Drive control device for rotary construction machine, and rotary construction machine provided with same

Abstract

A drive control device (101) for a rotary construction machine (100) is provided with: a compensation control valve (33), which is interposed between a hydraulic pump (22) and a first actuator (7), and which can adjust the degree of opening so as to change the flow rate of hydraulic oil supplied from the hydraulic pump (22) to the first actuator (7); a swing operation device (42) to which a swing operation for operating the swing motor (11) is applied; a first operation device (41) to which a first operation for operating the first actuator (7) is applied; and a controller (70) that adjusts the opening degree of the compensation control valve (33) such that the actual turning acceleration is adjusted to a target turning acceleration corresponding to the amount of operation of the turning operation during a combined operation of the first operation and the turning operation.

Description

Technical Field

[0001] The present disclosure relates to a drive control device for a rotary construction machine such as a hydraulic excavator. Background Art

[0002] A rotary engineering machinery generally includes: a lower traveling body; an upper rotating body, which is rotatably supported on the lower traveling body; a working device, which is installed on the upper rotating body; a rotary motor, which is a hydraulic motor that rotates the upper rotating body; a hydraulic pump, which ejects working oil to be supplied to the rotary motor; and a rotary control valve, which is between the hydraulic pump and the rotary motor. The rotary control valve opens and closes according to the rotary lever operation performed by the operator, so that the flow rate of the working oil ejected from the hydraulic pump that is supplied to the rotary motor changes. In most cases, the working oil ejected by the hydraulic pump is not only used for the rotary motor, but also for other hydraulic actuators (such as boom cylinders). In this case, the other hydraulic actuators are connected to the hydraulic pump via a control valve different from the rotary control valve. That is, the hydraulic pump is used to supply working oil to the rotary motor and to supply working oil to the other hydraulic actuators.

[0003] When increasing the rotation speed of the upper rotating body from a low speed, a large rotation torque is required. However, when the hydraulic pump is used as a dual-purpose hydraulic pump as described above, if a combined operation is performed to simultaneously operate the rotation motor and the other hydraulic actuator, the rotation torque may sometimes become small due to the low working pressure of the other hydraulic actuator. This situation is hereinafter referred to as hydraulic interference.

[0004] Patent document 1 discloses a rotary engineering machine for appropriately distributing working oil to a rotary motor and other hydraulic actuators. The rotary engineering machine limits the actuator flow rate (the flow rate of working oil supplied to the hydraulic actuator) with a large limit when the rotation speed of the upper rotary body is low, and suppresses the limit of the actuator flow rate when the rotation speed is high, thereby reducing the pressure loss caused by the limit of the actuator flow rate and performing efficient operation.

[0005] However, in order to improve the workability during the combined operation, it is more desirable to perform the rotational action at an acceleration corresponding to the amount of operation applied by the operator to the operating device. However, for the rotary engineering machine of Patent Document 1, since the acceleration of the rotational action during the combined operation changes according to the working pressure of the hydraulic actuator, it is desired to further improve it.

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: Japanese Patent Publication No. 2019-27261 Summary of the invention

[0009] The purpose of the present disclosure is to provide a drive control device for a rotary engineering machinery as follows, which can adjust the rotary acceleration to a target rotary acceleration corresponding to the operation amount of the rotary operation even when the hydraulic pump is used for a rotary motor and other hydraulic actuators and a complex operation for operating these actuators is performed.

[0010] The drive control device of the provided rotary engineering machinery includes: a hydraulic pump; a rotary motor, which rotates an upper rotary body, and the upper rotary body supports a working device including a first movable part; a first actuator, which moves the first movable part; a rotary control valve, which is located between the hydraulic pump and the rotary motor and can adjust the opening so that the flow rate of the working oil supplied from the hydraulic pump to the rotary motor changes; a compensation control valve, which is located between the hydraulic pump and the first actuator and can adjust the opening so that the flow rate of the working oil supplied from the hydraulic pump to the first actuator changes; a rotary operating device, which is applied with a rotary operation for operating the rotary motor; a first operating device, which is applied with a first operation for operating the first actuator; and a controller, which adjusts the opening of the compensation control valve when the first operation and the rotary operation are combined, so that the actual rotary acceleration is adjusted to the target rotary acceleration corresponding to the operation amount of the rotary operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a side view showing a rotary construction machine equipped with a drive control device according to an embodiment of the present disclosure

[0012] Figure 2 It is a diagram showing a drive control device according to the embodiment.

[0013] Figure 3 This is a flowchart showing an example of a calculation process performed by the controller of the drive control device according to the embodiment.

[0014] Figure 4 φ is an example of a map used in the calculation process, and is a graph showing the relationship between the lever operation amount of the swing operation and the target swing speed.

[0015] Figure 5 φ is an example of a map used in the calculation process, and is a graph showing the relationship between the lever operation amount of the swing operation and the target swing acceleration.

[0016] Figure 6It is a timing chart showing an example of the operation of a rotary construction machine including the drive control device according to the embodiment.

[0017] Figure 7 This is a flowchart showing an example of a calculation process performed by a controller of a drive control device according to a modification of the above-described embodiment. DETAILED DESCRIPTION

[0018] Embodiments of the present disclosure are described with reference to the drawings.

[0019] Figure 1 The rotary engineering machine 100 shown is a hydraulic excavator. Figure 1 and Figure 2 As shown, the rotary engineering machinery 100 includes a lower walking body 1, an upper rotary body 2, a working device 3, multiple pumps, multiple actuators, multiple control valves, multiple operating devices, multiple proportional valves, multiple detectors and a controller 70.

[0020] The lower traveling body 1 includes a pair of left and right crawler traveling devices and a lower frame supported by these crawler traveling devices. The upper rotating body 2 is supported by the lower traveling body 1 so as to be rotatable around a rotation axis Z. The rotation axis Z is an axis extending in the up-down direction. The upper rotating body 2 includes an upper frame supported by the lower frame and a cab supported at the front of the upper frame. The upper rotating body 2 has a drive source 23 (see Figure 2 ) etc.

[0021] The working device 3 includes a boom 4 supported on the upper revolving body 2 so as to be movable, an arm 5 rotatably supported on the boom 4, and a bucket 6 rotatably supported on the arm 5. The boom 4 has a boom base end rotatably mounted on the upper frame of the upper revolving body 2, and a boom distal end on the opposite side of the boom base end. The arm 5 has an arm base end rotatably mounted on the boom distal end, and an arm distal end on the opposite side of the arm base end. The bucket 6 has a bucket base end rotatably mounted on the arm distal end. In the present embodiment, the boom 4 is an example of a first movable portion.

[0022] Each of the plurality of pumps is driven by a driving source 23 (eg, an engine), thereby ejecting hydraulic oil. Figure 1 and Figure 2As shown, the plurality of pumps include a first pump 21, a second pump 22, and a pilot pump 24. The first pump 21 and the second pump 22 are each a variable capacity type hydraulic pump that can change the capacity according to the capacity instruction from the controller 70. Specifically, for example, the first pump 21 and the second pump 22 each have a regulator (not shown) for capacity control, and if the capacity instruction from the controller 70 is input to the regulator, the tilting angle is changed according to the capacity instruction, thereby changing the capacity (displacement) and the discharge amount of the working oil. The pilot pump 24 supplies the pilot pressure to the plurality of control valves respectively. The second pump 22 is an example of a hydraulic pump in the present disclosure, and the first pump 21 is an example of another hydraulic pump that is provided differently from the second pump 22.

[0023] The plurality of actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9 and a rotary motor 11. Figure 2 As shown, the boom cylinder 7 is a hydraulic cylinder that operates by receiving the supply of hydraulic oil ejected from the first pump 21. The boom cylinder 7 has a head chamber and a rod chamber. The boom cylinder 7 is an example of a first actuator. The swing motor 11 is a hydraulic motor that operates by receiving the supply of hydraulic oil ejected from the second pump 22. The swing motor 11 has a pair of ports.

[0024] exist Figure 2 In the figure, the arm cylinder 8 and the bucket cylinder 9 are omitted. The arm cylinder 8 is a hydraulic cylinder that is operated by receiving the supply of hydraulic oil ejected from one of the first pump 21 and the second pump 22. The bucket cylinder 9 is a hydraulic cylinder that is operated by receiving the supply of hydraulic oil ejected from one of the first pump 21 and the second pump 22.

[0025] like Figure 2 As shown, the plurality of control valves include a boom control valve 31, a swing control valve 32, a compensation control valve 33, an arm control valve (not shown), and a bucket control valve (not shown). The boom control valve 31, the swing control valve 32, the arm control valve, and the bucket control valve may each be, for example, a three-position pilot switching valve having a slide valve (spool) and a pair of pilot ports receiving a pilot pressure from the pilot pump 24. The compensation control valve 33 may also be, for example, a two-position pilot switching valve having a slide valve and a pilot port.

[0026] The boom control valve 31 is disposed between the first pump 21 and the boom cylinder 7, and can adjust the opening to allow the hydraulic oil ejected from the first pump 21 to be supplied to the boom cylinder 7. That is, the boom control valve 31 performs an opening and closing operation to change the direction and flow rate of the hydraulic oil supplied from the first pump 21 to the boom cylinder 7. A pair of pilot ports of the boom control valve 31 includes a boom raising pilot port and a boom lowering pilot port. The boom control valve 31 is an example of a first control valve.

[0027] The swing control valve 32 is interposed between the second pump 22 and the swing motor 11, and can adjust the opening degree to allow the hydraulic oil ejected from the second pump 22 to be supplied to the swing motor 11. That is, the swing control valve 32 performs an opening and closing operation to change the direction and flow rate of the hydraulic oil supplied from the second pump 22 to the swing motor 11. The pair of pilot ports of the swing control valve 32 includes a right swing pilot port and a left swing pilot port.

[0028] The compensation control valve 33 is interposed between the second pump 22 and the boom cylinder 7, and can adjust the opening degree so as to allow the hydraulic oil ejected from the second pump 22 to be supplied to the boom cylinder 7. That is, the compensation control valve 33 performs an opening and closing operation to change the flow rate of the hydraulic oil supplied from the second pump 22 to the boom cylinder 7. That is, when the boom operation (for example, the boom raising operation described later) is applied to the boom operating device 41 described later, the compensation control valve 33 performs an opening and closing operation so as to allow the hydraulic oil ejected from the second pump 22 to be supplied to the head chamber of the boom cylinder 7. Thus, the hydraulic oil is supplied to the boom cylinder 7 from both the first pump 21 and the second pump 22, so that the speed of the boom cylinder 7 is ensured even in a high-load operation such as a boom raising operation.

[0029] In the present embodiment, the compensation control valve 33 compensates for the acceleration of the operation of the swing motor 11 during a combined operation in which a boom operation and a swing operation described later are performed simultaneously. The acceleration compensation will be described below.

[0030] The boom control valve is disposed between the first pump 21 and the second pump and the boom cylinder 8, and can adjust the opening to allow the hydraulic oil ejected from the pump to be supplied to the boom cylinder 8. That is, the boom control valve performs an opening and closing operation to change the direction and flow rate of the hydraulic oil supplied from the pump to the boom cylinder 8.

[0031] The bucket control valve is interposed between one of the first pump 21 and the second pump 22 and the bucket cylinder 9, and can adjust the opening degree to allow the hydraulic oil ejected from the pump to be supplied to the bucket cylinder 9. In other words, the bucket control valve performs an opening and closing operation to change the direction and flow rate of the hydraulic oil supplied from the pump to the bucket cylinder 9.

[0032] The plurality of operating devices include a boom operating device 41 (see FIG. 1 ) to which a boom operation for operating the boom cylinder 7 is applied. Figure 2 ), a rotation operation device 42 (see Figure 2 ), an arm operating device (not shown) to which arm operation for operating the arm cylinder 8 is applied, and a bucket operating device (not shown) to which bucket operation for operating the bucket cylinder 9 is applied. The boom operating device 41 is an example of a first operating device.

[0033] Each of the plurality of operating devices has an operating lever that can be operated by an operator. In addition, one operating lever can also be used for two operating devices. Each of the plurality of operating devices is an electric lever device that outputs an operation signal, and the operation signal is an electric signal corresponding to the direction of the operation applied to the operating lever by the operator and the amount of the lever operation of the operation. The operation signals output from the plurality of operating devices are input to the controller 70. Specifically, it is as follows.

[0034] The boom operating device 41 has a boom operating lever 41A, which can receive a boom raising operation for causing the boom 4 to perform a boom raising action, and a boom lowering operation for causing the boom 4 to perform a boom lowering action. The boom raising action is an action of the boom 4 in which the boom distal end portion of the boom 4 is moved away from the ground, and the boom lowering action is an action of the boom 4 in which the boom distal end portion of the boom 4 is moved closer to the ground. If the boom raising operation is applied to the boom operating lever 41A, the boom operating device 41 inputs a boom raising operation signal corresponding to the lever operation amount of the boom raising operation to the controller 70. If the boom lowering operation is applied to the boom operating lever 41A, the boom operating device 41 inputs a boom lowering operation signal corresponding to the lever operation amount of the boom lowering operation to the controller 70.

[0035] The swing operation device 42 has a swing operation lever 42A, which can receive a right swing operation for causing the upper swing body 2 to swing right, and a left swing operation for causing the upper swing body 2 to swing left. If the swing operation lever 42A is subjected to a right swing operation, the swing operation device 42 inputs a swing operation signal (right swing operation signal) corresponding to the lever operation amount of the right swing operation to the controller 70. If the swing operation lever 42A is subjected to a left swing operation, the swing operation device 42 inputs a swing operation signal (left swing operation signal) corresponding to the lever operation amount of the left swing operation to the controller 70.

[0036] The arm operating device can receive an arm-retracting operation for causing the arm 5 to perform an arm-retracting action, and an arm-pushing operation for causing the arm 5 to perform an arm-pushing action. The arm-retracting action is an action of causing the distal end of the arm 5 to approach the arm 5 of the boom 4. The arm-pushing action is an action of causing the distal end of the arm 5 to move away from the arm 5 of the boom 4. If the arm-retracting operation is applied to the arm operating device, an arm-retracting operation signal corresponding to the arm operation amount of the arm-retracting operation is input to the controller 70. If the arm-pushing operation is applied to the arm operating device, an arm-pushing operation signal corresponding to the arm operation amount of the arm-pushing operation is input to the controller 70. The basic structure and function of the bucket operating device are the same as those of the boom operating device 41, the arm operating device, etc., and therefore, detailed description is omitted.

[0037] Each of the plurality of proportional valves is interposed between the pilot pump 24 and one of the pilot ports of one of the control valves. Each of the plurality of proportional valves reduces the pressure oil of the pilot pump 24 according to the control command input from the controller 70 to generate a secondary pressure, and the secondary pressure is supplied to the pilot port of the control valve corresponding to the relevant proportional valve. Each of the plurality of proportional valves is constituted by, for example, an electromagnetic proportional valve. The plurality of proportional valves include a pair of boom proportional valves 51, 51, a pair of swing proportional valves 52, 52, and a compensation proportional valve 53.

[0038] The pair of boom proportional valves 51 , 51 includes a boom raising proportional valve 51 interposed between the pilot pump 24 and the boom raising pilot port of the boom control valve 31 , and a boom lowering proportional valve 51 interposed between the pilot pump 24 and the boom lowering pilot port of the boom control valve 31 .

[0039] When the boom operating device 41 is subjected to the boom raising operation, the boom raising operation signal is input to the controller 70, and the controller 70 inputs the boom raising control command to the boom raising proportional valve 51. The boom raising proportional valve 51 generates a secondary pressure corresponding to the boom raising control command, that is, a pilot pressure, and the generated pilot pressure is supplied to the boom raising pilot port of the boom control valve 31. The spool of the boom control valve 31 is displaced from the neutral position to the direction corresponding to the boom raising operation by a displacement amount corresponding to the supplied pilot pressure, and the opening of the boom control valve 31 is adjusted to a size corresponding to the displacement amount. As a result, the boom control valve 31 allows the working oil ejected from the first pump 21 to be supplied to the head chamber of the boom cylinder 7 at a flow rate corresponding to the displacement amount, and allows the working oil to be discharged from the rod chamber of the boom cylinder 7 and returned to the oil tank. As a result, the boom cylinder 7 operates in the extension direction, and the boom 4 performs the boom raising operation.

[0040] When the boom operating device 41 receives a boom lowering operation, the boom lowering operation signal is input to the controller 70, and the controller 70 inputs a boom lowering control command to the boom lowering proportional valve 51. The boom lowering proportional valve 51 generates a secondary pressure, i.e., a pilot pressure, corresponding to the boom lowering control command, and the generated pilot pressure is supplied to the boom lowering pilot port of the boom control valve 31. The spool of the boom control valve 31 is displaced from the neutral position to the direction corresponding to the boom lowering operation by a displacement amount corresponding to the supplied pilot pressure, and the opening of the boom control valve 31 is adjusted to a size corresponding to the displacement amount. As a result, the boom control valve 31 allows the working oil ejected from the first pump 21 to be supplied to the rod chamber of the boom cylinder 7 at a flow rate corresponding to the displacement amount, and allows the working oil to be discharged from the head chamber of the boom cylinder 7 and returned to the oil tank. As a result, the boom cylinder 7 operates in the retracting direction, and the boom 4 performs a boom lowering operation.

[0041] The pair of swing proportional valves 52 , 52 includes a right swing proportional valve 52 interposed between the pilot pump 24 and the right swing pilot port of the swing control valve 32 , and a left swing proportional valve 52 interposed between the pilot pump 24 and the left swing pilot port of the swing control valve 32 .

[0042] When the swing operation device 42 is subjected to a right swing operation, a right swing operation signal is input to the controller 70, and the controller 70 inputs a right swing control command to the right swing proportional valve 52. The right swing proportional valve 52 generates a secondary pressure corresponding to the right swing control command, that is, a pilot pressure, and the generated pilot pressure is supplied to the right swing pilot port of the swing control valve 32. The spool valve of the swing control valve 32 is displaced from the neutral position to the direction corresponding to the right swing operation by a displacement amount corresponding to the supplied pilot pressure, and the opening of the swing control valve 32 is adjusted to a size corresponding to the displacement amount. As a result, the swing control valve 32 allows the working oil ejected from the second pump 22 to be supplied to one port of the swing motor 11 at a flow rate corresponding to the displacement amount, and allows the working oil to be discharged from the other port of the swing motor 11 and returned to the oil tank. As a result, the swing motor 11 moves in the right swing direction, and the upper swing body 2 performs a right swing action.

[0043] When the swing operation device 42 is subjected to a left swing operation, a left swing operation signal is input to the controller 70, and the controller 70 inputs a left swing control command to the left swing proportional valve 52. The left swing proportional valve 52 generates a secondary pressure corresponding to the left swing control command, that is, a pilot pressure, and the generated pilot pressure is supplied to the left swing pilot port of the swing control valve 32. The spool of the swing control valve 32 is displaced from the neutral position to the direction corresponding to the left swing operation by a displacement amount corresponding to the supplied pilot pressure, and the opening of the swing control valve 32 is adjusted to a size corresponding to the displacement amount. As a result, the swing control valve 32 allows the working oil ejected from the second pump 22 to be supplied to the other port of the swing motor 11 at a flow rate corresponding to the displacement amount, and allows the working oil to be discharged from one port of the swing motor 11 and returned to the oil tank. As a result, the swing motor 11 moves in the left swing direction, and the upper swing body 2 performs a left swing action.

[0044] The compensation proportional valve 53 is interposed between the pilot pump 24 and the pilot port of the compensation control valve 33. The compensation proportional valve 53 is used when the boom is raised.

[0045] The plurality of detectors include a boom speed detector 61, a rotation speed detector 62, a differential pressure detector 65, a boom holding pressure detector 66, and a posture detector 67. Each of the plurality of detectors inputs a detection signal corresponding to the detected result to the controller 70.

[0046] The boom speed detector 61 detects the movement speed of the boom cylinder 7 or a speed related to the movement speed (for example, the movement speed of the boom 4). The rotation speed detector 62 detects the movement speed (for example, the angular velocity) of the rotation motor 11 or a speed related to the movement speed (for example, the rotation speed of the upper rotation body 2). The differential pressure detector 65 detects the differential pressure in the rotation motor 11. Specifically, the differential pressure detector 65 includes a first pressure sensor 65A that detects one of the inlet pressure and the outlet pressure of the rotation motor 11, and a second pressure sensor 65B that detects the other of the inlet pressure and the outlet pressure of the rotation motor 11. The boom holding pressure detector 66 is a pressure sensor that detects the pressure of the head chamber of the boom cylinder 7.

[0047] The posture detector 67 detects the posture of the working device 3. Specifically, in the present embodiment, the posture detector 67 includes a boom posture sensor 67A for detecting the posture of the boom 4, an arm posture sensor 67B for detecting the posture of the arm 5, and a bucket posture sensor 67C for detecting the posture of the bucket 6 (see FIG. Figure 1 ).

[0048] The boom posture sensor 67A may be, for example, a boom angle sensor that detects the angle of the boom 4 relative to the upper slewing body 2, a boom angle sensor that detects the angle of the boom 4 relative to the horizontal plane, a stroke sensor that detects the movement of the boom cylinder 7, or other sensors. For example, a resolver, a rotary encoder, a potentiometer, an IMU (Inertial Measurement Unit), etc. may be exemplified as the boom angle sensor. The stroke sensor may be a sensor that detects the cylinder length of a hydraulic cylinder, or a sensor that detects the position of a piston rod relative to a cylinder tube.

[0049] The arm posture sensor 67B may be, for example, an arm angle sensor that detects the angle of the arm 5 relative to the boom 4, an arm angle sensor that detects the angle of the arm 5 relative to the horizontal plane, a stroke sensor that detects the movement of the arm cylinder 8, or other sensors. The bucket posture sensor 67C may be a bucket angle sensor that detects the angle of the bucket 6 relative to the arm 5, a bucket angle sensor that detects the angle of the bucket 6 relative to the horizontal plane, a stroke sensor that detects the movement of the bucket cylinder 9, or other sensors. The arm angle sensor and the bucket angle sensor may be the same sensors as the above-mentioned boom angle sensor.

[0050] The posture detector 67 may further include a rotating body posture sensor 67D (see Figure 1). The rotating body posture sensor 67D is a sensor for detecting the posture of the upper rotating body 2. The rotating body posture sensor 67D may be, for example, a sensor for detecting the inclination (posture) of the upper rotating body 2 relative to the horizontal plane. In addition, the rotating body posture sensor 67D may be, for example, a rotation angle sensor for detecting the angle of the upper rotating body 2 relative to the lower traveling body 1, or a gyro sensor for detecting the angular velocity (rotation angular velocity) of the upper rotating body 2 relative to the lower traveling body 1, or other sensors.

[0051] The controller 70 includes a CPU (Central Processing Unit), an MPU (Microprocessor Unit), and other computing devices and a memory. The controller 70 controls the operation of the rotary engineering machine 100 based on detection signals input from a plurality of detectors. Figure 2 In FIG. 7 , for convenience, the controller 70 is depicted in two places, but this does not mean that the controller 70 is composed of two parts. The controller 70 may be composed of a single controller or a plurality of controllers.

[0052] The rotary construction machine 100 includes a drive control device 101 according to the present embodiment. Figure 2 The drive control device 101 shown includes the first pump 21, the second pump 22, the boom cylinder 7, the swing motor 11, the boom operating device 41, the swing operating device 42, the swing control valve 32, the compensation control valve 33 and the controller 70. When a predetermined composite operation is performed, the controller 70 adjusts the opening of the compensation control valve 33 so that the actual swing acceleration, i.e., the actual swing acceleration, is adjusted to the target of the swing acceleration, i.e., the target swing acceleration. In the present embodiment, the object of the composite operation when performing the control of the compensation swing acceleration includes a boom operation (e.g., a boom raising operation) and a swing operation. The boom operation is an example of the first operation in the present disclosure. The swing operation is a right swing operation or a left swing operation.

[0053] Figure 3 This is a flowchart showing an example of a calculation process performed by the controller 70 of the drive control device 101 according to the present embodiment.

[0054] The controller 70 determines whether a rotation operation is applied to the rotation operation device 42 (step S1). When the rotation operation is applied to the rotation operation device 42 (step S1 is "yes"), the controller 70 performs the processing after step S2, and when the rotation operation is not applied to the rotation operation device 42 (step S1 is "no"), the controller 70 does not perform the processing after step S2.

[0055] When the swing operation is applied to the swing operation device 42, the controller 70 determines whether the boom operation (an example of the first operation) is applied to the boom operation device 41 (step S2). In the present embodiment, the boom operation as the first operation is a boom raising operation. When the boom operation is applied to the boom operation device 41 (step S2 is "yes"), that is, when the predetermined compound operation in the present embodiment has been performed, the controller 70 performs the processing after step S3. When the boom operation is not applied to the boom operation device 41 (step S2 is "no"), that is, when the compound operation is not performed, the controller 70 performs the processing of step S21.

[0056] The controller 70 can perform the determination of step S1 in the following manner, for example. If the operator applies a rotation operation to the operating lever 42A of the rotation operating device 42, the rotation operating device 42 inputs a rotation operation signal corresponding to the direction of the rotation operation and the lever operation amount of the rotation operation to the controller 70, and the controller 70 can determine that the rotation operation is applied to the rotation operating device 42 based on the input rotation operation signal. On the other hand, when the rotation operation signal is not input to the controller 70, the controller 70 can determine that the rotation operation is not applied to the rotation operating device 42.

[0057] The controller 70 can perform the determination of step S2 in the following manner, for example. If the operator applies a boom operation (e.g., a boom raising operation) to the operating lever 41A of the boom operating device 41, the boom operating device 41 inputs a boom operation signal corresponding to the direction of the boom operation and the lever operation amount of the boom operation to the controller 70, and the controller 70 can determine that the boom operation is applied to the boom operating device 41 based on the input boom operation signal. On the other hand, when the boom operation signal is not input to the controller 70, the controller 70 can determine that the boom operation is not applied to the boom operating device 41.

[0058] In the case of performing a compound operation (step S2 is "yes"), the controller 70 determines whether the necessity determination condition described below is satisfied. The necessity determination condition is a condition for determining whether to perform a rotation acceleration feedback control (rotation acceleration FB control), which is used to compensate for the acceleration of the movement of the rotation motor 11. In the present embodiment, the necessity determination condition refers to the actual rotation speed, that is, the actual rotation speed is less than the target rotation speed, that is, the target rotation speed. That is, in the present embodiment, in order to determine whether to perform the rotation acceleration FB control, the controller 70 determines whether the actual rotation speed is less than the target rotation speed (step S3). However, the necessity determination condition is not limited to this specific example. The necessity determination condition may, for example, be a condition that the actual rotation speed is less than a pre-set reference value. In this case, the reference value is, for example, set to a value smaller than the target rotation speed. In addition, the necessity determination condition may also be other conditions that can determine whether the rotation acceleration FB control is required.

[0059] When the actual rotation speed is greater than the target rotation speed (step S3 is "No"), there is no need to accelerate the movement of the swing motor 11, so the controller 70 performs the rotation speed feedback control (rotation speed FB control) including the processing of steps S21 and S9 instead of the rotation acceleration FB control. On the other hand, when the actual rotation speed is less than the target rotation speed (step S3 is "Yes"), the controller 70 performs the rotation acceleration FB control including the processing of steps S4-S9 to compensate for the acceleration of the movement of the swing motor 11. The reason for using the necessity determination condition as described above in step S3 is that when the actual rotation speed is less than the target rotation speed, the objects including the upper rotating body 2 and the working device 3, that is, the rotating body, are mostly in an accelerated state.

[0060] The controller 70 can perform the determination in step S3 , for example, as follows: The controller 70 stores in advance a map indicating the relationship between the lever operation amount of the swing operation applied to the swing operation lever 42A of the swing operation device 42 and the target swing speed. Figure 4 is a graph showing an example of the mapping. The controller 70 determines the target swing speed based on the lever operation amount of the swing operation at this time and the mapping. The controller 70 obtains the actual swing speed at this time based on the detection signal input from the swing speed detector 62. Then, the controller 70 can determine whether the actual swing speed is less than the target swing speed by comparing the determined target swing speed with the obtained actual swing speed.

[0061] When the actual rotation speed is greater than the target rotation speed (step S3 is "No"), the controller 70 performs the rotation speed FB control including steps S21 and S9 without performing the rotation acceleration FB control. In the rotation speed FB control, the controller 70 adjusts the opening of the rotation control valve 32 so that the actual rotation speed is adjusted to the target rotation speed. That is, the controller 70 performs feedback control to adjust the opening of the rotation control valve 32 in such a way that the deviation between the target rotation speed and the actual rotation speed, i.e., the rotation speed deviation, approaches zero. Thus, the operating speed of the rotation motor 11 is compensated. Specifically, in the rotation speed FB control, the controller 70 determines the control instruction for the rotation proportional valve 52, i.e., the rotation control instruction (current value) (step S21), in such a way that the rotation speed deviation approaches zero, and inputs the rotation control instruction to the rotation proportional valve 52 (step S9). As a feedback control method, for example, PID (Proportional Integral Derivative) control, PI control, or P control can be used. In the case of PID control, the controller 70 may calculate the swing control command using, for example, the following equation.

[0062] u(t)=Kp×e(t)+Ki∫e(t)dt+Kd(de(t) / dt)

[0063] In the above formula, "u" is the swing control command, "Kp", "Ki", ​​and "Kd" are PID gains (proportional gain, integral gain, and differential gain), and "e" is the swing speed deviation. The PID gain is a gain preset for the swing speed FB control and is stored in the controller 70.

[0064] On the other hand, when the actual swing speed is less than the target swing speed (step S3 is "yes"), the controller 70 performs the swing acceleration FB control including steps S4-S9. In the swing acceleration FB control, first, the controller 70 calculates the moment of inertia of the rotating body around the swing axis Z (the vehicle body swing axis) (steps S4, S5). That is, the controller 70 calculates the posture, distal end weight, and combined center of gravity distance of the working device 3 (step S4), and calculates the moment of inertia using these calculation results (step S5).

[0065] The distal end weight is the sum of the weight of the bucket 6 and the weight of the soil and other objects held by the bucket 6. The synthetic center of gravity distance is the distance between the rotation axis Z and the synthetic center of gravity. The synthetic center of gravity is the center of gravity of the upper rotating body 2 and the center of gravity of the working device 3. The weight of the soil and other objects held by the bucket 6 is related to the pressure of the head chamber of the boom cylinder 7 detected by the boom holding pressure detector 66 and the posture of the working device 3. Therefore, the controller 70 can calculate the distal end weight using the calculated weight of the objects held and the pre-stored weight of the bucket 6.

[0066] The moment of inertia of the rotating body about the rotation axis Z is calculated, for example, in the following manner.

[0067] The controller 70 calculates the posture of the working device 3 based on the detection signal input from the posture detector 67. The controller 70 can obtain the posture of the boom 4 (for example, the angle of the boom 4 relative to the upper swing body 2) based on the detection signal input from the boom posture sensor 67A, can obtain the posture of the arm 5 (for example, the angle of the arm 5 relative to the boom 4) based on the detection signal input from the arm posture sensor 67B, and can obtain the posture of the bucket 6 (for example, the angle of the bucket 6 relative to the arm 5) based on the detection signal input from the bucket posture sensor 67C. The controller 70 can geometrically calculate the posture of the working device 3 using information on the postures of the boom 4, the arm 5, and the bucket 6 (for example, the angle of the boom 4, the angle of the arm 5, and the angle of the bucket 6). In addition, the controller 70 may obtain the inclination of the upper rotating body 2 relative to the horizontal plane (the posture of the upper rotating body 2) based on the detection signal input from the rotating body posture sensor 67D, and further consider the obtained posture of the upper rotating body 2 to calculate the posture of the working device 3. In this case, the posture of the working device 3 is calculated with higher accuracy.

[0068] In addition, the center of gravity position of the working device 3 is related to the posture and distal weight of the working device 3. The controller 70 pre-stores the characteristics such as the size, weight, and center of gravity of the boom 4, the arm 5, and the bucket 6. Therefore, the controller 70 can use the posture and distal weight of the working device 3 to geometrically calculate the center of gravity position of the working device 3 and the center of gravity weight of the working device 3.

[0069] The controller 70 pre-stores the center of gravity position of the upper rotating body 2 and the center of gravity weight of the upper rotating body 2. Therefore, the controller 70 can calculate the position of the combined center of gravity and the combined center of gravity weight (m) around the rotation axis Z by combining the center of gravity of the upper rotating body 2 and the center of gravity of the working device 3. The controller 70 can use the position of the combined center of gravity and the position of the rotation axis Z to calculate the combined center of gravity distance (r), that is, the distance between the rotation axis Z and the combined center of gravity. Then, the controller 70 can use the combined center of gravity distance (r) and the combined center of gravity weight (m) to calculate the moment of inertia (I) (I=mr 2 ).

[0070] Next, the controller 70 calculates the target rotation torque (T) (step S6). Specifically, the target rotation torque (T) is calculated by the equation “T = mr 2 ×dω / dt”. In this formula, “ω” is the angular velocity. The moment of inertia (I) about the rotation axis Z is as described above, and is given by the formula “I=mr 2 " Therefore, the controller 70 can calculate the target rotation torque (T) using the formula "T = I × dω / dt". In this formula, "dω / dt" is the target rotation acceleration (target angular acceleration).

[0071] The controller 70 can determine the target swing acceleration, for example, as follows: The controller 70 stores in advance a map indicating the relationship between the lever operation amount of the swing operation applied to the swing operation lever 42A of the swing operation device 42 and the target swing acceleration. Figure 5 dω / dt is a graph showing an example of the mapping. The controller 70 determines the target swing acceleration based on the lever operation amount of the swing operation at this time and the mapping. Next, the controller 70 calculates the target swing torque (T) using the target swing acceleration (dω / dt) and the moment of inertia (I).

[0072] Next, the controller 70 calculates the target rotation differential pressure (P) (step S7). The target rotation differential pressure (P) is an example of a target rotation torque associated value associated with the target rotation torque (T). The controller 70 can, for example, calculate the target rotation differential pressure (P) using the formula "P = 2Π × I / q × dω / dt". In this formula, the "I × dω / dt" part corresponds to the target rotation torque (T) calculated in the above manner. In addition, in this formula, "q" is the equivalent capacity of the rotation motor. The equivalent capacity (q) of the rotation motor is the motor capacity that also includes the reduction ratio (q = motor capacity × reduction ratio). When the equivalent capacity (q) of the rotation motor and the target rotation acceleration (dω / dt) are fixed values, the target rotation differential pressure (P) is proportional to the moment of inertia (I).

[0073] Next, the controller 70 adjusts the opening of the compensating control valve 33 and the opening of the swing control valve 32 respectively so that the actual swing differential pressure is adjusted to the target swing differential pressure (P) (steps S8 and S9). That is, the controller 70 adjusts the opening of the compensating control valve 33 so that the deviation between the target swing differential pressure (P) and the actual swing differential pressure, i.e., the swing differential pressure deviation, approaches zero, and adjusts the opening of the swing control valve 32 so that the swing differential pressure deviation approaches zero. The actual swing differential pressure is an example of an actual swing torque-related value associated with the actual swing torque.

[0074] Specifically, in the rotation acceleration FB control, the controller 70 determines the control instruction for the compensation proportional valve 53, i.e., the compensation control instruction (current value), in such a way that the rotation differential pressure deviation approaches zero (step S8), and inputs the compensation control instruction to the compensation proportional valve 53 (step S9). In addition, in the rotation acceleration FB control, the controller 70 determines the control instruction for the rotation proportional valve 52, i.e., the rotation control instruction (current value), in such a way that the rotation differential pressure deviation approaches zero (step S8), and inputs the rotation control instruction to the rotation proportional valve 52 (step S9). As the respective modes of these feedback controls, for example, PID control, PI control, or P control may be used. In the case of PID control, the controller 70 may also use, for example, the following formulas to respectively calculate the compensation control instruction and the rotation control instruction.

[0075] u(t)=Kp×e(t)+Ki∫e(t)dt+Kd(de(t) / dt)

[0076] In the above formula, "u" is a compensation control command or a swing control command, "Kp", "Ki", ​​and "Kd" are PID gains (proportional gain, integral gain, and differential gain), and "e" is a swing differential pressure deviation. The PID gain for calculating the compensation control command and the PID gain for calculating the swing control command are separately preset for the swing acceleration FB control and are stored in the controller 70.

[0077] The controller 70 repeatedly executes the processing of the above steps S1-S9 and S21 during the compound operation. Therefore, during the compound operation, regardless of the posture of the working device 3 and the distal weight, the drive control device 101 involved in this embodiment can make the actual rotation acceleration of the rotation motor 11 close to the target rotation acceleration, and the acceleration of the rotation action of the upper rotating body 2 is compensated.

[0078] Furthermore, the controller 70 may control the flow rate of the hydraulic oil discharged from the first pump 21 and the flow rate of the hydraulic oil discharged from the second pump 22 based on the lever operation amount when executing the processing of steps S1 to S9 and S21 .

[0079] Next, refer to Figure 6 A specific example of the operation of the rotary construction machine 100 is described with reference to a timing diagram.

[0080] Figure 6 The time period until time t1 is a non-operation time period in which the operation levers of the plurality of operation devices are not operated. In this non-operation time period, the controller 70 does not perform control for operating the upper swing body 2 and the working device 3.

[0081] Figure 6 The time period from time t1 to time t3 shown includes a time period of rotational single operation, during which the rotational single operation time period is as follows: Figure 6 As shown in the top graph of FIG. 1 , the operating rod 42A of the rotary operating device 42 is subjected to a rotary operation, and as shown in FIG. Figure 6 As shown in the second graph from the top, the boom operation (an example of the first operation) is not applied to the operating lever 41A of the boom operating device 41. Figure 6 The time period from time t1 to time t2 shown includes a time period when the lever operation amount of the swing operation increases and a time period when the lever operation amount is maintained at a fixed value (e.g., a maximum value), and the time period from time t2 to time t3 includes a time period when the lever operation amount of the swing operation decreases and a time period when the lever operation amount is maintained at zero. In the time period of the swing operation alone, hydraulic disturbance caused by the combined operation including the swing operation and the boom operation does not occur. Therefore, the controller 70 performs the swing speed FB control, which is a feedback control that adjusts the opening of the swing control valve 32 so that the actual swing speed approaches the target swing speed.

[0082] That is, in the period of the swing operation alone, the controller 70 controls the swing operation device 42 based on the lever operation amount of the swing operation applied to the operating lever 42A, and Figure 4 The target rotation speed is determined by the mapping shown in FIG. 1 , and the actual rotation speed at that time is obtained based on the detection signal input from the rotation speed detector 62. Next, the controller 70 determines the rotation control command for the rotation proportional valve 52 in such a way that the rotation speed deviation between the target rotation speed and the actual rotation speed approaches zero, and inputs the determined rotation control command to the rotation proportional valve 52.

[0083] In the period from time t1 to time t3 including the period of the swing-only operation, the target swing speed is given by Figure 6 The third curve from the top is shown by the dotted line. The actual rotation speed is Figure 6 The solid line in the third curve from the top indicates that the swing control command (the current value for the swing control valve 32) is Figure 6The solid line in the sixth graph from the top indicates that when the rotation is performed alone, the rotation speed FB control as described above is performed, whereby the actual rotation speed is as follows: Figure 6 As shown in the third curve from the top, it is adjusted to a size close to the target rotation speed.

[0084] In addition, when the swing-only operation is performed, the controller 70 preferably inputs a command to the proportional valve 55 to open the bleed-off valve 35 (see Figure 2 ) to compensate for the rotation torque. Specifically, the discharge valve 35 is composed of, for example, a two-position pilot switching valve having a pilot port. When the pilot pressure from the pilot pump 24 is not supplied to the pilot port of the discharge valve 35, the discharge valve 35 maintains a closed valve position that blocks the discharge passage 36, and on the other hand, opens the valve according to the pilot pressure supplied to the pilot port. The proportional valve 55 opens the valve in response to the input of a command from the controller 70, allowing a pilot pressure proportional to the command to be input to the pilot port of the discharge valve 35. During the rotational single operation, all the working oil ejected from the second pump 22 flows into the rotary motor 11, thereby causing the rotary motor 11 to operate. It is more desirable that during the rotational single operation, the controller 70 adjusts the opening of the discharge valve 35, and releases a portion of the working oil to the oil tank through the discharge valve 35, thereby adjusting the pressure of the passage between the second pump 22 and the rotary motor 11 to compensate for the rotation torque (acceleration). Furthermore, it is preferred that the discharge valve 35 be completely closed during the combined operation.

[0085] Figure 6 The time period from time t4 to time t6 is shown as Figure 6 As shown in the top graph and the second graph from the top, a time period is included in a composite operation including a swing operation and a boom operation (an example of a first operation). Figure 6 The time period from time t4 to time t5 shown includes a time period when the lever operation amount of the swing operation increases and a time period when the lever operation amount is maintained at a fixed value (e.g., a maximum value), and the time period from time t5 to time t6 includes a time period when the lever operation amount of the swing operation decreases and a time period when the lever operation amount is maintained at zero. In the time period of this composite operation, the controller 70 compensates for the acceleration of the swing action of the swing motor 11 by performing the above-mentioned swing acceleration FB control.

[0086] In the period from time t4 to time t6 including the period of the combined operation, the target rotary differential pressure (P) is given by Figure 6 The fourth curve from the top shows that the actual rotary differential pressure is Figure 6The solid line in the fourth graph from the top indicates that. In addition, in the time period from time t4 to time t6, the rotation control command (current value) is Figure 6 The solid line in the sixth curve from the top indicates that the compensation control command (current value) is Figure 6 The solid line in the seventh graph from the top indicates that the control command for the boom proportional valve 51, i.e., the boom control command (current value), is Figure 6 The solid line in the bottom graph represents .

[0087] During the combined operation, the swing acceleration FB control as described above is performed, whereby the swing differential pressure of the swing motor is adjusted as follows. Figure 6 As shown in the fourth curve from the top, it is adjusted to be close to the target rotary differential pressure, so that the acceleration of the rotating body is as follows Figure 6 As shown by the solid line in the third graph from the top, it is roughly adjusted to a fixed value.

[0088] Figure 7 This is a flowchart showing an example of a calculation process performed by the controller 70 of the drive control device 101 according to the modification of the present embodiment. Figure 7 The calculations shown and Figure 3 The difference between the calculation processes shown is the method of calculating the target rotation differential pressure.

[0089] exist Figure 3 In the embodiment shown in FIG. 1 , the target turning torque (T) is calculated using the target turning acceleration determined according to the lever operation amount of the turning operation. Figure 3 The target rotational torque (T) is calculated to calculate the target rotational differential pressure (P) (step S7). Figure 7 The calculation process involved in the modification example shown includes Figure 7 The processing of steps S11 and S12 is replaced by Figure 3 The processing of steps S6 and S7.

[0090] In this variation, in step S11, the controller 70 calculates the ratio of the moments of inertia (Ir) between the reference posture and the current posture. In step S12, the controller 70 calculates the target rotation differential pressure (Pr) at the current posture using the target rotation differential pressure reference value (P0) and the formula "Pr = Ir × P0". The target rotation differential pressure reference value (P0) is the target rotation differential pressure at the reference posture, which is pre-set and stored in the controller 70. The ratio of the moments of inertia (Ir) is the ratio of the moment of inertia at a predetermined reference posture to the moment of inertia at the current posture (Ir = moment of inertia at the current posture / moment of inertia at the reference posture). The moment of inertia at the reference posture is pre-stored in the controller 70. The moment of inertia at the current posture is as described above, with Figure 3 The calculation is performed in the manner of steps S4 and S5. If the moment of inertia increases, the required rotation torque (required differential pressure) will increase. Therefore, for example, when the moment of inertia in the current posture is greater than the moment of inertia in the reference posture, the ratio of the moment of inertia (Ir) is greater than 1, and the target rotation differential pressure (Pr) is greater than the target rotation differential pressure reference value (P0).

[0091] As described above, when the equivalent capacity of the rotary motor and the target rotary acceleration are fixed values, the rotary differential pressure is proportional to the moment of inertia. Therefore, if the target rotary differential pressure reference value (P0) and the ratio of the moment of inertia between the reference posture and the current posture (Ir) are determined, the controller 70 can calculate the target rotary differential pressure (Pr) in the current posture using the above formula "Pr = Ir × P0". The controller 70 can calculate the target rotary differential pressure (Pr) required for the current posture by performing the above calculation processing.

[0092] Figure 7 The processing of steps S1-S5 and steps S8, S9, S21 in the flowchart is the same as Figure 3 The processes of steps S1 to S5 and steps S8 , S9 , and S21 in the flowchart shown are the same, and therefore detailed description of these processes will be omitted.

[0093] [Modifications]

[0094] As mentioned above, although the rotary construction machine according to the embodiment of the present disclosure has been described, the present disclosure is not limited to the above embodiment, and may include the following modified examples, for example.

[0095] (A) Target rotation acceleration

[0096] In the above embodiment, the controller 70 controls the lever operation amount of the swing operation at this time and, for example, Figure 5The mapping shown in the figure determines the target swing acceleration, but the method of determining the target swing acceleration corresponding to the amount of swing operation is not limited to the above specific example. The controller 70 may determine the target swing acceleration based on the amount of lever operation of the swing operation at this time and a predetermined relationship. Figure 5 The map shown above is a map having a characteristic that the lever operation amount is proportional to the target swing acceleration. However, the characteristic of the map for determining the target swing acceleration is not limited to Figure 5 The characteristic may be, for example, a mapping in which the target swing acceleration increases curve-wise as the lever operation amount increases, or a mapping having a characteristic in which the target swing acceleration increases as the lever operation amount increases until the lever operation amount reaches a specific value, and if the lever operation amount exceeds the specific value, the target swing acceleration becomes a fixed value.

[0097] (B) Regarding the target torque-related value and the actual torque-related value

[0098] In the embodiment, the target rotation torque associated value is the target of the rotation differential pressure, i.e., the target rotation differential pressure, and the actual rotation torque associated value is the rotation differential pressure detected by the differential pressure detector, however, it is not limited to this specific example. The target rotation torque associated value in the present disclosure may also be the target rotation torque itself calculated using the moment of inertia associated with the rotation action and the target rotation acceleration. In this case, the actual rotation torque associated value in the present disclosure may also be the actual rotation torque itself. In addition, the target rotation torque associated value may also be other physical quantities associated with the target rotation torque, and the actual rotation torque associated value may also be other physical quantities associated with the actual rotation torque.

[0099] (C) About compound operations

[0100] In the embodiment, the composite operation when the controller 70 performs the swing acceleration FB control includes the boom operation and the swing operation. The boom operation may be a boom raising operation or a boom lowering operation. In addition, in the present disclosure, the composite operation when the controller performs the swing acceleration FB control may include the arm operation (arm pushing operation or arm retracting operation) and the swing operation, or may include the bucket operation and the swing operation.

[0101] (D) Regarding the first movable portion, the first actuator, the first operating device, the first operation, and the first control valve

[0102] In the embodiment, the first movable part is the boom 4, the first actuator is the boom cylinder 7, the first operating device is the boom operating device, the first operation is the boom operation, and the first control valve is the boom control valve, but it is not limited to the specific example described above. The first movable part in the present disclosure may also be an arm or a bucket, in which case the first actuator may also be the arm cylinder 8 or the bucket cylinder 9, the first operating device may also be an arm operating device or a bucket operating device, the first operation may also be an arm operation (an arm push operation or an arm retracting operation) or a bucket operation, and the first control valve may also be an arm control valve or a bucket control valve. In addition, when the working device includes other remote attachments such as a grab, a fork, a crusher, etc. instead of the bucket, the first movable part in the present disclosure may also be the remote attachment, the first actuator may also be a hydraulic actuator that operates the remote attachment, the first operation may also be an operation that operates the hydraulic actuator, the first operating device may also be an operating device to which the first operation is applied, and the first control valve may also be a control valve that can adjust the opening to change the flow rate of the working oil supplied from the other hydraulic pump to the hydraulic actuator.

[0103] (E) About hydraulic pump

[0104] The drive control device according to the above embodiment includes the first pump 21 and the second pump 22 , but may include the second pump 22 instead of the first pump 21 .

[0105] (F) About the controller

[0106] In the embodiment, the controller 70 calculates the target rotation torque associated value associated with the target rotation torque by using the rotational inertia of the rotating body around the rotation axis and the target rotation acceleration during the compound operation, and adjusts the opening of the compensation control valve so that the deviation between the target rotation torque associated value and the actual rotation torque associated value associated with the actual rotation torque is close to zero, however, it is not limited to this specific example. For example, the controller 70 may also adjust the opening of the compensation control valve during the compound operation so that the deviation between the target rotation acceleration corresponding to the operation amount of the rotation operation and the actual rotation acceleration is close to zero. In this case, the controller differentiates the action speed of the rotation motor 11 detected by the rotation speed detector 62 or the speed related to the action speed, for example, according to time, thereby being able to calculate the actual rotation acceleration. In addition, in the case where the drive control device 101 includes a torque sensor not shown in the figure, the controller 70 may also calculate the actual rotation acceleration by using the detected torque and rotational inertia.

[0107] In the embodiment, the controller 70 calculates the target rotational torque correlation value using the rotational inertia and the target rotational acceleration during the compound operation. That is, in the embodiment, the controller 70 adjusts the opening of the compensation control valve so that the deviation between the target rotational torque correlation value after correcting the target rotational acceleration using the rotational inertia and the actual rotational torque correlation value is close to zero, but is not limited to this specific example. The controller in the present disclosure may also adjust the opening of the compensation control valve in a manner such that the deviation between the target rotational acceleration and the actual rotational acceleration is close to zero during the compound operation without correcting the target rotational acceleration using the rotational inertia.

[0108] In the embodiment, the controller 70 adjusts the opening of the swing control valve during the combined operation so that the actual swing acceleration is adjusted to the target swing acceleration. However, the adjustment of the opening of the swing control valve during the combined operation may be omitted.

[0109] (G) Regarding the moment of inertia

[0110] In the embodiment described above, the moment of inertia (I) about the rotation axis Z is calculated using the above equation “I = mr 2 " is calculated, however, the calculation method (calculation formula) of the moment of inertia is not limited to the specific example described in the above embodiment.

[0111] As described above, according to the present disclosure, a drive control device for a rotary engineering machine is provided, which can adjust the rotary acceleration to a target rotary acceleration corresponding to the operation amount of the rotary operation even when the hydraulic pump is used for both the rotary motor and the first actuator and a composite operation for operating these actuators is performed.

[0112] The drive control device of the provided rotary engineering machinery includes: a hydraulic pump; a rotary motor, which rotates an upper rotary body, and the upper rotary body supports a working device including a first movable part; a first actuator, which moves the first movable part; a rotary control valve, which is located between the hydraulic pump and the rotary motor and can adjust the opening so that the flow rate of the working oil supplied from the hydraulic pump to the rotary motor changes; a compensation control valve, which is located between the hydraulic pump and the first actuator and can adjust the opening so that the flow rate of the working oil supplied from the hydraulic pump to the first actuator changes; a rotary operating device, which is applied with a rotary operation for operating the rotary motor; a first operating device, which is applied with a first operation for operating the first actuator; and a controller, which adjusts the opening of the compensation control valve when the first operation and the rotary operation are combined, so that the actual rotary acceleration is adjusted to the target rotary acceleration corresponding to the operation amount of the rotary operation.

[0113] In the drive control device, the controller adjusts the opening of the compensation control valve to adjust the pressure on the upstream side of the compensation control valve during the combined operation, thereby generating a swing torque required to adjust the actual swing acceleration to the target swing acceleration regardless of the working pressure of the first actuator during the combined operation. Therefore, even when the hydraulic pump is used as both the swing motor and the first actuator and a combined operation for operating the swing motor and the first actuator is performed, the drive control device can control the actual swing acceleration to the target swing acceleration corresponding to the operation amount of the swing operation.

[0114] Preferably, during the compound operation, the controller calculates a target rotation torque-related value associated with the target rotation torque using the rotational inertia of the rotating body including the upper rotating body and the working device around the rotation axis and the target rotation acceleration, and adjusts the opening of the compensation control valve so that the deviation between the target rotation torque-related value and the actual rotation torque-related value associated with the actual rotation torque is close to zero. The rotational inertia of the rotating body including the upper rotating body and the working device around the rotation axis changes according to the posture of the working device including the first movable part. Therefore, in this structure, the controller calculates a target rotation torque-related value using the rotational inertia and the target rotation acceleration, and adjusts the opening of the compensation control valve so that the deviation between the target rotation torque-related value and the actual rotation torque-related value is close to zero, thereby enabling the actual rotation acceleration to be more accurately controlled to the target rotation acceleration corresponding to the operation amount of the rotation operation regardless of the posture of the working device.

[0115] The drive control device preferably further includes a differential pressure detector for detecting the differential pressure between the inlet pressure and the outlet pressure of the rotary motor, i.e., the rotary differential pressure; the target rotary torque-related value is the target of the rotary differential pressure, i.e., the target rotary differential pressure; and the actual rotary torque-related value is the rotary differential pressure detected by the differential pressure detector. In this structure, by making the rotary differential pressure detectable by the differential pressure detector close to the target rotary differential pressure, the rotary torque required to control the actual rotary acceleration to the target rotary acceleration can be generated.

[0116] The controller preferably adjusts the opening of the swing control valve during the combined operation so that the actual swing acceleration is adjusted to the target swing acceleration. In this structure, since two adjustments are made regarding the swing acceleration during the combined operation, namely, the adjustment of the opening of the compensation control valve and the adjustment of the opening of the swing control valve, the swing acceleration can be more accurately controlled to the target swing acceleration corresponding to the operation amount of the swing operation.

[0117] The provided rotary engineering machine includes the drive control device, the working device including the first movable part, and the upper rotary body. In the rotary engineering machine, even when the hydraulic pump is used as both the rotary motor and the first actuator and a combined operation for operating the rotary motor and the first actuator is performed, the rotary acceleration is adjusted to a target rotary acceleration corresponding to the operation amount of the rotary operation.

Claims

1. A drive control device for a rotary engineering machinery, characterized in that include: Hydraulic pumps; A rotary motor rotates an upper rotary body supporting a working device including a first movable part; a first actuator for moving the first movable part; a swing control valve interposed between the hydraulic pump and the swing motor, capable of adjusting an opening degree so as to change a flow rate of the hydraulic oil supplied from the hydraulic pump to the swing motor; a compensating control valve interposed between the hydraulic pump and the first actuator, capable of adjusting an opening degree so as to change a flow rate of hydraulic oil supplied from the hydraulic pump to the first actuator; A rotary operation device to which a rotary operation is applied to cause the rotary motor to operate; a first operating device to which a first operation for operating the first actuator is applied; as well as The controller adjusts the opening of the compensation control valve so that the actual swing acceleration is adjusted to the target swing acceleration corresponding to the operation amount of the swing operation when the first operation and the swing operation are combined.

2. The driving control device for rotary engineering machinery according to claim 1, characterized in that: During the compound operation, the controller uses the rotational inertia of the rotating body including the upper rotating body and the working device around the rotating axis and the target rotation acceleration to calculate the target rotation torque associated value associated with the target rotation torque, and adjusts the opening of the compensation control valve so that the deviation between the target rotation torque associated value and the actual rotation torque associated value associated with the actual rotation torque is close to zero.

3. The driving control device for rotary engineering machinery according to claim 2, characterized in that Also includes: The differential pressure detector detects the differential pressure between the inlet pressure and the outlet pressure of the rotary motor, that is, the rotary differential pressure, wherein: The target rotation torque-related value is the target rotation differential pressure, that is, the target rotation differential pressure. The actual rotation torque-related value is the rotation differential pressure detected by the differential pressure detector.

4. The driving control device for a rotary engineering machine according to any one of claims 1 to 3, characterized in that: The controller adjusts the opening degree of the swing control valve during the combined operation so that the actual swing acceleration is adjusted to the target swing acceleration.

5. A rotary engineering machine, characterized in that include: The drive control device according to any one of claims 1 to 4; The working device comprising the first movable part; as well as The upper rotating body.

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