Hydraulic pump control device

TECHNICAL FIELD

The present invention relates to a controller for a hydraulic pump, and more particularly to a hydraulic pump controller suitable for use with hydraulic construction machines.

BACKGROUND ART

Generally, the power unit system (hydraulic system) of a hydraulic construction machine is equipped with one or a plurality of variable displacement type hydraulic pumps which are driven by engine power. For example, a hydraulic system for a hydraulic shovel that is a typical hydraulic construction machine is equipped with first and second variable displacement type hydraulic pumps

9

and

10

which are driven by power from an engine

11

, as shown in FIG.

12

. The discharge pressure oil from these hydraulic pumps

9

and

10

is supplied to a plurality of hydraulic actuators

27

and

28

through direction switching valves

15

and

17

where the opening degree varies according to the amount that manipulation levers

19

and

20

are manipulated. To supply adequate amount of pressure oil to the hydraulic actuators

27

and

28

that are compositely manipulated, it is necessary to control absorbed pump torque in good balance against engine output so that an actual engine speed can follow a target engine speed.

Hence, the hydraulic system is equipped with a controller

30

to which sensor signals are input from an engine speed sensor

22

and a pressure switch

31

. In the controller

30

, the engine speed of an engine

11

is detected based on an input signal from the engine speed sensor

22

, and it is decided, based on an input signal from the pressure sensor

31

, whether or not the hydraulic pumps

9

and

10

are discharging pressure oil. And to control the absorbed torque (or absorbed horse power) of the hydraulic pumps

9

and

10

so that the engine speed follows the target engine speed, a control signal Ps is output to regulators

12

and

13

that regulate the discharge flow rates of the hydraulic pumps

9

and

10

. In an electromagnetic proportional pressure-reducing valve

14

, electro-oil conversion is performed on the control signal Ps, and the converted signal is input to the regulators

12

and

13

.

The aforementioned conventional hydraulic-pump controller, however, cannot predict changes in the discharge flow rates of the hydraulic pumps

9

and

10

caused by manipulation of the manipulation levers

19

and

20

. Because of this, when the discharge flow rates of the hydraulic pumps

9

and

10

are transiently changed, for example, immediately after manipulation of the manipulation levers

19

and

20

, or during slight manipulation, the balance between engine output and absorbed pump torque will be lost and a fluctuation in an actual engine speed relative to a target engine speed will become great. As a result, adequate amount of pressure oil cannot be supplied to the hydraulic actuators

27

and

28

, and operability is degraded.

Further, with the conventional hydraulic-pump controller, it is necessary to perform tuning of control parameters in accordance with the type of the hydraulic shovels. That is, there is a need to amend part of the control program for each hydraulic shovel type. Besides, there is an individual difference between hydraulic shovels, even if they are of the same type. Furthermore, there are cases where working environment varies, for example, between a cold district and a warm district, and where engine fuel is changed. Thus, if individual difference, working environment, and conditions vary, tuning of control parameters, performed before shipping hydraulic shovels, will no longer be adaptable and therefore a fluctuation in an actual engine speed relative to a target engine speed will become great and will degrade operability.

The present invention has been made in view of such problems. Accordingly, it is an object of the present invention to provide a hydraulic-pump controller that is capable of controlling absorbed pump torque in good balance against engine output at all times.

Another object of the invention is to provide a hydraulic-pump controller which eliminates the necessity of tuning control parameters and amending a control program, even in the case where there is an individual difference between hydraulic construction machines, or the case where working environment varies, or the case where it is installed in a different type of hydraulic construction machine.

DISCLOSURE OF THE INVENTION

In accordance with the present invention, there is provided a hydraulic-pump controller which is equipped in a hydraulic system, in which hydraulic pumps are driven by an engine so that operating oil is supplied to hydraulic actuators manipulated by manipulation means, and which also controls regulators of the hydraulic pumps so that absorbed torque of the hydraulic pumps balances with an output of the engine, the hydraulic-pump controller comprising:

engine speed detection means for detecting engine speed of the engine;

discharge pressure detection means for detecting discharge pressure of the hydraulic pumps;

manipulation-amount detection means for detecting an amount that the manipulation means is manipulated, or a physical quantity correlating with the amount;

discharge flow rate predicting means for predicting discharge flow-rates of the operating oil which are discharged from the hydraulic pumps according to manipulation of the manipulation means, based on an output of the discharge pressure detection means and an output of the manipulation-amount detection means;

predictive engine speed computing means for calculating the absorbed torque of the hydraulic pumps, based on the discharge flow rates predicted by the discharge flow rate predicting means and an output of the discharge pressure detection means, and then computing a predictive engine speed of the engine from the calculated absorbed torque of the hydraulic pumps; and

regulator control means for controlling the regulators, based on a deviation between the predictive engine speed computed by the predictive engine speed computing means and an actual engine speed detected by the engine speed detection means.

With this construction, the discharge flow rates of the operating oil, that are discharged from the hydraulic pumps being operated can be predicted according to manipulation of the manipulation means, based on the discharge pressure of the hydraulic pumps, and based on the manipulation amount of the manipulation means, or a physical quantity correlating with the manipulation amount. Therefore, it is possible to make the actual engine speed of the engine follow the predictive engine speed, without losing the balance between the engine output and the absorbed pump torque, immediately after lever manipulation, or during slight manipulation. Thus, the hydraulic-pump controller of the present is capable to of preventing operability degradation due to engine speed fluctuations.

In a preferred form of the present invention, the regulator control means is a means for controlling the regulators by employing fuzzy reasoning. The regulator control means includes conformability computing means for setting a plurality of antecedent conditions in accordance with a range of operating states of the hydraulic system and then computing conformability of each antecedent condition relative to physical quantities representing the operating states, and learning-correction means for setting a plurality of control parameters for controlling the regulators, in accordance with the antecedent conditions, and for learning and correcting each of the control parameters, based on both the deviation between the predictive engine speed and the actual engine speed and the conformability of each antecedent condition computed by the conformability computing means, and then outputting the corrected control parameters to the regulators.

Thus, the hydraulic-pump controller is robust in control, because it employs fuzzy reasoning to control the regulators. In addition, based on the conformability of each antecedent condition relative to a quantity representing the operating state of the hydraulic system, and based on the deviation between the actual engine speed and the predictive engine speed, the control parameters are learned and corrected and are output to the regulators. Thus, the hydraulic-pump controller is capable of manipulating the absorbed torque of the hydraulic pumps according to the output states of the hydraulic pumps and the response of the engine speed. Even in the case where the operating state of the hydraulic system varies, for instance, there is an individual difference between hydraulic construction machines, or the case where working environment varies, and furthermore, even in the case where it is installed in a different type of hydraulic construction machine, the hydraulic-pump controller is capable of eliminating the tuning of the control parameters and the operation to change a control program.

In another preferred form of the present invention, the discharge pressure and the discharge flow rates are treated as the physical quantities representing the operating states, and the antecedent conditions are set in accordance with the discharge pressure and the discharge flow rates. In still another preferred form of the present invention, a first-order differentiated value and a second-order differentiated value of the predictive engine speed are treated as the physical quantities representing the operating states, and the antecedent conditions are set in accordance with the first-order differentiated value and the second-order differentiated value.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1

is a perspective view of a general hydraulic shovel to which a hydraulic-pump controller as a first embodiment of the present invention is applied;

FIG. 2

is a block diagram showing the construction of a hydraulic system used in the hydraulic-pump controller of the first embodiment of the present invention;

FIG. 3

is an explanatory diagram showing the relationship between the engine output characteristic and the target engine speed, used in the hydraulic-pump controller of the first embodiment of the present invention;

FIG. 4

is an explanatory diagram showing the relationship between the engine output characteristic and the target engine speed, used in the hydraulic-pump controller of the first embodiment of the present invention;

FIG. 5

is an explanatory diagram showing the regulator characteristic of the hydraulic pump used in the hydraulic-pump controller of the first embodiment of the present invention;

FIG. 6

is a block diagram showing the computation for pump control used in the hydraulic-pump controller of the first embodiment of the present invention;

FIG. 7

is a diagram showing a fuzzy rule for fuzzy control used in the hydraulic-pump controller of the first embodiment of the present invention;

FIG. 8

is a diagram showing a membership function for the antecedent part of a fuzzy rule used in the hydraulic-pump controller of the first embodiment of the present invention;

FIG. 9

is a block diagram showing the computation for pump control used in a hydraulic-pump controller of a second embodiment of the present invention;

FIG. 10

is a diagram showing a fuzzy rule for fuzzy control used in the hydraulic-pump controller of the second embodiment of the present invention;

FIG. 11

is a diagram showing a membership function for the antecedent part of a fuzzy rule used in the hydraulic-pump controller of the second embodiment of the present invention; and

FIG. 12

is a block diagram showing the construction of a hydraulic system used in a conventional hydraulic-pump controller.

BEST MODE FOR CARRYING OUT THE INVENTION

A hydraulic-pump controller according to a first embodiment of the present invention will hereinafter be described with reference to the drawings. Initially, a description will be given of the construction of a general hydraulic shovel to which the hydraulic-pump controller is applied. As shown in

FIG. 1

, the hydraulic shovel

1

is equipped with an upper swivel base

2

B, which is free to swivel with respect to a lower travel base

2

A. A boom

3

extends from the upper swivel base

2

B, whose outer end is connected to a stick

5

. The stick

5

has a bucket

7

at its outer end. Within the swivel base

2

B, the hydraulic shovel

1

is equipped with an engine and hydraulic pumps (not shown) in addition to a swivel motor (not shown) for swiveling the upper swivel base

2

B. The hydraulic, pumps are used for supplying pressure oil to hydraulic actuators such as a boom cylinder

4

for operating the boom

3

, a stick cylinder

6

for operating the stick

5

, a bucket cylinder

8

for operating the bucket

7

, etc. The fundamental constructions of these cylinders are as in the conventional hydraulic shovel.

The hydraulic-pump controller of the present invention is applied to the above-mentioned hydraulic construction machine such as a hydraulic shovel, etc. The first embodiment of the hydraulic-pump controller will hereinafter be described with reference to

FIGS. 2

to

8

. Note that the same reference numerals will be applied to the same parts as the aforementioned prior art. As shown in a block diagram of

FIG. 2

, a hydraulic system according to the hydraulic-pump controller of the first embodiment is equipped with an engine (diesel engine)

11

, and first and second variable displacement-type hydraulic pumps (hereinafter referred simply as hydraulic pumps)

9

and

10

which are driven by power from engine

11

. These hydraulic pumps

9

and

10

are constructed as a swash plate type axial piston pumps in which the discharge flow rate varies based on the angular displacement of swash plates

9

a

and

10

a

, respectively. The swash plates

9

a

and

10

a

are caused to move by regulators

12

and

13

, respectively.

The regulator

12

receives a control signal (circuit pressure) Ps obtained through electro-oil conversion by an electromagnetic proportional pressure-reducing valve

14

, circuit pressure between a direction switching valve

15

and a relief valve

16

, and circuit pressure of the discharging portions of the first and second hydraulic pumps

9

and

10

. The regulator

13

receives the control signal (circuit pressure) Ps obtained through electro-oil conversion by the electromagnetic proportional pressure-reducing valve

14

, circuit pressure between a direction switching valve

17

and a relief valve

18

, and the circuit pressure of the discharging portions of the first and second hydraulic pumps

9

and

10

. The regulators

12

and

13

are controlled by these oil pressures. Note that the details of how hydraulic control is performed by the regulators

12

and

13

will be described later.

The direction switching valves

15

and

17

are devices for switching the quantity and direction of the pressure oil that is supplied to the hydraulic actuators

27

and

28

. By manipulating manipulation levers (manipulation means)

19

and

20

, manipulation pressure according to the amount of the lever manipulation is input to the direction switching valves

15

and

17

. The direction switching valves

15

and

17

perform the operation of switching the quantity and direction of the pressure oil. The relief valve

16

is provided in a hydraulic circuit that the pressure oil being passed through the direction switching valve

15

flows into a tank

26

. Similarly, the relief valve

18

is provided in a hydraulic circuit that the pressure oil being passed through the direction switching valve

17

flows into a tank

26

. The relief valves

16

and

18

are opened when the circuit pressure reaches a predetermined relief installation pressure. The relief valve

16

is also provided with a choke in parallel. Likewise, the relief valve

18

is provided with a choke in parallel. A change in the quantity of the oil that flows into the tank

26

is sensed by pressure change caused on the upstream side of the choke.

With such a construction, in the case where the amount that the manipulation levers

19

and

20

are manipulated is zero, the pressure oil, discharged from the hydraulic pumps

9

and

10

, flows into the tank

26

through the direction switching valves

15

and

17

and the relief valves

16

and

18

. When this occurs, the inlet pressures at the relief valves

16

and

18

are equal to the relief installation pressure. If, on the other hand, the manipulation levers

19

and

20

are manipulated, the pressure oil being passed through the direction switching valves

15

and

17

is supplied to the hydraulic actuators

27

and

28

. Since no pressure oil passes through the relief valves

16

and

18

, the inlet pressures at the relief valves

16

and

18

are reduced near the tank pressure. That is, the inlet pressures at the relief valves

16

and

18

change according to the amount that the manipulation levers

19

and

20

are manipulated. The inlet pressures are transmitted to the regulators

12

and

13

.

And the above-mentioned hydraulic system is equipped with a controller

21

for controlling operation of the hydraulic pumps

9

and

10

. The controller

21

receives a signal (actual engine speed) Ne from an engine speed sensor (engine speed detection sensor)

22

for detecting the engine speed of the engine

11

, a signal (hydraulic pump discharge pressure) Pp from a pressure sensor (discharge pressure, detection means)

23

for detecting an average pressure (discharge pressure) between the hydraulic pumps

9

and

10

, and signals (inlet pressures) Pr

1

and Pr

2

from pressure sensors (manipulation-amount detection means)

24

and

25

for detecting the inlet pressures of the relief valves

16

and

18

. Based on these input signals, the controller

21

sets a control signal (control pressure) Ps for controlling the hydraulic pumps

9

and

10

and outputs it to the electromagnetic proportional pressure-reducing valve

14

.

A description will hereinafter be made of how the control pressure (output value to the electromagnetic proportional pressure-reducing valve

14

) Ps is set by the controller

21

, with reference to

FIGS. 3

to

5

.

FIGS. 3 and 4

show the relationship between the engine output characteristic and the target engine speed.

FIG. 3

shows the case where an engine output of 100% is used, while

FIG. 4

shows the case where a set engine speed by an accelerator dial is changed to reduce the engine output to less, than 100%. The engine output is divided into a governor region and a lagging region with the point of a rated torque Te (rated point) as the boundary. The governor region is an output region where the governor opening degree is less than 100%, while the lagging region is an output region where the governor opening degree is 100%.

In the case where heavy digging is performed by a hydraulic shovel, the engine output is set to 100%, and in order to perform operation in an optimal fuel consumption state, a target point is taken as shown at point p

1

in FIG.

3

. That is, a target engine speed Nset is set to a point that is a little lower than the rated engine speed on the characteristic line indicating an output of 100% (engine speed at the rated point). On the other hand, in the case of light digging operation, there are cases where the operation can be performed with an engine output of less than 100%, and where a set engine speed by the accelerator dial can also be reduced. Because of this, as shown at point p

2

in

FIG. 4

, within the region surrounded by both the characteristic line indicating an output of 100% and the characteristic line indicating the accelerator dial maximum, a target point is taken according to engine load and to a set engine speed by the accelerator dial. In this case, the abscissa value of the target point represents the target engine speed and the ordinate value represents the target engine output torque.

Next,

FIG. 5

represents the regulator characteristic of the hydraulic pump. In the case where the discharge pressure Pp of the hydraulic pumps

9

and

10

is low, the maximum discharge flow rate Q

U

of the hydraulic pumps

9

, and

10

is increased or decreased according to the inlet pressure Pr

1

of the relief valve

16

which varies with the amount that the manipulation lever

19

is manipulated, or the inlet pressure Pr

2

of the relief valve

18

which varies with the amount the manipulation lever

20

is manipulated. More specifically, the maximum discharge flow rate Q

U

is represented by the following Eq. (1):

Q

U

=a×Pr+b

(1)

where a and b are a proportional coefficient, indicating the flow-rate characteristic of the discharge flow rate Q

U

, and a constant, respectively. Therefore, for instance, in the case where the amount that the manipulation levers

19

and

20

are manipulated is small, the regulators

12

and

13

are operated so that the discharge flow rate Q

U

becomes low.

In the case where the discharge pressure Pp of the hydraulic pumps

9

and

10

is medium and high the discharge flow rate Q

L

is reduced with a rise in the hydraulic pump discharge pressure Pp. This pressure region (region indicated by an oblique characteristic line in

FIG. 5

) is a region where the absorbed torque (or absorbed horse power) of the hydraulic pumps

9

and

10

becomes constant. The above-mentioned characteristic line is called a torque constant curve or a horse power constant curve. If the control pressure Ps to the electromagnetic proportional pressure-reducing valve

14

is varied, the above-mentioned torque constant curve will be shifted according to the magnitude of the control pressure Ps, as shown by an arrow in FIG.

5

. As a result, the absorbed pump torque will be varied. More specifically, the discharge flow rate Q

L

is represented by the following. Eq. (2):

Q

L

=c

×(

Pp+k×Ps

)+

d

(2)

where c and d are a proportional coefficient, indicating the flow rate characteristic of the discharger flow rate Q

L

, and a constant, and k is a coefficient relative to the control pressure Ps. However, each of the coefficients c, d, and k varies between a region where the discharge pressure Pp is relatively high and a region where the discharge pressure Pp is relatively low. Because of this, the characteristic line Q

L

represented by the aforementioned Eq. (2) becomes a line such as that shown in FIG.

5

.

From the foregoing description, the maximum discharged flow rate Q

U

of the hydraulic pump

9

or

10

can be estimated by pressure Pr

1

or Pr

2

, and it becomes possible to estimate the discharge flow rate Q

L

on the torque constant curve by the control pressure Ps and the hydraulic pump discharge pressure Pp. And the present pump discharge flow rate Q

A

can be estimated by the following Eq. (3), employing Q

U

and Q

L

:

Q

A

=max[min(

Q

U

, Q

L

), 0] (3)

The controller

21

sets the control pressure Ps to be output, employing the above-mentioned relationship between the engine output characteristic and the target engine speed, and also employing the regulator characteristic of the hydraulic pump (FIG.

5

). More specifically, as shown in a computation block diagram of

FIG. 6

, the controller

21

is equipped, as its functional means, with a first pump discharge flow rate predicting-computing section

50

, a second pump discharge flow rate predicting-computing section

51

, a total flow rate predicting-computing section

52

, a predictive engine speed .computing section

53

, a filter

54

, a learning-gain setting section

55

, an antecedent-part conformability computing section

56

, a consequent-part variable computing section

57

, a control output torque computing section

58

, and a control pressure converting section

59

. The above-mentioned antecedent-part conformability computing section

56

, consequent-part variable computing section

57

, control output torque computing section

58

, and control pressure converting section

59

as a whole constitute regulator control means. Note that the controller

21

is a general electronic controller constituted of devices such as a CPU, a RAM, a ROM, etc., and that the above-mentioned functional means

50

to

59

can be constituted by designing, as appropriate, a program that causes a CPU to operate.

A description will be given of each functional means. Initially, the first pump discharge flow rate predicting-computing section

50

is a means for predicting the flow rate Q

1

of the pressure oil which is discharged from the first hydraulic pump

9

, and predicts the discharge flow rate Q

1

by the inlet pressure Pr

1

of the relief valve

16

, the hydraulic pump discharge pressure Pp, and the control pressure Ps in the previous step, employing the aforementioned regulator-characteristic shown in

FIG. 5

(employing Eqs. (1) to (3)).

The second pump discharge flow rate predicting-computing section

51

is a means for predicting the flow rate Q

2

of the pressure oil which is discharged from the second hydraulic pump

10

, and predicts the discharge flow rate Q

2

by the inlet pressure Pr

2

of the relief valve

18

, the hydraulic pump discharge pressure Pp, and the control pressure Ps in the previous step, employing the aforementioned regulator characteristic shown in

FIG. 5

(employing Eqs. (1) to (3)).

The total flow rate predicting-computing section

52

is a means for computing a predictive total flow rate Q from the predictive discharge flow rates Q

1

and Q

2

computed by the first pump discharge flow rate predicting-computing section

50

and the second pump discharge flow rate predicting-computing section

51

. The predictive total flow rate Q is represented by the following Eq. (4):

Q

=(

Q

1

+Q

2) (4)

Note that the above-mentioned first pump discharge flow rate predicting-computing section

50

, second pump discharge flow rate predicting-computing section

51

, and total flow rate predicting-computing section

52

as a whole constitute discharge-flow-rate predicting means.

The predictive engine speed computing section (predictive engine speed computing means)

53

is a means for computing an engine speed which is predicted from the present operating state. More specifically, the predictive engine speed computing section

53

computes the absorbed torque of the hydraulic pumps

9

and

10

from the hydraulic pump discharge pressure Pp and the predictive total flow rate Q, employing the aforementioned regulator characteristic of FIG.

5

. Furthermore, the predictive engine speed computing section

53

computes an engine output which balances with the computed, absorbed pump torque and computes the predictive engine speed Nr of the engine

11

from the relationship between the engine output characteristic and the engine speed, shown in FIG.

3

.

The reason why the predictive engine speed Nr of the engine

11

is computed in this manner is as follows: That is, an engine speed at which the engine

11

is able to produce a rated output stably is selected as a target engine speed. However, since load on the hydraulic pumps

9

and

10

is proportional to the product of flow rate and pressure, and the maximum flow rate is limited by the relief valves

16

and

18

, the load on the hydraulic pumps

9

and

10

does not become great in the low-pressure region to a degree equivalent to the target engine speed. Because of this, in the case where machine operation at low pressure, such as light operation, is being performed, there are cases where the engine speed is not reduced to a target engine speed, and where, therefore, even if the engine speed is caused to follow the target engine speed, engine speed fluctuations will not be suppressed. Hence, in the controller

21

of the first embodiment, in order to suppress engine speed fluctuations more effectively, the predictive engine speed Nr of the engine

11

is computed, and an actual engine speed is caused to follow the predictive engine speed Nr instead of following the target engine speed. The computed predictive engine speed Nr is output to the filter

54

.

The filter

54

is a means for performing a filter process, such as “dead time+first-order lag,” on the predictive engine speed Nr computed by the predictive engine speed computing section

53

. The filter

54

enables the actual engine speed Ne to smoothly follow the predictive engine speed Nr even in the case where the predictive engine speed Nr jumps up and down or contains a noise component. And the deviation ΔNe between the filtered predictive engine speed Nr and the actual engine speed Ne is input to the learning-gain setting section

55

.

The learning-gain setting section

55

is a means for causing a learning gain to act on the deviation ΔNe between the filtered predictive engine speed Nr and the actual engine speed Ne. The learning gain may be merely the product of constants, or differentiation or integration of ΔNe, or the sum of them. The output of the learning-gain setting section

55

is positioned as an evaluation function for the engine speed deviation ΔNe and is expressed as f(ΔNe).

Thus, in the controller

21

of the first embodiment, an evaluation value f(ΔNe) that is an index for causing the actual engine speed Ne to follow the predictive engine speed Nr is derived from the inlet pressures Pr

1

and Pr

2

of the relief valves

16

and

18

and the hydraulic pump discharge pressure Pp and from the control pressure Ps in the previous step, by the aforementioned processes in the functional means

50

to

55

. And as described later, the control pressure Ps is set so that the evaluation value f(ΔNe) becomes zero.

The controller

21

of the first embodiment employs fuzzy reasoning to control the regulators

12

and

13

with the control pressure Ps. More specifically, the hydraulic pump discharge pressure Pp, and the predictive total flow rate Q computed by the total flow rate predicting-computing section

52

, are first input to the antecedent-part conformability computing section

56

. The antecedent-part conformability computing section (conformability computing means)

56

is a means for computing the conformabilities of the input hydraulic pump discharge pressure Pp and predictive total flow rate Q relative to the antecedent part (if-part) of a fuzzy rule. The first embodiment employs a fuzzy rule such as the one shown in FIG.

7

. More specifically, in

FIG. 7

, the part, described as NB, NM, . . . , and PB for the pump pressure Pp, and described as NB, NM, . . . , and PB for the predictive total flow rate Q, is equivalent to the antecedent part of the fuzzy rule. Also, Wij (where i=1 to 7 and j=1 to 7) in Table of

FIG. 7

denotes a consequent-part variable and is to be described later.

The abridged symbols NB, NM, . . . , and PB in the antecedent part are called fuzzy labels. For instance, “NB” is an abridgment of “Negative Big,” “NS” “Negative Small,” and “PB” “Positive Big.” For example, for the hydraulic pump discharge pressure Pp, “NB” means that pressure is fairly small and “PB” means that pressure is fairly big. For the predictive total flow rate Q, “NB” means that a rate of flow is fairly small and “PB” means that a rate of flow is fairly big. The aforementioned “conformability” is used to quantitate the coincidence of an input value (in the first embodiment, hydraulic pump discharge pressure Pp and predictive total flow rate Q) with each antecedent condition. In the case of fuzzy control, a membership function is used for the above-mentioned quantitation. As the membership function, there are various types such as a hanging bell type, a triangular type, etc. However, the first embodiment employs a triangular type membership function such as that shown in

FIG. 8

, from the viewpoint of calculation ease.

FIG. 8

shows a membership function for the hydraulic pump discharge pressure Pp. For instance, in the case of an antecedent condition such as “if Pp is NM,” a membership function corresponding to “NM” in

FIG. 8

is employed to compute the value of the membership function for the input hydraulic pump discharge pressure Pp. The computed value is defined as the conformability for the antecedent condition “if Pp is NM.” The same applies to other antecedent conditions. In addition, although not shown, the conformability of the input predictive total flow rate Q relative to each antecedent condition is computed by setting a similar membership function for the predictive total flow rate Q.

If the conformabilities of the input hydraulic pump discharge pressure Pp ,and predictive total flow rate Q relative to each antecedent condition are computed, the antecedent-part conformability computing section

56

computes a composite value of the conformabilities in the following manner. That is, a composite value μij of μi and μj (i=1 to 7 and j=1 to 7) is computed by the following Eq. (5):

μ

ij=μi×μj

(5)

where μj represents the conformability of the antecedent condition for the hydraulic pump discharge pressure Pp (j=1 corresponds to NB, j=2 to NM, . . . , and j=7 to PB) and μi represents the conformability of the antecedent condition for the predictive total flow rate Q (i=1 corresponds to NB, i=2 to NM, . . . , and i=7 to PB). The composite value may be computed by the following Eq. (5′):

μ

ij

=min(μ

i, μj)

(5′)

where “min” is a function for selecting the minimum value. And the antecedent-part conformability computing section

56

outputs the computed composite conformability values μij to the consequent-part variable computing section

57

and the control output torque computing section

58

.

The consequent-part variable computing section (learning-correction means)

57

is a means for computing the value of the consequent-part variable Wij in the fuzzy rule shown in FIG.

7

. The consequent-part variable computing section

57

computes the consequent-part variable Wij to perform learning and a correction, based on the evaluation value f(ΔNe) computed by the learning-gain setting section

55

on the basis of the deviation ΔNe between the filtered predictive engine speed Nr and the actual engine speed Ne, and also based on the composite conformability value μij input from the antecedent-part conformability computing section

56

. More specifically, the consequent-part variable computing section

57

computes the value of the consequent-part variable Wij by the following Eq. (6):

Wij

(k)=

Wij

(

k

−1)−Δ

t×f

(Δ

Ne

)×μ

ij

(6)

where Δt is an incremental control time, ΔNe is the engine speed deviation, μij is the composite conformability value for the antecedent part (i=1 to 7 and j=1 to 7), Wij(k−1) is Wij in the previous step, and Wij(k) is Wij computed in the present step. Note that the computed value of each consequent-part variable Wij is stored in storage means provided within the controller

21

.

The second term on the right-hand side of the above-mentioned Eq. (6) becomes greater, as the conformability of an antecedent condition becomes higher (if an antecedent condition has better coincidence), and as the evaluation value f(ΔNe) for the engine speed deviation ΔNe becomes greater. Therefore, the amount of amendment for the consequent-part variable Wij in the previous step becomes greater. And the second term on the right-hand side of the above-mentioned Eq. (6) changes until the evaluation value f(ΔNe) becomes zero, and the amendment (learning) of the consequent-part variable Wij is performed until the evaluation value f(ΔNe) becomes zero. The amended (learned) consequent-part variable Wij(k) is output to the control output torque computing section

58

.

Note that if the set engine speed by the accelerator dial is changed, the target engine speed Nset for the engine

11

is also changed as shown in FIG.

4

. Note that the controller

21

of the first embodiment employs a consequent-part variable Wij for each set engine speed by the accelerator dial and makes the learning and correction of the consequent-part variable Wij for each set engine speed.

The control output torque computing section

58

is a means for computing an output torque Tr which is output to the hydraulic pumps, and computes the output torque Tr from the consequent-part variable Wij(k) and the composite conformability value μij, employing the following Eq. (7):

Tr=[μij·Wij

(

k

)]/Σμ

ij

(7)

The above-mentioned Eq. (7) is a calculation equation for a so-called weighted average and is a general method of computing an output value for fuzzy control. The computed output torque Tr is output to the control pressure converting section

59

. And the control pressure converting section

59

is a means for converting the output torque Tr to a control pressure Ps. The control pressure Ps, obtained by converting the output torque Tr, is output to the electromagnetic proportional pressure-reducing valve

14

.

Since the hydraulic-pump controller of the first embodiment of the present invention is constructed as described above, it operates in the following manner when a hydraulic construction machine with the hydraulic-pump controller is operated. If the operator first manipulates the manipulation levers

19

and

20

, the direction switching valves

15

and

17

are switched so that the pressure oil according to the amount of the manipulation is supplied from the hydraulic pumps

9

and

10

to the hydraulic actuators

27

and

28

. The inlet pressures Pr

1

and Pr

2

at the relief valves

16

and

18

are also changed according to the amount that the manipulation levers

19

and

20

are manipulated. The inlet pressures Pr

1

, and Pr

2

are detected by the pressure sensors

23

and

24

and are output to the controller

21

.

If the controller

21

receives the inlet pressures Pr

1

and Pr

2

, the first pump discharge flow rate predicting-computing section

50

and second pump discharge flow rate predicting-computing section

51

of the controller

21

predict and compute the discharge flow rates Q

1

and Q

2

of the hydraulic pumps

9

and

10

from the input pressures Pr

1

and Pr

2

, hydraulic pump discharge pressure Pp, and control pressure Ps in the previous step, employing the regulator characteristic shown in FIG.

5

. And the total flow rate predicting-computing section

52

computes the predictive total flow rate Q, employing Eq. (4).

If the predictive total flow rate Q is computed, the predictive engine speed computing section

53

computes the absorbed torque of the hydraulic pumps

9

and

10

from the predictive total flow rate Q and hydraulic pump discharge pressure Pp, computed by the use of the regulator characteristic of FIG.

5

. Furthermore, the predictive engine speed computing section

53

computes an engine output that balances with the computed, absorbed pump torque, and computes the predictive engine speed Nr from the relationship between the engine output characteristic and the target engine speed, shown in FIG.

3

. Then, the filter

54

performs a filter process, such as “dead time+first-order lag,” on the computed predictive engine speed Nr. Furthermore, the learning-gain setting section

55

causes a predetermined learning gain to act on the deviation ΔNe between the filtered predictive engine speed Nr and the actual engine speed Ne, and then computes an evaluation value f(ΔNe) for the engine speed deviation ΔNe.

In addition to the computation of the evaluation value f(ΔNe) based on the inlet pressures Pr

1

, and Pr

2

, the antecedent-part conformability computing section

56

of the controller

21

computes the conformabilities μj (j=1 to 7) and μi (i=1 to 7) of the hydraulic pump discharge pressure Pp and predictive total flow rate Q relative to the antecedent part of the fuzzy rule shown in

FIG. 7

, employing a membership function such as that shown in FIG.

8

. The antecedent-part conformability computing section

56

further computes the composite conformability value μij (i=1 to 7 and j=1 to 7), employing Eq. (5) or Eq. (5′). And based on the evaluation value f(ΔNe) for the engine speed deviation ΔNe and the composite conformability value μij, the consequent-part variable computing section

57

amends (or learns) the value of each consequent-part variable Wij in the fuzzy rule shown in

FIG. 7

, employing Eq. (6). Since the second term of Eq. (6) changes until the evaluation value f(ΔNe) becomes zero, the amendment (learning) of the consequent-part variable Wij is performed until the evaluation value f(ΔNe) becomes zero.

If the amendment (learning) of the consequent-part variable Wij is performed, the control output torque computing section

58

computes an output torque Tr from the consequent-part variable Wij and the composite conformability value μij, employing Eq. (7). And the control pressure converting section

59

converts the computed output torque Tr to a control pressure Ps and outputs it to the electromagnetic proportional pressure-reducing valve

14

. The electromagnetic proportional pressure-reducing valve

14

performs electro-oil conversion on the control pressure Ps and inputs it to the regulators

12

and

13

. The regulators

12

and

13

cause the swash plates

9

a

and

10

a

of the hydraulic pumps

9

and

10

to move according to the input control pressure Ps. In accordance with the angular displacements of the swash plates

9

a

and

10

a

, the discharge flow rates of the hydraulic pumps

9

and

10

are changed.

Thus, according to the hydraulic-pump controller of the first embodiment, the control pressure Ps for the regulators

12

and

13

of the hydraulic pumps

9

and

10

is set based on the engine speed Ne and the hydraulic pump discharge pressure Pp, and also based on the inlet pressures Pr

1

and Pr

2

of the relief valves

16

and

18

which are correlated with the amount that the manipulation levers

19

and

20

are manipulated. Therefore, the flow rates of the hydraulic pumps

9

and

10

during operation can be precisely predicted so that the actual engine speed Ne can follow the predictive engine speed Nr, without losing the balance between the engine output and the absorbed pump torque, immediately after lever manipulation, or during slight manipulation. Thus, the hydraulic-pump controller of the first embodiment has the advantage that operability degradation due to engine speed fluctuations can be prevented.

The hydraulic-pump controller is robust in control, because it employs fuzzy reasoning to control the hydraulic pumps

9

and

10

(more specifically, the regulators

12

and

13

). The hydraulic-pump controller is also capable of manipulating the absorbed torque of the hydraulic pumps

9

and

10

, according to the output states of the hydraulic pumps

9

and

10

being operated and to the response of the engine speed, because it learns and computes the control pressure Ps from the hydraulic pump discharge pressure Pp, the conformabilities μj and μi of the predictive total flow rate Q relative to each range, and the evaluation value f(ΔNe) for the deviation ΔNe of the actual engine speed Ne relative to the predictive engine speed Nr. That is, even if the output states of the hydraulic pumps

9

and

10

are changed by hydraulic shovel type, individual difference, etc., or the dynamic characteristic of the engine speed is changed by a change in working environment (e.g., a cold district, a warm district, etc.) or a change in fuel, the hydraulic pumps

9

and

10

can be controlled according to each hydraulic shovel and working environment, because the controller

21

itself learns the consequent-part variable Wij that is the basis for setting the control pressure Ps. Therefore, even if hydraulic shovel type or working environment varies, the same controller (control method) can be used. As a result, the tuning of control parameters for each machine type, and the operation of changing a control program, become unnecessary.

Furthermore, how the hydraulic pump discharge pressure Pp and the predictive total flow rate Q, which are input values for setting the control pressure Ps, make a transition depends on the amount that the manipulation levers

19

and

20

are manipulated, and characteristic changes, such as individual difference of engines and pumps, machine types, etc. However, if a membership function for the antecedent part of a fuzzy rule includes all the transition range, an antecedent condition most conformable to the aforementioned characteristic changes is treated as a computing object, and a consequent-part variable Wij corresponding to the antecedent condition which is a computing object is updated (or learned) to make the evaluation value f(ΔNe) zero. Therefore, control of the hydraulic pumps

9

and

10

corresponding to such characteristic changes can also be realized. Note that in a transition state, where changes are conspicuous, immediately after lever manipulation, the state may be divided into a plurality of intervals, depending on the elapsed time after manipulation. In this case, the consequent-part variable Wij is prepared for each interval, and the evaluation value f(ΔNe) in the learning-gain setting section

55

is set.

Now, a description will be given of a hydraulic-pump controller constructed according to a second embodiment of the present invention. The hydraulic-pump controller of the second embodiment, as with the above-mentioned first embodiment, is applied to a hydraulic construction machine, such as a hydraulic shovel, etc., shown in FIG.

1

. The hydraulic-pump controller of the second embodiment also has the same hydraulic system as the first embodiment, such as that shown in FIG.

2

. The hydraulic-pump controller of the second embodiment differs from the first embodiment in function (method of controlling hydraulic pumps). However, the relationship between the engine output characteristic and the target engine speed,shown in

FIGS. 3 and 4

, and the regulator characteristic of the hydraulic pumps shown in

FIG. 5

, are the same as the first embodiment.

Of the construction of the hydraulic-pump controller of the second embodiment, the function of the controller (method of controlling hydraulic pumps) will hereinafter be described primarily with reference to

FIGS. 9

to

11

in addition to

FIGS. 2

to

5

used in the first embodiment. As shown in a computation block diagram of

FIG. 9

, the controller

21

′ of the second embodiment is equipped with a first pump discharge flow rate predicting-computing section

60

, a second pump discharge flow rate predicting-computing section

61

, a total flow rate predicting-computing section

62

, a predictive engine speed computing section

63

, a filter

64

, a learning-gain setting section

65

, an antecedent-part conformability computing section

66

, a consequent-part variable computing section

67

, a control output torque computing section

68

, and a control pressure converting section

69

. Note that the controller

21

′ is a general electronic controller constituted of devices such as a CPU, a RAM, a ROM, etc., and that the above-mentioned functional means

60

to

69

can be constituted by designing, as appropriate, a program which causes a CPU to operate.

A description will be given of each functional means. The first pump discharge flow rate predicting-computing section

60

is a means for predicting the flow rate Q

1

of the pressure oil, which is discharged from a first hydraulic pump

9

, by the inlet pressure Pr

1

of a relief valve

16

, the hydraulic pump discharge pressure Pp, and the control pressure Ps in the previous step, employing the regulator characteristic shown in FIG.

5

.

The second pump discharge flow rate predicting-computing section

61

is a means for predicting the flow rate Q

2

of the pressure oil, which is discharged from a second hydraulic pump

10

, by the inlet pressure Pr

2

of a relief valve

18

, the hydraulic pump discharge pressure Pp, and the control pressure Ps in the previous step, employing the regulator characteristic shown in FIG.

5

.

The total flow rate predicting-computing section

62

is a means for computing a predictive total flow rate Q from the predictive discharge flow rates Q

1

and Q

2

computed by the first pump discharge flow rate predicting-computing section

60

and the second pump discharge flow rate predicting-computing section

61

, employing Eq. (4), as with the first embodiment. Note that the above-mentioned first pump discharge flow rate predicting-computing section

60

, second pump discharge flow rate predicting-computing section

61

, and total flow rate predicting-computing section

62

as a whole constitute discharge-flow-rate predicting means.

The predictive engine speed computing section (predictive engine speed computing means)

63

is a means for computing engine speed. The predictive engine speed computing section

63

computes the absorbed torque of the hydraulic pumps

9

and

10

from the hydraulic pump discharge pressure Pp and the predictive total flow,rate Q, employing the regulator characteristic of FIG.

5

. Furthermore, the predictive engine speed computing section

63

computes an engine output which balances with the computed, absorbed pump torque and computes the predictive engine speed Nr of the engine

11

from the relationship between the engine output characteristic and the engine speed, shown in FIG.

3

.

The filter

64

is a means for performing a filter process, such as “dead time+first-order lag,” on the predictive engine speed Nr, computed by the predictive engine speed computing section

63

, so that even in the case where the predictive engine speed Nr varies by stages or contains a noise component, the actual engine speed Ne can follow the predictive engine speed Nr smoothly.

The learning-gain setting section

65

is a means for causing a learning gain to act on the deviation ΔNe between the filtered predictive engine speed Nr and the actual engine speed Ne to compute an evaluation function f(ΔNe) for the engine speed deviation ΔNe. The learning gain may be the product of constants, or differentiation or integration of ΔNe, or the sum of them.

The functions of the above-mentioned functional means

60

to

65

are the same as those of the functional means

50

to

55

of the first embodiment. To cause the actual engine speed Ne to follow the predictive engine speed Nr, the controller

21

′ sets the control pressure Ps so that the evaluation value f(ΔNe) derived by the functional means

60

to

65

becomes zero. The second embodiment also employs fuzzy control to control the regulators

12

and

13

with the control pressure Ps, but differs from the first embodiment in how to control the fuzzy control.

More specifically, in the second embodiment, the first-order differentiated value dΔNe and second-order differentiated value d

2

ΔNe of the predictive engine speed filtered by the filter

64

are input to the antecedent-part conformability computing section

66

as input values for fuzzy control. The antecedent-part conformability computing section (conformability computing means)

66

is a means for computing the conformabilities of the first-order differentiated value dΔNe and second-order differentiated value d

2

ΔNe of an input predictive engine speed relative to the antecedent part of a fuzzy rule. The second embodiment employs a fuzzy rule such as the one shown in FIG.

10

. In the figure, the part, described as NB, NM, . . . , and PB for the first-order differentiated value dΔNe, and described as NB, NM, . . . , and PB for the second-order differentiated value d

2

ΔNe, is equivalent to the antecedent part of the fuzzy rule.

The conformability is used for quantitating the coincidence of an input value (in the second embodiment, the first-order differentiated value dΔNe and the second-order differentiated value d

2

ΔNe) with each antecedent condition (i.e., NB, NM, . . . , and PB). The second embodiment performs quantitation, employing a membership function such as that shown in FIG.

11

. As the membership function, there are various types such as a hanging bell type, a triangular type, etc. However, the second embodiment employs a triangular type membership function from the viewpoint of calculation ease.

FIG. 11

shows a membership function for the first-order differentiated value dΔNe. For instance, in the case of an antecedent condition such as “if dΔNe is NM,” a membership function corresponding to “NM” in

FIG. 11

is employed to compute the value of the membership function for the input first-order differentiated value dΔNe. The computed value is defined as the conformability for the antecedent condition “if dΔNe is NM.” The same applies to other antecedent conditions. In addition, although not shown, the conformability of an input second-order differentiated value d

2

ΔNe relative to each antecedent condition is computed by setting a similar membership function for the second-order differentiated value d

2

ΔNe.

If the conformabilities of the input first-order differentiated value dΔNe and second-order differentiated value d

2

ΔNe with each antecedent condition are computed, the antecedent-part conformability computing section

66

computes a composite value of the conformabilities. That is, a composite value μij of μi and μj (i=1 to 7 and j=1 to 7) is computed, employing by the aforementioned Eq. (5) or, Eq. (5′), as with first embodiment. In this case, μj represents the conformability of the antecedent condition for the first-order differentiated value dΔNe (j=1 corresponds to NB, j=2 to NM, . . . , and j=7 to PB) and μi represents the conformability of the antecedent condition for the second-order differentiated value d

2

ΔNe (i=1 corresponds to NB, i=2 to NM, . . . , and i=7 to PB).

The consequent-part variable computing section (learning-correction means)

67

is a means for computing the value of the consequent-part variable Win in the fuzzy rule shown in FIG.

10

. Based on the evaluation value f(ΔNe) computed by the learning-gain setting section

65

on the basis of the deviation ΔNe between the filtered predictive engine speed Nr and the actual engine speed Ne, and also based on the composite conformability value μij input from the antecedent-part conformability computing section

66

, the consequent-part variable computing section

67

computes the consequent-part variable Wij to perform learning and a correction, employing Eq. (6), as with the first embodiment. The computed Wij is stored in storage means provided within the controller

21

′. Note that the consequent-part variable Wij is prepared for each accelerator dial, and that the consequent-part variable computing section

67

makes the learning and correction of the consequent-part variable Wij for each accelerator dial.

The consequent-part variable Wij computed by the consequent-part variable computing section

67

, along with the composite conformability value μij computed by the antecedent-part conformability computing section

66

, is input to the control output torque computing section

68

. The control output torque computing section

68

is a means for computing an output torque Tr which is output to the hydraulic pumps, and computes the output torque Tr from the consequent-part variable Wij(k) and the composite conformability value μij, employing the aforementioned Eq. (7) (which is a weighted average), as with the first embodiment. And the output torque Tr computed by the control output torque computing section

68

is converted to control pressure Ps by the control pressure converting section

69

and is output to the electromagnetic proportional pressure-reducing valve

14

. The above-mentioned antecedent-part conformability computing section

66

, consequent-part variable computing section

67

, control output torque computing section

68

, and control pressure converting section

69

as a whole constitute regulator control means.

Since the hydraulic-pump controller of the second embodiment of the present invention is constructed as described above, it operates in the following manner when a hydraulic construction machine with the hydraulic-pump controller is operated. If the operator first manipulates the manipulation levers

19

and

20

, the direction switching valves

15

and

17

are switched so that the pressure oil according to the amount of the manipulation is supplied from the hydraulic pumps

9

and

10

to the hydraulic actuators

27

and

28

. The inlet pressures Pr

1

and Pr

2

at the relief valves

16

and

18

are also changed according to the amount that the manipulation levers

19

and

20

are manipulated. The inlet pressures Pr

1

and Pr

2

are detected by the pressure sensors

24

and

25

and are output to the controller

21

′.

If the controller

21

′ receives the inlet pressures Pr

1

and Pr

2

, the first pump discharge flow rate predicting-computing section

60

and second pump discharge flow rate predicting-computing section

61

of the controller

21

′ predict and compute the discharge flow rates Q

1

and Q

2

of the hydraulic pumps

9

and

10

from the input pressures Pr

1

and Pr

2

, hydraulic pump discharge pressure Pp, and control pressure Ps in the previous step, employing the regulator characteristic shown in FIG.

5

. And the total flow rate predicting-computing section

62

computes the predictive total flow rate Q, employing the aforementioned Eq. (4).

Next, the predictive-engine speed computing section

63

computes the absorbed torque of the hydraulic pumps

9

and

10

from the predictive total flow rate Q and hydraulic pump discharge pressure Pp, computed using the regulator characteristic of FIG.

5

. Furthermore, the predictive engine speed computing section

63

computes an engine output that balances with the computed, absorbed pump torque, and computes the predictive engine speed Nr from the relationship between the engine output characteristic and the target engine speed, shown in FIG.

3

. Then, the filter

64

performs the aforementioned filter process on the computed predictive engine speed Nr. Furthermore, the learning-gain setting section

65

causes a predetermined learning gain to act on the deviation ΔNe between the filtered predictive engine speed Nr and the actual engine speed Ne, and then computes an evaluation value f(ΔNe) for the engine speed deviation ΔNe.

In addition to the computation of the evaluation value f(ΔNe) based on the inlet pressures Pr

1

and Pr

2

, the antecedent-part conformability computing section

66

of the controller

21

′ computes the conformabilities μj (j=1 to 7) and μi (i=1 to 7) of the first-order differentiated value dΔNe and second-order differentiated value d

2

ΔNe of the predictive engine speed relative to the antecedent part of the fuzzy rule shown in

FIG. 10

, employing a membership function such as that shown in FIG.

11

. The antecedent-part conformability computing section

66

further computes the composite conformability value μij (i=1 to 7 and j=1 to 7), employing Eq. (5) or Eq. (5′). And based on the evaluation value f(ΔNe) and the composite conformability value μij, the consequent-part variable computing section

67

amends (or learns) the value of each consequent-part variable Wij in the fuzzy rule shown in

FIG. 11

, employing Eq. (6). Since the second term of Eq. (6) changes until the evaluation value f(ΔNe) becomes zero, the amendment (learning) of the consequent-part variable Wij is performed until the evaluation value f(ΔNe) becomes zero.

If the amendment (learning) of the consequent-part variable Wij is performed, the control output torque computing section

68

computes an output torque Tr from the consequent-part variable Wij and the composite conformability value μij, employing Eq. (7). And the control pressure converting section

69

converts the computed output torque Tr to a control pressure Ps and outputs it to the electromagnetic proportional pressure-reducing valve

14

. The electromagnetic proportional pressure-reducing valve

14

performs electro-oil conversion on the control pressure Ps and inputs it to the regulators

12

and

13

. The regulators

12

and

13

cause the swash plates

9

a

and

10

a

of the hydraulic pumps

9

and

10

to move according to the input control pressure Ps. In accordance with the angular displacements of the swash plates

9

a

and

10

a

, the discharge flow rates of the hydraulic pumps

9

and

10

are changed.

Thus, according to the hydraulic-pump controller of the second embodiment, as with the first embodiment, the control pressure Ps for the regulators

12

and

13

of the hydraulic pumps

9

and

10

, is set based on the engine speed Ne and the hydraulic pump discharge pressure Pp, and also based on the inlet pressures Pr

1

and Pr

2

of the relief valves

16

and

18

which are correlated with the amount that the manipulation levers

19

and

20

are manipulated. Therefore, the flow rates of the hydraulic pumps

9

and

10

during operation can be precisely predicted so that the actual engine speed Ne can follow the predictive engine speed Nr, without losing the balance between the engine output and the absorbed pump torque, immediately after lever manipulation, or during slight manipulation. Thus, the hydraulic-pump controller of the second embodiment has the advantage that operability degradation due to engine speed fluctuations can be prevented.

The hydraulic-pump controller of the second embodiment is robust in control, because it employs fuzzy reasoning to control the hydraulic pumps

9

and

10

(more specifically, the regulators

12

and

13

). The hydraulic-pump controller is also capable of manipulating the absorbed torque of the hydraulic pumps

9

and

10

, according to the output states of the hydraulic pumps

9

and

10

being operated and to the response of the engine speed, because it learns and computes the control pressure Ps from the conformabilities, μj and μi of the first-order differentiated value dΔNe and second-order differentiated value d

2

ΔNe of the predictive engine speed relative to the antecedent part of the fuzzy rule, and from the evaluation value f(ΔNe) for the deviation ΔNe of the actual engine speed Ne relative to the predictive engine speed Nr. Therefore, even if hydraulic shovel type or working environment varies, the same controller (control method) can be used, as with the first embodiment. As a result, the tuning of control parameters for each machine type, and the operation of changing a control program, become unnecessary. Note that as with the first embodiment, in a transition state, where changes are conspicuous, immediately after lever manipulation, the state may be divided into a plurality of intervals, depending on the elapsed time after manipulation. In this case, the consequent-part variable Wij is prepared for each interval, and the evaluation value f(ΔNe) in the learning-gain setting section

65

is set.

While the present invention has been described with reference to the two preferred embodiments thereof, the invention is not to be limited to the details given herein, but may be modified within the scope of the appended claims. For example, although, in the aforementioned embodiments, the inlet pressures Pr

1

and Pr

2

at the relief valves

16

and

18

are detected as physical quantities correlating with the amount that the manipulation levers

19

and

20

are manipulated, the manipulation amount itself may be detected to predict the discharge flow rate Q.

In addition, in the embodiments described above, the antecedent condition of the fuzzy rule is set according to the hydraulic pump discharge pressure Pp and the predictive total flow rate Q, or according to the first-order differentiated value dΔNe and second-order differentiated value d

2

ΔNe of the predictive engine speed. However, the antecedent condition of the fuzzy rule is not limited to the aforementioned physical quantities (Pp, Q, dΔNe, and d

2

ΔNe), if it is a physical quantity representing the operating state of the hydraulic system. The antecedent condition may be set according to three or more physical quantities, or a single quantity.

INDUSTRIAL APPLICABILITY

As has been described above, the hydraulic-pump controller of the present invention is suitable for a hydraulic construction machine with a hydraulic system constructed of an engine, hydraulic pumps, hydraulic actuators, etc.

Number	Name	Date	Kind
5267441	Devier et al.	Dec 1993	A
5911506	Nakamura et al.	Jun 1999	A
5944492	Konishi et al.	Aug 1999	A

Number	Date	Country
0 539 589	Feb 1992	EP
0 851 122	Jul 1998	EP
0 884 422	Dec 1998	EP
0 908 564	Apr 1999	EP
8-333769	Dec 1996	JP
10-196606	Jul 1998	JP
11-108003	Apr 1999	JP

Hydraulic pump control device

Information

Patent Number

Date Filed

Date Issued

Inventors

Original Assignees

Examiners

Agents

CPC

US Classifications

Field of Search

US

International Classifications

Term Extension

Abstract

Description

Claims

Priority Claims (1)

PCT Information

US Referenced Citations (3)

Foreign Referenced Citations (7)