Front control system for construction machine
First Claim
1. A front control system equipped on a construction machine comprising a multi-articulated front device made up of a plurality of front members rotatable in the vertical direction, a plurality of hydraulic actuators for driving respectively said plurality of front members, a plurality of operating means for instructing respective operations of said plurality of front members, and a plurality of hydraulic control valves driven in accordance with respective operation signals input from said plurality of operating means for controlling flow rates of a hydraulic fluid supplied to said plurality of hydraulic actuators, said front control system comprising first detecting means for detecting status variables in relation to a position and posture of said front device;
- first calculating means for calculating the position and posture of said front device based on signals from said first detecting means; and
second calculating means employing a signal from a first particular one of said plurality of operating means and estimating an operating speed of a first particular front member driven by a first particular hydraulic actuator associated with said first particular operating means based on the position and posture of said front device calculated by said first calculating means, said estimated operating speed being utilized to control the operation of said front device, wherein;
said second calculating means includes first calculation/filter means for deriving a low-frequency component of an actual operating speed of said first particular front member based on the signal from said first detecting means, second calculation/filter means for deriving a high-frequency component of a commanded operating speed of said first particular front member based on the signal from said first particular operating means, and compositely calculating means for combining the low-frequency component of said actual operating speed and the high-frequency component of said commanded operating speed with each other to estimate the operating speed of said first particular front member for use in said control operation of said front device.
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Accused Products
Abstract
An area where a front device (1A) is allowed to move is set beforehand and the operation of the front device is controlled so that the front device will not go out of the set area. For this control process, an arm cylinder speed calculating portion (9d) of a control unit (9) estimates an arm cylinder speed for use in control by taking the sum of a low-frequency component of an arm cylinder speed which is derived through coordinate transformation and differentiation of an arm rotational angle detected by an angle sensor (8b), and a high-frequency component of an arm cylinder speed which is derived from a command value applied from a control lever unit (14b) to a flow control valve (15b) for an arm and a flow rate characteristic of the flow control valve (15b). The control unit controls the operation of the front device with the estimated operating speed. The operation of the front device is thereby controlled smoothly and accurately regardless of change in any parameters, such as load and fluid temperature, affecting the flow rate characteristic of the flow control valve.
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Citations
13 Claims
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1. A front control system equipped on a construction machine comprising a multi-articulated front device made up of a plurality of front members rotatable in the vertical direction, a plurality of hydraulic actuators for driving respectively said plurality of front members, a plurality of operating means for instructing respective operations of said plurality of front members, and a plurality of hydraulic control valves driven in accordance with respective operation signals input from said plurality of operating means for controlling flow rates of a hydraulic fluid supplied to said plurality of hydraulic actuators, said front control system comprising first detecting means for detecting status variables in relation to a position and posture of said front device;
- first calculating means for calculating the position and posture of said front device based on signals from said first detecting means; and
second calculating means employing a signal from a first particular one of said plurality of operating means and estimating an operating speed of a first particular front member driven by a first particular hydraulic actuator associated with said first particular operating means based on the position and posture of said front device calculated by said first calculating means, said estimated operating speed being utilized to control the operation of said front device, wherein;said second calculating means includes first calculation/filter means for deriving a low-frequency component of an actual operating speed of said first particular front member based on the signal from said first detecting means, second calculation/filter means for deriving a high-frequency component of a commanded operating speed of said first particular front member based on the signal from said first particular operating means, and compositely calculating means for combining the low-frequency component of said actual operating speed and the high-frequency component of said commanded operating speed with each other to estimate the operating speed of said first particular front member for use in said control operation of said front device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
- first calculating means for calculating the position and posture of said front device based on signals from said first detecting means; and
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13. A recording medium recording a control program for controlling operation of a multi-articulated front device made up of a plurality of front members rotatable in the vertical direction with a computer, wherein:
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said control program instructs said computer to calculate a position and posture of said front device, estimate an operating speed of first particular one of said plurality of front members based on the calculated position and posture of said front device, and calculate an operation command value for said front device by using the estimated operating speed, and said control program further instructs said computer, when estimating the operating speed of said first particular front member, to derive a low-frequency component of an actual operating speed of said first particular front member and a high-frequency component of a commanded operating speed of said first particular front member, and combine the low-frequency component of said actual operating speed and the high-frequency component of said commanded operating speed with each other, to estimate the operating speed of said first particular front member for use in the controlling operation of said front device.
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Specification