Control system for construction machine
A control system for a construction machine stops an upper swing structure at a desired swing stop angle. A main controller sets a swing stop target angle at which an upper swing structure is to be stopped. A swing stoppability determination section reads an angle signal of the upper swing structure with respect to an undercarriage and an angle of a work implement, and determines whether the swing of the upper swing structure can be stopped at the swing stop target angle. A work implement is controlled in such a manner that an extension action of the work implement in a swing radial direction is prohibited or a contraction action of the work implement in the swing radial direction is executed in response to a signal that indicates whether the swing can be stopped and that is determined by the swing stoppability determination section.
1. A control system for a construction machine comprising:
an undercarriage;
an upper swing structure rotatably mounted to swing on the undercarriage;
a work implement attached to the upper swing structure to be able to rotate vertically thereto;
a swing hydraulic actuator that drives the upper swing structure to swing;
work implement hydraulic actuators that drive the work implement;
a hydraulic pump;
work implement control valves and a swing control valve configured to exercise control of flow rates and directions of hydraulic fluids supplied from the hydraulic pump to the work implement hydraulic actuators and the swing hydraulic actuator;
work implement operation devices and a swing operation device configured to instruct the work implement and the upper swing structure to be actuated; and
a main controller configured to output drive signals to the work implement control valves and the swing control valve on the basis of instruction signals from the work implement operation devices and the swing operation device,
wherein
the control system further comprises:
a first angle sensor configured to detect a swing angle of the upper swing structure with respect to the undercarriage; and
a second angle sensor configured to detect an elevation angle of the work implement with respect to the upper swing structure, and
the main controller comprises:
a swing stop target angle setting section configured to set a swing stop target angle of the upper swing structure;
a swing control section configured to calculate the drive signal on the basis of a difference between the swing angle of the upper swing structure detected by the first angle sensor and the swing stop target angle set by the swing stop target angle setting section and the instruction signal from the swing operation device, and to output the drive signal to the swing control valve;
a swing stoppability determination section configured to determine whether a swing action can be stopped before an angle of the upper swing structure reaches the swing stop target angle on the basis of the swing angle of the upper swing structure detected by the first angle sensor, the swing stop target angle set by the swing stop target angle setting section, and the elevation angle of the work implement detected by the second angle sensor; and
a work implement control section configured to output a drive signal to the work implement control valve in such a manner that when a determination result of the swing stoppability determination section is No, an action of the work implement in a direction in which at least a swing moment of inertia increases is limited or prohibited.
2. The control system for the construction machine according to claim 1 ,
wherein
the swing stoppability determination section is configured to compute a swing smallest stop angle signal that is a minimum value of an increment of a swing stop angle by inertia on the basis of a swing speed signal calculated from the swing angle of the upper swing structure with respect to the undercarriage, a swing inertia moment signal calculated on the basis of the swing speed signal and the elevation angle of the work implement with respect to the upper swing structure, and the swing angle of the upper swing structure with respect to the undercarriage, and
to determines that it is impossible to stop swing when the swing smallest stop angle signal is larger than the swing stop target angle.
3. The control system for the construction machine according to claim 1 ,
further comprising:
a work implement target position setting section configured to set a work implement target position that is a target position at which a tip end of the work implement is disposed; and
a work implement target height setting section configured to set a target height signal of the work implement on the basis of the work implement target position set by the work implement target position setting section,
wherein
the work implement control section is configured to calculate a height signal of the work implement on the basis of the elevation angle of the work implement with respect to the upper swing structure, and
the swing stop target angle setting section is configured to compute a deviation between the target height signal of the work implement and the height signal of the work implement, and to correct the swing stop target angle depending on the deviation.
4. The control system for the construction machine according to claim 1 ,
further comprising
an approaching object sensor configured to detect a position of an approaching object around a work region,
wherein
the swing stop target angle setting section is configured to set the swing stop target angle depending on the position of the approaching object when receiving a position signal of the approaching object from the approaching object sensor.