Control device of construction machine

A control apparatus for a construction machine wherein arm members are supported for rocking movement on a construction machine body side and a working member is supported for rocking movement at an end portion of said arm members and the rocking movements of said arm members and said working member are performed individually by extension/contraction operations of cylinder actuators comprising:

• target value setting means for setting target operation information of said arm member with said working member in response to a position of an operation member;
• detection means having at least operation information detection means for detecting operation information of said arm member with said working member and operation condition detection means for detecting an operation condition of said construction machine;
• control means of a variable control parameter type for receiving a detection result from said operation information detection means and the target operation information set by said target value setting means as inputs and controlling said actuators so that said arm member with said working member exhibits a target operation condition;
• and
• said control means includes a control parameter scheduler which is capable of varying the control parameter in response to the operation condition of said construction machine detected by said operation condition detection means.

A control apparatus for a construction machine, comprising:

• a construction machine body;
• a joint arm mechanism having at least one pair of arm members having one end portion pivotally mounted on said construction machine body and having a working member on the other end side and connected to each other by a joint part;
• a cylinder actuator mechanism having a plurality of cylinder actuators for performing extension/contraction operations to actuate said arm mechanism;
• posture detection means for detecting posture information of said arm members;
• and
• control means for controlling said cylinder actuators based on a detection result detected by said posture detection means so that said arm members exhibit predetermined postures;
• said control means including:
• a first controlling system for feedback controlling the first cylinder actuator for one arm member of said pair of arm members;
• a second controlling system for feedback controlling the second cylinder actuator for the other arm member of said pair of arm members;
• a first correction controlling system for correcting a control target value of said first controlling system based on feedback deviation information of said second controlling system;
• and
• a second correction controlling system for correcting a control target value of said second controlling system based on feedback deviation information of said first correction controlling system.

A control apparatus for a construction machine, comprising:

• a construction machine body;
• a boom connected at one end thereof for pivotal motion to said construction machine body;
• a stick connected at one end thereof for pivotal motion to said boom by a joint part and having a working member, which is capable of excavating the ground at a tip thereof and accommodating sand and earth therein, mounted for pivotal motion at the other end thereof;
• a boom hydraulic cylinder interposed between said construction machine body and said boom for pivoting said boom with respect to said construction machine body by expanding or contracting a distance between end portions thereof;
• a stick hydraulic cylinder interposed between said boom and said stick for pivoting said stick with respect to said boom by expanding or contracting a distance between end portions thereof;
• boom posture detection means for detecting posture information of said boom;
• stick posture detection means for detecting posture information of said stick;
• a boom controlling system for feedback controlling said boom hydraulic cylinder based on a detection result of said boom posture detection means;
• a stick controlling system for feedback controlling said stick hydraulic cylinder based on a detection result of said stick posture detection means;
• a boom correction controlling system for correcting a control target value of said boom controlling system based on feedback deviation information of said stick controlling system;
• and
• a stick correction controlling system for correcting a control target value of said stick controlling system based on feedback deviation information of said boom controlling system.

A control apparatus for a construction machine, comprising

• a construction machine body;
• a joint arm mechanism includes at least one pair of arm members connected end to end by a joint part and having one end portion pivotally mounted on said construction machine body and other end connected to a working member;
• a cylinder actuator mechanism having a plurality of cylinder actuators for actuating said arm mechanism by performing extension/contraction operations;
• calculation control target value setting means for determining a calculation target control value based on operation position information of operation members;
• and
• control means for controlling said cylinder actuators based on the calculation control target value obtained by said calculation control target value setting means so that said arm members individually assume predetermined postures;
• said control means including:
• actual control target value calculation means for determining an actual control target value for a controlling system of an arm member among said pair of arm members based on the actual posture information of the arm member and other arm member;
• composite control target value calculation means for determining a composite control target value based on the actual control target value obtained by said actual control target value calculation means and the calculation control target value obtained by said calculation control target value setting means;
• and
• a controlling system for controlling said cylinder actuator based on the composite control target value obtained by said composite control target value calculation means so that the arm member assumes a predetermined posture.

A control apparatus for a construction machine, comprising:

• a construction machine body;
• a boom connected at one end thereof for pivotal motion to said construction machine body;
• a stick connected at one end thereof for pivotal motion to said boom by a joint part and having a bucket, which is capable of excavating the ground at a tip thereof and accommodating sand and earth therein, mounted for pivotal motion at the other end thereof;
• a boom hydraulic cylinder interposed between said construction machine body and said boom for pivoting said boom with respect to said construction machine body by expanding or contracting a distance between end portions thereof;
• a stick hydraulic cylinder interposed between said boom and said stick for pivoting said stick with respect to said boom by expanding or contracting a distance between end portions thereof;
• stick control target value setting means for determining a stick control target value for stick control based on operation position information of an arm mechanism operation member;
• a stick controlling system for controlling said stick hydraulic cylinder based on the stick control target value obtained by said stick control target value setting means;
• boom control target value setting means for determining a boom control target value for boom control based on operation position information of said arm mechanism operation member;
• actual boom control target value calculation means for determining an actual boom control target value for boom control based on actual posture information of said boom and said stick;
• composite boom control target value calculation means for determining a composite boom control target value based on the actual boom control target value obtained by said actual boom control target value calculation means, and the boom control target value obtained by said boom control target value setting means;
• and
• a boom controlling system for controlling said boom hydraulic cylinder based on the composite boom control target value obtained by said composite boom control target value calculation means so that said boom assumes a predetermined posture.

A control apparatus for a construction machine, comprising:

• a construction machine body;
• a joint arm mechanism having at least one pair of arm members having one end portion pivotally mounted on said construction machine body and having a working member on the other end side and connected to each other by a joint part;
• a cylinder actuator mechanism having a plurality of cylinder actuators for actuating said arm mechanism by performing extension/contraction operations;
• fluid pressure circuits at least having pumps driven by a prime mover and control valve mechanism for supplying and discharging operating fluid to and from said cylinder actuator mechanism to cause said cylinder actuators of said cylinder actuator mechanism to effect extension/contraction operations;
• posture detection means for detecting posture information of said arm members;
• control means for supplying control signals to said control valve mechanism based on a detection result detected by said posture detection means to control said cylinder actuators so that said arm members individually assume predetermined postures;
• and
• variation factor detection means for detecting a delivery capacity variation factor of said pumps in said prime mover;
• said control means including:
• correction means for correcting, when a delivery capacity variation factor of said pumps is detected by said variation factor detection means, the control signals in response to the delivery capacity variation factor.

A control apparatus for a construction machine, comprising:

• a construction machine body;
• a joint arm mechanism includes at least one pair of arm members connected end to end by a joint part and having one end portion pivotally mounted on said construction machine body and other end connected to a working member;
• a cylinder actuator mechanism having a plurality of cylinder actuators for actuating said arm mechanism by effecting extension/contraction operations such that extension/contraction displacement velocities vary depending upon a load;
• control target value setting means for calculating a control target value from operation position information of operation members;
• control means for controlling said cylinder actuators based on the control target value obtained by said target value setting means so that said arm members individually assume predetermined postures;
• and
• actuator load detection means for detecting load conditions to said cylinder actuators;
• said control means having:
• first correction means for reducing, when the load to said cylinder actuators detected by said actuator load detection means is higher than a predetermined value, the control target value set by said target value setting means in response to the load condition of said cylinder actuators to lower the extension/contraction displacement velocity by said cylinder actuators.

A control apparatus for a construction machine, comprising:

• a construction machine body;
• a boom connected at one end thereof for pivotal motion to said construction machine body;
• a stick connected at one end thereof for pivotal motion to said boom by a joint part and having a bucket, which is capable of excavating the ground at a tip thereof and accommodating sand and earth therein, mounted for pivotal motion at the other end thereof;
• a boom hydraulic cylinder interposed between said construction machine body and said boom for pivoting said boom with respect to said construction machine body by expanding or contracting a distance between end portions thereof;
• a stick hydraulic cylinder interposed between said boom and said stick for pivoting said stick with respect to said boom by expanding or contracting a distance between end portions thereof;
• control target value setting means for determining a control target value based on operation position information of operation members;
• control means for controlling said boom hydraulic cylinder and said stick hydraulic cylinder based on the control target value obtained by said control target value setting means so that said bucket moves at a predetermined moving velocity;
• and
• hydraulic cylinder load detection means for detecting a load condition of said boom hydraulic cylinder or said stick hydraulic cylinder;
• and
• said control means includes
• fourth correction means for reducing, when any of the cylinder loads detected by said hydraulic cylinder load detection means is higher than a predetermined value, the control target value set by said target value setting means in response to the cylinder load condition to reduce the bucket moving velocity by said boom hydraulic cylinder and said stick hydraulic cylinder.

A control apparatus for a construction machine, comprising:

• a construction machine body;
• a working member mounted on said construction machine body by a joint arm mechanism;
• a cylinder actuator mechanism having cylinder actuators for actuating said working member by performing extension/contraction operations;
• control target value setting means for determining a control target value based on operation position information of operation members;
• posture detection means for detecting posture information of said working member;
• control means for controlling said cylinder actuators based on the control target value obtained by said control target value setting means and the posture information of said working member detected by said posture detection means by feedback controlling systems which have a proportional operation factor, an integration operation factor and a differentiation operation factor so that said working member assumes a predetermined posture;
• operation position detection means for detecting whether or not operation positions of said operation members are in inoperative positions;
• and
• control deviation detection means for detecting whether or not control deviations of said feedback controlling systems are higher than a predetermined value;
• said control means includes:
• first control means for performing feedback control by the proportion operation factor, the differentiation operation factor and the integration operation factor when a first condition that the operation positions of said operation members detected by said operation position detection means are the inoperative positions and the control deviations of said feedback controlling systems detected by said control deviation detection means are higher than the predetermined value is satisfied;
• and
• second control means for inhibiting feedback control by the integration operation factor and performing feedback control by the proportion operation factor and the differentiation operation factor when the first condition is not satisfied.

A control apparatus for a construction machine wherein arm members are supported for rocking movement on a construction machine body side and a working member is supported for rocking movement at an end portion of said arm members and the rocking movement of said arm member with said working member is performed individually by extension/contraction operations of cylinder actuators comprising:

• target value setting means for setting target operation information of said arm member with said working member in response to a position of an operation member,
• operation information detection means for detecting operation information of said arm member with said working member;
• control means for receiving a detection result of said operation information detection means and the target operation information set by said target value setting means as inputs and controlling said actuators so that said arm member with said working member exhibits a target operation condition;
• correction information storage means for storing correction information for correcting the target operation information;
• said control means is constructed so as to control said actuators using correction target operation information corrected with the correction information from said correction information storage means so that said arm member with said working member exhibits the target operation condition;
• and
• said correction information storage means is constructed so as to cause said arm member with said working member to perform a predetermined operation to collect and store the correction information.

A control apparatus for a construction machine wherein arm members are supported for rocking movement on a construction machine body side and a working member is supported for rocking movement at an end portion of said arm members and the rocking movement of said arm member with said working member is performed individually by extension/contraction operations of cylinder actuators comprising:

• target value setting means for setting target operation information of said arm member with said working member in response to a position of an operation member,
• operation information detection means for detecting operation information of said arm member with said working member;
• control means for receiving a detection result of said operation information detection means and the target operation information set by said target value setting means as inputs and controlling said actuators so that said arm member with said working member exhibits a target operation condition;
• correction information storage means for storing correction information for correcting the target operation information;
• said control means is constructed so as to control said actuators using correction target operation information corrected with the correction information from said correction information storage means so that said arm member with said working member exhibits the target operation condition;
• said correction information storage means is constructed so as to store correction information which is different for different operation modes of said arm member with said working member;
• and
• said control means is constructed so as to control said actuators using the correction target operation information corrected with the correction information obtained in response to an operation mode of said arm member with said working member so that said arm member with said working member exhibits the target operation condition.