KR101518060B1 - Swing signal processing apparatus for construction machinery - Google Patents

Abstract

The turning signal processing apparatus of the construction machine according to the present invention is characterized in that the relationship between the turning input signal SI with respect to the turning operation amount generated from the turning operation section 1 and the steady state turning speed of the turning device 2 is the steady- A memory (10) storing a rotation deceleration pattern in which a relationship between a rotational inertia and a rotational acceleration / deceleration rate is set; And calculating a steady state turning speed corresponding to the turning input signal (SI) from the steady state turning speed pattern, calculating turning turning inertia from a turning speed and a turning torque input from the turning device (2) Deceleration rate corresponding to the turning inertia calculated from the acceleration / deceleration pattern, and calculates a turning / turning speed corresponding to the turning speed from the calculated turning speed or turning deceleration rate and the calculated steady- And a signal processing unit 40 for calculating the signal ST.

Revolving rotational inertia, revolution speed, steady state revolution speed, acceleration / deceleration rate

Description

TECHNICAL FIELD [0001] The present invention relates to a swing signal processing apparatus for a construction machine,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a construction machine, and more particularly, to a turning signal processing device of a construction machine that processes a turning input signal in consideration of a variable related to turning operation.

A hydraulic construction machine such as an excavator is driven by hydraulic oil discharged from a pump driven by an engine. More specifically, the flow direction of the hydraulic fluid discharged from the pump is controlled by the control valve which is changed in accordance with the signal pressure generated from the operating portion, and supplied to each of the working machines. Whereby the operation of the working machine is controlled.

For example, in the case of a swing motor, when a swing operation amount is generated from a swing operation portion, a signal pressure proportional to the swing operation amount is applied to the swing control valve, and according to the magnitude of the signal pressure applied to the swing control valve, do. Particularly, the opening amount of the hydraulic fluid supplied to the swing motor varies depending on the magnitude of the signal pressure. Whereby the speed and acceleration at which the swing motor is driven are determined.

However, in the construction machine as described above, the turning operation such as the operation amount of the turning operation portion, the turning speed and the turning acceleration is always kept constant. Therefore, the hydraulic construction machine can not be changed to the turning operability suitable for each operator, thereby causing a problem that the operability of the construction machine is deteriorated.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a turning signal processing apparatus of a construction machine capable of precisely varying turning operability.

In order to accomplish the above object, according to the present invention, there is provided an apparatus for processing a turning signal of a construction machine, comprising a turning input signal SI with respect to a turning operation amount generated from a turning operation unit 1, And a rotation deceleration pattern in which a relation between the rotational inertia and the rotational acceleration / deceleration rate is set; And calculating a steady state turning speed corresponding to the turning input signal (SI) from the steady state turning speed pattern, calculating turning turning inertia from a turning speed and a turning torque input from the turning device (2) Deceleration rate corresponding to the turning inertia calculated from the acceleration / deceleration pattern, and calculates a turning / turning speed corresponding to the turning speed from the calculated turning speed or turning deceleration rate and the calculated steady- And a signal processing unit 40 for calculating the signal ST.

According to an embodiment of the present invention, the memory 10 stores a plurality of steady state revolution speed patterns and a plurality of revolutions and deceleration patterns, and the revolution signal processing apparatus is provided with a plurality of steady state revolution speed patterns A steady state turning speed pattern selection unit (20) for selecting one steady state turning speed pattern; And a deceleration pattern selection unit (30) for turning one of the plurality of revolutions of the deceleration pattern to select a deceleration pattern.

The signal processing unit 40 includes a steady state turning speed calculating unit 42 for calculating a steady state turning speed corresponding to the turning input signal SI input from the turning control unit 1 from the steady state turning speed pattern; A turning rotation inertia calculating unit (43) for calculating a turning rotation inertia from the signals of the turning speed and the turning torque inputted to the turning apparatus (2); An acceleration / deceleration rate calculation section (44) for calculating an acceleration rate or a deceleration rate corresponding to the rotational inertia calculated by the rotational inertia computation section (43) from the deceleration pattern; And an arithmetic and logic unit (not shown) for calculating the acceleration rate or deceleration rate calculated by the acceleration / deceleration rate calculation unit 44 and the steady state revolution speed calculated by the steady state revolution speed calculation unit 42, (45).

If the speed difference between the turning speed corresponding to the turning conversion signal ST and the steady state turning speed is equal to or less than the reference value, the calculating unit 45 decreases the turning acceleration rate or the turning reduction rate, The turning conversion signal ST is calculated on the basis of the turning deceleration rate.

On the other hand, the reduction rate of the turning acceleration rate or the turning reduction rate increases as the speed difference becomes smaller.

According to the above-mentioned problem solving means, the turning speed corresponding to the current turning input signal is calculated from the steady state turning speed calculated from the steady state turning speed pattern and the acceleration rate or the deceleration rate calculated from the turning speed deceleration pattern , The steady state turning speed pattern and the turning speed reduction pattern can be changed so as to be suitable for the operator, thereby making it possible to change the turning operability to an optimum state for the operator.

In particular, the turning acceleration rate and the deceleration rate can be varied in accordance with the turning inertia calculated by the turning rotation inertia calculating unit, so that the operator can more precisely adjust the turning operability desired by the operator.

In addition, the steady state turning speed pattern and the turning speed can be varied in various ways and stored in the memory, and the operator can select any one of them to conveniently change the turning operability.

On the other hand, when the turning speed corresponding to the turning conversion signal ST is close to the steady state turning speed, by reducing the acceleration rate and the deceleration rate at a constant rate, it is possible to prevent the acceleration rate or the deceleration rate from suddenly changing, This makes it possible to mitigate the impact that may occur when turning.

In particular, by increasing the rate of decrease of the acceleration rate and the deceleration rate as the revolution speed corresponding to the turning conversion signal ST becomes closer to the steady state revolution speed, it is possible to more finely attenuate the impact that may occur during the revolution.

Hereinafter, a turning signal processing apparatus of a construction machine according to an embodiment of the present invention will be described in detail.

1, the apparatus for processing a turning signal according to an embodiment of the present invention includes a memory 10, a steady state turning speed pattern selecting unit 20, a turning speed reducing pattern selecting unit 30, (40).

The memory 10 is connected to the signal processing unit 40 in a signal communication manner, and stores a plurality of steady state turning speed patterns and a plurality of turning and deceleration patterns. In the steady-state turning speed pattern, the relationship between the turning operation amount and the steady-state turning speed is set. As shown in Fig. 3, in general, when the amount of turning operation becomes large, the steady state turning speed becomes large. However, the turning operability is determined by the magnitude ratio of the steady state turning speed to the magnitude of the turning operation amount, the turning clearance of the turning operation portion 1, the maximum steady state turning speed and the like. Such turning maneuverability may vary from operator to operator. A plurality of steady state revolution speed patterns having different turning operability are stored in the memory 10 so that the operator can select the turning operability.

The steady-state turning speed pattern stored in the memory 10 may be displayed on the display unit 50 in the form of a graph as shown in FIG. 3. The operator confirms the steady-state turning speed pattern in the steady- The desired steady state turning speed pattern can be selected. The steady-state turning speed pattern selection unit 20 may be constituted by a plurality of buttons as well as a part of the display unit 50 constituted by a touch screen or the like.

In the deceleration pattern, the relationship between the moment of inertia and the rotational acceleration / deceleration rate is set. As is well known, the turning rotation inertia represents the magnitude of the energy for the upper revolving body to maintain its current state, and it takes a long time to accelerate or decelerate the upper revolving body from the current speed to the target speed as the turning rotation inertia becomes larger. Such turning rotational inertia depends on the posture of the boom, the arm and the bucket, the load on the bucket, and the like. Referring to FIG. 4, there is shown an example of a rotation acceleration / deceleration amount and a turning rotation inertia. FIG. 4 shows the relationship between the rotational inertia and the rotational acceleration / deceleration in a conventional hydraulic construction machine. When the rotational inertia is large, the rotational acceleration and the deceleration amount are set to be reduced. One example of the revolution speed profile with respect to the turning revolution inertia and the revolution speed is shown in Figs. 5A and 5B.

FIG. 5A shows the case where the rotational turning inertia is minimum, and FIG. 5B shows the case where the rotational turning inertia is the maximum. As shown in Fig. 5A, the time it takes to start turning and reach a steady state is Amin. However, as shown in FIG. 5B, the time it takes to start turning and reach the steady state is Amax, which is larger than Amin. Therefore, it can be seen that the acceleration decreases as the turning rotation inertia increases. On the contrary, the time taken from the steady state maximum turning speed to the stopping moment is Dmax which is larger than Dmin and Dmin, respectively. It can be seen that the deceleration rate is also smaller as the turning rotation inertia is larger.

As described above, the turning acceleration / deceleration rate represents the acceleration for reaching the steady state turning speed, which greatly affects the operability of the turning operation and allows the turning operability to be obtained more precisely by varying the turning acceleration / deceleration rate in accordance with the turning inertia .

The deceleration pattern stored in the memory 10 can be displayed on the display unit 50 in the form of a graph as shown in FIG. 4, and the operator confirms that the deceleration pattern is displayed on the deceleration pattern selection unit 30 The desired turning can select the deceleration pattern. The turning acceleration / deceleration pattern selection unit 30 may be constituted by a plurality of buttons as well as a part of the display unit 50 constituted by a touch screen or the like.

The signal processing unit 40 receives the steady-state turning speed pattern and the turning state selected from the steady-state turning speed pattern selection unit 20 and the deceleration pattern selection unit 30 from the deceleration pattern and the turning inertia, And processes the signal SI to output the turning conversion signal ST. The signal processing unit 40 includes a filter unit 41, a steady state turning speed calculating unit 42, a turning rotation inertia calculating unit 43, an acceleration / deceleration calculating unit 44, and a calculating unit 45 do.

The filter unit 41 is for removing noise from the turning input signal with respect to the turning operation amount input from the turning operation unit 1, and a normal filter or the like can be used.

The steady state turning speed calculating section 42 calculates a steady state turning speed corresponding to the turning input signal from which the noise is removed from the steady state turning speed pattern inputted through the steady state turning speed pattern selecting section 20. [ In this manner, the calculated steady-state turning speed is transmitted to the arithmetic unit 45.

The turning rotation inertia calculating unit 43 calculates the turning rotation inertia from the signals of the turning speed and the turning torque input to the turning device 2. Such turning inertia can be calculated in real time by a statistical method by receiving the current turning speed and the turning torque signal periodically, so that it can be calculated without separately measuring the posture of the actual working device. A method of calculating the turning rotation inertia from the current turning speed and the turning torque is already known, and a detailed description thereof will be omitted. The current turning speed and the turning torque can be sensed by a speed sensor or a torque meter provided in the swing device 2. [ The swivel device (2) means the swivel electric motor when the swivel motor is of the electric type. However, when the swing motor is a hydraulic motor, the swing device 2 includes a swing control valve, an electronic proportional valve provided in the swing control valve, and a swing motor. That is, the idea of the present invention can be applied not only to the electric motor of the electric motor, but also to the electronic control valve in which the swing control valve is converted by the electronic proportional control valve, as long as the signal for the swing speed can be electrically output.

The acceleration / deceleration rate calculation unit 44 calculates the acceleration rate or the deceleration rate by the deceleration pattern selected from the deceleration pattern selection unit 30 and the rotational inertia calculated from the rotational inertia computation unit 43 .

The arithmetic unit 45 calculates a steady-state turning speed based on the steady-state turning speed calculated by the steady-state turning speed calculating unit 42 and the turning speed or deceleration rate calculated from the acceleration / deceleration rate calculating unit 44, Signal. More specifically, when the steady-state turning speed and the acceleration rate or the deceleration rate are determined, the arithmetic unit 45 can generate the turning speed profile as shown in FIGS. 5A and 5B. Based on the current turning speed, It is possible to calculate the turning speed to be driven. That is, the computing unit 45 varies the revolution speed profile according to the steady state turning speed, the acceleration rate or the deceleration rate, and calculates the turning speed to be driven. Such a turning speed is outputted as a turning conversion signal.

Here, some of the signal processing units 40 may be provided separately from the control unit of the construction machine. In this case, a large amount of calculation required for signal processing may be processed in advance to form a table (a table stored in a separate signal processing unit) There will be. Then, the turning conversion signal ST is inputted to the control unit. The control unit calculates the turning conversion signal ST from the table (the table set in the control unit) shown in FIG. 6 to calculate the turning speed command value, . In this case, the calculation burden of the control unit is reduced, and the response can be improved. In addition, the signal processing unit 40 may be a control unit of the construction machine. In this case, the turning conversion signal ST may be a turning speed command value SV.

On the other hand, when the revolution speed is close to the steady state revolution speed or close to the stop speed, the revolution acceleration rate or the deceleration rate is abruptly changed to cause a discontinuous part of the revolution speed profile as shown in FIGS. 5A and 5B , Whereby the revolution speed of the upper revolving body is suddenly changed to cause the revolution impact. In order to solve this problem, when the turning speed corresponding to the turning conversion signal ST approaches the steady state turning speed or approaches the stopping speed, the calculating unit 45 reduces the turning acceleration rate or the deceleration rate. That is, when the difference between the calculated turning speed corresponding to the calculated turning conversion signal ST and the steady state turning speed is equal to or lower than the reference value, the calculating unit 45 calculates the acceleration rate calculated by the acceleration / The acceleration rate is reduced by multiplying by a small ratio. The rate at which the acceleration rate decreases is increased as the difference between the calculated turning speed and the steady-state turning speed becomes smaller.

Further, when the speed difference between the calculated turning speed and the stopping speed is less than the reference value, the calculating unit 45 reduces the deceleration rate by multiplying the deceleration rate calculated by the acceleration / deceleration rate calculating unit 44 by a ratio smaller than 1. The rate at which the deceleration rate is reduced increases as the difference between the calculated turning speed and the stopping speed becomes smaller. Here, both the stopping speed and the steady state turning speed may be referred to as a steady state turning speed. Therefore, the signal processing method for preventing the turning impact can be expressed as being performed when the difference between the calculated turning speed and the steady state turning speed is equal to or less than the reference value.

Then, the operation unit 45 outputs the turning conversion signal ST on the basis of the reduced turning acceleration rate and the turning deceleration rate.

1 is a block diagram schematically showing an apparatus for processing a turning signal of a construction machine according to an embodiment of the present invention;

FIG. 2 is a detailed block diagram of the signal processing unit shown in FIG. 1;

FIG. 3 is a graph showing an example of a steady-state turning speed pattern stored in the memory of FIG. 1,

FIG. 4 is a graph showing an example of the deceleration pattern stored in the memory of FIG. 1,

FIGS. 5A and 5B are graphs schematically showing the change in revolution speed according to the rotational inertia,

Fig. 6 is a view schematically showing a table in which the control unit sets the relationship between the turning conversion signal output from the swinging processing apparatus of Fig. 1 and the revolution speed command value; Fig.

DESCRIPTION OF THE REFERENCE NUMERALS OF THE DRAWINGS

One; A turning operation portion 2; Swing device

10; Memory 20; The steady-state turning speed pattern selector

30; Rotation deceleration pattern selection unit 40; The signal processor

41; A filter section 42; The steady-state turning speed calculating section

43; A turning rotation inertia calculating unit 44; The acceleration /

45; An operation unit 50; Display portion

Claims (5)

The relationship between the steady state revolution speed pattern in which the relationship between the turning input signal SI with respect to the turning operation amount generated from the turning operation section 1 and the steady state turning speed of the swing device 2 is set to a relationship between the turning inertia and the turning acceleration / A memory (10) in which a set turning speed deceleration pattern is stored; And Calculates a steady state turning speed corresponding to the turning input signal (SI) from the steady state turning speed pattern, calculates turning turning inertia from a turning speed and a turning torque inputted from the turning device (2) A turning speed reduction ratio corresponding to the turning inertia calculated from the deceleration pattern is calculated, and a turning conversion signal corresponding to the turning speed is calculated from the calculated turning acceleration rate or turning deceleration rate and the calculated steady state turning speed, And a signal processing unit (40) for calculating a steering angle (ST). The method according to claim 1, The memory (10) stores a plurality of steady state revolution speed patterns, a plurality of turning and deceleration patterns, A steady state turning speed pattern selection unit (20) for selecting any one steady state turning speed pattern among the plurality of steady state turning speed patterns; And Further comprising a deceleration pattern selection unit (30) for selecting one of the plurality of revolving deceleration patterns to select a deceleration pattern. 2. The apparatus of claim 1, wherein the signal processing unit (40) A steady state revolution speed calculating section (42) for calculating a steady state revolution speed corresponding to the turning input signal (SI) input from the turning control section (1) from the steady state turning speed pattern; A turning rotation inertia calculating section (43) for calculating a turning rotation inertia from signals of the turning speed and the turning torque inputted from the turning device (2); An acceleration / deceleration rate calculation section (44) for calculating an acceleration rate or a deceleration rate corresponding to the rotational inertia calculated by the rotational inertia computation section (43) from the deceleration pattern; And An arithmetic unit (not shown) for calculating the acceleration rate or the deceleration rate calculated by the acceleration / deceleration rate calculation unit 44 and the steady state revolution speed calculated by the steady state revolution speed calculation unit 42 and outputting the turn conversion signal ST 45). ≪ / RTI > The method of claim 3, If the speed difference between the turning speed corresponding to the turning conversion signal ST and the steady state turning speed is equal to or less than the reference value, the calculating unit 45 decreases the turning acceleration rate or the turning reduction rate, And the turning conversion signal (ST) is calculated on the basis of the turning deceleration rate. 5. The method of claim 4, Wherein the reduction rate of the turning acceleration rate or the turning reduction rate increases as the speed difference becomes smaller.

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