Output correcting method in control system, control system, and hydraulic pump control system

• US 6,101,456 A
• Filed: 04/15/1997
• Issued: 08/08/2000
• Est. Priority Date: 03/07/1995
• Status: Expired due to Term

• Current Assignee: Hitachi Construction Machinery Company Limited (Hitachi, Ltd.)
• Original Assignee: Hitachi Construction Machinery Company Limited (Hitachi, Ltd.)
• Inventors: Kowatari, Youichi, Yoshinaga, Shigehiro, Takegahara, Hidefumi, Ishikawa, Kouji, Sugiyama, Genroku, Toyooka, Tsukasa, Hirata, Toichi
• Primary Examiner(s): ASSOUAD, PATRICK J
• Application Number:
  US08/817,489
• Time in Patent Office: 1,211 Days
• Field of Search: 702/105, 702/113, 702/114, 73/168, 37/234, 415/11, 364/130, 364/140.01, 364/141, 364/142, 364/148.01, 364/160, 364/165, 364/148.02, 364/528.17, 60/445, 60/447, 60/452
• US Class Current: 702/105
• CPC Class Codes: E02F 9/2025 Particular purposes of control systems not otherwise provided for E02F3/16, E02F3/26, sub-groups of E02F3/43, E02F3/651, sub-groups of E02F3/84, E02F3/907, E02F5/145 take precedence
• CPC Class Codes: E02F 9/2235 including an electronic controller
• CPC Class Codes: F04B 49/065 and making use of computers
• CPC Class Codes: G05B 13/0265 the criterion being a learning criterion

Abstract

A control system wherein a reverse characteristic having a reverse input/output relationship to a target input/output characteristic of a control object, is preset, and a target value for an output of the control object is calculated. A command signal corresponding to the target value then is determined based on the preset reverse characteristic, and the command signal is output to the control object. The control system includes first means for calculating a command signal corresponding to a given target value for the output of the control object based on the preset reverse characteristic, outputting the command signal to the control object, measuring an output of the control object and estimating a deviation between an actual input/output characteristic of the control object and the target input/output characteristic therefor, and storing data on the deviation between the input/output characteristics as learning correction data. The control system further includes second means for reading out the stored learning correction data and correcting the command signal using the learning correction data.

Claims

1. An output correcting method in a control system wherein a reverse characteristic having a reverse input/output relationship to a target input/output characteristic of a control object, is preset, and a target value for an output of the control object is calculated, and then a command signal corresponding to the target value is determined based on the preset reverse characteristic, and the command signal is output to said control object, said method comprising:

a first step of calculating a command signal corresponding to a given target value for the output of said control object based on said preset reverse characteristic, outputting the command signal to said control object, measuring an output of said control object and estimating a deviation between an actual input/output characteristic of said control object and said target input/output characteristic therefor, and storing data on the deviation between the input/output characteristics as learning correction data, and

a second step of reading out the stored learning correction data and correcting the command signal using the learning correction data.

2. A control system wherein a reverse characteristic having a reverse input/output relationship to a target input/output characteristic of a control object, is preset, and a target value for an output of the control object is calculated, and then a command signal corresponding to the target value is determined based on the preset reverse characteristic, and the command signal is output to said control object, said control system comprising:

first means for calculating a command signal corresponding to a given target value for the output of said control object based on said preset reverse characteristic, outputting the command signal to said control object, measuring an output of said control object and estimating a deviation between an actual input/output characteristic of said control object and said target input/output characteristic therefor, and storing data on the deviation between the input/output characteristics as learning correction data, and

second means for reading out the stored learning correction data and correcting the command signal using the learning correction data.

3. A control system according to claim 2, wherein said first means calculates a difference between the given target value and the measured output value as a correction value and stores said correction value as said learning correction data, and said second means corrects said command signal by using the correction value.

4. A control system according to claim 2, wherein said first means calculates at least two differences between the given target value and the measured output value, obtains a correction formula from said two differences and stores said correction formula as said learning correction data, and said second means calculates, as a correction value, the difference between the target value at that time and the corresponding measured output value by using said correction formula and corrects said command signal by using the calculated correction value.

5. A control system according to claim 3, wherein said second means corrects said command signal by adding said correction value to the target value at that time.

6. A control system according to claim 3, wherein said second means shifts the characteristic used for calculating said command signal from the target value of output for said control object in an amount corresponding to said correction value, and corrects said command signal by calculating a command signal corresponding to the target value at that time from the shifted characteristic.

7. A control system according to claim 2, wherein said control object includes displacement control means for a variable displacement hydraulic pump, and said target value is a target displacement of said hydraulic pump.

8. A hydraulic pump control system wherein a reverse characteristic having a reverse input/output relationship to a target input/output characteristic of displacement control means for a variable displacement hydraulic pump, is preset, and a target displacement as a target value for an output of said displacement control means is calculated, and then a command signal corresponding to the calculated displacement is determined based on the preset reverse characteristic, and the command signal is output to said displacement control means for controlling the displacement of said hydraulic pump, said control system comprising:

measuring means for measuring an actual displacement of said hydraulic pump,

mode selecting means for selecting one of a learning control mode and a normal control mode,

learning calculation means for, upon the learning control mode being selected by said mode selecting means, calculating a command signal corresponding to a given target displacement based on said preset reverse characteristic, outputting the command signal to said displacement control means, measuring an actual displacement of said hydraulic pump by said measuring means, calculating a difference between said given target displacement and the actual displacement and storing data on the deviation as learning correction data, and

learning correction means for, upon the normal control mode being selected by said mode selecting means, reading out the stored learning correction data and correcting said command signal using the learning correction data.

9. A hydraulic pump control system according to claim 8, wherein said learning calculation means, as a correction value, said difference between the given target displacement and the actual displacement and stores said correction value as said learning correction data.

10. A hydraulic pump control system according to claim 8, wherein said learning calculation means calculates said difference between the given target displacement and the actual displacement for each of at least two different target displacements, determines a correction formula from data of said difference resulting from said at least two different target displacements, and stores said correction formula as said learning correction data, and said learning correction means calculates, as a correction value, the difference between the target displacement at that time and the corresponding actual displacement by using said correction formula, and corrects said command signal by using the calculated correction value.

11. A hydraulic pump control system according to claim 10, wherein said learning calculation means derives said correction formula as a correlation formula defined on a coordinate system with one axis representing said target displacement and the other axis representing said difference between the given target displacement and the actual displacement.

12. A hydraulic pump control system according to claim 10, wherein said learning correction means corrects said command signal by adding said correction value to the target displacement at that time.

13. A hydraulic pump control system according to claim 9, wherein said learning correction means shifts the characteristic used for calculating said command signal from said target displacement in an amount corresponding to said correction value, and corrects said command signal by calculating a command signal corresponding to the target displacement at that time from the shifted characteristic.

14. A hydraulic pump control system according to claim 8, wherein said learning calculation means includes a non-volatile memory in which data once stored will not be lost even after power is cut off, and stores said learning correction data in said non-volatile memory.

15. A hydraulic pump control system according to claim 8, wherein said mode selecting means includes switch means for instructing changeover between the learning control mode and the normal control mode so that one of the learning control mode and the normal control mode is selected in response to turning on/off of said switch means.

16. A hydraulic pump control system according to claim 8, wherein said learning calculation means determines whether the revolution speed of a prime mover for driving said hydraulic pump is within a predetermined range and whether a condition of the revolution speed being in said predetermined range has continued for a predetermined time, and only when said determination is satisfied, said learning calculation means calculates the command signal corresponding to said given target displacement and outputs the command signal to said displacement control means.

17. A hydraulic pump control system according to claim 8, wherein when outputting said command signal to said displacement control means and measuring an actual displacement, said learning calculation means continues outputting said command signal for a predetermined time to stabilize the displacement of said hydraulic pump and, under a stabilized condition, measures said actual displacement by said measuring, and further said learning calculation means receives a measured value of the actual displacement a predetermined number of times and calculates a difference between an averaged value of the actual displacement and said given target displacement.

18. A hydraulic pump control system according to claim 8, wherein prior to outputting said command signal to said displacement control means, said learning calculation means outputs a command signal corresponding to a minimum target displacement to said displacement control means, thereby minimizing the target displacement of said hydraulic pump.