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KR20130084071A - Travel system of construction machine and method thereof - Google Patents

Travel system of construction machine and method thereof Download PDF

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Publication number
KR20130084071A
KR20130084071A KR1020120004783A KR20120004783A KR20130084071A KR 20130084071 A KR20130084071 A KR 20130084071A KR 1020120004783 A KR1020120004783 A KR 1020120004783A KR 20120004783 A KR20120004783 A KR 20120004783A KR 20130084071 A KR20130084071 A KR 20130084071A
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KR
South Korea
Prior art keywords
traveling
driving
amount
control signal
driver
Prior art date
Application number
KR1020120004783A
Other languages
Korean (ko)
Inventor
신흥주
김지은
Original Assignee
볼보 컨스트럭션 이큅먼트 에이비
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 볼보 컨스트럭션 이큅먼트 에이비 filed Critical 볼보 컨스트럭션 이큅먼트 에이비
Priority to KR1020120004783A priority Critical patent/KR20130084071A/en
Publication of KR20130084071A publication Critical patent/KR20130084071A/en

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2267—Valves or distributors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/41—Construction vehicles, e.g. graders, excavators
    • B60Y2200/412—Excavators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The present invention is to improve the operability by preventing sudden changes in the running speed at the start and end of the running of the tracked excavator,
Travel control system of a construction machine according to an embodiment of the present invention,
At least one hydraulic pump connected to the engine,
Traveling manipulation amount detection means for detecting an operation amount of the traveling operation means operated by the driver;
A left travel spool and a right travel spool for controlling the start, stop and direction switching of the left travel motor and the right travel motor at the time of switching by the pilot signal pressure supplied from the hydraulic pump,
An electromagnetic proportional valve installed in the flow path between the hydraulic pump and the driving spool and outputting a secondary signal pressure in proportion to an electrical control signal from the outside;
The control signal output to the electromagnetic proportional valve is calculated according to the traveling manipulation amount detected by the traveling manipulation amount detecting means, and when the calculated traveling manipulation value is larger than the preset traveling change amount value, the control signal corresponding to the preset traveling change amount is electronically And a controller for outputting to the valve.

Description

Travel control system and method of controlling the construction machine

The present invention relates to a traveling control system of a construction machine and a control method thereof. More particularly, the traveling control of a construction machine to improve the operability by preventing sudden changes in the traveling speed at the start and end of the running of the track-type equipment. It relates to a system and a control method thereof.

In general, the tracked excavator is able to drive in the front and rear directions by driving the left and right driving motors by operating a driving lever or driving pedal mounted at the front by maintaining a predetermined distance from the driver's seat. As such, the track type equipment may suddenly change the driving speed at the start and stop of the driving. At this time, if the driver's body is pulled forward by inertia at the start and end of the driving, the driving lever or the driving pedal are simultaneously pushed by the driver's hand or foot, thereby deteriorating driving operability and generating driving perturbation.

In particular, when the driver operates the pedal using the foot, the foot is closer to the center of rotation of the pedal, so that the operation displacement of the foot pedal is relatively smaller than that of the pedal by hand. As a result, driving perturbation can be easily generated.

Embodiments of the present invention relate to a traveling control system of a construction machine and a method of controlling the same so that sudden acceleration and deceleration of the traveling speed can be slowed at the start and end of the driving to improve operability and minimize driving perturbation. do.

Embodiment of the present invention, because the running speed is prevented from changing suddenly at the start and end of the run, the driving control system of the construction machine to additionally utilize the driving responsiveness of the equipment, the maximum running speed, a fixed running speed fixed function and the like; It is related to the control method.

In a traveling control system for a construction machine according to an embodiment of the present invention,

At least one hydraulic pump connected to the engine,

Traveling manipulation amount detection means for detecting an operation amount of the traveling operation means operated by the driver;

A left travel spool and a right travel spool for controlling the start, stop and direction switching of the left travel motor and the right travel motor at the time of switching by the pilot signal pressure supplied from the hydraulic pump,

An electromagnetic proportional valve installed in a flow path between the hydraulic pump and the driving spool and outputting a secondary signal pressure in proportion to an electrical control signal from the outside;

The control signal output to the electromagnetic proportional valve is calculated according to the traveling manipulation amount detected by the traveling manipulation amount detecting means, and when the calculated traveling manipulation value is larger than the preset traveling change amount value, the control signal corresponding to the preset traveling change amount is electronically proportional. And a controller for outputting to the valve.

Driving control system control method for a construction machine according to an embodiment of the present invention,

A travel operation amount detection means for detecting an operation amount of the travel operation means operated by the driver, a left and right travel spool for controlling the driving of the left and right travel motors when switching by the pilot signal pressure from the hydraulic pump; And an electronic proportional valve for outputting a secondary signal pressure in proportion to an electrical control signal from the outside, and a controller for outputting an electrical control signal to the electromagnetic proportional valve according to an operation amount of the driving operation means. In the control method of the traveling control system,

A first step of detecting an operation amount of the driving operation means by the driver;

A second step of calculating a control signal value input to the driving spool according to the operation amount of the traveling operation means;

A third step of limiting the traveling speed change amount to the preset traveling change amount value when the calculated operation amount value of the traveling operation means is larger than the preset traveling change amount value so as to prevent the sudden change of the traveling speed at the start and end of the driving;

And a fourth step of outputting, to the electromagnetic proportional valve, an electrical control signal corresponding to the traveling speed change amount value limited by the third step.

According to a preferred embodiment, the above-described traveling operation amount detecting means,

An electronic traveling pedal which outputs an electric traveling signal corresponding to the amount of operation during operation by the driver may be used.

Means for displaying or storing the traveling speed corresponding to the traveling change value input by the driver on the screen, it is possible to set the maximum traveling speed of the equipment to drive.

Means for displaying or storing the driving speed corresponding to the driving change amount value input by the driver on the screen, it is possible to drive by adjusting the sensitivity of the driving reaction of the equipment.

Means for displaying or storing the driving speed corresponding to the driving change amount value input by the driver on the screen, it is possible to drive a fixed speed running the equipment.

The low frequency filter can be used as a limiting method when outputting an electric control signal to the electromagnetic proportional valve to prevent sudden changes in travel speed at the start and end of the run.

The traveling control system and construction method of the construction machine according to an embodiment of the present invention configured as described above has the following advantages.

It prevents the rapid acceleration and deceleration of the running speed at the start and end of the track type equipment, and provides the operation and convenience due to the smooth driving. In addition, even when the driving lever or the driving pedal is rapidly operated, the increase rate of the driving speed is slowed down, thereby reducing driving perturbation.

On the other hand, it is possible to additionally utilize the running responsiveness of the equipment, the maximum running speed, etc. because it prevents the running speed suddenly changed at the start and end of the run.

1 is a schematic configuration diagram of a traveling control system for a construction machine according to an embodiment of the present invention;
2 is a flowchart illustrating a control method of a traveling control system for a construction machine according to an exemplary embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described more fully with reference to the accompanying drawings, in which embodiments of the invention are shown. These embodiments are provided so that this disclosure will be thorough and complete and will fully convey the scope of the invention to those skilled in the art. The present invention is not limited thereto.

The traveling control system of a construction machine according to an embodiment of the present invention shown in Figure 1,

At least one hydraulic pump 11 connected to the engine 10,

Traveling manipulation amount detection means 12 for detecting an operation amount of the traveling manipulation means (which refers to the traveling lever or the traveling pedal) operated by the driver;

The left travel spool and the right travel spool 13 (in the drawing, the left travel spool or the left travel spool to control the start, stop and direction switching of the left travel motor and the right travel motor at the time of switching by the pilot signal pressure supplied from the hydraulic pump 11). Right spool shown),

An electromagnetic proportional valve 14 installed in a flow path between the hydraulic pump 11 and the traveling spool 13 and outputting a secondary signal pressure in proportion to an electrical control signal input from the outside;

The control signal output to the electromagnetic proportional valve 14 is calculated according to the traveling manipulation amount detected by the traveling manipulation amount detecting means 12, and when the calculated traveling manipulation value is larger than the predetermined traveling change amount value, the driving manipulation amount corresponds to the preset traveling change amount. And a controller 15 for outputting a control signal to the electromagnetic proportional valve 14.

At this time, with the above-described traveling operation amount detection means 12,

An electronic traveling pedal which outputs an electric traveling signal corresponding to the amount of operation during operation by the driver may be used.

Means for displaying or storing the traveling speed corresponding to the traveling change value input by the driver on the screen, it is possible to set the maximum traveling speed of the equipment to drive.

Means for displaying or storing the driving speed corresponding to the driving change amount value input by the driver on the screen, it is possible to drive by adjusting the sensitivity of the driving reaction of the equipment.

Means for displaying or storing the driving speed corresponding to the driving change amount value input by the driver on the screen, it is possible to drive a fixed speed running the equipment.

Driving control system control method for a construction machine according to an embodiment of the present invention shown in Figure 2,

At least one hydraulic pump 11 connected to the engine 10, traveling operation amount detecting means 12 for detecting an operation amount of the traveling operation means operated by the driver, and a pilot signal pressure from the hydraulic pump 11; Left and right traveling spools 13 for controlling the driving of the left and right traveling motors at the time of switching, an electromagnetic proportional valve 14 for outputting a secondary signal pressure in proportion to an electrical control signal from the outside, and a driving operation means. In the control method of the traveling control system of a construction machine, characterized in that it comprises a controller (15) for outputting an electrical control signal to the electromagnetic proportional valve (14) in accordance with the amount of operation of

A first step (S100) of detecting a manipulation amount thereof when the driving manipulation means is operated by the driver;

A second step (S200) of calculating a control signal value input to the driving spool 13 according to the detected operation amount of the driving operation means;

A third step of limiting the traveling speed change amount to the preset traveling change amount value when the calculated operation amount value of the traveling operation means is larger than the preset traveling change amount value so as to prevent the sudden change of the traveling speed at the start and end of the driving ( S300),

And a fourth step S400 of outputting, to the electromagnetic proportional valve 14, an electric control signal corresponding to the limited value of the traveling speed change by the third step S300.

In this case, the low frequency filter may be used as a method of limiting the amount of change in outputting the electric control signal to the electromagnetic proportional valve 14 so as to prevent the sudden change in the traveling speed at the start and end of the driving.

Hereinafter, a use example of a control method of a traveling control system of a construction machine according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 and 2, when the driving operation means of the tracked excavator by the driver detects the traveling operation amount. At this time, the driving operation amount detected by the driving operation amount detection sensor mounted on the electronic driving pedal is converted into an electric signal and transmitted to the controller 15 (see S100).

As in S200, as the detected driving operation amount is input to the controller 15, the pilot signal pressure is supplied from the hydraulic pump 11 to switch the driving spool 13 in proportion to the driving operation amount. In this case, the pilot signal pressure input to the driving spool 13 may be calculated as follows.

Target value signal pressure input from the hydraulic pump 11 to the running spool 13 = (driving operation amount x A) + B. A and B are coefficients which are predetermined and applied according to equipment characteristics.

As in S300, when the operation amount value of the driving operation means calculated in the second step S200 is larger than the previously stored driving change amount value so as to prevent the driving speed from being changed suddenly at the start and the end of the driving, the traveling speed The amount of change is limited to a preset value of the traveling change amount stored in operation S300A. At this time, when the operation amount value of the driving operation means calculated in the second step (S200) is smaller than the preset traveling change amount value, and outputs an electrical control signal corresponding to the calculated operation amount value to the electromagnetic proportional valve (14).

As in S400, the electric control signal corresponding to the limited travel speed variation value is output to the electromagnetic proportional valve 14 by the above-described third step S300.

For this reason, when the driving operation amount detected by the driving operation amount detection means 12 exceeds the predetermined traveling change amount value at the start and the end of the running of the equipment by the driver as the driving lever or the driving pedal is rapidly operated, the controller 15 ) Outputs a control signal corresponding to the preset travel change amount to the electromagnetic proportional valve 14. In this case, a low frequency filter may be used when outputting an electric control signal to the electromagnetic proportional valve 14 so as to prevent a sudden change in the traveling speed.

Therefore, the pilot signal pressure supplied to switch it from the hydraulic pump 11 to the running spool 13 is converted into the secondary signal pressure corresponding to the traveling change amount preset by the electromagnetic proportionality valve 14. Since the driving spool 13 is switched by the reduced secondary signal pressure, the flow rate supplied to the left and right driving motors can be reduced to prevent rapid acceleration or sudden reduction of the traveling speed.

According to the traveling control system and construction method of the construction machine according to an embodiment of the present invention as described above, smooth running operation by preventing sudden acceleration and deceleration of the running speed at the start and end of the running of the tracked excavator This is possible. Also, even when the driving lever or the driving pedal is rapidly operated, the driving speed increase rate is slowed, thereby reducing driving perturbation.

10; engine
11; Hydraulic pump
12; Travel manipulated variable detection means
13; Traveling spool
14; Electronic proportional valve
15; Controller

Claims (8)

At least one hydraulic pump connected to the engine,
Traveling manipulation amount detection means for detecting an operation amount of the traveling operation means operated by the driver;
A left travel spool and a right travel spool for controlling the start, stop and direction switching of the left travel motor and the right travel motor at the time of switching by the pilot signal pressure supplied from the hydraulic pump;
An electromagnetic proportional valve installed in the flow path between the hydraulic pump and the traveling spool and outputting a secondary signal pressure in proportion to an electrical control signal from the outside;
The control signal output to the electromagnetic proportional valve is calculated according to the driving manipulation amount detected by the traveling manipulation amount detecting means, and when the calculated traveling manipulation value is greater than a predetermined traveling change amount value, a control signal corresponding to the predetermined traveling change amount is provided. And a controller for outputting the electromagnetic proportional valve. 2. The traveling driving amount detecting means according to claim 1,
A traveling control system for a construction machine, characterized in that an electronic traveling pedal for outputting an electric traveling signal corresponding to the amount of operation during operation by a driver is used. The construction machine as claimed in claim 1, further comprising a means for displaying or storing a traveling speed corresponding to a traveling change value input by the driver on a screen, and setting the maximum traveling speed of the equipment. Running control system. The construction according to claim 1, further comprising means for displaying or storing a traveling speed corresponding to a driving change value input by the driver on a screen, and controlling the sensitivity of the driving reaction of the equipment. Travel control system of the machine. The construction machine as claimed in claim 1, further comprising a means for displaying or storing a traveling speed corresponding to a traveling change value input by the driver on a screen, wherein the traveling speed of the equipment can be fixed while traveling. Running control system. A travel operation amount detection means for detecting an operation amount of the travel operation means operated by the driver, a left and right travel spool for controlling the driving of the left and right travel motors when switching by the pilot signal pressure from the hydraulic pump; And an electronic proportional valve for outputting a secondary signal pressure in proportion to an electrical control signal from the outside, and a controller for outputting an electrical control signal to the electromagnetic proportional valve according to an operation amount of the driving operation means. In the control method of the traveling control system:
A first step of detecting an operation amount thereof when the driving operation means is operated by a driver;
A second step of calculating a control signal value input to the traveling spool according to the operation amount of the traveling operation means;
A third step of limiting the traveling speed change amount to the preset traveling change amount value when the calculated operation amount value of the traveling operation means is larger than the preset traveling change amount value so as to prevent the sudden change of the traveling speed at the start and end of the driving;
And a fourth step of outputting, to the electromagnetic proportional valve, an electrical control signal corresponding to the travel speed change value limited by the third step. The driving amount detection means according to claim 6,
A traveling system control method for a construction machine, characterized in that an electronic traveling pedal for outputting an electrical traveling signal corresponding to an operation amount by a driver is used. 7. The traveling control of a construction machine according to claim 6, wherein a low frequency filter is used as a method of limiting the amount of change when an electrical control signal is output to the electromagnetic proportional valve so as to prevent a sudden change in the traveling speed at the start and end of driving. System control method.
KR1020120004783A 2012-01-16 2012-01-16 Travel system of construction machine and method thereof KR20130084071A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020120004783A KR20130084071A (en) 2012-01-16 2012-01-16 Travel system of construction machine and method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020120004783A KR20130084071A (en) 2012-01-16 2012-01-16 Travel system of construction machine and method thereof

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105799443A (en) * 2016-03-24 2016-07-27 中国北方车辆研究所 Single-unit single-acting-cylinder metering pump car posture regulating system
WO2017105133A1 (en) * 2015-12-16 2017-06-22 두산인프라코어 주식회사 Device for reducing impact during traveling of construction machine and method for controlling construction machine using same
US11635245B2 (en) 2019-12-23 2023-04-25 Lg Electronics Inc. Pair installation type refrigerator

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017105133A1 (en) * 2015-12-16 2017-06-22 두산인프라코어 주식회사 Device for reducing impact during traveling of construction machine and method for controlling construction machine using same
KR20180079447A (en) * 2015-12-16 2018-07-10 두산인프라코어 주식회사 Driving shock reduction device of construction machine and control method of construction machine using the same
CN105799443A (en) * 2016-03-24 2016-07-27 中国北方车辆研究所 Single-unit single-acting-cylinder metering pump car posture regulating system
US11635245B2 (en) 2019-12-23 2023-04-25 Lg Electronics Inc. Pair installation type refrigerator

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