Construction machine
An object of the present invention is to provide a construction machine that allows easy and accurate calibration of a pressure sensor and enables accurate control of hydraulic actuators. A controller increases the delivery pressure of a hydraulic pump in a state in which first and second meter-out valves and a second meter-in valve are closed and in which a first meter-in valve is opened, and calibrates a first pressure-calculation map such that a pressure calculated on the basis of the first pressure-calculation map matches a pressure calculated on the basis of a supply-pressure-calculation map, and increases the delivery pressure of the hydraulic pump in a state in which the first and second meter-out valves and the first meter-in valve are closed and in which the second meter-in valve is opened, and calibrates a second pressure-calculation map such that a pressure calculated on the basis of the second pressure-calculation map matches the pressure calculated on the basis of the supply-pressure-calculation map.
1. A construction machine comprising:
a hydraulic pump;
a supply hydraulic line connected to the hydraulic pump;
a tank;
a discharge hydraulic line connected to the tank;
a hydraulic actuator having a first oil chamber and a second oil chamber;
a first-actuator hydraulic line connected to the first oil chamber;
a second-actuator hydraulic line connected to the second oil chamber;
a first meter-in valve provided on a first connection hydraulic line connecting the supply hydraulic line and the first-actuator hydraulic line;
a second meter-in valve provided on a second connection hydraulic line connecting the supply hydraulic line and the second-actuator hydraulic line;
a first meter-out valve provided on a third connection hydraulic line connecting the first-actuator hydraulic line and the discharge hydraulic line;
a second meter-out valve provided on a fourth connection hydraulic line connecting the second-actuator hydraulic line and the discharge hydraulic line;
a bleed-off valve provided on a fifth connection hydraulic line connecting the supply hydraulic line and the discharge hydraulic line;
a supply-pressure sensor that senses a delivery pressure of the hydraulic pump;
a first-load-pressure sensor that senses a pressure of the first oil chamber;
a second-load-pressure sensor that senses a pressure of the second oil chamber; and
a controller that controls the first and second meter-in valves, the first and second meter-out valves, and the bleed-off valve in accordance with sensing signals of the first and second-load-pressure sensors, and a sensing signal of the supply-pressure sensor, wherein
the controller is configured to:
calculate the delivery pressure of the hydraulic pump from the sensing signal of the supply-pressure sensor on a basis of a supply-pressure-calculation map representing a characteristic of the supply-pressure sensor,
calculate the pressure of the first oil chamber from the sensing signal of the first-load-pressure sensor on a basis of a first pressure-calculation map representing a characteristic of the first-load-pressure sensor,
calculate the pressure of the second oil chamber from the sensing signal of the second-load-pressure sensor on a basis of a second pressure-calculation map representing a characteristic of the second-load-pressure sensor,
increase the delivery pressure of the hydraulic pump in a state in which the first and second meter-out valves and the second meter-in valve are closed and in which the first meter-in valve is opened, and calibrate the first pressure-calculation map such that the pressure of the first oil chamber calculated on the basis of the first pressure-calculation map matches the delivery pressure of the hydraulic pump calculated on the basis of the supply-pressure-calculation map, and
increase the delivery pressure of the hydraulic pump in a state in which the first and second meter-out valves and the first meter-in valve are closed and in which the second meter-in valve is opened, and calibrate the second pressure-calculation map such that the pressure of the second oil chamber calculated on the basis of the second pressure-calculation map matches the delivery pressure of the hydraulic pump calculated on the basis of the supply-pressure-calculation map.
2. The construction machine according to claim 1 , further comprising:
a first-valve-position sensor that senses a valve position of the first meter-in valve; and
a second-valve-position sensor that senses a valve position of the second meter-in valve, wherein
the controller is further configured to:
calculate the valve position of the first meter-in valve from a sensing signal of the first-valve-position sensor on a basis of a first position-calculation map representing a characteristic of the first-valve-position sensor, and
calculate the valve position of the second meter-in valve from a sensing signal of the second-valve-position sensor on a basis of a second position-calculation map representing a characteristic of the second-valve-position sensor, and
the controller is further configured to:
actuate the first meter-in valve in a state in which the first and second meter-out valves and the second meter-in valve are closed, and calibrate the first position-calculation map such that the valve position of the first meter-in valve calculated on the basis of the first position-calculation map when the first meter-in valve is at a minimum position becomes a minimum position, and the valve position of the first meter-in valve calculated on the basis of the first position-calculation map when the first meter-in valve is at a maximum position becomes a maximum position, or
actuate the second meter-in valve in a state in which the first and second meter-out valves and the first meter-in valve are closed, and calibrate the second position-calculation map such that the valve position of the second meter-in valve calculated on the basis of the second position-calculation map when the second meter-in valve is at a minimum position becomes a minimum position, and the valve position of the second meter-in valve calculated on the basis of the second position-calculation map when the second meter-in valve is at a maximum position becomes a maximum position.
3. The construction machine according to claim 1 , wherein
the controller is further configured to:
actuate the bleed-off valve in a state in which the first and second meter-out valves and the second meter-in valve are closed and in which the first meter-in valve is opened, and calibrate the first pressure-calculation map such that the pressure of the first oil chamber calculated on the basis of the first pressure-calculation map matches the delivery pressure of the hydraulic pump calculated on the basis of the supply-pressure-calculation map, or
actuate the bleed-off valve in a state in which the first and second meter-out valves and the first meter-in valve are closed and in which the second meter-in valve is opened, and calibrate the second pressure-calculation map such that the pressure of the second oil chamber calculated on the basis of the second pressure-calculation map matches the delivery pressure of the hydraulic pump calculated on the basis of the supply-pressure-calculation map.
4. The construction machine according to claim 1 , wherein the supply-pressure sensor is installed on a hydraulic line portion of a hydraulic line connecting the hydraulic pump and the first or second meter-in valve, the hydraulic line portion excluding a hydraulic line portion connecting the hydraulic pump and the bleed-off valve.