Work machine

Abstract

The present application aims at providing a work machine capable of performing speed control of an actuator and torque control of a swing motor with a simple structure in a compound operation of simultaneously driving the swing motor and other actuators. To this end, a controller calculates a pump target flow rate based on an actuator target flow rate and a swing target flow rate, calculates a target inlet throttle opening area of an actuator directional control valve based on the actuator target flow rate, a pump pressure, and an actuator inlet throttle pressure, calculates a target torque of a swing motor based on an input to an operating device and an output value of a posture sensor, calculates a swing target outlet throttle pressure based on the target torque and a swing inlet throttle pressure, and calculates a target outlet throttle opening area of a swing directional control valve based on the swing target outlet throttle pressure and a swing outlet throttle pressure.

Description

Technical Field

[0001] This invention relates to hydraulic excavators and other operating machinery. Background Technology

[0002] Generally, in operating machinery such as hydraulic excavators, various hydraulic actuators are installed. As a control circuit for controlling the oil supply and discharge of such hydraulic actuators, the following structure is known in the past: a spool valve is used for direction switching control, inlet throttling control, and outlet throttling control. The direction switching control is used to switch the supply and discharge direction of the working oil relative to the hydraulic actuator. The inlet throttling control is used to control the supply flow from the hydraulic pump to the hydraulic actuator. The outlet throttling control is used to control the discharge flow from the hydraulic actuator to the working oil tank.

[0003] In the case of using a single slide valve to control both the inlet and outlet throttling openings, the relationship between the opening area of ​​the inlet throttling side and the opening area of ​​the outlet throttling side relative to the moving position of the slide valve is uniquely determined.

[0004] Therefore, it is impossible to change the relationship between the opening area of ​​the inlet throttling side and the opening area of ​​the outlet throttling side based on the individual action of driving a single hydraulic actuator, the compound action of driving multiple hydraulic actuators simultaneously, or various work contents such as light work and heavy work. When controlling the supply flow to the actuator through inlet throttling opening control, or when controlling the discharge flow from the actuator through outlet throttling opening control, the opening control of one side may interfere with the opening control of the other side, resulting in reduced operability.

[0005] Therefore, control circuits as follows are known in the past: oil supply and discharge control for hydraulic actuators are performed by using a bridging circuit formed by four throttle valves that control the supply flow from the hydraulic pump to the head side oil chamber and the rod side oil chamber of the hydraulic cylinder (head end and rod end supply valves) and that control the discharge flow from the head side oil chamber and the rod side oil chamber to the oil tank (head end and rod end discharge valves).

[0006] In the control loop of Patent Document 1, the four throttle valves operate individually according to instructions from the controller, thus the relationship between the inlet throttle opening and the outlet throttle opening can be easily changed according to the work content, etc.

[0007] In addition, a control circuit is known in which an auxiliary valve with variable resistance is configured upstream of a directional switching valve that uses a single spool valve to perform the directional switching control, inlet throttling control, and outlet throttling control. This auxiliary valve is used to supply pressurized oil to the directional switching valve in an auxiliary manner according to the operation content such as individual operation or compound operation (e.g., Patent Document 2).

[0008] Existing technical documents

[0009] Patent documents

[0010] Patent Document 1: Japanese Patent No. 5214450

[0011] Patent Document 2: Japanese Patent Application Publication No. 3511425 Summary of the Invention

[0012] The problem that the invention aims to solve

[0013] However, in the control circuit of Patent Document 1, in order to use four throttle valves to control the oil supply and discharge of the hydraulic actuator, in addition to the four valve cores (or lifting heads) that constitute the four throttle valves respectively, four actuators (solenoids in Patent Document 1) are also required to drive each valve core. This results in increased cost due to the increased complexity of the circuit and the increased number of components.

[0014] On the other hand, in the control loop of Patent Document 2, although the distribution and priority of pressure oil to each hydraulic actuator during compound operation can be controlled by the auxiliary valve, the inlet throttling opening control and inlet throttling opening control of the hydraulic actuator are performed by a directional switching valve as before. Therefore, the problem that the opening control of one side interferes with the opening control of the other side cannot be eliminated.

[0015] The present invention was made in view of the above-mentioned problems, and its object is to provide a working machine that can perform speed control of the actuator and torque control of the rotary motor with a simple structure when performing a combined operation of simultaneously driving the actuator and the rotary motor.

[0016] Methods for solving problems

[0017] To achieve the above objectives, the present invention provides a working machine comprising: a traveling body; a rotating body mounted on the traveling body in a rotatable manner; a working device mounted on the rotating body; a working oil tank; a variable-capacity hydraulic pump that draws in working oil from the working oil tank and sprays it out; a regulator that controls the capacity of the hydraulic pump; an actuator that drives the working device; a rotary motor that drives the rotating body; an actuator direction control valve that controls the flow of pressurized oil supplied from the hydraulic pump to the actuator; and a rotary direction control valve that controls the supply of pressurized oil from the hydraulic pump to the rotary motor. The machine tool includes: a flow; an operating device that instructs the operation of the actuator and the rotary motor; and a controller that controls the regulator, the actuator direction control valve, and the rotary direction control valve in accordance with the input of the operating device. The machine tool also includes: a first pressure sensor that detects the discharge pressure of the hydraulic pump, i.e., the pump pressure; a second pressure sensor that detects the pressure on the inlet throttling side of the actuator, i.e., the actuator inlet throttling pressure; and a third pressure sensor that detects the pressure on the inlet throttling side of the rotary motor, i.e., the rotary inlet throttling pressure, and the pressure on the outlet throttling side of the rotary motor, i.e., the rotary outlet throttling pressure.The controller includes a posture sensor that detects the posture of the rotating body and the working device. The actuator directional control valve and the rotation directional control valve each have an inlet throttling opening and an outlet throttling opening formed by the same valve body. The actuator directional control valve is configured such that, relative to valve displacement, the inlet throttling opening is smaller than the outlet throttling opening. The rotation directional control valve is configured such that, relative to valve displacement, the outlet throttling opening is smaller than the inlet throttling opening. The controller calculates, based on the input of the operating device, a target value for the flow rate of pressurized oil supplied from the hydraulic pump to the actuator (i.e., the actuator target flow rate), a target value for the flow rate of pressurized oil supplied from the hydraulic pump to the rotary motor (i.e., the rotation target flow rate), and a target value for the ejection flow rate of the hydraulic pump (i.e., the pump target flow rate) based on the actuator and rotation target flow rates. Based on the target flow rate of the actuator, the pump pressure, and the actuator inlet throttling pressure, the target value of the inlet throttling opening area of ​​the actuator directional control valve, i.e., the target inlet throttling opening area, is calculated. Based on the input of the operating device and the output value of the attitude sensor, the target value of the input torque to the rotary motor, i.e., the target torque, is calculated. Based on the target torque and the rotary inlet throttling pressure, the target value of the rotary outlet throttling pressure, i.e., the rotary target outlet throttling pressure, is calculated. Based on the rotary target outlet throttling pressure and the rotary outlet throttling pressure, the target value of the outlet throttling opening area of ​​the rotary directional control valve, i.e., the target outlet throttling opening area, is calculated. The regulator is controlled in accordance with the target pump flow rate, the actuator directional control valve is controlled in accordance with the target inlet throttling opening area, and the rotary directional control valve is controlled in accordance with the target outlet throttling opening area.

[0018] According to the present invention configured as described above, during the combined operation of simultaneously driving the slewing motor and other actuators, the inlet throttle opening is adjusted in accordance with the differential pressure before and after the boom direction control valve to supply the target flow rate to the boom cylinder, thereby enabling the boom to move at the target speed. Furthermore, by adjusting the outlet throttle opening of the slewing direction control valve, the target torque is input to the slewing motor, thereby preventing overshoot due to the inertia of the slewing body. Moreover, the target flow rate of the hydraulic pump is the sum of the boom target flow rate and the slewing target flow rate, and the flow rate obtained by subtracting the supply flow rate to the boom cylinder from the hydraulic pump's ejection flow rate is supplied to the slewing motor, thus enabling the slewing body to move at the target speed. Therefore, by using a simple structure of a directional control valve that controls both the inlet and outlet throttle openings using the same valve body, speed control of the actuators and torque control of the slewing motor can be performed during the combined operation of simultaneously driving the slewing motor and other actuators.

[0019] Invention Effects

[0020] According to the present invention, when the working machine is used in a combined operation of simultaneously driving a rotary motor and other actuators, the speed control of the actuators and the torque control of the rotary motor can be performed with a simple structure. Attached Figure Description

[0021] Figure 1 This is a side view of a hydraulic excavator according to an embodiment of the present invention.

[0022] Figure 2A yes Figure 1 The circuit diagram (1 / 2) of the hydraulic drive unit mounted on the hydraulic excavator is shown.

[0023] Figure 2B yes Figure 1 The circuit diagram of the hydraulic drive unit of the hydraulic excavator shown is (2 / 2).

[0024] Figure 3 It means Figure 2A A diagram showing the opening characteristics of a directional control valve (other than a rotary directional control valve).

[0025] Figure 4 It means Figure 2A The diagram shows the opening characteristics of the slewing direction control valve.

[0026] Figure 5 yes Figure 2B The diagram shows the functional block diagram of the controller.

[0027] Figure 6 It means Figure 2A The diagram shows the opening characteristics of the relief valve relative to the amount of input to the operating lever.

[0028] Figure 7 It means Figure 2B The flowchart shown illustrates the controller's processing related to pump flow control.

[0029] Figure 8 It means Figure 2B The flowchart shown illustrates the processing related to the opening control of the boom direction control valve in the controller.

[0030] Figure 9 It means Figure 2B The flowchart shown illustrates the process related to the opening control of the slewing direction control valve in the controller.

[0031] Figure 10 It means Figure 2B The flowchart shown illustrates the processing related to the opening control of the relief valve in the controller. Detailed Implementation

[0032] Hereinafter, a hydraulic excavator will be used as an example of the working machinery used in embodiments of the present invention, and will be described with reference to the accompanying drawings. Furthermore, in each drawing, equivalent parts are labeled with the same symbols, and repeated descriptions are omitted where appropriate.

[0033] Figure 1 This is a side view of the hydraulic excavator according to this embodiment. (As shown) Figure 1 As shown, the hydraulic excavator 901 includes: a traveling body 201; a slewing body 202, which is rotatably mounted on the traveling body 201 to form the vehicle body; and a working device 203, which is rotatably mounted on the slewing body 202 to perform sand excavation operations, etc. The slewing body 202 is driven by a slewing motor 211.

[0034] The working device 203 includes: a boom 204, which is rotatably mounted on the slewing body 202; a stick 205, which is rotatably mounted on the front end of the boom 204; a bucket 206, which is rotatably mounted on the front end of the stick 205; a boom cylinder 204a, which is an actuator for driving the boom 204; a stick cylinder 205a, which is an actuator for driving the stick 205; and a bucket cylinder 206a, which is an actuator for driving the bucket 206. The working device 203 is equipped with inertial measuring devices 212, 213, and 214 for detecting the posture and movement of the boom 204, stick 205, and bucket 206. The slewing body 202 is equipped with inertial measuring devices 215 and 216 for detecting the posture and rotation speed of the slewing body 202. That is, the inertial measurement devices 212-216 in this embodiment constitute posture sensors for detecting the posture of the rotating body 202 and the working device 203.

[0035] A driver's cab 207 is located at the front of the rotating body 202, and a counterweight 209 is installed at the rear to ensure the weight balance of the vehicle body. A machine room 208 is located between the driver's cab 207 and the counterweight 209. The machine room 208 houses an engine (not shown), a control valve 210, a rotary motor 211, and hydraulic pumps 1-3. Figure 2A (as shown). Control valve 210 controls the flow of working oil from the hydraulic pump to each actuator.

[0036] Figure 2A and Figure 2B This is a circuit diagram of the hydraulic drive unit installed on the hydraulic excavator 901.

[0037] (structure)

[0038] The hydraulic drive unit 902 includes: three main hydraulic pumps (e.g., a first hydraulic pump 1, a second hydraulic pump 2, and a third hydraulic pump 3, all of which are variable capacity hydraulic pumps), a pilot pump 91, and a working oil tank 5 that supplies oil to the hydraulic pumps 1-3 and the pilot pump 91. The hydraulic pumps 1-3 and the pilot pump 91 are driven by an engine (not shown).

[0039] The tilt angle of the first hydraulic pump 1 is controlled by a regulator attached to the first hydraulic pump 1. The regulator of the first hydraulic pump 1 has a flow control command pressure port 1a and is driven by a command pressure acting on the flow control command pressure port 1a. The tilt angle of the second hydraulic pump 2 is controlled by a regulator attached to the second hydraulic pump 2. The regulator of the second hydraulic pump 2 has a flow control command pressure port 2a and is driven by a command pressure acting on the flow control command pressure port 2a. The tilt angle of the third hydraulic pump 3 is controlled by a regulator attached to the third hydraulic pump 3. The regulator of the third hydraulic pump 3 has a flow control command pressure port 3a and is driven by a command pressure acting on the flow control command pressure port 3a.

[0040] The right-hand travel control valve 6, bucket direction control valve 7, second stick direction control valve 8, and first boom direction control valve 9 are connected in parallel to the pump line 40 of the first hydraulic pump 1 via flow paths 41, 42, 43, 44 and 45, 46, 47, 48, respectively. To prevent backflow of pressurized oil into the pump line 40, check valves 21-24 are respectively installed in flow paths 41, 42, 43, 44 and 45, 46, 47, 48. The right-hand travel control valve 6 controls the flow of pressurized oil supplied from the first hydraulic pump 1 to the right-hand travel motor (not shown) of one of the pair of travel motors driving the travel body 201. The bucket direction control valve 7 controls the flow of pressurized oil supplied from the first hydraulic pump 1 to the bucket cylinder 206a. The second stick direction control valve 8 controls the flow of pressurized oil supplied from the first hydraulic pump 1 to the stick cylinder 205a. The first boom directional control valve 9 controls the flow of pressurized oil supplied from the first hydraulic pump 1 to the boom cylinder 204a. Pump line 40 is connected to the working oil tank 5 via the main relief valve 18 to protect the circuit from excessive pressure rise. Pump line 40 is also connected to the working oil tank 5 via the vent valve 35 to discharge any remaining injected oil from the hydraulic pump 1.

[0041] The second boom directional control valve 10, the first stick directional control valve 11, the first accessory directional control valve 12, and the left travel directional control valve 13 are connected in parallel to the pump line 50 of the second hydraulic pump 2 via flow paths 51, 52, 53, 54, 55, 56, and 57, 58, respectively. In flow paths 51, 52, 53, 54, 55, 56, and 57, 58, check valves 25-28 are respectively installed to prevent backflow of pressurized oil into the pump line 50. The second boom directional control valve 10 controls the flow of pressurized oil supplied from the second hydraulic pump 2 to the boom cylinder 204a. The first stick directional control valve 11 controls the flow of pressurized oil supplied from the second hydraulic pump 2 to the stick cylinder 205a. The first accessory directional control valve 12 controls the flow of pressurized oil supplied from the second hydraulic pump 2 to a first actuator (not shown) that drives a first special accessory, such as a crusher installed instead of the bucket 206. The left-hand drive control valve 13 controls the flow of pressurized oil supplied from the second hydraulic pump 2 to one of the pair of drive motors (not shown) driving the drive unit 201. Pump line 50 is connected to the working oil tank 5 via the main relief valve 19 to protect the circuit from excessive pressure rise. Pump line 50 is also connected to the working oil tank 5 via the vent valve 36 to discharge any remaining injected oil from the hydraulic pump 2. Pump line 50 is connected to pump line 40 via the merging valve 17 to allow the injected oil from the first hydraulic pump 1 to flow together. A check valve 32 is provided in the section of pump line 50 that connects flow path 55 and flow path 57. The check valve 32 prevents pressurized oil from the first hydraulic pump 1, which flows together with pump line 50 via the merging valve 17, from flowing into directional control valves 10-12 other than the left-hand drive control valve 13.

[0042] The slewing direction control valve 14, the third boom direction control valve 15, and the second accessory direction control valve 16 are connected in parallel to the pump line 60 of the third hydraulic pump 3 via flow paths 61, 62, 63, 64, and 65, 66, respectively. In flow paths 61, 62, 63, 64, and 65, 66, check valves 29 to 31 are respectively installed to prevent backflow of pressurized oil into the pump line 60. The slewing direction control valve 14 controls the flow of pressurized oil supplied from the third hydraulic pump 3 to the slewing motor 211. The third boom direction control valve 15 controls the flow of pressurized oil supplied from the third hydraulic pump 3 to the boom cylinder 204a. When a second special accessory with a second actuator is installed in addition to the first special accessory, or when a second special accessory is installed that replaces the first special actuator and has both a first actuator and a second actuator, the second accessory direction control valve 16 is used to control the flow of pressurized oil supplied to the second actuator. Pump line 60 is connected to working oil tank 5 via main relief valve 20 to protect the circuit from excessive pressure rise. Pump line 60 is connected to working oil tank 5 via relief valve 37 to discharge residual sprayed oil from hydraulic pump 3.

[0043] A device for detecting the discharge pressure (pump pressure P) of the third hydraulic pump 3 is installed in pump line 60. Pmp3 A pressure sensor 85 is provided in the flow paths 70 and 71 connecting the rotary motor 211 and the rotary direction control valve 14 to detect the pressure (rotation inlet throttling pressure P) at the supply side port of the rotary motor 211. MISwg ) or the pressure at the discharge side port (rotary outlet throttling pressure P) MOSwg Pressure sensors 86 and 87 are used to detect the pressure (boom inlet throttle pressure P) at the supply side port of boom cylinder 204a. Flow paths 72 and 73, connecting boom cylinder 204a and boom direction control valves 9, 10, and 15, are also provided. MIBm Pressure sensors 88 and 89 are used. The output values ​​of pressure sensors 85-89 are input to controller 94.

[0044] Other directional control valves besides the slewing directional control valve 14, such as 6-13, 15, and 16, have Figure 3 The opening characteristics are shown. In Figure 3 In this configuration, the inlet throttling opening area increases from zero to its maximum opening area in accordance with the valve core displacement. Similarly, the outlet throttling opening area also increases from zero to its maximum opening area in accordance with the valve core displacement, but is set to a value smaller than the inlet throttling opening area relative to the valve core displacement. Therefore, the drive speed of the actuator can be controlled using the inlet throttling opening.

[0045] The slewing direction control valve 14 has Figure 4 The opening characteristics are shown. In Figure 4 In this configuration, the inlet throttling opening area increases from zero to its maximum opening area in accordance with the valve core displacement. Similarly, the outlet throttling opening area also increases from zero to its maximum opening area in accordance with the valve core displacement, but is set to a value smaller than the inlet throttling opening area relative to the valve core displacement. Therefore, the back pressure of the rotary motor 211 can be controlled using the outlet throttling opening.

[0046] exist Figure 2B In this configuration, the discharge port of the pilot pump 91 is connected to the working oil tank 5 via a pilot relief valve 92 for generating the pilot primary pressure, and is also connected via a flow path 80 to the input port of one of the solenoid valves 93a-93f built into the solenoid valve unit 93. The input port of the other solenoid valve 93a-93f is connected to the working oil tank 5 via the flow path 81. The solenoid valves 93a-93f reduce the pilot primary pressure in response to the command signal from the controller 94, respectively, and output the command pressure.

[0047] The output port of solenoid valve 93a is connected to the flow control command pressure port 2a of the regulator of the second hydraulic pump 2. The output ports of solenoid valves 93b and 93c are connected to the pilot port of the second boom directional control valve 10. The output ports of solenoid valves 93d and 93e are connected to the pilot port of the first stick directional control valve 11. The output port of solenoid valve 93f is connected to the command pressure port 37a of the relief valve 37.

[0048] Furthermore, for the sake of simplicity, the solenoid valves used for the flow control command pressure ports 1a and 2a of the regulators of the first hydraulic pump 1 and the second hydraulic pump 2, the solenoid valve used for the right travel direction control valve 6, the solenoid valve used for the bucket direction control valve 7, the solenoid valve used for the second stick direction control valve 8, the solenoid valve used for the first boom direction control valve 9, the solenoid valve used for the second boom direction control valve 10, the solenoid valve used for the first stick direction control valve 11, the solenoid valve used for the first accessory direction control valve 12, the solenoid valve used for the left travel direction control valve 13, the solenoid valve used for the second accessory direction control valve 16, and the solenoid valves used for the relief valves 35 and 36 are omitted from the illustration.

[0049] The hydraulic drive unit 902 includes: a boom operating lever 95a, which can switch between operating the first boom direction control valve 9, the second boom direction control valve 10, and the third boom direction control valve 15; and a swing operating lever 95b, which can switch between operating the swing direction control valve 14. Furthermore, for the sake of simplicity, the following are omitted from the illustration: the right travel operating lever for switching between operating the right travel direction control valve 6; the bucket operating lever for switching between operating the bucket direction control valve 7; the stick operating lever for switching between operating the first stick direction control valve 11 and the second stick direction control valve 8; the first accessory operating lever for switching between operating the first accessory direction control valve 12; the left travel operating lever for switching between operating the left travel direction control valve 13; the swing operating lever for switching between operating the swing direction control valve 14; and the second accessory operating lever for switching between operating the second accessory direction control valve 16.

[0050] The hydraulic drive unit 902 has a controller 94. The controller 94 outputs command signals to the solenoid valves 93a to 93f (including solenoid valves not shown) of the solenoid valve unit 93 according to the input of the operating levers 95a and 95b.

[0051] Figure 5 This is the functional block diagram of controller 94. Figure 5In this controller 94, there are: a boom target flow calculation unit 94a, a slewing target flow calculation unit 94b, a relief valve target opening calculation unit 94c, an estimated relief flow calculation unit 94d, a pump target flow calculation unit 94e, a pump control command output unit 94f, a boom direction control valve target inlet throttling opening calculation unit 94g, a boom direction control valve control command output unit 94h, a required torque calculation unit 94i, a gravity torque calculation unit 94j, an inertial torque calculation unit 94k, a target torque calculation unit 94l, a slewing target outlet throttling pressure calculation unit 94m, a slewing direction control valve target outlet throttling opening calculation unit 94n, a slewing direction control valve control command output unit 94o, and a relief valve control command output unit 94p.

[0052] The boom target flow calculation unit 94a calculates the target value (boom target flow Q) of the flow rate (boom flow rate) supplied to the boom cylinder 204a based on the operating lever input. TgtBm Specifically, based on the pre-set boom flow characteristics relative to the lever input, the target boom flow rate Q corresponding to the lever input is calculated. TgtBm The rotary target flow calculation unit 94b calculates the target value (rotational target flow Q) of the flow rate (rotational flow rate) supplied to the rotary motor 211 based on the input amount of the control lever. TgtSwg Specifically, based on a pre-defined rotational flow rate characteristic relative to the joystick input, the target rotational flow rate Q corresponding to the joystick input is calculated. TgtSwg The target opening calculation unit 94c of the relief valve calculates the target opening area (relief valve target opening area) of the relief valve 35-37 based on the amount of operating lever input. Specifically, it calculates the target opening area of ​​the relief valve relative to the amount of operating lever input based on a preset relief valve opening characteristic (…). Figure 6 As shown in the figure, calculate the target opening area of ​​the relief valve corresponding to the input amount of the operating lever.

[0053] The estimated discharge flow calculation unit 94d uses the target opening area of ​​the discharge valve calculated by the target opening calculation unit 94c and the pump pressure P obtained from the output value of the pressure sensor 85. Pmp3 The estimated value of the discharge flow rate (estimated discharge flow rate Q) is calculated based on this. EstBO The pump target flow calculation unit 94e calculates the boom target flow rate Q by the boom target flow calculation unit 94a. TgtBm The slewing target flow rate Q is calculated by the slewing target flow rate calculation unit 94b. TgtSwg And the estimated discharge flow rate Q calculated by the estimated discharge flow rate calculation unit 94d EstBO Calculate the target flow rate Q of the pump based on this. TgtPmpThe pump control command output unit 94f outputs the target pump flow rate Q calculated by the pump target flow rate calculation unit 94e to the solenoid valve 93a according to the preset solenoid valve command signal characteristics relative to the pump flow rate. TgtPmp The corresponding command signal (pump flow control command signal).

[0054] The boom direction control valve target inlet throttle opening calculation unit 94g calculates the boom target flow rate Q by the boom target flow rate calculation unit 94a. TgtBm The pump pressure P is obtained based on the output value of pressure sensor 85. Pmp3 The boom inlet throttling pressure P is obtained based on the output value of pressure sensor 88 (89). MIBm Based on this, calculate the target inlet throttling opening area A of boom direction control valves 9, 10, and 15. TgtMIBm The boom directional control valve control command output unit 94h outputs the target inlet throttling opening area A of the boom directional control valves 9, 10, and 15 to the solenoid valves 93b (93c) according to the preset solenoid valve command signal characteristics relative to the inlet throttling opening area of ​​the boom directional control valves 9, 10, and 15. This outputs the target inlet throttling opening area A of the boom directional control valves 9, 10, and 15 calculated by the target inlet throttling opening calculation unit 94g. TgtMIBm The corresponding command signal (boom direction control valve control command signal).

[0055] The torque calculation unit 94i is required to calculate the required rotation torque corresponding to the input amount of the operating lever according to a preset rotation required torque characteristic relative to the input amount of the operating lever. The gravity torque calculation unit 94j calculates the gravity component of the rotation torque as the gravity torque T based on the output values ​​of the inertial measurement devices 212-216 and the vehicle body specifications. Gravity The inertial torque calculation unit 94k calculates the gravitational torque T from the gravitational torque calculation unit 94j. Gravity Based on the output values ​​of inertial measurement devices 212-216, the inertial component of the rotational torque is calculated as the inertial torque T. Inertia The target torque calculation unit 94l uses the rotational required torque calculated by the required torque calculation unit 94i and the gravitational torque T calculated by the gravitational torque calculation unit 94j. Gravity And the inertial torque T calculated by the inertial torque calculation unit 94k Inertia Based on this, the target torque T of the rotary motor 211 is calculated. TgtSwg .

[0056] The target torque calculation unit 94m calculates the target torque T of the rotary motor 211 by the target torque calculation unit 94l at the outlet throttle pressure calculation unit 94m. TgtSwg and the rotary inlet throttling pressure P obtained from the output value of pressure sensor 86 (87) MISwg Based on this, calculate the target outlet throttling pressure P.MOTgtSwg The target outlet throttle opening calculation unit 94n of the slewing direction control valve calculates the target outlet throttle pressure P calculated by the target outlet throttle pressure calculation unit 94m. MOTgtSwg and the rotary outlet throttling pressure P obtained from the output value of pressure sensor 86 (87) MOSwg Based on this, calculate the target outlet throttling opening area A of the slewing direction control valve 14. TgtMOSwg The control command output unit 94o of the slewing direction control valve outputs a control signal to the solenoid valve 93d (93e) according to the solenoid valve command signal characteristics relative to the outlet throttling opening area of ​​the slewing direction control valve 14. This outputs the target outlet throttling opening area A of the slewing direction control valve 14, calculated by the target outlet throttling opening calculation unit 94n. TgtMOSwg The corresponding command signal (slewing direction control valve control command signal).

[0057] The relief valve control command output unit 94p outputs a command signal (relief valve control command signal) to the solenoid valve 93f according to the solenoid valve command signal characteristics relative to the opening area of ​​the relief valve 35~37, which is calculated by the relief valve target opening calculation unit 94c.

[0058] Figure 7 This is a flowchart illustrating the processes related to pump flow control of controller 94. Hereinafter, only the processes related to flow control of the third hydraulic pump 3 will be described. Furthermore, the processes related to flow control of other hydraulic pumps are the same, therefore, their descriptions are omitted.

[0059] The controller 94 first determines whether there is no lever input (step S101). The lever input referred to here is the lever input for the actuators 204a and 211 connected to the pump line 60 of the third hydraulic pump 3. If it is determined in step S101 that there is no lever input (yes), the process ends.

[0060] If, in step S101, it is determined that there is a lever input (no), the boom target flow calculation unit 94a calculates the boom target flow Q corresponding to the lever input amount according to the preset boom target flow characteristics relative to the lever input amount. TgtBm (Step S102A).

[0061] In parallel with step S102A, the rotation target flow calculation unit 94b calculates the rotation target flow Q corresponding to the control stick input amount according to the preset rotation target flow characteristics relative to the control stick input amount. TgtSwg (Step S102B). Furthermore, although the illustration is omitted, the target flow rate is calculated in the same way for other actuators connected to the pump line 60 of the third hydraulic pump 3.

[0062] In parallel with steps S102A and S102B, the estimated discharge flow calculation unit 94d uses the target opening area A of the discharge valve 37 calculated by the discharge valve target opening calculation unit 94c. TgtBO And the pump pressure P obtained from the output value of pressure sensor 85 Pmp3 The estimated discharge flow rate Q is calculated using the following formula. EstBO (Step S103).

[0063] [Mathematical Expression 1]

[0064]

[0065] Here, C d It is the flow coefficient, P Tank ρ is the tank pressure, and ρ is the working oil density.

[0066] Following steps S102A, S102B, and S103, the pump target flow calculation unit 94e uses the boom target flow Q. TgtBm Target flow rate Q TgtSwg and estimated discharge flow rate Q EstBO The target flow rate Q of the pump can be calculated using the following formula. TgtPmp (Step S104).

[0067] [Mathematical Expression 2]

[0068]

[0069] Next, in step S104, the pump control command output unit 94f outputs the target pump flow rate Q calculated by the pump target flow rate calculation unit 94e to the solenoid valve 93a for controlling the pump flow rate of the third hydraulic pump 3 according to the preset solenoid valve command signal characteristics relative to the pump flow rate. TgtPmp The corresponding command signal (pump flow control command signal) (step S105).

[0070] Next, in step S105, the solenoid valve 93a for controlling the pump flow of the third hydraulic pump 3 generates a command pressure (step S106), and the tilt of the third hydraulic pump 3 changes accordingly (step S107), thus ending the process.

[0071] Figure 8 This is a flowchart illustrating the processes of controller 94 related to the opening control of boom directional control valves 9, 10, and 15. The following description only covers the processes related to the opening control of the third boom directional control valve 15. The processes related to the opening control of other directional control valves besides the slewing directional control valve 14 are the same and therefore omitted from the description.

[0072] The controller 94 first determines whether there is no joystick input (step S201). If it is determined in step S201 that there is no joystick input (yes), the process ends.

[0073] If, in step S201, it is determined that there is a lever input (no), the boom target flow calculation unit 94a calculates the boom target flow Q corresponding to the lever input amount according to the preset boom target flow characteristics relative to the lever input amount. TgtBm (Step S202).

[0074] Next, in step S202, the boom direction control valve target inlet throttle opening calculation unit 94g calculates the boom target flow rate Q by the boom target flow rate calculation unit 94a. TgtBm The pump pressure P of the third hydraulic pump 3 is obtained based on the output value of pressure sensor 85. Pmp3 The boom inlet throttling pressure P is obtained based on the output value of pressure sensor 88 (89). MIBm Based on this, the target inlet throttling opening area A of the third boom directional control valve 15 is calculated using the following formula. TgtMIBm (Step S203).

[0075] [Mathematical Expression 3]

[0076]

[0077] Here, C d ρ is the flow coefficient, and ρ is the working oil density.

[0078] Next, in step S203, the boom directional control valve control command output unit 94h outputs the target inlet throttling opening area A calculated by the boom directional control valve target inlet throttling opening calculation unit 94g to the solenoid valve 93b (93c) of the third boom directional control valve 15 according to the preset solenoid valve command signal characteristics relative to the inlet throttling opening area of ​​the third boom directional control valve 15. TgtMIBm The corresponding instruction signal (step S204).

[0079] Next, in step S204, the solenoid valves 93b and 93c of the third boom directional control valve 15 generate a command pressure (step S205), and the third boom directional control valve 15 opens in accordance with the command pressure (step S206), thus ending the process.

[0080] Figure 9 This is a flowchart illustrating the processing of controller 94 related to the opening control of the slewing direction control valve 14.

[0081] The controller 94 first determines whether there is no rotary lever input (step S301). If it is determined in step S201 that there is no rotary lever input (yes), the process ends.

[0082] If, in step S301, it is determined that there is a rotary operating lever input (no), the torque calculation unit 94i is required to calculate the rotary requirement torque T corresponding to the operating lever input amount according to the preset rotary requirement torque characteristic relative to the rotary operating lever input amount. ReqSwg (Step S302).

[0083] In parallel with step S302, the gravity torque calculation unit 94j calculates the gravitational component of the rotational torque as the gravity torque T, based on the output values ​​of the inertial measurement devices 212-216 and the vehicle body specifications (mainly the dimensions of the structure, etc.). Gravity (Step S303).

[0084] Next, in step S303, the inertial torque calculation unit 94k calculates the gravitational torque T using the gravitational torque calculation unit 94j. Gravity Based on the output values ​​of inertial measurement devices 212-216, the inertial component of the rotational torque is calculated as the inertial torque T. Inertia (Step S304).

[0085] Following steps S302 and S304, the target torque calculation unit 94l uses the required rotation torque T calculated by the required torque calculation unit 94i. ReqSwg The gravitational torque T calculated by the gravitational torque calculation unit 94j Gravity And the inertial torque T calculated by the inertial torque calculation unit 94k Inertia The target torque T of the rotary motor 211 is calculated using the following formula. TgtSwg (Step S305).

[0086] [Mathematical Expression 4]

[0087]

[0088] Here, the required torque T for rotation will be discussed. ReqSwg Torque in the same direction of rotation is set to positive.

[0089] Next, in step S305, the target outlet throttle pressure calculation unit 94m uses the target torque T of the rotary motor 211 calculated by the target torque calculation unit 94l. TgtSwg and the rotary inlet throttling pressure P obtained from the output value of pressure sensor 86 (87) MISwg The target outlet throttling pressure P is calculated using the following formula. MOTgtSwg (Step S306).

[0090] [Mathematical Expression 5]

[0091]

[0092] Here, q is the motor capacity and η is the transmission efficiency.

[0093] Next, in step S306, the target outlet throttle opening calculation unit 94n of the slewing direction control valve calculates the target outlet throttle pressure P calculated by the target outlet throttle pressure calculation unit 94m. TgtMOSwg The rotary outlet throttle pressure P obtained from the output value of pressure sensor 86 (87) MOSwg The target outlet throttling opening area A of the slewing direction control valve 14 is calculated by reducing the difference. TgtMOSwg (Step S307).

[0094] Next, in step S307, the control command output unit 94o of the slewing direction control valve outputs a solenoid valve command signal that is preset relative to the solenoid valve command signal characteristic of the outlet throttling opening area of ​​the slewing direction control valve 14, and outputs the target outlet throttling opening area A calculated by the target outlet throttling opening calculation unit 94n to the solenoid valve 93d (93e) of the slewing direction control valve 14. TgtMOSwg The corresponding command signal (slewing direction control valve control command signal) (step S308).

[0095] Next, in step S308, the solenoid valve 93d (93e) generates a command pressure for the slewing direction control valve 14 (step S309), and the slewing direction control valve 14 is opened in accordance with the command pressure (step S310), thus ending the process.

[0096] Figure 10 This is a flowchart illustrating the processes of controller 94 related to the opening control of relief valves 35-37. Hereinafter, only the processes related to the opening control of relief valve 37, which is installed in the pump line 60 of the third hydraulic pump 3, will be described. The processes related to the opening control of other relief valves are the same, therefore, their descriptions are omitted.

[0097] The controller 94 first determines whether there is no lever input (step S401). The lever input referred to here is the lever input for the actuators 204a and 211 connected to the pump line 60 of the third hydraulic pump 3. If it is determined in step S401 that there is no lever input (yes), the process ends.

[0098] If, in step S401, it is determined that there is an operating lever input (no), the relief valve target opening calculation unit 94c calculates the relief valve opening characteristics according to the preset values ​​relative to the operating lever input amount. Figure 6 (As shown), calculate the target opening area A of the relief valve 37 corresponding to the input amount of the operating lever.TgtBO (Step S402). Furthermore, the operating lever input amount mentioned here corresponds to the maximum value of the operating lever input amounts for each of the multiple actuators connected to the same pump line.

[0099] Next, in step S402, the relief valve control command output unit 94p outputs a signal to the solenoid valve 93f of the relief valve 37, according to the preset solenoid valve command signal characteristics relative to the opening area of ​​the relief valve 37, and the signal is related to the target opening area A of the relief valve 37. TgtBO The corresponding instruction signal (step S403).

[0100] Next, in step S403, the solenoid valve 93f generates a command pressure for the relief valve 37 (step S404), and the relief valve 36 opens accordingly (step S405), thus ending the process.

[0101] (action)

[0102] The operation of the hydraulic drive unit 902 in the case of performing a combined operation of simultaneously driving the boom cylinder 204a and the slewing motor 211 will be explained, including the operation of the third hydraulic pump 3, the third boom direction control valve 15, the slewing direction control valve 14, and the relief valve 37.

[0103] "Third hydraulic pump"

[0104] The controller 94 calculates the target flow rate Q of the third hydraulic pump 3 based on the input values ​​of the boom operating lever 95a and the slewing operating lever 95b. TgtPmp Output to solenoid valve 93a the target flow rate Q of the pump. TgtPmp The corresponding command signal. Solenoid valve 93a generates a command pressure corresponding to the command signal, driving the discharge flow of the third hydraulic pump 3.

[0105] "Third boom directional control valve"

[0106] The controller 94 calculates the target boom flow rate Q based on the input amount of the boom operating lever 95a. TgtBm The pump pressure P detected by pressure sensor 85 Pmp3 The boom inlet throttling pressure P detected by pressure sensor 88 (89) MIBm Based on this, calculate the target inlet throttling opening area A. TgtMIBm The output to solenoid valve 93b (93c) is equal to the target inlet throttling opening area A. TgtMIBm The corresponding command signal. The solenoid valve 93b (93c) generates a command pressure corresponding to the command signal, which controls the inlet throttling opening area of ​​the third boom direction control valve 15.

[0107] "Slewing direction control valve"

[0108] The controller 94 adjusts the input amount of the rotary operating lever 95b and the gravitational torque T of the vehicle body accordingly. Gravity Inertial torque T Inertia Calculated target torque T TgtSwg The rotary inlet throttling pressure P detected by pressure sensors 86 and 87 MISwg and the throttling pressure P at the rotary outlet MOSwg Based on this, calculate the target outlet throttling opening area A. TgtMOSwg The output to solenoid valve 93d (93e) is equal to the target outlet throttling opening area A. TgtMOSwg The corresponding command signal. Solenoid valve 93d (93e) generates a command pressure corresponding to the command signal, which controls the outlet throttling opening area of ​​the rotation direction control valve 14.

[0109] "Relief valve"

[0110] The controller 94 calculates the target opening area A of the relief valve 37 based on the input values ​​of the boom operating lever 95a and the slewing operating lever 95b. TgtBO The output to solenoid valve 93f is equal to the target opening area A. TgtBO The corresponding command signal. Solenoid valve 93f generates a command pressure corresponding to the command signal, controlling the opening area of ​​relief valve 37.

[0111] (Summarize)

[0112] In this embodiment, the working machine 901 includes: a traveling body 201; a rotating body 202 mounted on the traveling body 201 in a rotatable manner; a working device 203 mounted on the rotating body 202; a working oil tank 5; a variable capacity hydraulic pump 3 that draws in working oil from the working oil tank 5 and sprays it out; a regulator 3a that controls the capacity of the hydraulic pump 3; an actuator 204a that drives the working device 203; a rotary motor 211 that drives the rotating body 202; and an actuator directional control valve 15 that controls the flow of oil from the hydraulic pump 3 to the rotary body 202. The machine tool 901 includes: a pressure oil supplying actuator 204a; a rotation direction control valve 14 that controls the flow of pressure oil supplied from hydraulic pump 3 to rotary motor 211; operating devices 95a and 95b that indicate the operation of actuator 204a and rotary motor 211; and a controller 94 that controls regulator 3a, actuator direction control valve 15, and rotation direction control valve 14 in accordance with the input of operating devices 95a and 95b. The machine tool 901 also includes: a first pressure sensor 85 that detects the discharge pressure of hydraulic pump 3, i.e., pump pressure P. Pmp3 The second pressure sensors 86 and 87 detect the pressure on the inlet throttling side of actuator 204a, i.e., the actuator inlet throttling pressure P. MIBm The third pressure sensors 88 and 89 detect the pressure on the inlet throttling side of the rotary motor 211, i.e., the rotary inlet throttling pressure P. MISwgThe controller 94 calculates the target flow rate Q of the pressurized oil supplied from the hydraulic pump 3 to the actuator 204a based on the input quantities of the operating devices 95a and 95b. The actuator directional control valve 15 and the rotation directional control valve 14 are respectively configured with inlet and outlet throttling openings formed by the same valve body. The actuator directional control valve 15 is configured such that the inlet throttling opening is smaller than the outlet throttling opening relative to the valve displacement. The rotation directional control valve 14 is configured such that the outlet throttling opening is smaller than the inlet throttling opening relative to the valve displacement. The controller 94 calculates the target flow rate Q of the pressurized oil supplied from the hydraulic pump 3 to the actuator 204a based on the input quantities of the operating devices 95a and 95b. TgtBm Based on the input values ​​of operating devices 95a and 95b, the target value of the flow rate of pressurized oil supplied from hydraulic pump 3 to rotary motor 211, i.e., the target rotary flow rate Q, is calculated. TgtSwg The actuator target flow rate Q TgtBm and the target flow rate Q TgtSwg Based on this, the target value of the ejection flow rate of hydraulic pump 3, i.e., the target pump flow rate Q, is calculated. TgtPmp To the actuator target flow rate Q TgtBm Pump pressure P Pmp3 and actuator inlet throttling pressure P MIBm Based on this, the target value of the inlet throttling opening area of ​​the actuator directional control valve 15, i.e., the target inlet throttling opening area A, is calculated. TgtMIBm Based on the input values ​​of the operating devices 95a and 95b and the output values ​​of the attitude sensors 212-216, the target value of the input torque to the rotary motor 211, i.e., the target torque T, is calculated. TgtSwg With target torque T TgtSwg and rotary inlet throttling pressure P MISwg Based on this, calculate the throttling pressure P at the rotary outlet. MOSwg The target is the throttling pressure P at the outlet. MOTgtSwg To achieve the target outlet throttling pressure P MOTgtSwg and the throttling pressure P at the rotary outlet MOSwg Based on this, the target value of the outlet throttling opening area of ​​the slewing direction control valve 14, i.e., the target outlet throttling opening area A, is calculated. TgtMOSwg , with the target flow rate Q of the pump TgtPmp Correspondingly, the control regulator 3a is related to the target inlet throttling opening area A. TgtMIBm Correspondingly control the actuator direction control valve 15, and the target outlet throttling opening area A TgtMOSwg Correspondingly, control valve 14 controls the rotation direction.

[0113] According to this embodiment configured as described above, during the combined operation of simultaneously driving the slewing motor 211 and other actuators 204a, the inlet throttle opening is adjusted in accordance with the differential pressure of the boom direction control valves 9, 10, and 15 to supply the target flow rate to the boom cylinder 204a. This allows the boom 204 to move at the target speed. Furthermore, by adjusting the outlet throttle opening of the slewing direction control valve 14, the target torque is input to the slewing motor 211, thereby preventing overshoot due to the inertia of the slewing body 202. Moreover, the target flow rate Q of the hydraulic pump 3 is... TgtPmp With boom target flow rate Q TgtBm and the target flow rate Q TgtSwg The total flow rate is equal, and the flow rate obtained by subtracting the supply flow rate to the boom cylinder 204a from the flow rate ejected from the hydraulic pump 3 is supplied to the slewing motor 211. Therefore, the slewing body 202 can move at the target speed. Thus, by using a simple structure of a directional control valve that controls both the inlet and outlet throttling openings using the same valve body, speed control of the actuator 204a and torque control of the slewing motor 211 can be performed when the slewing motor 211 and other actuators 204a are driven in a combined operation.

[0114] In addition, the working machine 901 in this embodiment includes a relief valve 37, which discharges the working oil injected from the hydraulic pump 3 into the working oil tank 5. The controller 94 calculates the target value of the opening area of ​​the relief valve 37, i.e., the target opening area A of the relief valve, based on the input of the operating devices 95a and 95b. TgtBO The target opening area A of the relief valve TgtBO and pump pressure P Pmp3 Based on this, the estimated flow rate of the relief valve 37, i.e., the estimated relief flow rate Q, is calculated. EstBO Calculate the target flow rate Q of the actuator. TgtBm Target flow rate Q TgtSwg Estimated discharge flow rate Q EstBO The total is taken as the target flow rate Q of the pump. TgtPmp Therefore, when the actuator 204a starts operating, the remaining portion of the oil injected by the hydraulic pump 3 is discharged into the working oil tank 5, thus preventing the actuator 204a from flying out.

[0115] The embodiments of the present invention have been described in detail above, but the present invention is not limited to the above embodiments and includes various modifications. For example, the above embodiments are examples described in detail for the purpose of easily understanding the present invention and are not limited to having all the structures described.

[0116] Symbol Explanation

[0117] 1…First hydraulic pump, 1a…Flow control command pressure port (regulator), 2…Second hydraulic pump, 2a…Flow control command pressure port (regulator), 3…Third hydraulic pump, 3a…Flow control command pressure port (regulator), 5…Working oil tank, 6…Right travel direction control valve, 7…Bucket direction control valve, 8…Second stick direction control valve, 9…First boom direction control valve (actuator direction control valve), 10…Second boom direction control valve (actuator direction control valve), 11…First stick direction control valve, 12…First accessory direction control valve, 13…Left travel direction control valve, 14…Swing direction control valve, 15…Third boom direction control valve (actuator direction control valve) 16…Second accessory directional control valve, 17…Merging valve, 18~20…Main relief valve, 21~32…Check valve, 35~37…Relief valve, 37a…Command pressure port, 40…Pump line, 41~48…Flow path, 50…Pump line, 51~58…Flow path, 60…Pump line, 61~68…Flow path, 70~73…Flow path, 80, 81…Flow path, 85…Pressure sensor (first pressure sensor), 86, 87…Pressure sensor (second pressure sensor), 88, 89…Pressure sensor (third pressure sensor), 91…Pilot pump, 92…Pilot relief valve, 93…Solenoid valve unit, 93a~93f…Solenoid valve, 94…Control valve Controller, 94a… Boom target flow calculation unit, 94b… Slewing target flow calculation unit, 94c… Relief valve target opening calculation unit, 94d… Estimated relief flow calculation unit, 94e… Pump target flow calculation unit, 94f… Pump control command output unit, 94g… Boom direction control valve target inlet throttle opening calculation unit, 94h… Boom direction control valve control command output unit, 94i… Required torque calculation unit, 94j… Gravity torque calculation unit, 94k… Inertial torque calculation unit, 94l… Target torque calculation unit, 94m… Slewing target outlet throttle pressure calculation unit, 94n… Slewing direction control valve target outlet throttle opening calculation unit, 94o… Slewing direction control valve control command output unit Output section, 94p…Relief valve control command output section, 95a…Boom control lever (operating device), 95b…Slewing control lever (operating device), 201…Traveling body, 202…Slewing body, 203…Working device, 204…Boom, 204a…Boom cylinder (actuator), 205…Stick, 205a…Stick cylinder (actuator), 206…Bucket, 206a…Bucket cylinder (actuator), 207…Cab, 208…Machinery room, 209…Counterweight, 210…Control valve, 211…Slewing motor (actuator), 212~216…Inertial measurement unit (posture sensor), 901…Hydraulic excavator (operating machinery), 902…Hydraulic drive unit.

Claims

1. A type of operating machinery, comprising: Vehicle body; A rotating body, which is mounted on the traveling body in a rotatable manner; The working device is mounted on the rotating body; Working fuel tank; A variable capacity hydraulic pump that draws in working oil from the working oil tank and sprays it out; A regulator that controls the capacity of the hydraulic pump; An actuator that drives the working device; A rotary motor that drives the rotating body; An actuator directional control valve controls the flow of pressurized oil supplied from the hydraulic pump to the actuator; A slewing direction control valve controls the flow of pressurized oil supplied from the hydraulic pump to the slewing motor; Operating device, which instructs the operation of the actuator and the rotary motor; and The controller controls the regulator, the actuator direction control valve, and the rotation direction control valve in accordance with the input quantity of the operating device. Its features are, The operating machinery has: The first pressure sensor detects the injection pressure of the hydraulic pump, i.e., the pump pressure. The second pressure sensor detects the pressure on the inlet throttling side of the actuator, i.e., the actuator inlet throttling pressure; The third pressure sensor detects the pressure on the inlet throttling side of the rotary motor, i.e., the rotary inlet throttling pressure, and the pressure on the outlet throttling side of the rotary motor, i.e., the rotary outlet throttling pressure; and An attitude sensor detects the attitude of the rotating body and the working device. The actuator direction control valve and the rotation direction control valve each have an inlet throttling opening and an outlet throttling opening formed by the same valve body. The actuator directional control valve is configured such that the inlet throttling opening is smaller than the outlet throttling opening relative to the valve displacement. The rotation direction control valve is configured such that the outlet throttling opening is smaller than the inlet throttling opening relative to the valve displacement. The controller calculates the target flow rate of the pressurized oil supplied from the hydraulic pump to the actuator, i.e., the actuator target flow rate, based on the input of the operating device. The controller calculates the target flow rate, i.e., the target rotation flow rate, of the pressurized oil supplied from the hydraulic pump to the rotary motor based on the input from the operating device. The controller calculates the target value of the hydraulic pump's ejection flow rate, i.e., the pump's target flow rate, based on the actuator's target flow rate and the rotation target flow rate. The controller calculates the target value of the inlet throttling opening area of ​​the actuator directional control valve, i.e., the target inlet throttling opening area, based on the actuator target flow rate, the pump pressure, and the actuator inlet throttling pressure. The controller calculates the target value of the input torque to the rotary motor, i.e., the target torque, based on the input quantity of the operating device and the output value of the posture sensor. The controller calculates the target throttling pressure at the slewing outlet based on the target torque and the slewing inlet throttling pressure. The controller calculates the target value of the outlet throttling opening area of ​​the slewing direction control valve, i.e., the target outlet throttling opening area, based on the target slewing outlet throttling pressure and the slewing outlet throttling pressure. The controller controls the regulator in accordance with the target flow rate of the pump. The controller controls the actuator direction control valve in accordance with the target inlet throttling opening area. The controller controls the rotation direction control valve in accordance with the target outlet throttling opening area.

2. The operating machinery according to claim 1, characterized in that, The operating machinery includes a relief valve that discharges the working oil injected from the hydraulic pump into the working oil tank. The controller calculates the target value of the opening area of ​​the relief valve, i.e., the target opening area of ​​the relief valve, based on the input of the operating device. The controller calculates the estimated flow rate of the relief valve, i.e., the estimated relief flow rate, based on the target opening area of ​​the relief valve and the pump pressure. The controller calculates the sum of the actuator target flow rate, the rotation target flow rate, and the estimated discharge flow rate as the pump target flow rate.

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