Control system and control method for working machinery

Abstract

To operate the work machine appropriately according to the conditions under which it is being operated. [Solution] A control system 100 for a work machine 1 is provided, comprising a plurality of actuators driven by hydraulic fluid, an operating device 8 for setting the amount of operation of the actuators, a power source 14 for operating the actuators, an input device 9B for inputting at least one of the specifications and various settings of the work machine 1, and a controller 50 for controlling the actuators. The controller 50 changes the target speed characteristic, maximum speed, or transient speed characteristic with respect to the amount of operation according to the amount of operation set by the operating device 8 and at least one of the input specifications and various settings of the work machine 1.

Description

Technical Field

[0001] The present disclosure relates to a control system for a working machine and a method for controlling a working machine.

Background Art

[0002] In an electric swing excavator, there is a known technique for making the rise and fall of the torque output and acceleration output gentle when the rise and fall of the lever signal are steep due to sensitive operation of the swing lever.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The transient response or maximum speed of a plurality of actuators of a working machine varies in optimal characteristics depending on the type of actuator or the operating state of the working machine.

[0005] An object of the present disclosure is to appropriately operate a working machine according to the state when the working machine is operated.

Means for Solving the Problems

[0006] According to the present disclosure, there is provided a control system for a working machine including a plurality of actuators, an input device for inputting at least any one of the specifications and various settings of the working machine including the actuators, and a controller for controlling the actuators. The controller acquires the operation amount of the set actuator, and changes the target speed characteristic, maximum speed, or transient speed characteristic with respect to the operation amount according to at least any one of the specifications and the various settings of the working machine input by the input device.

[0007] A method for controlling a work machine is provided, comprising: a plurality of actuators; an input device for inputting at least one of the specifications and various settings of a work machine including the actuators; and a controller for controlling the actuators. The controller acquires a set amount of operation of the actuators and changes a target speed characteristic, maximum speed, or transient speed characteristic with respect to the amount of operation according to the acquired amount of operation and at least one of the specifications and various settings of the work machine input by the input device. [Effects of the Invention]

[0008] According to this disclosure, the work machine can be operated appropriately depending on the state in which the work machine is operated. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a side view showing a work machine according to an embodiment. [Figure 2] Figure 2 shows the cab of the work machine according to the embodiment. [Figure 3] Figure 3 is a schematic diagram showing an example of a hydraulic circuit of a work machine according to the embodiment. [Figure 4] Figure 4 is a hardware configuration diagram showing a controller according to an embodiment. [Figure 5] Figure 5 is a functional block diagram showing a controller according to an embodiment. [Figure 6] Figure 6 shows an example of how to calculate the degree of repetition. [Figure 7] Figure 7 shows an image of the waveform during the calculation process for the degree of repetition of an operation. [Figure 8] Figure 8 is a diagram showing the processing flow in the controller according to the embodiment. [Figure 9] Figure 9 shows the flow of the target flow rate calculation process in Figure 8. [Figure 10]FIG. 10 is a diagram showing an example of the normalized target speed characteristic with respect to the lever operation amount. [Figure 11] FIG. 11 is a diagram showing an example of the characteristic parameters for determining the transient target speed characteristic. [Figure 12] FIG. 12 is a diagram showing another example of the characteristic parameters for determining the transient target speed characteristic. [Figure 13] FIG. 13 is a diagram showing an example of the jerk control.

BEST MODE FOR CARRYING OUT THE INVENTION

[0010] [WORKING MACHINE] FIG. 1 is a side view showing a working machine 1 according to an embodiment. The working machine 1 operates at a work site. The working machine 1 is, for example, a hydraulic excavator, a wheel loader, a bulldozer, etc., and is not limited thereto. In the embodiment, as an example, the working machine 1 will be described as a hydraulic excavator. The working machine 1 includes a traveling body 2, which is a machine body, a revolving body 3, a working device 4, a traveling motor 5, a swing motor 6, a working device cylinder 7, an operation device 8, a monitor 9, and a controller 50.

[0011] The traveling body 2 supports the revolving body 3. The traveling body 2 has a pair of crawlers 2A. The working machine 1 travels by the rotation of the crawlers 2A.

[0012] The revolving body 3 is disposed above the traveling body 2. The revolving body 3 is rotatably supported by the traveling body 2. The revolving body 3 has a cab 10. The operator of the working machine 1 boards the cab 10. The operation device 8 and the monitor 9 are disposed in the cab 10.

[0013] The working device 4 is rotatably attached to the revolving body 3. The working device 4 includes a boom 4A, an arm 4B, and a bucket 4C. The boom 4A is rotatably connected to the front portion of the revolving body 3. The arm 4B is rotatably connected to the tip of the boom 4A. The bucket 4C is rotatably connected to the tip of the arm 4B.

[0014] The bucket 4C is replaceable with other attachments. The attachment including the bucket 4C may be equipped with an IC tag (identification tag), not shown, indicating work implement information including the type and weight of the work implement 4. In this case, the work machine 1 includes a work implement identification unit, not shown, that reads the work implement information identifying the type or weight of the work implement 4 to be attached from the IC tag.

[0015] The travel motor 5 rotates the traveling body 2. The travel motor 5 is a hydraulic motor driven by hydraulic oil. The travel motor 5 is an example of an actuator driven by hydraulic oil. The actuator is not limited to the hydraulic actuator of the embodiment and may be an electric actuator driven electrically. The travel motor 5 includes a left travel motor 5L and a right travel motor 5R.

[0016] The flow rate of the left travel motor 5L is adjusted by a spool 5LS in FIG. 3 described later. The spool 5LS is provided in a direction control valve. By moving the spool 5LS, the direction and flow rate of the hydraulic oil supplied from the pump 15 to the left travel motor 5L are adjusted. By adjusting the direction of the hydraulic oil supplied to the left travel motor 5L, the left crawler is moved forward or backward.

[0017] The flow rate of the right travel motor 5R is adjusted by a spool 5RS in FIG. 3 described later. The spool 5RS is provided in a direction control valve. By moving the spool 5RS, the direction and flow rate of the hydraulic oil supplied from the pump 15 to the right travel motor 5R are adjusted. By adjusting the direction of the hydraulic oil supplied to the right travel motor 5R, the right crawler is moved forward or backward.

[0018] The slewing motor 6 rotates the slewing body 3, which is supported by the traveling body 2. The slewing motor 6 is a hydraulic motor driven by hydraulic fluid. The slewing motor 6 is an example of an actuator driven by hydraulic fluid. The slewing motor 6 is equipped with a spool 6S. By moving the spool 6S, the direction and flow rate of the hydraulic fluid supplied from the pump 15 to the slewing motor 6 are adjusted. By adjusting the direction of the hydraulic fluid supplied to the slewing motor 6, the slewing body can be rotated to the right or to the left.

[0019] The work implement cylinder 7 operates the work implement 4 attached to the slewing body 3. The work implement cylinder 7 is a hydraulic cylinder driven by hydraulic fluid. The work implement cylinder 7 is an example of an actuator driven by hydraulic fluid. The work implement cylinder 7 includes a boom cylinder 7A, an arm cylinder 7B, and a bucket cylinder 7C.

[0020] The boom cylinder 7A operates the boom 4A. The operation of the boom 4A includes raising and lowering movements. When the boom cylinder 7A extends, the boom 4A moves upward. When the boom cylinder 7A retracts, the boom 4A moves downward. The boom cylinder 7A is equipped with a spool 7AS. By moving the spool 7AS, the direction and flow rate of the hydraulic fluid supplied from the pump 15 to the boom cylinder 7A are adjusted. By adjusting the direction of the hydraulic fluid supplied to the boom cylinder 7A, the boom cylinder 7A can be extended or retracted.

[0021] The arm cylinder 7B operates the arm 4B. The operation of the arm 4B includes digging and dumping operations. When the arm cylinder 7B extends, the arm 4B performs the digging operation. When the arm cylinder 7B retracts, the arm 4B performs the dumping operation. The arm cylinder 7B is equipped with a spool 7BS. By moving the spool 7BS, the direction and flow rate of the hydraulic fluid supplied from the pump 15 to the arm cylinder 7B are adjusted. By adjusting the direction of the hydraulic fluid supplied to the arm cylinder 7B, the arm cylinder 7B can be extended or retracted.

[0022] The bucket cylinder 7C operates the bucket 4C. The operation of the bucket 4C includes digging and dumping operations. When the bucket cylinder 7C extends, the bucket 4C performs the digging operation. When the bucket cylinder 7C retracts, the bucket 4C performs the dumping operation. The bucket cylinder 7C is equipped with a spool 7CS. By moving the spool 7CS, the direction and flow rate of the hydraulic fluid supplied from the pump 15 to the bucket cylinder 7C are adjusted. By adjusting the direction of the hydraulic fluid supplied to the bucket cylinder 7C, the bucket cylinder 7C can be extended or retracted.

[0023] Figure 2 shows the cab 10 of the work machine 1 according to the embodiment. As shown in Figure 2, the operating device 8 and monitor 9 are located in the cab 10. The operating device 8 is operated to operate at least one of the traveling body 2, the rotating body 3, and the work machine 4. The operating device 8 is operated by an operator who is seated in the cab 10. The operator operates the operating device 8 while seated in the driver's seat 11 located in the cab 10.

[0024] The operating device 8 is an example of an operating amount setting unit that sets the operating amount for each actuator of the traveling body 2, the slewing body 3, and the work implement 4. The actuators include a traveling motor 5, a slewing motor 6, and a work implement cylinder 7. When the operating device 8 is operated, an operating signal is generated. The operating signal of the operating device 8 includes the operating amount of the operating device 8. The operating amount may be considered as the signal strength of the operating signal. The operating signal of the operating device 8 is transmitted to the controller 50. The controller 50 controls the actuators based on the operating amount of the operating device 8.

[0025] The operating device 8 includes a left work lever 8A and a right work lever 8B, which are operated to operate the slewing body 3 and the work implement 4; a left travel lever 8C and a right travel lever 8D, which are operated to operate the traveling body 2; and a left foot pedal 8E and a right foot pedal 8F.

[0026] When the left work lever 8A is operated in the forward / backward direction, the arm 4B performs a dumping or digging operation. When the left work lever 8A is operated in the left / right direction, the slewing body 3 performs a left or right slewing operation. When the right work lever 8B is operated in the left / right direction, the bucket 4C performs an digging or dumping operation. When the right work lever 8B is operated in the forward / backward direction, the boom 4A performs a lowering or raising operation. Alternatively, when the left work lever 8A is operated in the forward / backward direction, the slewing body 3 may perform a right or left slewing operation. When the left work lever 8A is operated in the left / right direction, the arm 4B may perform a dumping or digging operation.

[0027] When the left travel lever 8C is operated in the forward or backward direction, the left track 2A of the vehicle 2 moves forward or backward. When the right travel lever 8D is operated in the forward or backward direction, the right track 2A of the vehicle 2 moves forward or backward.

[0028] The left foot pedal 8E is linked to the left travel lever 8C. The right foot pedal 8F is linked to the right travel lever 8D. By operating the left foot pedal 8E and the right foot pedal 8F, the vehicle 2 may move forward or backward.

[0029] In the following description, the amount of control required to operate the boom cylinder 7A will be appropriately referred to as the boom control amount. The amount of control required to operate the arm cylinder 7B will be appropriately referred to as the arm control amount. The amount of control required to operate the bucket cylinder 7C will be appropriately referred to as the bucket control amount. The amount of control required to operate the travel motor 5 will be appropriately referred to as the travel control amount. The amount of control required to operate the slewing motor 6 will be appropriately referred to as the slewing control amount. The control amounts include the boom control amount, arm control amount, bucket control amount, travel control amount, and slewing control amount.

[0030] The monitor 9 is positioned to the right and in front of the driver's seat 11. The monitor 9 includes a display device 9A and an input device 9B, which is an input device.

[0031] Display device 9A displays display data. Display device 9A provides display data to the operator in the cab 10. An example of display device 9A is a flat panel display such as a liquid crystal display or an organic EL display.

[0032] Input device 9B is operated by an operator in cab 10. Input device 9B generates input data when operated by the operator. Examples of input device 9B include a touch panel, button switches, and a computer keyboard. An example of input device 9B is the throttle dial 8G.

[0033] Input device 9B accepts input of at least one of the specifications and various settings of the work machine. Input device 9B also has a function to accept input of the control mode, for example.

[0034] The specifications of the work machine include the specifications of the work machine 4, or the specifications of the machine body. For example, the specifications of the work machine include the type and length of the attachments to work machine 4, the type and length of the reinforced work machine, and other examples of work machine 4 types. Attachments include, for example, a standard bucket, a tilt bucket or rotating bucket with an increased number of movable axes, a clapple with a gripping mechanism, and a breaker with a breaking mechanism. A reinforced work machine is a work machine that has been modified compared to a standard work machine, for example, by changing the length of the boom or arm, or by adding reinforcements. For example, the specifications of the machine body include the weight and dimensions of the counterweight and the dimensions of the running body.

[0035] The various settings include, for example, the control mode, the target speed characteristic or target flow rate characteristic for the actuator's operation amount, the maximum speed, the transient speed characteristic, and the magnitude of the engine speed.

[0036] The control mode indicates the control state of the work machine 1. In this embodiment, the control mode includes, for example, work mode, remote control mode, automatic control mode, etc.

[0037] The work mode is a control state that is appropriate for the working condition of the work machine 1. Examples of work modes include "P mode (power mode)" which prioritizes the amount of work done, "E mode (economy mode)" which balances fuel efficiency and the amount of work done, "L mode (lifting mode)" which takes into account fine operations such as lifting loads, and "B mode (breaker mode)".

[0038] The input device 9B functions as a target setting unit that sets a target speed characteristic or target flow rate characteristic for the actuator's manipulated amount. Its function as a target setting unit will be described later.

[0039] The input device 9B allows you to set, for example, the maximum speed.

[0040] The input device 9B allows for the configuration of transient speed characteristics, for example.

[0041] A throttle dial 8G, an example of an input device 9B, is a device for setting the engine speed of a work machine. In this embodiment, the throttle dial 8G is a setting dial that changes the maximum speed or transient speed characteristics of the work machine. The throttle dial 8G is a dial that adjusts the magnitude of the engine speed.

[0042] [Control System] Figure 3 is a schematic diagram showing an example of a hydraulic circuit of a work machine according to the embodiment. The control system 100 includes a hydraulic system that operates using hydraulic fluid. As shown in Figure 3, the control system 100 includes a controller 50, an operating device 8, a bleed valve 13, a power source 14, a pump 15, a tank 16, an EPC valve 17, a load pressure sensor 18, a pump passage 19, a suction passage 20, an actuator passage 21, a swing motor 6, and a work machine cylinder 7.

[0043] The bleed valve 13 operates to discharge excess hydraulic fluid discharged from the pump 15 into the pump passage 19 into the tank. If the discharge flow rate of the pump 15 exceeds the total target flow rate of the EPC valve 17, the bleed valve 13 opens, and the excess hydraulic fluid discharged from the pump 15 is discharged into the tank via the pump passage 19. If the total target flow rate of the EPC valve 17 falls below the minimum pump flow rate, the bleed valve 13 opens, and the excess hydraulic fluid discharged from the pump 15 is discharged into the tank via the pump passage 19.

[0044] Power source 14 is the power source for the work machine 1. Power source 14 is the power source for each actuator of the work machine 1. A diesel engine is given as an example of power source 14. However, power source 14 may also be an electric motor. Power source 14 is connected to pump 15. Power source 14 drives pump 15.

[0045] Pump 15 is a hydraulic pump that discharges hydraulic fluid. Pump 15 discharges hydraulic fluid that is supplied to the actuators of the work machine 1. The actuators include a slewing motor 6 and a work machine cylinder 7. In this embodiment, the hydraulic fluid discharged from pump 15 is distributed to each of the multiple actuators. Pump 15 draws in hydraulic fluid contained in tank 16 through suction passage 20. Pump 15 discharges the hydraulic fluid drawn in from tank 16 into pump passage 19. Pump 15 is a swashplate type variable displacement pump. The capacity [cc / rev] of pump 15 is changed by changing the angle of the swashplate of pump 15.

[0046] The actuator passage 21 connects the pump passage 19 to the actuators. Multiple actuator passages 21 are provided to connect the pump passage 19 to each of the multiple actuators. In this embodiment, the actuator passage 21 includes a first actuator passage 21A connecting the pump passage 19 to the boom cylinder 7A, a second actuator passage 21B connecting the pump passage 19 to the arm cylinder 7B, a third actuator passage 21C connecting the pump passage 19 to the bucket cylinder 7C, and a fourth actuator passage 21D connecting the pump passage 19 to the slewing motor 6.

[0047] The EPC valve 17 is a valve for adjusting the pilot pressure that operates the spool 7S, which is a directional control valve that controls the flow rate and direction of the hydraulic fluid supplied from the pump 15 to the actuators of the work machine 1. Multiple EPC valves 17 are provided so that each of the spools 7S that control the flow rate of the hydraulic fluid supplied from the pump 15 to each of the multiple actuators can be operated in both directions.

[0048] In this embodiment, the EPC valve 17 includes EPC valves 17A1 and 17A2 that operate a spool 7AS which controls the flow rate of hydraulic fluid supplied from the pump 15 to the boom cylinder 7A; EPC valves 17B1 and 17B2 that operate a spool 7BS which controls the flow rate of hydraulic fluid supplied from the pump 15 to the arm cylinder 7B; EPC valves 17C1 and 17C2 that operate a spool 7CS which controls the flow rate of hydraulic fluid supplied from the pump 15 to the bucket cylinder 7C; EPC valves 17D1 and 17D2 that operate a spool 5LS which controls the flow rate of hydraulic fluid supplied from the pump 15 to the left travel motor 5L; EPC valves 17E1 and 17E2 that operate a spool 5RS which controls the flow rate of hydraulic fluid supplied from the pump 15 to the right travel motor 5R; and EPC valves 17F1 and 17F2 that operate a spool 6S which controls the flow rate of hydraulic fluid supplied from the pump 15 to the swing motor 6.

[0049] EPC valves 17A1 and 17A2 are located in the pilot channel 19Q connecting the pilot pump 15Q and the spool 7AS. EPC valve 17A1 receives a boom-raising control signal. EPC valve 17A2 receives a boom-lowering control signal. EPC valves 17B1 and 17B2 are located in the pilot channel 19Q connecting the pilot pump 15Q and the spool 7BS. EPC valve 17B1 receives an arm-excavation control signal. EPC valve 17B2 receives an arm-dump control signal. EPC valves 17C1 and 17C2 are located in the pilot channel 19Q connecting the pilot pump 15Q and the spool 7CS. EPC valve 17C1 receives a bucket-excavation control signal. EPC valve 17C2 receives a bucket-dump control signal. EPC valves 17D1 and 17D2 are located in the pilot passage 19Q connecting the pilot pump 15Q and the spool 5LS. EPC valve 17D1 receives a forward left movement control signal. EPC valve 17D2 receives a reverse left movement control signal. EPC valves 17E1 and 17E2 are located in the pilot passage 19Q connecting the pilot pump 15Q and the spool 5RS. EPC valve 17E1 receives a forward right movement control signal. EPC valve 17E2 receives a reverse right movement control signal. EPC valves 17F1 and 17F2 are located in the pilot passage 19Q connecting the pilot pump 15Q and the spool 6S. EPC valve 17F1 receives a right turn control signal. EPC valve 17E2 receives a left turn control signal.

[0050] The load pressure sensor 18 detects the load pressure acting on the actuator. The load pressure sensor 18 detects the pressure of the hydraulic fluid in the actuator flow path 21 between the spool 7S and the actuator. Multiple load pressure sensors 18 are provided to detect the load pressure acting on each of the multiple actuators.

[0051] In this embodiment, the load pressure sensor 18 includes load pressure sensors 18A1 and 18A2 for detecting the load pressure of the boom cylinder 7A, load pressure sensors 18B1 and 18B2 for detecting the load pressure of the arm cylinder 7B, load pressure sensors 18C1 and 18C2 for detecting the load pressure of the bucket cylinder 7C, load pressure sensors 18D1 and 18D2 for detecting the load pressure of the left travel motor 5L, load pressure sensors 18E1 and 18E2 for detecting the load pressure of the right travel motor 5R, and load pressure sensors 18F1 and 18F2 for detecting the load pressure of the slewing motor 6.

[0052] The load pressure sensor 18A detects the pressure in the first actuator passage 21A between the spool 7AS and the boom cylinder 7A. The load pressure sensor 18A1 detects the pressure on the head side of the boom cylinder 7A. The load pressure sensor 18A2 detects the pressure on the rod side of the boom cylinder 7A. The load pressure sensor 18B detects the pressure in the second actuator passage 21B between the spool 7BS and the arm cylinder 7B. The load pressure sensor 18B1 detects the pressure on the head side of the arm cylinder 7B. The load pressure sensor 18B2 detects the pressure on the rod side of the arm cylinder 7B. The load pressure sensor 18C detects the pressure in the third actuator passage 21C between the spool 7CS and the bucket cylinder 7C. The load pressure sensor 18C1 detects the pressure on the head side of the bucket cylinder 7C. The load pressure sensor 18C2 detects the pressure on the rod side of the bucket cylinder 7C. The load pressure sensor 18D detects the pressure in the fourth actuator passage 21D between the spool 5LS and the left travel motor 5L. The load pressure sensor 18D1 detects the pressure acting during forward movement. The load pressure sensor 18D2 detects the pressure acting during reverse movement. The load pressure sensor 18E detects the pressure in the fifth actuator passage 21E between the spool 5RS and the right travel motor 5R. The load pressure sensor 18E1 detects the pressure acting during forward movement. The load pressure sensor 18E2 detects the pressure acting during reverse movement. The load pressure sensor 18F detects the pressure in the sixth actuator passage 21F between the spool 6S and the swing motor 6. The load pressure sensor 18F1 detects the pressure acting during right turns. The load pressure sensor 18F2 detects the pressure acting during left turns. The detection data from the load pressure sensors 18 is transmitted to the controller 50.

[0053] [controller] Figure 4 is a hardware configuration diagram showing a controller 50 according to an embodiment. The controller 50 includes a computer 1000. The computer 1000 has a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), a storage 1003, an input / output interface 1004 including input / output circuits, and a communication interface 1005 including communication circuits. The functions of the controller 50 are stored in the storage 1003 as a computer program 1006. The processor 1001 reads the computer program 1006 from the storage 1003, loads it into the main memory 1002, and executes processing according to the computer program 1006. The computer program 1006 may be distributed to the computer 1000 via a network.

[0054] Figure 5 is a functional block diagram showing a controller 50 according to an embodiment. The controller 50 controls each actuator. The controller 50 outputs control commands to control at least the pump 15 and the EPC valve 17. The controller 50 is connected to an operating device 8, a monitor 9 including an input device 9B, a load pressure sensor 18, and a rotation sensor 30.

[0055] The rotation sensor 30 detects the rotation state of the rotation body 3. The rotation state of the rotation body 3 includes whether or not it is rotating (whether or not it is rotating), the rotation angle of the rotation body 3 relative to the vehicle 2, and the rotation speed of the rotation body 3 relative to the vehicle 2. Examples of rotation sensors 30 include a rotation speed pickup sensor and an IMU.

[0056] The controller 50 has multiple storage units and multiple functional units. The functions of the storage units of the controller 50 are performed by the storage 1003. The functions of the functional units of the controller 50 are performed by the processor 1001. The functions of the functional units of the controller 50 may be implemented by a single controller or distributed across multiple controllers. The multiple controllers may be distributed between the work machine 1 and its external location.

[0057] The controller 50 includes a storage unit for work equipment information 71 and a storage unit for target speed characteristics 72.

[0058] The work equipment information storage unit 71 stores work equipment information, including the type and weight of the work equipment 4.

[0059] Work equipment information is set, for example, by input operations via the setting information terminal 81. Work equipment information is obtained, for example, from an IC tag attached to the attachment of work equipment 4. Work equipment information is obtained, for example, from an external server device (not shown) via a database system that collects work equipment information.

[0060] The target speed characteristic storage unit 72 stores target speed data, which is correlation data showing the relationship between the manipulated amount for each of the multiple actuators and the target speed of the actuator. The target speed data is predetermined and stored in the target speed characteristic storage unit 72.

[0061] Target speed data is used to determine the target speed of a target actuator among multiple actuators. There is a one-to-one correspondence between the target speed of the target actuator and the target flow rate of the hydraulic fluid supplied to it. The flow rate of the hydraulic fluid supplied to the actuator and the actuator's operating speed are substantially proportional. Determining the target speed of the target actuator includes determining the target flow rate of that actuator.

[0062] Target speed data is available for each of the following components: left travel motor 5L, right travel motor 5R, slewing motor 6, boom cylinder 7A, arm cylinder 7B, and bucket cylinder 7C.

[0063] The target speed data shows, for example, the relationship between the lever operation amount of the left travel lever 8C and the target speed of the left travel motor 5L. The target speed data shows, for example, the relationship between the lever operation amount of the right travel lever 8D and the target speed of the right travel motor 5R. The target speed data shows the relationship between the lever operation amount of the left work lever 8A in the left-right direction and the target speed of the slewing motor 6. The target speed data shows the relationship between the lever operation amount of the right work lever 8B in the front-rear direction and the target speed of the boom cylinder 7A. The target speed data shows the relationship between the lever operation amount of the left work lever 8A in the front-rear direction and the target speed of the arm cylinder 7B. The target speed data shows the relationship between the lever operation amount of the right work lever 8B in the left-right direction and the target speed of the bucket cylinder 7C.

[0064] The functional unit of the controller 50 includes an operation variable acquisition unit 51, a repeat operation degree calculation unit 52, a composite operation state determination unit 53, a target speed characteristic setting unit 54, a maximum flow rate calculation unit 55, a transient characteristic calculation unit 56, a static target calculation unit 57, a transient target calculation unit 58, and a control unit 59.

[0065] The manipulated amount acquisition unit 51 acquires the operation signal of the operating device 8. The operation signal of the operating device 8 includes the manipulated amount of the operating device 8. When the operating device 8 is operated in a combination of operations, the manipulated amount acquisition unit 51 acquires a combined manipulated amount that indicates the manipulated amount of the operating device 8 that operates multiple actuators simultaneously.

[0066] The repeatability calculation unit 52 calculates the repeatability as the operating state of the work machine 4 based on the amount of operation of the operating device 8. More specifically, the repeatability calculation unit 52 calculates the repeatability of the work machine 4 based on the amount of operation of the operating device 8. The repeatability calculation unit 52 calculates the repeatability according to the frequency and amplitude of the change in the amount of operation.

[0067] Repetitive operations include, for example, boom compaction, arm skeleton operation, and bucket skeleton operation.

[0068] The degree of repetition is the degree of repetition of work machine 4 of work machine 1. The degree of repetition is calculated according to the frequency and amplitude of the change in the manipulated quantity.

[0069] Figures 6 and 7 will be used to explain how the degree of repetition is calculated. Figure 6 shows an example of how the degree of repetition is calculated. Figure 7 shows an image of the waveform during the repetition calculation process. As shown in Figure 6, the degree of repetition is calculated by first applying a band-pass filter (BPF) to the lever operation amount. Then, after applying an absolute value (ABS) treatment to the calculation result, a low-pass filter (LPF) treatment is applied. By applying a band-pass filter, it becomes possible to detect the degree to which the output increases when the lever operation amount is close to a specific frequency for repetitive operations. Therefore, by detecting the output after applying a band-pass filter at a frequency suitable for repetitive operations, it is possible to distinguish whether each operation is a repetitive operation or a normal operation that is not a repetitive operation. As shown in Figure 7, in the case of a repetitive operation, the output is larger than in the case of a normal operation.

[0070] The combined operation state determination unit 53 determines whether the operating device 8 has been operated in combination based on the operating amount, which is the operating signal acquired by the operating amount acquisition unit 51. The combined operation state determination unit 53 determines the combined operation state from the combination of operating amounts for each actuator. The combined operation state determination unit 53 determines that, for example, the actuator of the traveling body 2 and other actuators are being operated simultaneously as part of the combined operation state.

[0071] A compound operation is a state in which the control device 8 is operated so that at least two of the multiple actuators of the work machine 1 operate simultaneously. For example, the control device 8 may be operated so that the traveling body 2 and the boom cylinder 7A operate simultaneously. For example, the control device 8 may be operated so that the boom cylinder 7A and the arm cylinder 7B operate simultaneously. In the following description, operating the control device 8 so that at least two actuators operate simultaneously will be referred to as a compound operation as appropriate.

[0072] Furthermore, operating the control device 8 so that only one of the multiple actuators of the work machine 1 operates is appropriately referred to as "single-actuator operation." Single-actuator operation includes boom single-actuator operation, in which the control device 8 is operated so that only the boom cylinder 7A operates; arm single-actuator operation, in which the control device 8 is operated so that only the arm cylinder 7B operates; bucket single-actuator operation, in which the control device 8 is operated so that only the bucket cylinder 7C operates; and slewing single-actuator operation, in which the control device 8 is operated so that only the slewing motor 6 operates.

[0073] The target speed characteristic setting unit 54, the maximum flow rate calculation unit 55, the transient characteristic calculation unit 56, the static target calculation unit 57, and the transient target calculation unit 58 will be explained using Figures 8 and 9. Figure 8 is a diagram showing the processing flow in the controller 50 according to the embodiment. Figure 9 is a diagram showing the target flow rate calculation processing flow in Figure 8. The target speed characteristic setting unit 54, the maximum flow rate calculation unit 55, the transient characteristic calculation unit 56, the static target calculation unit 57, and the transient target calculation unit 58 calculate the transient target flow rate Qtgt for calculating the EPC valve command current, the pump flow rate command current, and the spool stroke command current.

[0074] The target speed characteristic setting unit 54 sets the applicable target speed characteristic from the target speed characteristic data stored in the target speed characteristic storage unit 72, according to the manipulated amount set by the operating device 8 and at least one of the specifications and various settings of the work machine input by the input device 9B. The target speed characteristic setting unit 54 changes the target speed characteristic or target flow rate characteristic for the manipulated amount of each actuator according to the manipulated amount set by the operating device 8 and at least one of the specifications and various settings of the work machine input by the input device 9B.

[0075] The target speed characteristic setting unit 54 changes the target speed characteristic with respect to the manipulated amount based on, for example, the combined operation state of each actuator determined by the combined operation state determination unit 53.

[0076] The target speed characteristic setting unit 54 changes the target speed characteristic with respect to the manipulated variable based on the control mode input via the input device 9B of the monitor 9, for example.

[0077] The target speed characteristic setting unit 54 changes the target speed characteristic for the manipulated variable based on the target speed characteristic selected via the input device 9B of the monitor 9.

[0078] The target setting unit will be explained using Figure 10. Figure 10 is a diagram showing an example of a normalized target speed characteristic with respect to the lever operation amount. Monitor 9 displays the characteristic curve of the normalized target speed characteristic with respect to the lever operation amount. Input device 9B can accept operations to deform the displayed characteristic curve of the normalized target speed characteristic with respect to the lever operation amount. Input device 9B can accept operations to input a numerical value of the normalized target speed characteristic with respect to the lever operation amount.

[0079] The maximum flow rate calculation unit 55 calculates the maximum flow rate Qmax by multiplying the base maximum flow rate by the maximum speed adjustment gain. The maximum flow rate calculation unit 55 changes the set value of the maximum speed or maximum flow rate according to the controllable amount set by the control device 8 and at least one of the specifications and various settings of the work machine input by the input device 9B.

[0080] The maximum flow rate calculation unit 55 selects a table of maximum speed adjustment gains for the input (operated amount) according to the amount of operation of the throttle dial 8G, for example, and changes the set value of the maximum speed or maximum flow rate.

[0081] The maximum flow rate calculation unit 55 selects a table of maximum speed adjustment gains for the input (operated amount) from the repeatability of each actuator calculated by the repeatability calculation unit 52, for example, and changes the set value of the maximum speed or maximum flow rate.

[0082] The maximum flow rate calculation unit 55 selects a maximum speed adjustment gain according to, for example, the work machine information, and changes the set value of the maximum speed or maximum flow rate. The maximum flow rate calculation unit 55 selects a maximum speed adjustment gain according to, for example, the specifications of the work machine input by the input device 9B, and changes the set value of the maximum speed or maximum flow rate.

[0083] The maximum flow rate calculation unit 55 selects a maximum speed adjustment gain from the operating state of each actuator, for example, and changes the set value of the maximum speed or maximum flow rate. The maximum flow rate calculation unit 55 selects a maximum speed adjustment gain from the combined operating state of each actuator determined by the combined operating state determination unit 53, for example, and changes the set value of the maximum speed or maximum flow rate.

[0084] The maximum flow rate calculation unit 55 selects a maximum speed adjustment gain based on the control mode input via, for example, the input device 9B of the monitor 9, and changes the set value of the maximum speed or maximum flow rate.

[0085] The maximum flow rate calculation unit 55 selects a maximum speed adjustment gain based on the target speed characteristics selected via the input device 9B of the monitor 9, for example, and changes the set value of the maximum speed or maximum flow rate.

[0086] The transient characteristic calculation unit 56 calculates the transient characteristic parameter dQlim by multiplying the base transient characteristic parameter by the responsiveness adjustment gain. The transient characteristic calculation unit 56 changes the transient characteristic parameter, which is the transient speed characteristic, according to the manipulated amount set by the operating device 8 and at least one of the specifications and various settings of the work machine input by the input device 9B.

[0087] Characteristic parameters that determine transient characteristics may include, for example, parameters that limit the rate of change of the target speed or target flow rate, the time constant or cutoff frequency of the filtering process, and the jerk setpoint and maximum acceleration for jerk control.

[0088] The method for limiting the rate of change will be explained using Figure 11. Figure 11 shows an example of characteristic parameters that determine transient target speed characteristics. If the change in the input value of the manipulated variable is greater than a preset rate of change limit, it is limited to a value less than or equal to the rate of change limit. In this example of a method for limiting the rate of change, this rate of change limit is the "transient characteristic parameter".

[0089] The filtering process will be explained using Figure 12. Figure 12 shows another example of characteristic parameters that determine transient target speed characteristics. Filtering is performed on the input value to delay the output. The degree of filtering is set as the filter time constant. In the example where filtering is performed, this filter time constant is the "transient characteristic parameter".

[0090] Using Figure 13, we will explain jerk control using turning as an example. Figure 13 is a diagram showing an example of jerk control. Known methods can be used for jerk control and are not limited to the following. The derivative of the turning acceleration is the jerk (jerk value). As an example, the target turning acceleration G(t) in regions Ia, IIa, and IIIa is calculated by the following equations (1), (2), and (3). In the acceleration region, if the value obtained by subtracting the speed command value Vo(t-1) at the calculation step of the previous speed command value from the current lever command speed value Vi(t) is greater than the predetermined value Va2, and the previous target turning acceleration G(t-1) is less than the maximum turning acceleration Ga, then it is region Ia. If the difference between the lever command speed value Vi(t) and the speed command value Vo(t-1) is greater than the predetermined value Va2, and the target turning acceleration G(t-1) is greater than or equal to the maximum turning acceleration Ga, then it is region IIa. If the difference between the lever command speed value Vi(t) and the speed command value Vo(t-1) is less than or equal to the predetermined value Va2, then the region is IIIa. Ja1 and Ja2 are jerk values ​​and are calculated by equation (4). G(t-1) is the previous target turning acceleration. step is the calculation step size from the current lever command speed value Vi(t) to the previous command speed value. Ga and Gb are the maximum turning acceleration. Vi(t) is the lever command speed value obtained by converting the lever signal value, which is the lever operation amount, into speed. Vo(t-1) is the previous speed command value. Ga, Gb, Ja1, and Ja2 are the "transient characteristic parameters" during jerk control.

[0091]

number

[0092]

number

[0093]

number

[0094]

number

[0095] The transient characteristic calculation unit 56 changes the gain of the characteristic parameter that determines the transient speed characteristics in accordance with at least one of the operating amount of each actuator, the specifications of the work machine, and various settings.

[0096] The transient characteristic calculation unit 56 selects a table of response adjustment gains for the input (operated amount) according to the amount of the throttle dial 8G being operated, and changes the transient characteristic parameters.

[0097] The transient characteristic calculation unit 56 selects a table of response adjustment gains to the input (operated amount) from the repeatability of each actuator calculated by the repeatability calculation unit 52, for example, and changes the transient characteristic parameters.

[0098] The transient characteristic calculation unit 56 selects a responsiveness adjustment gain and changes the transient characteristic parameters, for example, according to the work machine information. The transient characteristic calculation unit 56 selects a responsiveness adjustment gain and changes the transient characteristic parameters, for example, according to the specifications of the work machine input by the input device 9B.

[0099] The transient characteristic calculation unit 56 selects a responsiveness adjustment gain from the operating state of each actuator, for example, and changes the transient characteristic parameters. The transient characteristic calculation unit 56 selects a responsiveness adjustment gain from the combined operating state of each actuator determined by the combined operating state determination unit 53, for example, and changes the transient characteristic parameters.

[0100] The transient characteristic calculation unit 56 selects a responsiveness adjustment gain and changes the transient characteristic parameter based on the control mode input via, for example, the input device 9B of the monitor 9.

[0101] The transient characteristic calculation unit 56 selects a response adjustment gain and changes the transient characteristic parameter based on the target speed characteristic selected, for example, via the input device 9B of the monitor 9.

[0102] The static target calculation unit 57 calculates the static target speed or target flow rate Qstc for each actuator's manipulated amount by multiplying the normalized (dimensionless) target speed or target flow rate Qnrm by the maximum speed or maximum flow rate Qmax.

[0103] The transient target calculation unit 58 performs processing on the calculated static target speed or target flow rate according to characteristic parameters that determine transient speed characteristics, and calculates the transient target speed or target flow rate Qtgt for the manipulated amount of each actuator.

[0104] The control unit 59 controls the work machine 1. The control unit 59 outputs a bleed valve control command current to the bleed valve 13. The control unit 59 outputs a pump capacity command current to the pump 15. The control unit 59 outputs a spool stroke command current to the EPC valve 17 for spool control of each actuator.

[0105] The control unit 59 calculates the target flow rate Qvalve of the valve main circuit from the target flow rate Qtgt. The target flow rate Qvalve is Σ(Qtgt). The control unit 59 calculates the target bleed opening Ableed from the target flow rate Qvalve using the following equation (5). Ptgt is the target pressure of the pump circuit. The control unit 59 calculates the target bleed stroke from the target bleed opening Ableed, taking into account the stroke and opening characteristics of the bleed valve spool, and calculates the corresponding bleed valve control command value.

[0106]

number

[0107] The control unit 59 calculates the target pump flow rate Qp from the target flow rate Qvalve using the following equation (6). The control unit 59 calculates the target pump capacity by dividing the target pump flow rate Qp by the pump rotation speed, and calculates the pump capacity command value (command current) corresponding to that target pump capacity.

[0108]

number

[0109] The control unit 59 calculates the target valve opening Atgt from the target flow rate Qtgt using the following equation (7). Qp min This is the minimum pump flow rate. The control unit 59 calculates the target spool stroke from the target valve opening, taking into account the stroke and opening characteristics of the valve spool, and calculates the corresponding spool stroke command value (command current).

[0110]

number

[0111] [Control Method] <Control method according to the degree of repetition> The functional unit of the controller 50 changes the normalized target speed characteristic, maximum speed, or transient speed characteristic for the manipulated variable in a combined operation state, compared to when each is operated individually.

[0112] Repetitive operations require extremely fast response times. Therefore, the transient target speed characteristics are set to an appropriate value according to the degree of repetition calculated from the lever movement amount. Furthermore, the setting of the target maximum speed also affects the balance of responsiveness in repetitive operations. For this reason, the maximum speed, like the target speed characteristics, is also changed to an appropriate value according to the degree of repetition.

[0113] Next, the control method in this case will be explained using the flowchart in Figure 9. First, the repeatability calculation unit 52 calculates the repeatability according to the frequency and amplitude of the change in the manipulated amount of the operating device 8.

[0114] In this case, the normalized target speed characteristic data is pre-set. Alternatively, the target speed characteristic setting unit 54 may set the applicable normalized target speed characteristic from the normalized target speed characteristic data stored in the target speed characteristic storage unit 72.

[0115] The maximum flow rate calculation unit 55 selects a table of maximum speed adjustment gains for the input (operated amount) from the repeatability of each actuator calculated by the repeatability calculation unit 52, and changes the set value of the maximum speed or maximum flow rate.

[0116] The transient characteristic calculation unit 56 selects a table of response adjustment gains for the input (operated amount) from the repeatability of each actuator calculated by the repeatability calculation unit 52, and changes the transient characteristic parameters.

[0117] The static target calculation unit 57 calculates the static target speed or target flow rate Qstc for each actuator's manipulated amount by multiplying the normalized (dimensionless) target speed or target flow rate Qnrm by the maximum speed or maximum flow rate Qmax.

[0118] The transient target calculation unit 58 performs processing on the calculated static target speed or target flow rate according to characteristic parameters that determine the transient speed characteristics, and calculates the transient target speed or target flow rate Qtgt for the manipulated amount of each actuator.

[0119] The control unit 59 then outputs a bleed valve control command current to the bleed valve 13. The control unit 59 outputs the calculated pump capacity command current to the 15 pumps. The control unit 59 also outputs the calculated spool stroke command current to the EPC valves 17 for spool control of each actuator.

[0120] <Control method corresponding to complex operations> If the functional unit of the controller 50 determines that the travel device and other actuators are being operated simultaneously, it selects characteristics for the other actuators that, compared to when they are operated individually, result in a normalized target speed characteristic for the manipulated amount where the change in target speed is small within a small range of manipulated amounts, or it reduces the maximum speed, or it slows down the response of the transient speed characteristics.

[0121] In combined operations, an optimal balance of responsiveness is required, taking into account the operating axes of the actuators being operated in combination. For example, when pulling in arm 4B while simultaneously performing a straight-line travel operation, if the supply flow rate to arm 4B is increased with the same responsiveness as when arm 4B is operated alone, the supply flow rate to the travel body 2 will drop sharply, causing a rapid deceleration of the travel speed and resulting in the operator being shaken.

[0122] Furthermore, some work machines 1 have a specification in which a lifting hook is located on the bucket 4C. If the work machine 1 is traveling with a load suspended by the lifting hook, and the boom 4A is slightly raised, the vehicle 2 will decelerate rapidly, causing the suspended load to swing violently. To avoid this situation, when operating the work machine 4 during travel, it is desirable that the response of the work machine 4 be considerably slower compared to when the work machine 4 is operated on a single axis.

[0123] The optimal balance of the maximum speeds of each axis during combined operations varies depending on the combination of operations. Therefore, the maximum speed of each axis is also changed according to the combination of combined operations, compared to single-axis operation.

[0124] Next, the control method in this case will be explained using the flowchart in Figure 9. First, the combined operation state determination unit 53 determines whether or not the operating device 8 has been operated in a combined manner, based on the operating quantity, which is the operation signal acquired by the operating quantity acquisition unit 51.

[0125] The target speed characteristic setting unit 54 changes the normalized target speed characteristic with respect to the manipulated amount based on the combined operation state of each actuator determined by the combined operation state determination unit 53.

[0126] The maximum flow rate calculation unit 55 selects a maximum speed adjustment gain from the combined operation state of each actuator determined by the combined operation state determination unit 53, and changes the set value of the maximum speed or maximum flow rate.

[0127] The transient characteristic calculation unit 56 selects a response adjustment gain from the combined operation state of each actuator determined by the combined operation state determination unit 53, and changes the transient characteristic parameter.

[0128] The static target calculation unit 57, the transient target calculation unit 58, and the control unit 59 are controlled in the same way as the control method according to the degree of repetition of the operation.

[0129] <Control method based on settings via the throttle dial> The operator can adjust the engine speed using the 8G throttle dial. The 8G throttle dial not only adjusts the engine speed, but also the maximum speed of each actuator.

[0130] Since lowering the throttle dial 8G while making fine adjustments to the actuator will improve fine control if the actuator's responsiveness is also reduced simultaneously. Therefore, it is desirable to change the degree of responsiveness according to the magnitude of the throttle dial 8G. By lowering the maximum speed setting, the target speed (∝ target flow rate) corresponding to the lever operation also decreases, thus reducing the amount of change in the target speed corresponding to the change in lever opening. As the speed change in response to the lever operation becomes smaller, controllability during fine adjustments also improves.

[0131] Next, the control method in this case will be explained using the flowchart in Figure 9. The maximum flow rate calculation unit 55 selects a table of maximum speed adjustment gains for the input (operated amount) according to the amount of the throttle dial 8G is operated, and changes the set value of the maximum speed or maximum flow rate.

[0132] The transient characteristic calculation unit 56 selects a table of response adjustment gains for the input (operation amount) according to the amount of the throttle dial 8G is operated, and changes the transient characteristic parameters.

[0133] Although not shown in the diagram, the normalized target speed characteristic with respect to the amount of throttle dial 8G is to be changed according to the amount of throttle dial 8G is operated.

[0134] The static target calculation unit 57, the transient target calculation unit 58, and the control unit 59 are controlled in the same way as the control method according to the degree of repetition of the operation.

[0135] <Control method according to the control mode> The functional unit of the controller 50 changes the normalized target speed characteristic, maximum speed, or transient speed characteristic for the manipulated variable according to the control mode setting.

[0136] The required responsiveness of each actuator differs depending on the control mode. For example, in the "L mode," one example of a control mode, a gentler response is desired than in "P mode" or "E mode" because fine control is prioritized.

[0137] The optimal maximum speed setting varies depending on the control mode. For example, in the "L mode" of the work mode, which is one example of a control mode, lifting operations are assumed. In lifting operations, if the actuator moves too fast, the load may swing violently, potentially creating a dangerous situation, so it is desirable to keep the maximum speed low.

[0138] When changing the control mode setting, not only is the maximum speed setting changed, but the characteristics of the target speed (∝ target flow rate) in relation to the lever operation amount are also changed. For example, in "B mode" for breaker work, the maximum flow rate is not significantly reduced compared to "P mode," but fine adjustment performance is required for adjusting the position of the breaker tip. For this reason, it is preferable to minimize the amount of change in the target speed in relation to lever operation in the low lever operation range.

[0139] Next, we will explain the control method in this case using the flowchart in Figure 9.

[0140] The target speed characteristic setting unit 54 changes the normalized target speed characteristic with respect to the manipulated variable based on the control mode input via the input device 9B of the monitor 9.

[0141] The maximum flow rate calculation unit 55 selects the maximum speed adjustment gain based on the control mode input via the input device 9B of the monitor 9, for example, and changes the set value of the maximum speed or maximum flow rate.

[0142] The transient characteristic calculation unit 56 selects a response adjustment gain based on the control mode input via the input device 9B of the monitor 9, thereby changing the transient characteristic parameters.

[0143] The static target calculation unit 57, the transient target calculation unit 58, and the control unit 59 are controlled in the same way as the control method according to the degree of repetition of the operation.

[0144] <Control methods according to the type and weight of the implement> The functional unit of the controller 50 changes the normalized target speed characteristics, maximum speed, or transient speed characteristics with respect to the manipulated amount, depending on the type or weight of the work implement 4.

[0145] Hydraulic excavators have a wide variety of attachments that can be mounted on the tip of the work implement 4, and the weight of these attachments varies greatly. Furthermore, the work implement 4 itself can vary significantly in length depending on its intended use, and may also be reinforced to account for the harshness of the work site, resulting in considerable changes in the length and weight of the work implement 4 used. For example, if the attachment or work implement 4 is heavy, or if the work implement 4 is very long, controlling the work implement 4 becomes more difficult. Therefore, it is desirable to reduce the maximum speed and make the response characteristics more gradual. Thus, the normalized target speed characteristics in relation to the amount of operation are also changed depending on the type and weight setting of the work implement 4.

[0146] Next, the control method in this case will be explained using the flowchart in Figure 9. The work equipment information is stored in the work equipment information storage unit 71.

[0147] The maximum flow rate calculation unit 55 selects a maximum speed adjustment gain according to the work equipment information and changes the set value of the maximum speed or maximum flow rate.

[0148] The transient characteristic calculation unit 56 selects a response adjustment gain according to the work equipment information and changes the transient characteristic parameters.

[0149] Although not shown in the diagram, the normalized target speed characteristics with respect to the manipulated input may be changed according to the work equipment information.

[0150] The static target calculation unit 57, the transient target calculation unit 58, and the control unit 59 are controlled in the same way as the control method according to the degree of repetition of the operation.

[0151] <Adjustable responsiveness, maximum speed, and speed characteristics to suit the operator's preferences> It is desirable that the responsiveness and maximum speed of each axis be adjustable according to the operator's preference. For example, a skilled operator can operate the work implement to the desired position even with very fast maximum speed and responsiveness settings, and the faster the setting, the better the work efficiency. For example, an unskilled operator may find it difficult to control the work implement to the desired position if the maximum speed and responsiveness are set too fast, and conversely, work efficiency will decrease. Therefore, the maximum speed and responsiveness should be adjustable according to the operator's preference. In addition, the characteristics of the target speed (∝ target flow rate) in relation to lever operation should also be selectable. A specific set of characteristics may be selected from those stored in advance, or, for example, a diagram like Figure 10 may be displayed on the monitor 9, allowing the characteristics to be freely changed.

[0152] Next, the control method in this case will be explained using the flowchart in Figure 9. First, the combined operation state determination unit 53 determines whether or not the operating device 8 has been operated in a combined manner, based on the operating quantity, which is the operation signal acquired by the operating quantity acquisition unit 51.

[0153] The target speed characteristic setting unit 54 changes the normalized target speed characteristic for the manipulated variable based on the target speed characteristic selected via the input device 9B of the monitor 9.

[0154] The maximum flow rate calculation unit 55 selects a maximum speed adjustment gain based on the target speed characteristics selected via the input device 9B of the monitor 9, thereby changing the set value of the maximum speed or maximum flow rate.

[0155] The transient characteristic calculation unit 56 selects a response adjustment gain and changes the transient characteristic parameter based on the target speed characteristic selected via the input device 9B of the monitor 9.

[0156] The static target calculation unit 57, the transient target calculation unit 58, and the control unit 59 are controlled in the same way as the control method according to the degree of repetition of the operation.

[0157] [effect] As described above, in this embodiment, the target speed characteristic, maximum speed, or transient speed characteristic can be changed in response to the amount of operation of the operating device 8, and at least one of the input specifications and various settings of the work machine 1. According to this embodiment, the transient response and maximum speed of each actuator operation can be appropriately controlled depending on the operating conditions or the type of actuator. Thus, in this embodiment, the work machine 1 can be operated appropriately according to the state in which the work machine 1 is operated.

[0158] In this embodiment, the target speed characteristic or target flow rate characteristic for each actuator can be changed according to the amount of operation of the operating device 8 and at least one of the input specifications and various settings of the work machine 1.

[0159] In this embodiment, the maximum speed or maximum flow rate setting is changed according to the amount manipulated by the operating device 8 and at least one of the input specifications and various settings of the work machine 1. In this embodiment, the static target speed or target flow rate for the amount manipulated by each actuator can be calculated by multiplying the normalized target speed or target flow rate by the maximum speed or maximum flow rate.

[0160] In this embodiment, a static target speed or target flow rate can be calculated for the actuator's manipulated amount, and the calculated static target speed or target flow rate can be processed according to characteristic parameters that determine transient speed characteristics, thereby calculating the transient target speed or target flow rate for each actuator's manipulated amount.

[0161] In this embodiment, the gain that adjusts the characteristic parameter determining the transient speed characteristics can be changed according to the amount of operation of the operating device 8 and at least one of the input specifications and various settings of the work machine 1.

[0162] In this embodiment, the target speed characteristic, maximum speed, or transient speed characteristic can be changed with respect to the manipulated amount based on the operating state of each actuator.

[0163] In this embodiment, at least one of the target speed characteristic, maximum speed, and transient speed characteristic can be changed in relation to the manipulated variable, according to the degree of repetition calculated according to the frequency or amplitude of the change in the manipulated variable. According to this embodiment, the transient target speed characteristic can be set to an appropriate value according to the degree of repetition calculated from the lever manipulated variable. According to this embodiment, the maximum speed can also be changed to an appropriate value according to the degree of repetition, similar to the target speed characteristic. According to this embodiment, fast response can be achieved during repetitive operations.

[0164] In this embodiment, the target speed characteristics, maximum speed, or transient speed characteristics with respect to the manipulated amount can be changed from the combined operation state of the actuators, compared to when each is operated individually. According to this embodiment, an optimal balance of responsiveness can be achieved, taking into account the operating axes of the actuators being operated in combination.

[0165] In the embodiment, when the travel device and other actuators are operated simultaneously, the target speed characteristic with respect to the manipulated amount can be selected to have a small change in target speed within a small range of manipulated amounts, or the maximum speed can be reduced, or the response of the transient speed characteristic can be slowed down. According to the embodiment, it is possible to suppress a sudden deceleration of the travel speed that would cause the operator to be shaken.

[0166] In this embodiment, the target speed characteristics, maximum speed, or transient speed characteristics for a given variable can be changed according to the set control mode. According to this embodiment, optimal responsiveness can be achieved depending on the control mode.

[0167] In this embodiment, when the work mode, which is an example of a control mode, is "B mode" for breaker work, compared to the settings for other work modes, it is possible to select a target speed characteristic for the manipulated variable in a range where the change in target speed is small, or to reduce the maximum speed, or to slow down the response of the transient speed characteristic.

[0168] In this embodiment, the target speed characteristics, maximum speed, or transient speed characteristics with respect to the manipulated amount are changed based on work equipment information that identifies the type or weight of the work equipment 4 attached to the work machine 1. This is possible. According to the embodiment, optimal responsiveness can be achieved depending on the various attachments mounted on the tip of the work machine 4.

[0169] In this embodiment, the greater the weight of the work machine 1, the more likely it is that a target speed characteristic with respect to the manipulated amount will be selected that results in a smaller change in the target speed within a small range of manipulated amounts, or the maximum speed will be reduced, or the response of the transient speed characteristic will be slowed down.

[0170] In this embodiment, the target speed characteristic for a given variable can be changed by manipulating the characteristic curve or numerical value of the target speed characteristic for the displayed manipulated variable from the input device 9B.

[0171] Although the above description assumes the input device is input device 9B, it is not limited to this. The input device only needs to be capable of setting at least one of the specifications and various settings of the work machine 1. The input device may be, for example, various switches on the work machine 1. The input device may be, for example, an external setting information terminal 81 that can communicate with the work machine 1. The input device may be, for example, an external server device that can communicate with the work machine 1.

[0172] In the above description, the control amount setting unit is assumed to be the operating device 8, but it is not limited to this. The control amount setting unit can be any means for setting the control amount of each actuator. For example, if the work machine is remotely operated, the control amount setting unit may receive and set the control amount for a remote control device located in the remote control room in the remote control system. For example, if the work machine is in automatic operation, the control amount setting unit may receive and set the control amount calculated in the automatic operation system that controls the automatic operation of the work machine. [Explanation of symbols]

[0173] 1...Working machine, 2...Traction unit, 2A...Track, 3...Slewing unit, 4...Working machine, 4A...Boom, 4B...Arm, 4C...Bucket, 5...Travel motor (actuator), 5L...Left travel motor, 5R...Right travel motor, 6...Slewing motor (actuator), 7...Working machine cylinder (actuator), 7A...Boom cylinder, 7B...Arm cylinder, 7C...Bucket cylinder, 8...Operating device (operation amount setting unit), 8A...Left work lever, 8B...Right work lever, 8C...Left travel lever, 8D...Right travel lever, 8E...Left foot pedal, 8F...Right foot pedal, 8G...Throttle dial (setting dial), 9...Monitor, 9A...Display device, 9B...Input device (input device), 10...Cab, 11...Driver's seat, 13...Bleed valve, 14...Power source, 15...Pump, 16...Tank, 17...EPC valve, 17A1...EPC valve, 17A2...EPC valve, 17B1...EPC valve, 17B2...EPC valve, 17C1...EPC valve, 17C2...EPC valve, 17D1...EPC valve, 17D2...EPC valve, 17E1...EPC valve, 17E2...EPC valve, 17F1...EPC Valve, 17F2…EPC valve, 18…Load pressure sensor, 18A…Load pressure sensor, 18B…Load pressure sensor, 18C…Load pressure sensor, 18D…Load pressure sensor, 18E…Load pressure sensor, 18F…Load pressure sensor, 19…Pump passage, 20…Suction passage, 21…Actuator passage, 21A…First actuator passage, 21B…Second actuator passage, 21C…Third actuator passage, 21D…Fourth actuator passage, 21E…Fifth actuator passage, 21F…Sixth actuator passage, 30…Swivel sensor, 50…Controller, 51...Manipulated variable acquisition unit, 52...Repetitive operation degree calculation unit, 53...Compound operation state determination unit, 54...Target speed characteristic setting unit, 55...Maximum flow rate calculation unit, 56...Transient characteristic calculation unit, 57...Static target calculation unit, 58...Transient target calculation unit, 59...Control unit, 71...Work machine information storage unit, 72...Target speed characteristic storage unit, 100...Control system, 1000...Computer, 1000A...Processor, 1002...Main memory, 1003...Storage, 1004...Input / output interface, 1005...Communication interface, 1006...Computer program.

Claims

1. Multiple actuators, An input device for inputting at least one of the specifications and various settings of the work machine including the actuator, The system includes a controller for controlling the actuator, The aforementioned controller, The set amount of operation of the actuator is obtained, The target speed characteristic, maximum speed, or transient speed characteristic for the manipulated variable is changed according to the acquired manipulated variable and at least one of the specifications and various settings of the work machine input by the input device. Control system for industrial machinery.

2. The aforementioned controller, A target speed characteristic or target flow rate characteristic is set for the manipulated amount of the actuator. The target speed characteristic or target flow rate characteristic of each actuator is changed with respect to the manipulated amount, according to the manipulated amount and at least one of the specifications and various settings of the work machine input by the input device. A control system for a work machine according to claim 1.

3. The aforementioned controller, A target speed characteristic or target flow rate characteristic is set for the manipulated amount of the actuator. Depending on the manipulated amount and at least one of the specifications and various settings of the work machine input by the input device, the set value of the maximum speed or maximum flow rate is changed. The static target speed or target flow rate for each actuator's operating amount is calculated by multiplying the target speed or target flow rate set according to the target flow rate characteristics by the maximum speed or the maximum flow rate. A control system for a work machine according to claim 1.

4. The aforementioned controller, The static target speed or target flow rate for the actuator is calculated, The calculated static target speed or target flow rate is processed according to characteristic parameters that determine transient speed characteristics, and the dynamic target speed or target flow rate for the operation amount of each actuator is calculated. A control system for a work machine according to claim 1.

5. The characteristic parameters that determine the transient speed characteristics are one of the following: a parameter that limits the rate of change of the target speed or target flow rate, a time constant or cutoff frequency for filtering, a set value for jerk control, and the maximum acceleration. A control system for a work machine according to claim 4.

6. The aforementioned controller, The gain for adjusting the characteristic parameter that determines the transient speed characteristics is changed according to the manipulated amount and at least one of the specifications and various settings of the work machine input by the input device. A control system for a work machine according to claim 4.

7. The aforementioned controller, The operating state of each actuator is determined from the aforementioned manipulated amount, From the aforementioned operating state, the target speed characteristic, the maximum speed, or the transient speed characteristic with respect to the manipulated amount is changed. A control system for a work machine according to claim 1.

8. The aforementioned controller, The operating state of each actuator is determined by calculating the degree of repetition of operation according to the frequency or amplitude of the change in the operating amount. Depending on the degree of repetition of the operation, at least one of the target speed characteristics, the maximum speed, and the transient speed characteristics with respect to the manipulated amount is changed. A control system for a work machine according to claim 7.

9. The aforementioned controller, The combined operation state is determined from the combination of the operating amounts of the actuator, From the aforementioned combined operation state, the target speed characteristic, the maximum speed, or the transient speed characteristic with respect to the manipulated amount is changed by comparing them with the characteristics when each is operated individually. A control system for a work machine according to claim 1.

10. The aforementioned controller, It is determined that the traveling device and other actuators are being operated simultaneously in the aforementioned combined operation state. If it is determined that the aforementioned travel device and another actuator are being operated simultaneously, the characteristics of the other actuator will be different compared to when it is being operated alone. As the target speed characteristic for the manipulated variable, a characteristic is selected in which the change in target speed is small in a range where the manipulated variable is small. Alternatively, reduce the maximum speed. Alternatively, to slow down the response of the transient speed characteristics, A control system for a work machine according to claim 9.

11. A setting dial for changing the maximum speed or the transient speed characteristics, A control system for a work machine according to claim 1, comprising:

12. A prime mover that drives the actuator, The setting dial is a dial for adjusting the rotational speed of the prime mover. A control system for a work machine according to claim 11.

13. The aforementioned controller, The input device receives the operation and sets the control mode of the work machine. Depending on the set control mode, the target speed characteristic, the maximum speed, or the transient speed characteristic for the manipulated variable is changed. A control system for a work machine according to claim 1.

14. The aforementioned controller, When the aforementioned control mode is set for circuit breaker operation, compared to the settings for other control modes different from the aforementioned control mode, As the target speed characteristic for the manipulated variable, a characteristic is selected in which the change in target speed is small in a range where the manipulated variable is small. Alternatively, reduce the maximum speed. Alternatively, to slow down the response of transient speed characteristics, A control system for a work machine according to claim 13.

15. The aforementioned controller, The target speed characteristic, the maximum speed, or the transient speed characteristic with respect to the manipulated amount is changed based on the work equipment information that identifies the type or weight of the work equipment attached to the work machine. A control system for a work machine according to claim 1.

16. The aforementioned work equipment information acquires the type or weight of the work equipment entered via the input device. A control system for a work machine according to claim 15.

17. The aforementioned work equipment information is obtained by reading the information of the identification tag attached to the work equipment, thereby acquiring the type or weight of the work equipment. A control system for a work machine according to claim 15.

18. The aforementioned work equipment information is obtained from an external database system, by acquiring the type or weight of the work equipment. A control system for a work machine according to claim 15.

19. The aforementioned work equipment information includes the weight of the work equipment, The aforementioned controller, The larger the aforementioned weight, the better the target speed characteristic with respect to the manipulated amount. Select a characteristic that minimizes the change in target speed within a small range of the aforementioned control amount. Alternatively, reduce the maximum speed. Alternatively, to slow down the response of the transient speed characteristics, A control system for a work machine according to claim 15.

20. An input device capable of setting the target speed characteristics, the maximum speed, or the transient speed characteristics for the manipulated variable, A control system for a work machine according to claim 1, comprising:

21. The input device displays a characteristic curve or numerical value of the target speed characteristic for the manipulated variable. The aforementioned controller, The target speed characteristic for the manipulated variable is changed by manipulating the characteristic curve or numerical value of the target speed characteristic for the manipulated variable using an input device. A control system for a work machine according to claim 20.

22. Multiple actuators, An input device for inputting at least one of the specifications and various settings of the work machine including the actuator, A control method for a work machine comprising a controller for controlling the actuator, The aforementioned controller, The set amount of operation of the actuator is obtained, The target speed characteristic, maximum speed, or transient speed characteristic for the manipulated variable is changed according to the acquired manipulated variable and at least one of the specifications and various settings of the work machine input by the input device. A method for controlling industrial machinery.

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