be represented by equations (19), (20), and (21) as described later.

[0065] Subtractor 8 calculates the difference A by subtracting the ideal output yr(k) from the control output y(k), and inputs the difference A to parameter adjuster 9.

[0066] Parameter adjuster 9 adjusts the static gain f0 and dynamic gain (Kp, K) respectively in a manner that minimizes the difference A input from subtractor 8. D The parameter adjuster 9 can also calculate the static gain f0 and dynamic gain (Kp, K) using the recursive least squares method, for example. D In this case, the static gain f0 and dynamic gain (Kp, K) are adjusted synchronously with the sampling times of the control devices 13 and 14. D That is, the static gain f0 and the dynamic gain (Kp, K) can be adjusted. D Online adjustments are made. The recursive least squares method can be used to minimize the evaluation function J represented by equation (9) described later, using equations (10) to (16) described later.

[0067] The memory 11 is, for example, composed of RAM (Random Access Memory) or flash memory. The memory 11 stores the control output y(k) and the ideal output yr(k). In addition, the memory 11 may also store the control output y(k) and the ideal output yr(k) calculated from time k up to several samples ago.

[0068] Next, the processing of control devices 13 and 14 will be explained. Figure 4 This is a flowchart illustrating an example of the processing of control devices 13 and 14.

[0069] If the boom operating device 43 accepts a boom raising operation, it will input a boom raising command signal corresponding to the boom raising operation and its operation amount to the control unit 1. In step S0, the target setter 2 in the pump control device 14 sets a target output r(k) corresponding to the operation amount of the boom raising operation based on the preset mapping. Similarly, if the boom operating device 43 accepts a boom lowering operation, it will input a boom lowering command signal corresponding to the boom lowering operation and its operation amount to the control unit 1. In step S0, the target setter 2 in the valve control device 13 sets a target output r(k) corresponding to the operation amount of the boom lowering operation based on the preset mapping.

[0070] In step S1, subtractor 3 subtracts the control output y(k) from the target output r(k) to calculate the deviation e(k).

[0071] In step S2, controller 4 inputs the deviation e(k) and control output y(k) into equation (17) to calculate control input uc(k).

[0072] In step S3, the ideal output calculator 10 compares the control input uc(k) with the input-output model Gm(z) represented by equation (19). -1 Multiply by , and calculate the ideal output yr(k).

[0073] In step S4, detector 12 detects the control output y(k) from control loop 50 as a response to control input uc(k).

[0074] In step S5, the subtractor 8 calculates the difference A by subtracting the ideal output yr(k) from the control output y(k) detected by the detector 12.

[0075] In step S6, the parameter adjuster 9 uses recursive least squares to calculate the static gain f0 and dynamic gain (Kp, K) in a manner that minimizes the difference A. D If step S6 ends, the process returns to step S1. Therefore, the static gain f0 and dynamic gain (Kp, K) are gradually adjusted. D ).

[0076] Thus, based on the hydraulic excavator 20, the input-output model Gm(z) representing the ideal input-output characteristics between the control input uc(k) and the control output y(k) is used. -1), calculate the ideal output yr(k) corresponding to the control input uc(k), and adjust the static gain f0 of the static compensator 5 and the dynamic gain (Kp, K) of the dynamic compensator 6 in a way that minimizes the difference A between the ideal output yr(k) and the control output y(k). D Therefore, even if the input-output characteristics of the controlled object 100 change significantly, the input-output characteristics between the control input uc(k) and the control output y(k) will still remain as ideal as when the controller 4 was designed. Thus, even if the input-output characteristics of the controlled object 100 change significantly, the controller 4 designed in the original specifications can still be used to appropriately control the controlled object 100. This simplifies the design of the controller 4, making the development of the hydraulic excavator 20 smoother.

[0077] Figure 5 The upper section of the graph shows an example of the relationship between the amount of boom operation (lever operation) received by the boom operating device 43 and time. Figure 5 The middle section of the graph shows an example of the relationship between the electrical output from the subtractor 7 and time when the boom operating device 43 receives a boom operation (boom raising or lowering operation) as shown in the previous section of the graph. The electrical output from the subtractor 7 is the actual input up(k) as a control command from the subtractor 7 to the pump proportional valve 46 or boom proportional valve 44 in the controlled object 100. This middle section of the graph shows the effects of the static compensator 5, the dynamic compensator 6, and the subtractor 7 on compensating for changes in static characteristics and changes in dynamic characteristics. In the middle section of the graph, the solid line shows an example of the relationship between the electrical output and time when no compensation is made for changes in static characteristics and changes in dynamic characteristics, while the dashed line shows an example of the relationship between the electrical output and time when compensation is made for changes in static characteristics and changes in dynamic characteristics in the hydraulic excavator 20 according to this embodiment.

[0078] like Figure 5 As shown in the mid-section of the graph, in the hydraulic excavator 20 according to this embodiment, the rise of the electrical output (actual input up(k)) is corrected by compensating for changes in dynamic characteristics. Thus, as shown by the dashed line, overshoot during the rise is suppressed, and the desired rise slope can be obtained. Furthermore, in the hydraulic excavator 20 according to this embodiment, the stability characteristics of the electrical output (actual input up(k)) are corrected by compensating for changes in static characteristics. Thus, as shown by the dashed line, the desired stable value can be obtained.

[0079] Figure 5The lower section of the graph shows an example of the relationship between the control output from the boom cylinder 27 in the controlled object 100 and time. As described above, the control output of the boom cylinder 27 can be the operating speed of the boom cylinder 27, or a physical quantity corresponding to the operating speed of the boom cylinder 27. Specifically, this physical quantity can be the flow rate of the working oil supplied to the boom cylinder 27, the flow rate of the working oil discharged from the boom cylinder 27, etc. The lower section of the graph shows the effect of the parameter adjuster 9 on the adjustment of static and dynamic parameters. In the lower section of the graph, the solid line shows an example of the relationship between the control output and time when the parameter adjuster 9 does not adjust the static and dynamic parameters, and the dashed line shows an example of the relationship between the control output and time when the parameter adjuster 9 adjusts the static and dynamic parameters in the hydraulic excavator 20 according to this embodiment.

[0080] like Figure 5 As shown in the lower section of the graph, in the hydraulic excavator 20 according to this embodiment, the parameter adjuster 9 adjusts the static and dynamic parameters. Therefore, even if the input-output characteristics of the controlled object 100 change significantly, the input-output characteristics between the control input uc(k) and the control output y(k) will remain the ideal input-output characteristics designed for the controller 4. Thus, even if the input-output characteristics of the controlled object 100 change significantly, the controller 4 designed for this purpose can still be used to appropriately control the controlled object 100.

[0081] Next, a specific example of the design of control loop 50 will be explained. Figure 6 This is a block diagram representing the feedback system that constitutes control loop 50. The feedback system is represented by the following equation.

[0082] [Formula 1]

[0083] u p (k)=f0(k)u c (k)-K P (k)y(k)-K D (k)Δy(k) (1)

[0084] Here, up(k), y(k), uc(k), and P represent the actual input, control output, control input, and controlled object, respectively. Additionally, Δ represents the difference operator, and the backoff operator z is used. -1 And it is expressed as Δ=1-z -1 f0(k), Kp(k), K D (k) represent the parameters. The parameter adjuster 9 adjusts f0(k), Kp(k), and Kp(k) online using the recursive least squares method. DThe parameters of (k) are used. The advantage of recursive least squares method is its low computational cost. The parameter adjuster 9 calculates the parameters of static compensator 5 and dynamic compensator 6 based on the operating data (actual input up(k) and control output y(k)).

[0085] Next, the parameter adjustment method based on operational data will be explained.

[0086] If we assume that f0(k) is not 0, then equation (1) will be transformed as follows.

[0087] [Formula 2]

[0088]

[0089]

[0090] However, in equation (3), θ1(k), θ2(k), and θ3(k) are represented by equation (4).

[0091] Additionally, the following response is set as the ideal output yr(k, θ(k)), which is the input-output model Gm(z) of the transfer function representing the ideal control loop 50, with the control input uc(k) input to it. -1 The response obtained when ). In this case, the ideal output yr(k, θ(k)) is represented by equation (5).

[0092] [Formula 3]

[0093] y r (k, θ(k))=G m (z -1 )u c (k, θ(k)) (5)

[0094] Based on the relationship between equations (3) and (5), the following equation is obtained.

[0095] [Formula 4]

[0096]

[0097]

[0098]

[0099] The evaluation function J is defined as follows.

[0100] [Formula 5]

[0101]

[0102] However, N is the total number of data points. The parameter θ(k) is adjusted by minimizing the evaluation function J to make the control output y(k) follow the ideal output yr(k). Thus, by using the optimized parameters, the input-output characteristics of the control loop 50, which includes the static compensator 5, the dynamic compensator 6, and the controlled object 100, can be made to match the input-output model Gm(z). -1 The input and output characteristics are consistent.

[0103] Next, in order to minimize the sum of squares of equation (9), the recursive least squares method shown below is applied.

[0104] [Formula 6]

[0105]

[0106]

[0107]

[0108] ω is the forgetting coefficient. θ(k) and Ψ(k) are expressed by the following formula.

[0109] [Formula 7]

[0110] θ(k)=[θ1(k) θ2(k) θ3(k)] T (13)

[0111] ψ(k)=G m (z -1 )[u p (k) y(k) y(k-1)] T (14)

[0112] The initial values ​​Γ(0) of the error covariance matrix Γ(k) and θ(0) of the estimated value θ(k) are determined by the following formula.

[0113] [Formula 8]

[0114] Γ(0)=αI (15)

[0115] θ(0)=[θ1(0) θ2(0) θ3(0)] T (16)

[0116] α is any real number satisfying d > 0. I is a 3×3 identity matrix. θi(0) is any real number. Based on the condition that f0 is not 0, we determine that θi(0) is not 0.

[0117] Next, specific examples will be given to illustrate the structure of the pump control device 14 and the valve control device 13 involved in this embodiment. The pump control device 14 and the valve control device 13 are each described above. Figure 3express.

[0118] Control loop 50 is a downstream control loop consisting of a control system comprising a combination of static compensator 5 and dynamic compensator 6. Controller 4 is an upstream control loop. Controller 4 is a PID (Proportional-Integral-Derivative) control system with fixed control parameters.

[0119] exist Figure 3 In the structure, so that the input-output characteristics of the control loop 50 are consistent with the input-output model Gm(z) -1 The parameters of static compensator 5 and dynamic compensator 6 were adjusted in a manner consistent with the input-output characteristics of the model Gm(z). Therefore, the downstream control loop 50 has a characteristic consistent with the input-output model Gm(z). -1 Equivalent input-output characteristics. The result can be based on the ideal input-output model Gm(z). -1 ) to design the upstream controller 4.

[0120] In this embodiment, the controller 4 is composed of a PID control system as shown in equation (17).

[0121] [Formula 9]

[0122]

[0123] e(k)=r(k)-y(k) (18)

[0124] kc represents the proportional gain, TI represents the integral time [s], and TD represents the derivative time [s].

[0125] Next, a simulation will be described after applying the pump control device 14 and valve control device 13 involved in this embodiment to the hydraulic motor control system.

[0126] In this embodiment, the ideal input-output model Gm(z) of the control loop 50 is designed as follows: -1 ).

[0127] [Formula 10]

[0128]

[0129] P(z) as the denominator -1 The coefficients p1 and p2 are expressed by the following formula.

[0130] [Formula 11]

[0131] P(z -1 )=1+ρ1·z -1 +ρ 2 ·z -2 (20)

[0132]

[0133] Ts represents the sampling time, and σ and δ represent the dynamic parameters such as the rise and decay characteristics of the controlled object 100, respectively. These dynamic parameters are arbitrarily set by the designer based on the input and output characteristics of the controlled object 100.

[0134] [Variation Example]

[0135] The above describes one example of a hydraulic engineering machine, namely a hydraulic excavator 20, according to an embodiment of the present invention. However, the present invention is not limited to the above embodiment and includes, for example, the following variations.

[0136] (A) About the mode input receiver

[0137] Figure 7 This is another diagram illustrating the hydraulic circuit and control unit 1 in a hydraulic excavator 20. Figure 7 In the illustrated variation, the hydraulic excavator 20 further includes a mode input receiver 61. The mode input receiver 61 receives inputs for switching the control mode of the hydraulic excavator 20 between a preset first mode and a preset second mode. This input is made by personnel involved in the operation, such as the operator or work manager. The mode input receiver 61 may also include, for example, a switch located inside the cab 31.

[0138] The first mode is when parameter adjuster 9 adjusts the parameters, and the second mode is when parameter adjuster 9 does not adjust the parameters. Furthermore, in the second mode, compensation can be performed for changes in static characteristics and changes in dynamic characteristics, or these compensations can be omitted.

[0139] When the control mode is in the second mode, the parameter adjusters 9 of the pump control device 14 and the valve control device 13 do not adjust the static and dynamic parameters. On the other hand, when the mode input receiver 61 receives input from the relevant personnel and the control mode switches from the second mode to the first mode, the parameter adjusters 9 of the pump control device 14 and the valve control device 13 adjust the static and dynamic parameters.

[0140] In this variation, control can be implemented that respects the operator's intentions. Specifically, for example, skilled operators can use their own skills to operate the hydraulic machinery without relying on its automatic control, while inexperienced or unskilled personnel can improve work efficiency by relying on the automatic control of the hydraulic machinery.

[0141] (B) Controls based on replacement and degradation determination

[0142] Figure 8 This is another example of a diagram showing the hydraulic circuit and control unit 1 in a hydraulic excavator 20. Figure 8 In the illustrated variation, the control unit 1 further includes a determiner 16. The determiner 16 may be, for example, a replacement determiner that at least a portion of the working device 23 has been replaced with other components, or a degradation determiner that assesses the degradation of the hydraulic excavator 20. The replacement determiner determines that a portion of the working device 23 has been replaced with other components based on preset determination conditions. The degradation determiner assesses the degradation of the hydraulic excavator 20 based on preset determination conditions.

[0143] Specifically, examples of replacing at least a part of the working device 23 with other components include replacing the remote attachment of the working device 23 with a remote attachment of the same type but different weight, or replacing the remote attachment of the working device 23 with a remote attachment of a different type. Examples of remote attachment types, besides the bucket 26, include grab buckets, crushers, hydraulic breakers, and forks.

[0144] Figure 9 The graph in the upper section shows an example of the relationship between the amount of boom operation (lever operation) received by the boom operating device 43 and time. Figure 9 The graph in the middle section shows an example of the relationship between the electrical output from the subtractor 7 and time when the boom operating device 43 receives a boom operation (boom raising or lowering operation) as shown in the graph in the upper section. Figure 9 The curves of the upper and middle sections and Figure 5 The curves for the upper and middle sections are the same, so the explanation is omitted.

[0145] Figure 9 The lower section of the graph is an example of a graph showing the relationship between the control output from the boom cylinder 27 in the controlled object 100 and time. Figure 9 In the lower section of the graph, the solid line represents an example of the relationship between control output and time when the parameter adjuster 9 does not adjust the static and dynamic parameters, while the dashed line represents an example of the relationship between control output and time when the parameter adjuster 9 adjusts the static and dynamic parameters in the hydraulic excavator 20 according to this embodiment.

[0146] If the input / output characteristics of the controlled object 100 change significantly because at least a part of the working device 23 has been replaced with other components, then Figure 9The slope s2 of the control output and the stable value f2 of the control output, represented by the solid line in the lower part of the curve, will vary significantly from the ideal slope s1 of the control output and the stable value f1 of the control output when designing controller 4.

[0147] Furthermore, if the input / output characteristics of the controlled object 100 change significantly due to the gradual deterioration of the hydraulic excavator 20, then Figure 9 The slope s2 of the control output and the stable value f2 of the control output, represented by the solid line in the lower part of the curve, will vary significantly from the ideal slope s1 of the control output and the stable value f1 of the control output when designing controller 4.

[0148] In this variation, the determination condition could be, for example, that the rising slope s2 of the control output deviates from the ideal rising slope s1 of the control output by more than a preset threshold se. Alternatively, the determination condition could be, for example, that the stable value f2 of the control output deviates from the ideal stable value f1 of the control output by more than a preset threshold fe. The determiner 16 can calculate the rising slope of the control output and the stable value of the control output based on the control output input from the output detector 12 to the control unit 1.

[0149] If the determination device 16 (the replacement determination device) determines that at least a portion of the working device 23 has not been replaced with other components, or if the determination device 16 (the degradation determination device) determines that the hydraulic excavator 20 has not deteriorated, the parameter adjuster 9 of the pump control device 14 will not adjust the static and dynamic parameters. On the other hand, if the determination device 16 (the replacement determination device) determines that at least a portion of the working device 23 has been replaced with other components, or if the determination device 16 (the degradation determination device) determines that the hydraulic excavator 20 has deteriorated, the parameter adjuster 9 of the pump control device 14 will adjust the static and dynamic parameters.

[0150] Similarly, if the determination device 16 (the replacement determination device) determines that at least a portion of the working device 23 has not been replaced with other components, or if the determination device 16 (the degradation determination device) determines that the hydraulic excavator 20 has not deteriorated, the parameter adjuster 9 of the valve control device 13 will not adjust the static and dynamic parameters. On the other hand, if the determination device 16 (the replacement determination device) determines that at least a portion of the working device 23 has been replaced with other components, or if the determination device 16 (the degradation determination device) determines that the hydraulic excavator 20 has deteriorated, the parameter adjuster 9 of the valve control device 13 will adjust the static and dynamic parameters.

[0151] exist Figure 8In the variant shown, parameter adjuster 9 adjusts both static and dynamic parameters. Therefore, even if the input-output characteristics of the controlled object 100 change significantly due to component replacement or deterioration of the hydraulic excavator 20, the input-output characteristics between the control input uc(k) and the control output y(k) will remain the ideal input-output characteristics designed for controller 4. Thus, even if the input-output characteristics of the controlled object 100 change significantly, the controller 4 designed for the current purpose can still be used to appropriately control the controlled object 100.

[0152] (C) Regarding the mode input receiver

[0153] Figure 10 This is another example of a diagram showing the hydraulic circuit and control unit 1 in a hydraulic excavator 20. Figure 10 In the illustrated variation, the hydraulic excavator 20 further includes a characteristic input receiver 62. The characteristic input receiver 62 receives inputs for changing the settings of the input-output characteristics of the control input uc(k) and the control output y(k). In this variation, for example, as... Figure 11 As shown in the lower section of the graph, the slope of the rise in the control output can be changed to a slope preferred by the operator. Operators and other personnel involved in the operation input process provide input to the characteristic input receiver 62 to change input characteristics such as the desired rise slope. The characteristic input receiver 62 outputs a signal corresponding to the input to the control unit 1. Based on the signal corresponding to the input, the control unit 1 changes the settings of the input-output characteristics of the control input uc(k) and the control output y(k). Specifically, based on the input from the personnel involved in the operation, the control unit 1 changes, for example, the input-output model Gm(z). -1 The control output's rise slope and other response characteristics (input / output characteristics) are thus changed to a slope preferred by the operator.

[0154] (D) Regarding the controlled object

[0155] The controlled object 100 controlled by the pump control device can also be a pump proportional valve, a pump, and a stick working cylinder. Similarly, the controlled object 100 controlled by the valve control device can also be a stick proportional valve, a stick control valve, and a stick working cylinder. Furthermore, the controlled object 100 controlled by the pump control device can also be a pump proportional valve, a pump, and a bucket working cylinder. Likewise, the controlled object 100 controlled by the valve control device can also be a swing proportional valve, a swing control valve, and a swing motor.

[0156] (E) About the instruction calculator

[0157] In the described embodiment, the command calculator of the pump control device 14 and the command calculator of the valve control device 13 are each composed of a target setter 2, a subtractor 3, a controller 4, a static compensator 5, a dynamic compensator 6, and a subtractor 7. However, the command calculator of the pump control device is not limited to the structure described in the embodiment, as long as it uses the operation quantity and at least one pump control parameter to calculate the control command for operating the controlled object including the hydraulic pump and actuator, and inputs the control command to the controlled object. Similarly, the command calculator of the valve control device is not limited to the structure described in the embodiment, as long as it uses the operation quantity and at least one valve control parameter to calculate the control command for operating the controlled object including the control valve and actuator, and inputs the control command to the controlled object.

[0158] (F) About the parameter adjuster

[0159] Parameter adjuster 9 can also use a database-driven control method to adjust the static gain f0 and dynamic gain (Kp, K). D Database-driven control methods involve calculating parameters suitable for the current state of the controlled object based on previously calculated parameters stored in the database.

[0160] When using this method, control devices 13 and 14 each further include storing previously calculated static gain f0 and dynamic gain (Kp, K). D The parameter adjuster 9 retrieves the required points representing the current state of the controlled object 100 from the memory 11. The required points, for example, include the control output y(k) up to several samples ago and the ideal output yr(k). The parameter adjuster 9 calculates the distances between the required points and the parameter sets stored in the database, and extracts k parameter sets in ascending order of distance. The parameter sets, for example, include a set of static gain f0, proportional gain Kp, and differential gain K. D Parameter adjuster 9 calculates weighting coefficients for each of the extracted k parameter sets, with shorter distances resulting in larger values. Parameter adjuster 9 then averages the calculated weighting coefficients across the k parameter sets to calculate the final parameter set, which is used as the static gain f0 and the dynamic gain (Kp, K...). D ).

[0161] (G) Other

[0162] The formula used by the dynamic compensator 6 to calculate the dynamic compensation input may also include the product of the second derivative term of the control output y(k) and the second derivative gain. Moreover, the formula may also include the following value, which is the value obtained by adding the product of the i-th derivative term of the control output y(k) and the i-th derivative gain from i=1 to i=n (n is a positive integer).

[0163] Alternatively, the hydraulic construction machinery can also be a hybrid power type construction machinery that uses both an engine and an electric motor. Hybrid power type construction machinery includes, for example, a generator-motor and an energy storage device. The generator-motor charges the energy storage device with electricity generated by the engine's driving force, and the energy from the energy storage device powers the construction machinery to perform its operational actions, thereby assisting the engine.

[0164] As explained above, according to the present invention, a hydraulic engineering machine is provided that, even if the input and output characteristics of the controlled object change significantly, the hydraulic engineering machine can make both the power operation and the non-power operation movements approach ideal movements that are commensurate with the amount of operation.

[0165] One aspect of the present invention relates to a hydraulic engineering machine comprising: a support body; a movable part capable of relative displacement with respect to the support body; a hydraulic pump for injecting working oil; an actuator that operates to receive a supply of working oil to actuate the movable part; a control valve located between the hydraulic pump and the actuator, and capable of opening and closing to change the flow rate of the working oil supplied to the actuator; an operating device that receives an operation to actuate the movable part; an action determination device that determines whether the action of the movable part performed according to the operation received by the operating device is a powered operation or a non-powered operation, wherein a powered operation refers to an action performed by the movable part against a load acting on the movable part, and a non-powered operation refers to an action performed by the movable part in the direction along which the load acting on the movable part is directed; a pump control device for adjusting the injection quantity of the hydraulic pump; a valve control device for adjusting the opening degree of the control valve; and an output detector for detecting the output of the actuator, i.e., a control output, wherein the pump control device includes: a pump command calculator, which uses... The valve control device comprises: a valve command calculator that uses the operation amount and at least one pump control parameter to calculate a control command for operating a controlled object including the hydraulic pump and the actuator, and inputs the calculated control command to the controlled object; a pump control ideal output calculator that calculates the ideal output of the actuator associated with the operation amount; and a pump control parameter adjuster that adjusts the at least one pump control parameter in a manner that reduces the difference between the control output and the ideal output when the operation of the movable part is the power operation operation.

[0166] In this hydraulic engineering machinery, the pump control parameters used to calculate the control commands for the controlled object during powered operation are adjusted to minimize the difference between the control output and the ideal output. Similarly, the valve control parameters used to calculate the control commands for the controlled object during non-powered operation are adjusted to minimize the difference between the control output and the ideal output. Therefore, for this hydraulic engineering machinery, even when the input-output characteristics of the controlled object change significantly, whether it is a powered operation requiring the hydraulic pump to generate active driving force or a non-powered operation requiring the control valve to limit the flow, any of these operations can approach the ideal operation commensurate with the operating quantity.

[0167] Ideally, in the hydraulic engineering machinery, the movable part is a boom that is undulatingly supported by the support body. The powered operation is the boom movement when the distal end of the boom leaves the ground, i.e., a boom raising operation. The non-powered operation is the boom movement when the distal end of the boom approaches the ground, i.e., a boom lowering operation. When the operating device receives an operation to raise the boom, the action determination device determines that the movement of the movable part is a powered operation. When the operating device receives an operation to lower the boom, the action determination device determines that the movement of the movable part is a non-powered operation. In this structure, by adjusting the pump control parameters and valve control parameters respectively, the driving force can be appropriately adjusted to raise the boom against the weight of the working device including the boom, and the flow rate of the working oil can be appropriately limited to lower the boom in the direction of the weight of the working device including the boom.

[0168] Ideally, in the hydraulic engineering machinery, the control output of the actuator is the actuator's operating speed or a physical quantity corresponding to that operating speed, and the output detector is a sensor used to detect the operating speed or the physical quantity. In this structure, the output detector of the hydraulic engineering machinery can detect the actuator's operating speed or a physical quantity corresponding to that operating speed, serving as the basis for adjusting the parameters.

[0169] The hydraulic engineering machinery further includes: a mode input receiver for accepting inputs for switching the control mode of the hydraulic engineering machinery between a pre-set first mode and a pre-set second mode; a pump control parameter adjuster for adjusting at least one pump control parameter when the control mode is the first mode, and temporarily suspending the adjustment of the at least one pump control parameter when the control mode is the second mode; and a valve control parameter adjuster for adjusting at least one valve control parameter when the control mode is the first mode, and temporarily suspending the adjustment of the at least one valve control parameter when the control mode is the second mode. In this structure, at any time that the operator, work manager, or other relevant personnel deem necessary, they can control the pump control device and valve control device to adjust their parameters. This allows for control that respects the operator's wishes.

[0170] Ideally, the hydraulic engineering machinery further includes: a working device comprising the movable part; and a replacement determiner that determines at least a portion of the working device has been replaced with other components. The pump control parameter adjuster, upon the replacement determiner's determination that at least a portion of the working device has been replaced with the other components, adjusts at least one pump control parameter; and the valve control parameter adjuster, upon the replacement determiner's determination that at least a portion of the working device has been replaced with the other components, adjusts at least one valve control parameter. In this structure, when the replacement determiner determines that part or all of the working device has been replaced, both the pump control device and the valve control device adjust their control parameters. This suppresses the load on computational control and automatically adjusts the control parameters when the necessity for adjustment is high.

[0171] Ideally, the hydraulic engineering machinery further includes: a degradation detector, which determines the degradation of the hydraulic engineering machinery based on pre-set determination conditions; a pump control parameter adjuster, which adjusts at least one pump control parameter when the degradation detector determines that the hydraulic engineering machinery has deteriorated; and a valve control parameter adjuster, which adjusts at least one valve control parameter when the degradation detector determines that the hydraulic engineering machinery has deteriorated. In this structure, when the degradation detector determines that the hydraulic engineering machinery has deteriorated, both the pump control device and the valve control device adjust their control parameters. This suppresses the load on computational control and automatically adjusts the control parameters when the necessity for adjustment is high.

[0172] Ideally, in the hydraulic engineering machinery, the pump command calculator only needs to use the operation amount and at least one pump control parameter to calculate the control command for operating the controlled object including the hydraulic pump and the actuator. Although the specific structure is not particularly limited, it is ideal to have, for example, the structure described below. That is, ideally, the pump command calculator includes: a target setter, which sets the target output of the control output based on the operation amount; and a control input calculator, which calculates the control input to make the deviation between the target output and the control output zero. The pump control device also includes a control input corrector, which corrects the control input and calculates the control command based on at least one of the control input and the control output and the at least one pump control parameter in a manner that compensates for changes in the characteristics of the controlled object, and inputs the calculated control command to the controlled object. In this structure, even if the input and output characteristics of the controlled object change significantly, the power operation can be made closer to the ideal operation commensurate with the operation amount with high precision.

[0173] Ideally, in the hydraulic engineering machinery, the at least one pump control parameter includes static parameters and dynamic parameters. The control input corrector of the pump control device includes: a static compensator, which calculates a static compensation input to compensate for variations in the static characteristics of the controlled object based on the static parameters and the control input; a dynamic compensator, which calculates a dynamic compensation input to compensate for variations in the dynamic characteristics of the controlled object based on the dynamic parameters and the control output; and a synthesizer, which synthesizes the static compensation input and the dynamic compensation input, calculates the control command, and inputs the calculated control command to the controlled object. In this structure, by correcting the control input based on the dynamic compensation input calculated from the dynamic parameters and the control output, variations in the dynamic characteristics of the controlled object, such as rise characteristics and decay characteristics, can be compensated. Moreover, by correcting the control input based on the static compensation input calculated from the control input and the static parameters, variations in the static characteristics of the controlled object, such as variations in the proportion of the control input associated with the synthesis of the dynamic compensation input, can be compensated.

[0174] Ideally, in the hydraulic engineering machinery, the ideal output calculator for pump control uses an input-output model that defines the ideal input-output relationship between the control input and the control output to calculate the ideal output corresponding to the control input. In this structure, the ideal output and control output calculated during the operation of the controlled object are used to adjust static and dynamic parameters. Therefore, it is possible to adjust static and dynamic parameters online during operation without stopping the operation of the equipment containing the controlled object.

[0175] Ideally, in the hydraulic engineering machinery, the valve command calculator can calculate the control command for operating the controlled object, including the control valve and the actuator, using only the operation amount and at least one valve control parameter. While the specific structure is not particularly limited, it is ideally equipped with, for example, the structure described below. That is, ideally, the valve command calculator includes: a target setter that sets the target output of the control output based on the operation amount; and a control input calculator that calculates the control input to make the deviation between the target output and the control output zero. The valve control device further includes: a control input corrector that, based on at least one of the control input and the control output and the at least one valve control parameter, corrects the control input in a manner that compensates for changes in the characteristics of the controlled object and calculates the control command, and inputs the calculated control command to the controlled object. In this structure, even if the input and output characteristics of the controlled object change significantly, non-powered operating actions can be made closer to the ideal action commensurate with the operation amount with high precision.

[0176] Ideally, in the hydraulic engineering machinery, the at least one valve control parameter includes static parameters and dynamic parameters. The control input corrector of the valve control device includes: a static compensator, which calculates a static compensation input to compensate for variations in the static characteristics of the controlled object based on the static parameters and the control input; a dynamic compensator, which calculates a dynamic compensation input to compensate for variations in the dynamic characteristics of the controlled object based on the dynamic parameters and the control output; and a synthesizer, which synthesizes the static compensation input and the dynamic compensation input, calculates the control command, and inputs the calculated control command to the controlled object. In this structure, by correcting the control input based on the dynamic compensation input calculated from the dynamic parameters and the control output, variations in the dynamic characteristics of the controlled object, such as rise characteristics and decay characteristics, can be compensated. Furthermore, by correcting the control input based on the static compensation input calculated from the control input and the static parameters, variations in the static characteristics of the controlled object, such as variations in the proportion of the control input associated with the synthesis of the dynamic compensation input, can be compensated.

[0177] Ideally, in the hydraulic engineering machinery, the valve control ideal output calculator uses an input-output model that defines the ideal input-output relationship between the control input and the control output to calculate the ideal output corresponding to the control input. In this structure, the ideal output and control output calculated during the operation of the controlled object are used to adjust static and dynamic parameters. Therefore, it is possible to adjust static and dynamic parameters online during operation without stopping the operation of the equipment containing the controlled object.

[0178] Ideally, the hydraulic engineering machinery also includes a characteristic input receiver, which accepts inputs for changing the input-output characteristics of the control input and control output. In this structure, the operator can input characteristics corresponding to their preferences, thereby setting the input-output characteristics of the control input and control output of the control device.

Claims

1. A hydraulic engineering machine, characterized in that... include: Support structure; The movable part can be displaced relative to the support body; The hydraulic pump sprays out working oil; The actuator operates in such a way that it receives the supply of the working oil to actuate the movable part; A control valve, located between the hydraulic pump and the actuator, opens and closes in a manner that changes the flow rate of the working oil supplied to the actuator. The operating device receives an operation to cause the movable part to move. Action determination device determines whether the action of the movable part performed according to the operation received by the operating device is a powered operation action or a non-powered operation action. The powered operation action refers to the action performed by the movable part in a manner that resists the load acting on the movable part, and the non-powered operation action refers to the action performed by the movable part in the direction along the load acting on the movable part. A pump control device for adjusting the injection volume of the hydraulic pump; A valve control device for adjusting the opening degree of the control valve; and, An output detector detects the output of the actuator, which is the control output. The pump control device includes: A pump instruction calculator uses the operation quantity of the operation and at least one pump control parameter to calculate a control instruction for operating a controlled object including the hydraulic pump and the actuator, and inputs the calculated control instruction to the controlled object. A pump control ideal output calculator calculates the ideal output of the actuator associated with the amount of operation of the said operation; and, The pump control parameter adjuster adjusts at least one pump control parameter in a manner that reduces the difference between the control output and the ideal output when the movable part operates in the manner described by the power operation. The valve control device includes: A valve instruction calculator uses the operation quantity of the operation and at least one valve control parameter to calculate a control instruction for operating a controlled object including the control valve and the actuator, and inputs the calculated control instruction to the controlled object. A valve control ideal output calculator calculates the ideal output of the actuator associated with the amount of operation, i.e., the ideal output; and, A valve control parameter adjuster adjusts at least one valve control parameter in a manner that reduces the difference between the control output and the ideal output when the movable part operates in a non-powered manner. Also includes: The mode input receiver accepts inputs for switching the control mode of the hydraulic engineering machinery between a preset first mode and a preset second mode, wherein... The pump control parameter adjuster adjusts at least one pump control parameter when the control mode is the first mode, and temporarily suspends the adjustment of the at least one pump control parameter when the control mode is the second mode. The valve control parameter adjuster adjusts at least one valve control parameter when the control mode is the first mode, and temporarily suspends the adjustment of at least one valve control parameter when the control mode is the second mode.

2. A hydraulic engineering machine, characterized in that... include: Support structure; The movable part can be displaced relative to the support body; The hydraulic pump sprays out working oil; The actuator operates in such a way that it receives the supply of the working oil to actuate the movable part; A control valve, located between the hydraulic pump and the actuator, opens and closes in a manner that changes the flow rate of the working oil supplied to the actuator. The operating device receives an operation to cause the movable part to move. Action determination device determines whether the action of the movable part performed according to the operation received by the operating device is a powered operation action or a non-powered operation action. The powered operation action refers to the action performed by the movable part in a manner that resists the load acting on the movable part, and the non-powered operation action refers to the action performed by the movable part in the direction along the load acting on the movable part. A pump control device for adjusting the injection volume of the hydraulic pump; A valve control device for adjusting the opening degree of the control valve; and, An output detector detects the output of the actuator, which is the control output. The pump control device includes: A pump instruction calculator uses the operation quantity of the operation and at least one pump control parameter to calculate a control instruction for operating a controlled object including the hydraulic pump and the actuator, and inputs the calculated control instruction to the controlled object. A pump control ideal output calculator calculates the ideal output of the actuator associated with the amount of operation of the said operation; and, The pump control parameter adjuster adjusts at least one pump control parameter in a manner that reduces the difference between the control output and the ideal output when the movable part operates in the manner described by the power operation. The valve control device includes: A valve instruction calculator uses the operation quantity of the operation and at least one valve control parameter to calculate a control instruction for operating a controlled object including the control valve and the actuator, and inputs the calculated control instruction to the controlled object. A valve control ideal output calculator calculates the ideal output of the actuator associated with the amount of operation, i.e., the ideal output; and, A valve control parameter adjuster adjusts at least one valve control parameter in a manner that reduces the difference between the control output and the ideal output when the movable part operates in a non-powered manner. Also includes: The working device includes the movable part; and, The replacement detector determines that at least a portion of the working device has been replaced with other components, wherein... The pump control parameter adjuster adjusts at least one pump control parameter when the replacement determiner determines that at least a portion of the operating device has been replaced with the other components. The valve control parameter adjuster adjusts the at least one valve control parameter when the replacement determiner determines that at least a part of the working device has been replaced with the other components.

3. A hydraulic engineering machine, characterized in that... include: Support structure; The movable part can be displaced relative to the support body; The hydraulic pump sprays out working oil; The actuator operates in such a way that it receives the supply of the working oil to actuate the movable part; A control valve, located between the hydraulic pump and the actuator, opens and closes in a manner that changes the flow rate of the working oil supplied to the actuator. The operating device receives an operation to cause the movable part to move. Action determination device determines whether the action of the movable part performed according to the operation received by the operating device is a powered operation action or a non-powered operation action. The powered operation action refers to the action performed by the movable part in a manner that resists the load acting on the movable part, and the non-powered operation action refers to the action performed by the movable part in the direction along the load acting on the movable part. A pump control device for adjusting the injection volume of the hydraulic pump; A valve control device for adjusting the opening degree of the control valve; and, An output detector detects the output of the actuator, which is the control output. The pump control device includes: A pump instruction calculator uses the operation quantity of the operation and at least one pump control parameter to calculate a control instruction for operating a controlled object including the hydraulic pump and the actuator, and inputs the calculated control instruction to the controlled object. A pump control ideal output calculator calculates the ideal output of the actuator associated with the amount of operation of the said operation; and, The pump control parameter adjuster adjusts at least one pump control parameter in a manner that reduces the difference between the control output and the ideal output when the movable part operates in the manner described by the power operation. The valve control device includes: A valve instruction calculator uses the operation quantity of the operation and at least one valve control parameter to calculate a control instruction for operating a controlled object including the control valve and the actuator, and inputs the calculated control instruction to the controlled object. A valve control ideal output calculator calculates the ideal output of the actuator associated with the amount of operation, i.e., the ideal output; and, A valve control parameter adjuster adjusts at least one valve control parameter in a manner that reduces the difference between the control output and the ideal output when the movable part operates in a non-powered manner. Also includes: The degradation grading device, based on pre-set criteria, determines the degradation of the hydraulic engineering machinery. The pump control parameter adjuster adjusts at least one pump control parameter when the degradation determination device determines that the hydraulic engineering machinery has deteriorated. The valve control parameter adjuster adjusts at least one valve control parameter when the deterioration diagnostic device determines that the hydraulic engineering machinery has deteriorated.

4. A hydraulic engineering machine, characterized in that... include: Support structure; The movable part can be displaced relative to the support body; The hydraulic pump sprays out working oil; The actuator operates in such a way that it receives the supply of the working oil to actuate the movable part; A control valve, located between the hydraulic pump and the actuator, opens and closes in a manner that changes the flow rate of the working oil supplied to the actuator. The operating device receives an operation to cause the movable part to move. Action determination device determines whether the action of the movable part performed according to the operation received by the operating device is a powered operation action or a non-powered operation action. The powered operation action refers to the action performed by the movable part in a manner that resists the load acting on the movable part, and the non-powered operation action refers to the action performed by the movable part in the direction along the load acting on the movable part. A pump control device for adjusting the injection volume of the hydraulic pump; A valve control device for adjusting the opening degree of the control valve; and, An output detector detects the output of the actuator, which is the control output. The pump control device includes: A pump instruction calculator uses the operation quantity of the operation and at least one pump control parameter to calculate a control instruction for operating a controlled object including the hydraulic pump and the actuator, and inputs the calculated control instruction to the controlled object. A pump control ideal output calculator calculates the ideal output of the actuator associated with the amount of operation of the said operation; and, The pump control parameter adjuster adjusts at least one pump control parameter in a manner that reduces the difference between the control output and the ideal output when the movable part operates in the manner described by the power operation. The valve control device includes: A valve instruction calculator uses the operation quantity of the operation and at least one valve control parameter to calculate a control instruction for operating a controlled object including the control valve and the actuator, and inputs the calculated control instruction to the controlled object. A valve control ideal output calculator calculates the ideal output of the actuator associated with the amount of operation, i.e., the ideal output; and, A valve control parameter adjuster adjusts at least one valve control parameter in a manner that reduces the difference between the control output and the ideal output when the movable part operates in a non-powered manner. The pump command calculator includes: The target setter sets the target output of the control output, i.e., the target output, based on the amount of the operation; and, A control input calculator calculates the control input used to make the deviation between the target output and the control output zero. The pump control device further includes: A control input corrector, based on at least one of the control input and the control output and the at least one pump control parameter, corrects the control input in a manner that compensates for changes in the characteristics of the controlled object, calculates the control command, and inputs the calculated control command to the controlled object.

5. The hydraulic engineering machinery according to claim 4, characterized in that: The at least one pump control parameter includes static parameters and dynamic parameters. The control input corrector of the pump control device includes: A static compensator, based on the static parameters and the control input, calculates a static compensation input to compensate for changes in the static characteristics of the controlled object. A dynamic compensator, based on the dynamic parameters and the control output, calculates a dynamic compensation input to compensate for changes in the dynamic characteristics of the controlled object; as well as, The synthesizer combines the static compensation input and the dynamic compensation input, calculates the control command, and inputs the calculated control command to the controlled object.

6. The hydraulic engineering machinery according to claim 4, characterized in that: The ideal output calculator for pump control uses an input-output model that defines an ideal input-output relationship between the control input and the control output to calculate the ideal output corresponding to the control input.

7. A hydraulic engineering machine, characterized in that... include: Support structure; The movable part can be displaced relative to the support body; The hydraulic pump sprays out working oil; The actuator operates in such a way that it receives the supply of the working oil to actuate the movable part; A control valve, located between the hydraulic pump and the actuator, opens and closes in a manner that changes the flow rate of the working oil supplied to the actuator. The operating device receives an operation to cause the movable part to move. Action determination device determines whether the action of the movable part performed according to the operation received by the operating device is a powered operation action or a non-powered operation action. The powered operation action refers to the action performed by the movable part in a manner that resists the load acting on the movable part, and the non-powered operation action refers to the action performed by the movable part in the direction along the load acting on the movable part. A pump control device for adjusting the injection volume of the hydraulic pump; A valve control device for adjusting the opening degree of the control valve; and, An output detector detects the output of the actuator, which is the control output. The pump control device includes: A pump instruction calculator uses the operation quantity of the operation and at least one pump control parameter to calculate a control instruction for operating a controlled object including the hydraulic pump and the actuator, and inputs the calculated control instruction to the controlled object. A pump control ideal output calculator calculates the ideal output of the actuator associated with the amount of operation of the said operation; and, The pump control parameter adjuster adjusts at least one pump control parameter in a manner that reduces the difference between the control output and the ideal output when the movable part operates in the manner described by the power operation. The valve control device includes: A valve instruction calculator uses the operation quantity of the operation and at least one valve control parameter to calculate a control instruction for operating a controlled object including the control valve and the actuator, and inputs the calculated control instruction to the controlled object. A valve control ideal output calculator calculates the ideal output of the actuator associated with the amount of operation, i.e., the ideal output; and, A valve control parameter adjuster adjusts at least one valve control parameter in a manner that reduces the difference between the control output and the ideal output when the movable part operates in a non-powered manner. The valve command calculator includes: The target setter sets the target output of the control output, i.e., the target output, based on the amount of the operation; and, A control input calculator calculates the control input used to make the deviation between the target output and the control output zero. The valve control device further includes: A control input corrector, based on at least one of the control input and the control output and the at least one valve control parameter, corrects the control input in a manner that compensates for changes in the characteristics of the controlled object, calculates the control command, and inputs the calculated control command to the controlled object.

8. The hydraulic engineering machinery according to claim 7, characterized in that: The at least one valve control parameter includes static parameters and dynamic parameters. The control input corrector of the valve control device includes: A static compensator, based on the static parameters and the control input, calculates a static compensation input to compensate for changes in the static characteristics of the controlled object. A dynamic compensator, based on the dynamic parameters and the control output, calculates a dynamic compensation input to compensate for changes in the dynamic characteristics of the controlled object; as well as, The synthesizer combines the static compensation input and the dynamic compensation input, calculates the control command, and inputs the calculated control command to the controlled object.

9. The hydraulic engineering machinery according to claim 7, characterized in that: The valve control ideal output calculator uses an input-output model that defines the ideal input-output relationship between the control input and the control output to calculate the ideal output corresponding to the control input.

10. The hydraulic engineering machinery according to claim 6, characterized in that... Also includes: The feature input acceptor accepts inputs for changing the settings of the input / output characteristics of the control input and the control output.

11. The hydraulic engineering machinery according to any one of claims 1 to 10, characterized in that: The movable part is a movable arm that can be undulatingly supported by the support body. The powered operating action is the movement of the boom, such as the distal end of the boom leaving the ground, i.e., raising the boom; the non-powered operating action is the movement of the boom, such as the distal end of the boom approaching the ground, i.e., lowering the boom. When the operating device receives an operation to cause the boom to perform the boom raising operation (i.e., boom raising operation), the motion determiner determines that the motion of the movable part is a powered operation. When the operating device receives an operation to cause the boom to perform the boom lowering operation (i.e., boom lowering operation), the motion determine that the motion of the movable part is a non-powered operation.

12. The hydraulic engineering machinery according to any one of claims 1 to 10, characterized in that: The control output of the actuator is the operating speed of the actuator or a physical quantity corresponding to that operating speed. The output detector is a sensor used to detect the speed of the action or the physical quantity.

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