ROTATION CONTROL DEVICE FOR WORKING MACHINE

Abstract

In a rotation control device for rotating a rotation motor at speed in accordance with a boom raising operation amount, at the time of a combined operation for simultaneously performing a rotation action and a boom raising action, a limitation value of rotation torque in accordance with the boom raising operation amount is determined by rotation torque limitation value setting means of a controller, the limitation value serving as a rotation torque limitation value is sent to rotation speed control means, and a command value of the rotation torque is torque-limited by rotation torque limiting means.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an entire block diagram of a control device according to a first embodiment of the present invention;

FIG. 2 is a control block diagram for explaining a control content according to the first embodiment;

FIG. 3 is a diagram showing changing situations relative to time of rotation torque and rotation speed as a control result according to the first embodiment;

FIG. 4 is an entire block diagram of a control device according to a second embodiment;

FIG. 5 is a control block diagram for explaining a control content according to the second embodiment;

FIG. 6 is a diagram showing changing situations relative to time of rotation acceleration and rotation speed as a control result according to the second embodiment;

FIG. 7 is a schematic side view of an excavator; and

FIG. 8 is a schematic front view of the excavator.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A description will be given to embodiments of the present invention with reference to FIGS. 1 to 6.

In a first embodiment shown in FIGS. 1 to 3, “control in the direction of reducing rotation torque” is performed in correspondence with claim 2, and in a second embodiment shown in FIGS. 4 to 6, “control in the direction of reducing rotation acceleration” is performed in correspondence with claim 3.

First Embodiment

FIG. 1 shows an entire configuration of a rotation control device according to the first embodiment.

Firstly, when drive system is explained, power of an engine 11 is added to a hydraulic pump 13 and a generator motor 14 through a power divider 12.

A hydraulic circuit 15 is connected to the hydraulic pump 13, and a boom cylinder 6 shown in FIG. 7 and other hydraulic actuators (given the reference numeral 16 in total) are driven by pressure oil from the hydraulic pump 13.

Power from the generator motor 14 is sent to a rotation motor 19 through both a generator motor inverter 17 and a rotation motor inverter 18. Torque of the rotation motor 19 is transmitted to an upper rotating body 2 through a reduction gear 20, and the upper rotating body 2 is rotated around a vertical axis O shown in FIGS. 7 and 8.

A battery 21 is provided between both the inverters 17 and 18. The battery 21 is combined with the generator motor 14 and used as a power source for the rotation motor 19.

The reference numeral 22 denotes an encoder serving as rotation speed detecting means for detecting rotation speed of the rotation motor 19. The rotation speed detected by the encoder 22 is inputted to a controller 23 serving as control means.

The reference numeral 24 denotes a rotation lever serving as rotation operation means (one rotation lever is shown as used for rotation of both left and right), and the reference numeral 25 denotes a boom raising lever serving as boom raising operation means. Operation amounts of both the levers 24 and 25 (a rotation operation amount and a boom raising operation amount) are detected by operation amount detecting means 28 serving both as rotation operation amount detecting means and boom raising operation amount detecting means through signal converters 26 and 27 such as a potentiometer, and inputted to the controller 23.

It should be noted that a remote controller valve may be used as the boom raising operation means so that an operation amount thereof is converted into an electric signal by a pilot pressure sensor and sent to the operation amount detecting means 28.

The controller 23 is, as basic constituent elements, provided with rotation speed target value calculating means 29 for calculating a target value of the rotation speed from the rotation operation amount, rotation acceleration and deceleration control means 30 for outputting a command value of the rotation speed on the basis of the rotation speed target value, rotation speed detected value calculating means 31 for determining the rotation speed from a rotation speed signal sent from the encoder 22, rotation speed control means 32 for performing rotation speed feedback control (PI control), and motor torque control means 33.

A basic speed control effect according to the basic constituent elements will be described with reference to FIG. 2.

• (i) In the rotation speed target value calculating means 29, the target value of the rotation speed is determined from the rotation operation amount signal (Control Step S1 in FIG. 2).
• (ii) In the rotation acceleration and deceleration control means 30, the command value of the rotation speed for the rotation acceleration and deceleration control in accordance with the rotation speed target value is determined, and the rotation speed command value is sent to the rotation speed control means 32 (Control Step S2 in FIG. 2).
• (iii) In the rotation speed control means 32, the rotation torque which is necessary for achieving command speed is determined, and the rotation torque serving as a rotation torque command value is outputted to the motor torque control means 33 (Control Step S3 in FIG. 2).
• (iv) In the motor torque control means 33, a current value in accordance with the rotation torque command value is determined and outputted to the inverter 18 (Control Step S4 in FIG. 2).

By this, the rotation motor 19 is rotated at speed in accordance with the rotation operation amount so that the upper rotating body 2 shown in FIGS. 7 and 8 is rotated.

Here, when applying the technique disclosed in Patent Document 1, as the control of making the rotation movement closer to the rotation movement of the total hydraulic excavator at the time of the combined operation of rotating and boom raising, the speed command value in Control Step S2 is reduced in accordance with the boom raising operation amount, and speed feedback control is performed on the basis of the reduced speed command.

Meanwhile in the first embodiment, as constituent elements of making the rotation movement closer to hydraulic rotation at the time of the combined operation of rotating and boom raising, are provided rotation torque limitation value setting means 34 and rotation torque limiting means 35.

In the rotation torque limitation value setting means 34, on the basis of the boom raising operation amount from the operation amount detecting means 28, as Control Step S5 in FIG. 2, a limitation value of the rotation torque is determined from a property of boom raising operation amount/torque limitation value which is preset, and sent to the rotation torque limiting means 35.

In the rotation torque limiting means 35, as Control Step S6, the rotation torque command value from the rotation speed control means 32 is limited on the basis of the rotation torque limitation value, and the limited value serving as a final rotation torque command value is sent to the motor torque control means 33.

As a result, at the time of the combined operation of rotating and boom raising, the rotation torque is limited and the acceleration is slowed down as shown in FIG. 3. The more the boom raising operation amount is, the tighter the torque limitation (slow down of acceleration) becomes.

Therefore, it is possible to obtain the rotation property which is extremely close to the hydraulic rotation in which while the acceleration is slowed down, the speed is reduced in accordance with the boom raising operation amount.

Second Embodiment

In the second embodiment shown in FIGS. 4 to 6, the same parts as in the first embodiment are given the same reference numerals and repeated explanation thereof is omitted.

When different points from the first embodiments are explained, as understood from comparison between FIGS. 1 and 4, rotation acceleration limitation value setting means 36 is provided instead of the rotation torque limitation value setting means 34 of the first embodiment.

The rotation acceleration limitation value setting means 36 is adapted to determine an acceleration limitation value from a property of boom raising operation amount/torque limitation value which is preset on the basis of the boom raising operation amount, and send the acceleration value to the rotation acceleration and deceleration control means 30, as Control Step S5′ in FIG. 5 instead of Control Step S5 in FIG. 2.

In the rotation acceleration and deceleration control means 30 receiving the acceleration limitation value, as Control Step S2′, the rotation speed command value is determined by adding acceleration limitation to the rotation speed target value from the rotation speed target value calculating means 29, and sent to the rotation speed control means 32.

As a result, the rotation acceleration is slowed down in accordance with the boom raising operation amount as shown in FIG. 6, and it is possible to obtain the rotation property which is extremely close to the hydraulic rotation in which while the acceleration is slowed down, the rotation speed is reduced as well as the first embodiment.

Other Embodiments

• (1) In both the above embodiments, the boom raising action is taken as a representative example for a hydraulic action in which the rotation speed is reduced at the time of combined operation. However, it is possible to apply the present invention to combination with other hydraulic actions generating similar phenomenon.
• (2) In both the above embodiments, it is shown that the present invention is applied to a so-called hybrid excavator in which the rotation motor 19 is driven by the generator motor 14 and the battery 21 and the hydraulic pump 13 is driven by the engine 11. However, it is possible to apply the present invention to an excavator in which a rotation motor and a motor for pump are driven by an external power source or a battery and a hydraulic pump is driven by the motor for pump.
• (3) The present invention is not limited to the excavator but widely applied to a working machine of an electrically rotated type such as a crusher, a demolition machine and a groove excavator which are configured so as to take the excavator as a base.

Although the invention has been described with reference to the preferred embodiments in the attached figures, it is noted that equivalents may be employed and substitutions made herein without departing from the scope of the invention as recited in the claims.

Claims

1. A rotation control device for working machine, comprising: a rotation body;a rotation motor for rotating and driving said rotation body;a hydraulic actuator driven by pressure oil from a hydraulic pump;rotation operation means for sending a rotation signal to said rotation motor;hydraulic actuator operation means for sending an action signal to said hydraulic actuator;rotation operation amount detecting means for detecting a rotation operation amount which is an operation amount of said rotation operation means;hydraulic actuator operation amount detecting means for detecting a hydraulic actuator operation amount which is an operation amount of said hydraulic actuator operation means; andcontrol means for controlling said rotation motor on the basis of the signals from both said operation amount detecting means, the control means being adapted:(A) to control said rotation motor at speed in accordance with the rotation operation amount, and(B) to torque-control said rotation motor in the direction of slowing down acceleration of the rotation in accordance with an increase in the hydraulic actuator operation amount at the time of a combined operation for simultaneously performing a rotation action and a hydraulic action by said hydraulic actuator.

2. The rotation control device for working machine according to claim 1, wherein said control means torque-controls said rotation motor in the direction of reducing rotation torque in accordance with the increase in the hydraulic actuator operation amount at the time of the combined operation.

3. The rotation control device for working machine according to claim 1, wherein said control means torque-controls said rotation motor in the direction of reducing the rotation acceleration in accordance with the hydraulic actuator operation amount at the time of the combined operation.

4. The rotation control device for working machine according to claim 1, wherein a boom cylinder for raising and lowering a boom is provided as said hydraulic actuator, boom raising operation means for sending a command for raising the boom is provided as said hydraulic actuator operation means, boom raising operation amount detecting means for detecting an operation amount of said boom raising operation means is provided as said hydraulic actuator operation amount detecting means, and said control means torque-controls said rotation motor in the direction of slowing down the acceleration of the rotation in accordance with an increase in the boom raising operation amount.