DRIVE CONTROL METHOD OF OPERATING MACHINE
First Claim
1. A drive control method of an operating machine configured to drive a structure by a hydraulic motor and an electric motor configured to cooperate with the hydraulic motor, the hydraulic motor being configured to be driven by operating oil supplied from a hydraulic pump through a control valve, the hydraulic pump being configured to be able to change an ejection flow rate by control of a tilting angle of the hydraulic pump,the method comprising:
- causing a speed command, generated based on a manipulation amount of a remote control valve configured to determine an operation amount of the structure, to be subjected to speed feedback control, performed based on an actual rotation speed of the hydraulic motor, and pressure difference feedback control, performed based on an operating oil pressure difference between a suction port and discharge port of the hydraulic motor, to generate an opening position command such that the operating oil, the amount of which is necessary at the actual rotation speed of the hydraulic motor, is ejected; and
controlling an opening position of the control valve.
1 Assignment
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Accused Products
Abstract
In drive control of an operating machine configured to drive a structure by a hydraulic motor configured to be driven by operating oil supplied from a hydraulic pump through a control valve and an electric motor configured to cooperate with the hydraulic motor, a speed command generated based on a manipulation amount of a remote control valve configured to determine an operation amount of the structure is subjected to speed feedback control performed based on an actual rotation speed of the hydraulic motor and pressure difference feedback control performed based on an operating oil pressure difference between a suction port and discharge port of the hydraulic motor.
24 Citations
11 Claims
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1. A drive control method of an operating machine configured to drive a structure by a hydraulic motor and an electric motor configured to cooperate with the hydraulic motor, the hydraulic motor being configured to be driven by operating oil supplied from a hydraulic pump through a control valve, the hydraulic pump being configured to be able to change an ejection flow rate by control of a tilting angle of the hydraulic pump,
the method comprising: -
causing a speed command, generated based on a manipulation amount of a remote control valve configured to determine an operation amount of the structure, to be subjected to speed feedback control, performed based on an actual rotation speed of the hydraulic motor, and pressure difference feedback control, performed based on an operating oil pressure difference between a suction port and discharge port of the hydraulic motor, to generate an opening position command such that the operating oil, the amount of which is necessary at the actual rotation speed of the hydraulic motor, is ejected; and controlling an opening position of the control valve. - View Dependent Claims (2, 3, 4, 5)
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6. A drive control method of an operating machine configured to drive a first structure by a hydraulic motor and an electric motor configured to cooperate with the hydraulic motor, the hydraulic motor being configured to be driven by operating oil supplied from a first hydraulic pump through a first control valve, the first hydraulic pump being configured to be able to change an ejection flow rate by control of a tilting angle of the first hydraulic pump, wherein:
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in addition to the first structure, a second structure configured to be driven by the operating oil supplied from a second hydraulic pump through a second control valve is included in the operating machine; and the operating oil of the first hydraulic pump is caused to join the operating oil used to drive the second structure, the method comprising; causing a speed command, generated based on a manipulation amount of a remote control valve configured to determine an operation amount of the first structure, to be subjected to speed feedback control, performed based on an actual rotation speed of the hydraulic motor, second pump pressure feedback control, performed by feedback of actual ejecting pressure of the second hydraulic pump, and pressure difference feedback control, performed based on an operating oil pressure difference between a suction port and discharge port of the hydraulic motor, to generate a swing tilting angle command of the first hydraulic pump such that the operating oil, the amount of which is necessary at the actual rotation speed of the hydraulic motor, is ejected; selecting a maximum value from the swing tilting angle command of the first hydraulic pump and a tilting angle command of the second hydraulic pump; and controlling the tilting angle of the first hydraulic pump. - View Dependent Claims (7, 8, 9, 10, 11)
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Specification