Controller and Calibration System

Abstract

To provide a controller that embodies a method of adjusting a pump command current based on actual measurement data.SOLUTION: A controller 3 in an embodiment outputs a pump command current corresponding to an actuator operation signal to a pump device including at least one pump whose discharge capacity increases as the pump command current is larger. The controller 3 stores calibration data for correcting the pump command current so that the discharge capacity of the pump transits on a performance line preset with respect to the actuator operation signal, the calibration data being created on the basis of actual measurement data indicating an actual relationship between the pump command current and the discharge capacity of the at least one pump. The controller 3 determines a pump command current on the basis of the actuator operation signal, corrects the decided pump command current using the calibration data, and outputs the corrected pump command current to the pump device.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a controller for a pumping device and a calibration system including the controller. [Background technology]

[0002] In construction machinery and industrial machinery, a pump device that supplies hydraulic oil to a hydraulic actuator may be adopted, and the pump device includes at least one pump whose discharge capacity, which is the amount of discharge per revolution, increases as the pump command current increases (see, for example, Patent Document 1). In this case, the pump device is controlled by a controller so that the pump's discharge capacity increases as the operating speed of the hydraulic actuator increases.

[0003] Specifically, an actuator operation signal corresponding to the operation amount of an operation device for operating the hydraulic actuator is input to the controller. The operation device determines the operating speed of the hydraulic actuator based on the operation amount of the operation device. A pump command current corresponding to the actuator operation signal is output from the controller to the pump device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-210974 Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, pumps in pump devices vary in Iq characteristics, which are the relationship between pump command current and discharge capacity, due to individual differences. Patent Document 1 describes a method in which a code storing measured data indicating the pump's actual Iq characteristics (Patent Document 1 describes this as the "relationship between command current and discharge flow rate," but the discharge flow rate is divided by the rotation speed to obtain the discharge capacity) is displayed on the surface of the pump device, and the measured data is input into a controller for the pump device using a code reader, and the controller electronically calibrates the individual differences in Iq characteristics. Specifically, the controller adjusts the pump command current output to the pump device so as to obtain a set discharge capacity corresponding to the amount of operation of the operating device.

[0006] However, Patent Document 1 does not specifically describe how the controller adjusts the pump command current based on the actual measurement data.

[0007] Therefore, an object of the present disclosure is to provide a controller that embodies a method for adjusting a pump command current based on actual measurement data, and to provide a calibration system that includes the controller. [Means for solving the problem]

[0008] From one aspect, the present disclosure provides a controller that outputs a pump command current in response to an actuator operation signal to a pump device including at least one pump whose discharge capacity, which is a discharge amount per revolution, increases as the pump command current increases, the controller stores calibration data created based on actual measurement data that indicates an actual relationship between the pump command current and the discharge capacity of the at least one pump, the calibration data being for correcting the pump command current so that the discharge capacity of the pump fluctuates on a predetermined performance line in response to the actuator operation signal, determines a pump command current based on the actuator operation signal, corrects the determined pump command current using the calibration data, and outputs the corrected pump command current to the pump device.

[0009] From another aspect, the present disclosure provides a controller that outputs a pump command current according to an actuator operation signal to a pump device including at least one pump whose discharge capacity, which is the amount of discharge per revolution, increases as the pump command current increases, the controller receiving actual measurement data indicating an actual relationship between the pump command current and the discharge capacity of the at least one pump, storing the input actual measurement data, determining a pump command capacity based on the actuator operation signal, determining a pump command current corresponding to the pump command capacity using the actual measurement data, and outputting the determined pump command current to the pump device.

[0010] Also, from one aspect, the present disclosure provides a calibration system comprising: a pump device including at least one pump whose discharge capacity, which is the amount of discharge per revolution, increases as the pump command current increases; at least one code displayed on a surface of the pump device, which stores actual measurement data indicating the actual relationship between the pump command current and the discharge capacity of the at least one pump or information on where the actual measurement data is saved; the controller described above to which the actual measurement data is input; and a mobile terminal that acquires the actual measurement data by capturing an image of the at least one code and transmits the acquired actual measurement data to the controller via wireless communication.

[0011] From another aspect, the present disclosure provides a calibration system comprising: a pump device including at least one pump whose discharge capacity, which is the amount of discharge per revolution, increases as the pump command current increases; at least one code displayed on a surface of the pump device, which stores actual measurement data indicating an actual relationship between the pump command current and the discharge capacity of the at least one pump or information on where the actual measurement data is saved; the controller into which the calibration data is input; and a mobile terminal which acquires the actual measurement data by capturing an image of the at least one code, creates the calibration data based on the acquired actual measurement data, and transmits the created calibration data to the controller via wireless communication. [Effects of the Invention]

[0012] According to the present disclosure, a controller that embodies a method for adjusting a pump command current based on actual measurement data, and a calibration system including the controller are provided. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a schematic configuration diagram of a cavitation system including a controller according to a first embodiment. [Figure 2] FIG. 2 is a schematic configuration diagram of a hydraulic system including a pump device and the controller. [Figure 3] FIG. 2 is a block diagram showing the internal configuration of the controller. [Figure 4] 4 is a graph showing the relationship between an actuator operation signal and a pump discharge capacity. [Figure 5] 4 is a graph showing the relationship between an actuator operation signal and a pump command current. [Figure 6] 4 is a graph showing the relationship between a pump command current and a pump discharge capacity. [Figure 7] FIG. 10 is a diagram showing calibration data. [Figure 8] 4 is a graph showing the relationship between the discharge pressure and the discharge capacity of the pump in horsepower control. [Figure 9] FIG. 10 is a block diagram showing the internal configuration of a controller according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] (First embodiment) Fig. 1 shows a calibration system 1 including a pump device 2 and a controller 3 according to a first embodiment for the pump device 2. Fig. 2 also shows a hydraulic system 10 including the pump device 2, a hydraulic actuator 8, and the controller 3.

[0015] First, the hydraulic system 10 will be described with reference to Fig. 2. The hydraulic system 10 is mounted on, for example, construction machinery such as a hydraulic excavator or a hydraulic crane, or industrial machinery such as a press machine.

[0016] The pump device 2 includes at least one variable displacement pump 21 and at least one regulator 22 that changes the displacement of the corresponding pump 21. In this embodiment, the pump device 2 includes two pumps 21 and two regulators 22. However, the pump device 2 may include only one pump 21.

[0017] In this embodiment, each pump 21 is a swash plate pump (axial piston pump). The pump device 2 may be a parallel type in which the central axes of the two pumps 21 are aligned parallel to one another, or a tandem type in which the central axes of the two pumps 21 are aligned coaxially. Alternatively, the pump device 2 may include one or two bent-axis pumps as the pumps 21.

[0018] In this embodiment, the pump device 2 is driven by the engine 7. Whether the pump device 2 is a parallel type or a tandem type, the pump device 2 includes one input shaft, and this input shaft is connected to the output shaft of the engine 7. However, the pump device 2 may also be driven by an electric motor.

[0019] A pump command current I is input to each regulator 22 from the controller 3. As shown in Fig. 6, the discharge capacity q, which is the discharge amount per rotation of each pump 21, increases as the pump command current I input to the corresponding regulator 22 increases.

[0020] For example, the regulator 22 may change the hydraulic pressure acting on a servo piston connected to the swash plate of the pump 21 in accordance with the pump command current I. In this case, the servo piston moves in a direction that increases the tilt angle of the swash plate as the pump command current I increases. Alternatively, the regulator 22 may be an electric actuator connected to the swash plate.

[0021] Each pump 21 supplies hydraulic oil to a hydraulic actuator 8. There may be more than one hydraulic actuator 8. In this embodiment, the hydraulic actuator 8 is a double-acting cylinder or a hydraulic motor that operates in both directions. Therefore, the pump 21 is connected to a directional control valve 82 by a supply line 81, and the directional control valve 82 is connected to the hydraulic actuator 8 by a pair of supply and discharge lines 83.

[0022] A relief line branches off from the supply line 81 and is provided with a relief valve. An unloading line may branch off from the supply line 81 and be provided with an unloading valve. In the case where multiple hydraulic actuators 8 are provided and an unloading line is employed, when none of the hydraulic actuators 8 are operating, that is, when the supply line 81 is blocked by all of the directional control valves 82, the unloading valve is opened and the hydraulic oil discharged from the pump 21 is returned to the tank through the unloading line.

[0023] The hydraulic system 10 also includes an operating device 9 for operating the hydraulic actuator 8. The operating device 9 outputs an actuator operating signal S corresponding to the amount of operation of the operating device 9. In this embodiment, the operating device 9 is an electric joystick that outputs an electric signal as the actuator operating signal S. The actuator operating signal S output from the operating device 9 is input to the controller 3.

[0024] If the machine on which the hydraulic system 10 is installed is an unmanned machine, the operation device 9 can be omitted. In this case, the controller 3 may generate the actuator operation signal S by itself.

[0025] In this embodiment, the above-mentioned directional control valve 82 has a first pilot port for operating the hydraulic actuator 8 in a first direction and a second pilot port for operating the hydraulic actuator 8 in a second direction, and solenoid proportional valves are connected to these pilot ports.

[0026] The controller 3 controls the directional control valve 82 via the solenoid proportional valve so that the opening area of ​​the directional control valve 82 increases as the amount of operation of the operation device 9 increases. Therefore, the operating speed of the hydraulic actuator 8 increases as the amount of operation of the operation device 9 increases.

[0027] However, the operating device 9 may also be a pilot-operated valve that outputs pilot pressure to the first pilot port or the second pilot port of the directional control valve 82. The pilot pressure output from the pilot-operated valve increases as the operation amount of the operating device 9, which is the pilot-operated valve, increases. When the operating device 9 is a pilot-operated valve, the pilot pressure output from the operating device 9 is detected by a pressure sensor and input to the controller 3 as an actuator operation signal S. Alternatively, the directional control valve 82 may be a solenoid valve that is directly controlled by the controller 3.

[0028] The controller 3 outputs a pump command current I according to the actuator operation signal S to a corresponding regulator 22 (the regulator 22 of the pump 21 that supplies hydraulic oil to the hydraulic actuator 8 corresponding to the operated operation device 9). In this embodiment, the actuator operation signal S increases as the operation amount of the operation device 9 increases. Furthermore, as shown in FIG. 5, the pump command current I exhibits a positive correlation with the actuator operation signal S. For this reason, as shown in FIG. 4, the discharge capacity q of the pump 21 increases as the operation amount (actuator operation signal S) of the operation device 9 increases.

[0029] In this embodiment, the controller 3 performs horsepower control to limit the discharge capacity q of the pump 21 so that the load on the pump 21 does not exceed the output of the engine 7. For this reason, the controller 3 is also electrically connected to a rotation speed sensor 71 provided in the engine 7 and a pressure sensor 84 provided in the supply line 81. The rotation speed N of the engine 7 detected by the rotation speed sensor 71 and the discharge pressure Pd of the pump 21 detected by the pressure sensor 84 are input to the controller 3. Details of the horsepower control will be described below together with calibration.

[0030] Next, with reference to FIGS. 1 and 3, the calibration of the Iq characteristic, which is the relationship between the pump command current I and the discharge capacity q, due to individual differences, performed by the controller 3 will be described.

[0031] With respect to the controller 3, the functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, application-specific integrated circuits (ASICs), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0032] The calibration system 1 includes a pump device 2, a controller 3, and a mobile terminal 5 capable of communicating with the controller 3 via wireless communication. In this embodiment, a wireless LAN router 4 is connected to the controller 3 by wire, and the mobile terminal 5 communicates wirelessly with the wireless LAN router 4. However, the controller 3 may also include a wireless communication module, and the mobile terminal 5 may communicate wirelessly directly with the controller 3.

[0033] Two codes 6 corresponding to the two pumps 21 are displayed on the surface of the pump device 2. If the pump device 2 includes only one pump 21, only one code 6 is displayed on the surface of the pump device 2. Alternatively, one code 6 may store actual measurement data of the two pumps 21, which will be described later.

[0034] Regarding the display of the code 6 on the surface of the pump device 2, the code 6 may be printed on a plate, and the plate may be attached to the pump device 2. Alternatively, the code 6 may be printed directly on the surface of the pump device 2.

[0035] Each code 6 stores actual measurement data indicating the actual Iq characteristics of the corresponding pump 21. For example, the code 6 is a matrix type two-dimensional code (QR code (registered trademark)).

[0036] The mobile terminal 5 includes a camera capable of capturing an image of each code 6. The mobile terminal 5 acquires the actual measurement data of the pumps 21 stored in the code 6 by capturing an image of each code 6 with the camera. The mobile terminal 5 transmits the acquired actual measurement data to the controller 3 via wireless communication and the wireless LAN router 4. As a result, the actual measurement data of the two pumps 21 is input to the controller 3.

[0037] The controller 3 stores the input measured data of each pump 21. The controller 3 then creates calibration data shown in FIG. 7 for each pump 21 based on the stored measured data, and stores the created calibration data. The calibration data is used to correct the pump command current I so that the discharge capacity q of the pump 21 varies along a performance line L (see FIG. 4) that is set in advance relative to the actuator operation signal S. The calibration data may be a map such as that shown in FIG. 7, or may be a function or a mathematical formula. Note that, although the transition portion from the minimum discharge capacity to the maximum discharge capacity on the performance line L is a straight line in FIG. 4, the transition portion may be a curve that is convex upward or convex downward.

[0038] Regarding the calibration, more specifically, the controller 3 determines the pump command current I based on the actuator operation signal S. In this embodiment, since the controller 3 performs horsepower control as described above, as shown in FIG. 3 , the controller 3 first determines the actuator operation command current Ia in accordance with the actuator operation signal S, and also determines the horsepower control command current Ib based on the rotation speed N of the engine 7 and the discharge pressure Pd of the pump 21.

[0039] The actuator operation command current Ia is determined, for example, using a map (which may be a function or a formula) that defines the correspondence between the actuator operation signal S and the actuator operation command current Ia, as shown by the solid line in Figure 5.

[0040] Regarding the determination of the horsepower control command current Ib, the controller 3 stores in advance a map (which may be a function or a formula) that defines an upper limit value of the discharge capacity q of the pump 21 with respect to the discharge pressure Pd of the pump 21 for each rotation speed of the engine 7, as shown in Fig. 8. The controller 3 first uses the map to determine the upper limit value of the discharge capacity q of the pump 21 from the rotation speed N of the engine 7 and the discharge pressure Pd of the pump 21. Thereafter, the controller 3 determines the horsepower control command current Ib from the determined upper limit value using a map (which may be a function or a formula) that defines the correspondence relationship between the discharge capacity q and the pump command current I, as shown by the solid line in Fig. 6.

[0041] Then, the controller 3 determines the smaller of the determined actuator operation command current Ia and the determined horsepower control command current Ib as the pump command current I. Thereafter, the controller 3 corrects the determined pump command current I using the calibration data shown in FIG. 7 and outputs the corrected pump command current I to the corresponding regulator 22.

[0042] For example, if the actual Iq characteristics of pump 21 (i.e., actual measurement data) deviate from the design characteristics shown by the solid line in FIG. 6, as shown by the dashed line in FIG. 6, and the pump command current I is determined to be proportional to the actuator operation signal S as shown by the solid line in FIG. 5, the discharge capacity q of pump 21 relative to the actuator operation signal S will fluctuate along a line that is deviated from the preset performance line L, as shown by the dashed line in FIG. 4.

[0043] In contrast to this, if the pump command current I is corrected using the calibration data shown in Fig. 7, the discharge capacity q of the pump 21 in response to the actuator operation signal S can be made to move along a preset performance line L. In other words, the pump command current I is corrected in response to the actuator operation signal S as shown by the two-dot chain line in Fig. 5.

[0044] As described above, in the controller 3 of this embodiment, the pump command current I determined based on the actuator operation signal S is corrected using calibration data created based on actual measurement data, so that variations in the Iq characteristics due to individual differences can be electronically calibrated. In other words, this calibration embodies a method for adjusting the pump command current I based on actual measurement data.

[0045] Furthermore, in this embodiment, the pump command current I is determined to be the smaller of the actuator operation command current Ia and the horsepower control command current Ib. Therefore, even when the discharge capacity q of the pump 21 is limited by horsepower control, variations in the Iq characteristics due to individual differences can be electronically calibrated.

[0046] Furthermore, in this embodiment, the actual measurement data is transmitted from the mobile terminal 5 to the controller 3 via wireless communication, so if a special program is installed in a commercially available mobile terminal, the mobile terminal can be used to transmit the mounting data to the controller 3. Therefore, there is no need to use a code reader or the like connected to the controller 3 by wire.

[0047] <Modification> In the above embodiment, the calibration data is created by the controller 3. Alternatively, the portable terminal 5 may create the calibration data based on the actual measurement data and transmit it to the controller 3 via wireless communication and the wireless LAN router 4. In other words, the calibration data may be input to the controller 3, and the controller 3 may store the input calibration data.

[0048] In such a configuration, if a special program is installed in a commercially available mobile terminal, the calibration data can be transmitted to the controller 3 using the mobile terminal.

[0049] (Second embodiment) Next, a controller 3A according to a second embodiment will be described with reference to Fig. 9. The following description will be given on the assumption that the pump device 2 (see Fig. 1) includes one pump 21, but the pump device 2 may include two pumps 21.

[0050] In this embodiment, as in the first embodiment, actual measurement data indicating the actual Iq characteristics of each pump 21 is transmitted from the mobile terminal 5 (see FIG. 1) to the controller 3A. As a result, the actual measurement data of the pump 21 is input to the controller 3A. The controller 3A stores the input actual measurement data of the pump 21 as an Iq map (which may be a function or a mathematical formula).

[0051] As in the first embodiment, the actuator operation signal S, the rotation speed N of the engine 7, and the discharge pressure Pd of the pump 21 are input to the controller 3A.

[0052] The controller 3A determines the pump command displacement qi based on the actuator operation signal S. In this embodiment, since the controller 3A performs horsepower control, the controller 3A first determines an actuator operation command displacement qa in accordance with the actuator operation signal S, and also determines a horsepower control command displacement qb based on the rotation speed N of the engine 7 and the discharge pressure Pd of the pump 21.

[0053] The actuator operation command capacity qa is determined using a map (which may be a function or a mathematical expression) that defines the correspondence between the actuator operation signal S and the actuator operation command capacity qa.

[0054] 8, which defines an upper limit value of the discharge capacity q of the pump 21 relative to the discharge pressure Pd of the pump 21 for each rotation speed of the engine 7. The controller 3A uses this map to determine the upper limit value of the discharge capacity q of the pump 21 from the rotation speed N of the engine 7 and the discharge pressure Pd of the pump 21, and determines this upper limit value as the command capacity qb for horsepower control.

[0055] Then, the controller 3A determines the smaller of the determined actuator operation command capacity qa and the determined horsepower control command capacity qb as the pump command capacity qi. Thereafter, the controller 3A uses the stored Iq map (i.e., actual measurement data) to determine the pump command current I corresponding to the pump command capacity qi, and outputs the determined pump command current I to the regulator 22.

[0056] In this embodiment, the pump command current I corresponding to the pump command capacity qi determined based on the actuator operation signal S is determined using actual measurement data, so that variations in Iq characteristics due to individual differences can be electronically calibrated. In other words, this calibration embodies a method for adjusting the pump command current I based on actual measurement data.

[0057] Furthermore, in this embodiment, the pump command capacity qi is determined to be the smaller of the actuator operation command capacity qa and the horsepower control command capacity qb. Therefore, even when the discharge capacity q of the pump 21 is limited by horsepower control, variations due to individual differences in Iq characteristics can be electronically calibrated.

[0058] (Other embodiments) The present disclosure is not limited to the above-described embodiments, and various modifications are possible without departing from the gist of the present disclosure.

[0059] For example, in both the first and second embodiments, the code 6 may store destination information for storing the actual measurement data of the pump 21 instead of storing the actual measurement data. The destination information may be, for example, an Internet Protocol (IP) address of the server where the measurement data is stored, or a uniform resource locator (URL) of a specific level of the server. In this case, when the camera captures the code 6, the mobile terminal 5 acquires the actual measurement data stored in the server specified by the destination information via the Internet. Furthermore, when the code 6 stores destination information for storing the actual measurement data, the code 6 may be a character string.

[0060] If the minimum discharge capacity of the pump 21 is zero and the hydraulic actuator 8 is a single-acting cylinder, the directional control valve 82 may be omitted. In this case, the operating speed of the hydraulic actuator 8 changes depending only on the discharge capacity of the pump 21.

[0061] Furthermore, horsepower control can be omitted in both the first and second embodiments. In this case, in the first embodiment, the controller 3 may directly determine the pump command current I in response to the actuator operation signal S, and in the second embodiment, the controller 3A may directly determine the pump command capacity qi in response to the actuator operation signal S.

[0062] (summary) From one aspect, the present disclosure provides a controller that outputs a pump command current in response to an actuator operation signal to a pump device including at least one pump whose discharge capacity, which is a discharge amount per revolution, increases as the pump command current increases, the controller stores calibration data created based on actual measurement data that indicates an actual relationship between the pump command current and the discharge capacity of the at least one pump, the calibration data being for correcting the pump command current so that the discharge capacity of the pump fluctuates on a predetermined performance line in response to the actuator operation signal, determines a pump command current based on the actuator operation signal, corrects the determined pump command current using the calibration data, and outputs the corrected pump command current to the pump device.

[0063] According to the above configuration, the pump command current determined based on the actuator operation signal is corrected using calibration data created based on actual measurement data, so that variations in Iq characteristics (the relationship between the pump command current and the displacement) due to individual differences can be electronically calibrated. In other words, this calibration embodies a method for adjusting the pump command current based on actual measurement data.

[0064] The controller may determine an actuator operation command current in response to the actuator operation signal, may receive inputs of a rotation speed of an engine that drives the pump device and a discharge pressure of the at least one pump, determine a horsepower control command current based on the rotation speed and the discharge pressure, and determine the smaller of the actuator operation command current and the horsepower control command current as the pump command current. With this configuration, even when the pump discharge capacity is limited by horsepower control, it is possible to electronically calibrate variations in Iq characteristics due to individual differences.

[0065] For example, the controller may receive the actual measurement data, store the input actual measurement data, and create and store the calibration data based on the stored actual measurement data.

[0066] The controller may receive the calibration data and store the input calibration data. With this configuration, the controller does not need to create the calibration data.

[0067] From another aspect, the present disclosure provides a controller that outputs a pump command current according to an actuator operation signal to a pump device including at least one pump whose discharge capacity, which is the amount of discharge per revolution, increases as the pump command current increases, the controller receiving actual measurement data indicating an actual relationship between the pump command current and the discharge capacity of the at least one pump, storing the input actual measurement data, determining a pump command capacity based on the actuator operation signal, determining a pump command current corresponding to the pump command capacity using the actual measurement data, and outputting the determined pump command current to the pump device.

[0068] According to the above configuration, the pump command current corresponding to the pump command displacement determined based on the actuator operation signal is determined using actual measurement data, so that variations in Iq characteristics due to individual differences can be electronically calibrated. In other words, this calibration embodies a method for adjusting the pump command current based on actual measurement data.

[0069] The controller may determine an actuator operation command displacement in response to the actuator operation signal, may receive inputs of an engine speed that drives the pump device and a discharge pressure of the at least one pump, determine a horsepower control command displacement based on the engine speed and the discharge pressure, and determine the smaller of the actuator operation command displacement and the horsepower control command displacement as the pump command displacement. With this configuration, even when the pump discharge displacement is limited by horsepower control, variations due to individual differences in Iq characteristics can be electronically calibrated.

[0070] Also, from one aspect, the present disclosure provides a calibration system comprising: a pump device including at least one pump whose discharge capacity, which is the amount of discharge per revolution, increases as the pump command current increases; at least one code displayed on a surface of the pump device, which stores actual measurement data indicating the actual relationship between the pump command current and the discharge capacity of the at least one pump or information on where the actual measurement data is saved; the controller described above to which the actual measurement data is input; and a mobile terminal that acquires the actual measurement data by capturing an image of the at least one code and transmits the acquired actual measurement data to the controller via wireless communication.

[0071] With the above configuration, the actual measurement data is transmitted from the mobile device to the controller via wireless communication, so that if a special program is installed on a commercially available mobile device, the mobile device can be used to transmit the mounting data to the controller, eliminating the need for a code reader or other device connected to the controller via a wire.

[0072] From another aspect, the present disclosure provides a calibration system comprising: a pump device including at least one pump whose discharge capacity, which is the amount of discharge per revolution, increases as the pump command current increases; at least one code displayed on a surface of the pump device, which stores actual measurement data indicating an actual relationship between the pump command current and the discharge capacity of the at least one pump or information on where the actual measurement data is saved; the controller into which the calibration data is input; and a mobile terminal which acquires the actual measurement data by capturing an image of the at least one code, creates the calibration data based on the acquired actual measurement data, and transmits the created calibration data to the controller via wireless communication.

[0073] According to the above configuration, the calibration data is created on the mobile terminal and transmitted from the mobile terminal to the controller via wireless communication. Therefore, by installing a special program on a commercially available mobile terminal, the calibration data can be transmitted to the controller using the mobile terminal.

[0074] For example, the at least one pump may include two pumps, and the at least one code may include two codes corresponding to the two pumps, each code storing the actual measurement data of the corresponding pump or information on where the actual measurement data is stored. [Explanation of symbols]

[0075] 1. Calibration System 2. Pumping equipment 21 Pump 22 Regulator 3,3A controller 5. Mobile devices 6. Code 7 Engine 8 Hydraulic Actuators 84 Pressure Sensor

Claims

1. a controller that outputs a pump command current corresponding to an actuator operation signal to a pump device including at least one pump whose discharge capacity, which is a discharge amount per revolution, increases as the pump command current increases, generating calibration data based on actual measurement data for each pump that indicates an actual relationship between the pump command current and the discharge capacity of the at least one pump and that is transmitted to the controller; determining a pump command current based on the actuator operation signal; A controller corrects the determined pump command current using the calibration data and outputs the corrected pump command current to the pump device.

2. determining an actuator operation command current in response to the actuator operation signal; a rotation speed of an engine that drives the pump device and a discharge pressure of the at least one pump are input, and a horsepower control command current is determined based on the rotation speed and the discharge pressure; 2. The controller according to claim 1, wherein the smaller of the actuator operation command current and the horsepower control command current is determined as the pump command current.

3. A controller that outputs a pump command current corresponding to an actuator operation signal to a pump device including at least one pump whose discharge capacity, which is the amount of discharge per revolution, increases as the pump command current increases, Calibration data is input, the calibration data being actual measurement data indicating an actual relationship between the pump command current and the discharge capacity of the at least one pump, the calibration data being created based on the actual measurement data for each pump, and the input calibration data is stored; determining a pump command current based on the actuator operation signal; A controller corrects the determined pump command current using the calibration data and outputs the corrected pump command current to the pump device.

4. a pump device including at least one pump whose displacement, which is the amount of discharge per revolution, increases as the pump command current increases; At least one code displayed on a surface of the pump device stores actual measurement data indicating an actual relationship between the pump command current and the displacement of the at least one pump or information on a storage location of the actual measurement data; A controller according to claim 1 or 2; a portable terminal that acquires the actual measurement data by capturing an image of the at least one code and transmits the acquired actual measurement data to the controller via wireless communication; A calibration system comprising:

5. a pump device including at least one pump whose displacement, which is the amount of discharge per revolution, increases as the pump command current increases; At least one code displayed on a surface of the pump device stores actual measurement data indicating an actual relationship between the pump command current and the displacement of the at least one pump or information on a storage location of the actual measurement data; A controller according to claim 3; a portable terminal that acquires the actual measurement data by capturing an image of the at least one code, creates the calibration data based on the acquired actual measurement data, and transmits the created calibration data to the controller via wireless communication; A calibration system comprising:

6. the at least one pump includes two pumps; The calibration system according to claim 4 or 5, wherein the at least one code includes two codes corresponding to the two pumps, and each code stores the actual measurement data of the corresponding pump or information on where the actual measurement data is stored.

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