Work machine control system, work machine, and work machine control method

A control system for a work machine comprising:

• a plurality of hydraulic pumps that discharge hydraulic oil;
• a hydraulic cylinder that moves a working equipment element;
• a plurality of flow rate control valves that are respectively connected to the plurality of hydraulic pumps and adjust a flow rate of the hydraulic oil supplied to the hydraulic cylinder;
• a plurality of supply flow paths respectively connected to the plurality of flow rate control valves;
• a meter-in flow path that connects a collective part of the plurality of supply flow paths and an inlet of the hydraulic oil in the hydraulic cylinder;
• a plurality of discharge flow paths respectively connected to the plurality of flow rate control valves;
• a meter-out flow path that connects a collective part of the plurality of discharge flow paths and an outlet of the hydraulic oil in the hydraulic cylinder;
• a throttle disposed in the meter-out flow path
• an operation device that generates an operation command with an operation;
• and
• a control device,
• wherein the control device that
• stores correlation data between an operation amount of the operation device and a target meter-in flow rate indicating a target flow rate of the hydraulic oil flowing into the inlet;
• acquires the operation command;
• calculates a target meter-out flow rate indicating a target flow rate of the hydraulic oil flowing out from the outlet based on the correlation data and the operation command;
• calculates a target opening area of the flow rate control valves based on the target meter-out flow rate;
• and
• outputs a control command to cause the flow rate control valves to have the target opening area of the flow rate control valves.

A control system for the work machine comprising:

• a plurality of hydraulic pumps that discharge hydraulic oil;
• a hydraulic cylinder that moves a working equipment element;
• a plurality of flow rate control valves that are respectively connected to the plurality of hydraulic pumps and adjust a flow rate of the hydraulic oil supplied to the hydraulic cylinder;
• a plurality of supply flow paths respectively connected to the plurality of flow rate control valves;
• a meter-in flow path that connects a collective part of the plurality of supply flow paths and an inlet of the hydraulic oil in the hydraulic cylinder;
• a plurality of discharge flow paths respectively connected to the plurality of flow rate control valves;
• a meter-out flow path that connects a collective part of the plurality of discharge flow paths and an outlet of the hydraulic oil in the hydraulic cylinder;
• a throttle disposed in the meter-out flow path
• an operation device that generates an operation command with an operation;
• and
• a control device,
• wherein the control device
• stores correlation data between an operation amount of the operation device and a target meter-in flow rate indicating a target flow rate of the hydraulic oil flowing into the inlet;
• acquires the operation command;
• calculates a target meter-out flow rate indicating a target flow rate of the hydraulic oil flowing out from the outlet based on the correlation data and the operation command;
• calculates a target opening area of the flow rate control valves based on the target meter-out flow rate;
• and
• outputs a control command to cause the flow rate control valves to have the target opening area of the flow rate control valves;
• wherein
• the working equipment element includes a first working equipment element and a second working equipment element,
• the hydraulic cylinder includes a first hydraulic cylinder that moves the first working equipment element and a second hydraulic cylinder that moves the second working equipment element,
• the flow rate control valves include first-group flow rate control valves including a plurality of flow rate control valves for which priority is set, and second-group flow rate control valves including a plurality of flow rate control valves for which priority is set,
• the first-group flow rate control valves adjust a flow rate of the hydraulic oil supplied to the first hydraulic cylinder,
• the second-group flow rate control valves adjust a flow rate of the hydraulic oil supplied to the second hydraulic cylinder, and
• the control device includes a distribution control unit that controls an opening area of the first-group flow rate control valves based on the priority of the first-group flow rate control valves and a required flow rate of the hydraulic oil in the first hydraulic cylinder.