Shovel
A shovel includes a plurality of hydraulic actuators each configured to move in response to a movement command; a pressure sensor configured to detect a pressure of hydraulic oil in each of the hydraulic actuators; a meter-in valve in correspondence with each of the hydraulic actuators; a meter-out valve in correspondence with each of the hydraulic actuators; and a controller having a plurality of output characteristics set for each of the hydraulic actuators. The controller is configured to calculate a required flow rate corresponding to the movement command, based on an output characteristic corresponding to the movement command from among the plurality of output characteristics.
1. A shovel comprising:
a plurality of hydraulic actuators each configured to move in response to a movement command;
a pressure sensor configured to detect a pressure of hydraulic oil in each of the hydraulic actuators;
a meter-in valve in correspondence with each of the hydraulic actuators;
a meter-out valve in correspondence with each of the hydraulic actuators; and
a controller having different output characteristics set for each of the hydraulic actuators,
wherein the controller is configured to calculate a required flow rate corresponding to the movement command, based on an output characteristic corresponding to the movement command from among the output characteristics.
2. The shovel according to claim 1 , wherein the output characteristics represent a correspondence relationship among the movement command, the pressure of the hydraulic oil in each of the hydraulic actuators, and the required flow rate, and
the pressure sensor, the meter-in valve, and the meter-out valve are provided in correspondence with each of the hydraulic actuators.
3. The shovel according to claim 1 , wherein a hydraulic actuator of the plurality of hydraulic actuators is a hydraulic cylinder,
the pressure sensor is configured to detect a bottom-side pressure that is a pressure of hydraulic oil in a bottom-side oil chamber of the hydraulic cylinder, and detect a rod-side pressure that is a pressure of hydraulic oil in a rod-side oil chamber of the hydraulic cylinder, and
the controller is configured to calculate the required flow rate based on the output characteristics, the movement command, and a differential pressure between the bottom-side pressure and the rod-side pressure.
4. The shovel according to claim 3 , wherein the controller is configured to
calculate thrust based on the differential pressure between the bottom-side pressure and the rod-side pressure, and
calculate the required flow rate based on the output characteristics, the movement command, and the thrust.
5. The shovel according to claim 1 , wherein the controller is configured to change the output characteristics in accordance with a movement content of the shovel, the movement content being determined based on the movement command and a detection value of the pressure sensor.
6. The shovel according to claim 1 , wherein the controller is configured to make a determination as to whether a movement of the shovel is an aerial movement based on the movement command and a detection value of the pressure sensor, and change the output characteristics in accordance with a result of the determination.
7. The shovel according to claim 1 , further comprising:
a hydraulic pump; and
a discharge pressure sensor configured to detect a discharge pressure of the hydraulic pump,
wherein the pressure sensor, the meter-in valve, and the meter-out valve are provided in correspondence with each of the hydraulic actuators, and
the controller is configured to
calculate, based on the movement command, a meter-in flow rate that is a flow rate of hydraulic oil to pass through the meter-in valve and a meter-out flow rate that is a flow rate of hydraulic oil to pass through the meter-out valve,
calculate an opening area of the meter-in valve based on the meter-in flow rate, a detection value of the pressure sensor, and a detection value of the discharge pressure sensor, and
calculate an opening area of the meter-out valve based on the meter-out flow rate and a detection value of the pressure sensor.
8. The shovel according to claim 7 , wherein the meter-in valve includes a plurality of meter-in valves, the pressure sensor includes a plurality of pressure sensors disposed downstream of the plurality of meter-in valves, and the controller is configured to control the discharge pressure of the hydraulic pump based on a highest value among detection values of the plurality of pressure sensors.
9. The shovel according to claim 7 , wherein a hydraulic actuator of the plurality of hydraulic actuators is a boom cylinder, and
the opening area of the meter-in valve associated with the boom cylinder when the boom cylinder extends is calculated based on the meter-in flow rate into a bottom-side oil chamber of the boom cylinder, the discharge pressure of the hydraulic pump, and a boom bottom pressure.
10. The shovel according to claim 9 , wherein the opening area of the meter-out valve associated with the boom cylinder when the boom cylinder extends is calculated based on the meter-out flow rate out of a rod-side oil chamber of the boom cylinder, a hydraulic oil tank pressure, and a boom rod pressure.
11. The shovel according to claim 10 , wherein the meter-out flow rate out of the rod-side oil chamber of the boom cylinder is calculated based on the meter-in flow rate into the bottom-side oil chamber of the boom cylinder.
12. The shovel according to claim 1 , further comprising:
a hydraulic pump,
wherein the pressure sensor, the meter-in valve, and the meter-out valve are provided in correspondence with each of the hydraulic actuators, and
the controller is configured to
compare a pump flow rate that is a flow rate of hydraulic oil to be discharged from the hydraulic pump and that is calculated based on the movement command, with a maximum flow rate of hydraulic oil dischargeable from the hydraulic pump, and
calculate the required flow rate that is a flow rate of hydraulic oil to be supplied to each of the hydraulic actuators.
13. The shovel according to claim 12 , wherein the pump flow rate is a sum of flow rates of the hydraulic oil to be supplied to the hydraulic actuators.
14. The shovel according to claim 12 , further comprising:
a differential circuit that includes a differential conduit connecting an inflow conduit of each of the hydraulic actuators and an outflow conduit of each of the hydraulic actuators,
wherein the controller is configured to calculate the pump flow rate based on the movement command and a flow rate of hydraulic oil flowing in the differential circuit.
15. The shovel according to claim 12 , further comprising:
a regenerative circuit that includes a regenerative conduit connecting one hydraulic actuator of the plurality of hydraulic actuators and another hydraulic actuator of the plurality of hydraulic actuators,
wherein the controller is configured to calculate the pump flow rate based on the movement command and a flow rate of hydraulic oil flowing in the regenerative circuit.
16. The shovel according to claim 12 , wherein the controller is configured to reduce the pump flow rate and the required flow rate in a case where the pump flow rate exceeds the maximum flow rate.
17. The shovel according to claim 12 , wherein the maximum flow rate is determined based on a maximum output of a drive source and a discharge pressure of the hydraulic pump.
18. A shovel comprising:
a hydraulic pump;
a plurality of hydraulic actuators each configured to move in response to a movement command;
a pressure sensor configured to detect a pressure of hydraulic oil in each of the hydraulic actuators;
a discharge pressure sensor configured to detect a discharge pressure of the hydraulic pump;
a meter-in valve in correspondence with each of the hydraulic actuators;
a meter-out valve in correspondence with each of the hydraulic actuators; and
a controller configured to calculate, based on the movement command, a meter-in flow rate that is a flow rate of hydraulic oil to pass through the meter-in valve and a meter-out flow rate that is a flow rate of hydraulic oil to pass through the meter-out valve,
wherein the pressure sensor, the meter-in valve, and the meter-out valve are provided in correspondence with each of the hydraulic actuators, and
the controller is configured to
calculate an opening area of the meter-in valve based on the meter-in flow rate, a detection value of the pressure sensor, and a detection value of the discharge pressure sensor, and
calculate an opening area of the meter-out valve based on the meter-out flow rate and a detection value of the pressure sensor.
19. A shovel comprising:
a hydraulic pump;
a plurality of hydraulic actuators each configured to move in response to a movement command;
a pressure sensor configured to detect a pressure of hydraulic oil in each of the hydraulic actuators;
a meter-in valve in correspondence with each of the hydraulic actuators;
a meter-out valve in correspondence with each of the hydraulic actuators; and
a controller configured to compare a pump flow rate that is a flow rate of hydraulic oil to be discharged from the hydraulic pump and that is calculated based on the movement command, with a maximum flow rate of hydraulic oil dischargeable from the hydraulic pump,
wherein the pressure sensor, the meter-in valve, and the meter-out valve are provided in correspondence with each of the hydraulic actuators, and
the controller is configured to calculate a required flow rate that is a flow rate of hydraulic oil to be supplied to each of the hydraulic actuators.