Work machine
A controller of a work machine computes a requested velocity of a hydraulic actuator based on an operation signal, computes a first estimated velocity of the hydraulic actuator based on a sensed value of a first sensing device that senses motion information of a driven member, computes a second estimated velocity of the hydraulic actuator based on a sensed value of a second sensing device that senses a flow rate of a directional control valve, computes an arbitrated velocity by arbitrating the first estimated velocity and the second estimated velocity according to a driving state of the hydraulic actuator, and controls the directional control valve based on a deviation between the requested velocity and the arbitrated velocity. The computation of the arbitrated velocity is to perform an arbitration such that a degree of effect on the second estimated velocity is larger than a degree of effect on the first estimated velocity when the hydraulic actuator starts to move, and to perform an arbitration such that the degree of effect on the first estimated velocity is larger than the degree of effect on the second estimated velocity when the driving of the hydraulic actuator is approaching a steady state.
1. A work machine comprising:
a hydraulic pump that delivers hydraulic fluid;
a hydraulic actuator that is driven by the hydraulic fluid supplied from the hydraulic pump;
a directional control valve that controls a flow of the hydraulic fluid to be supplied from the hydraulic pump to the hydraulic actuator;
a driven member that is actuated by driving of the hydraulic actuator;
an operation lever that outputs an operation signal giving an instruction for motion of the driven member;
a first sensor that senses motion information of the driven member;
a second sensor that senses information related to a flow rate of the hydraulic fluid supplied to the hydraulic actuator via the directional control valve; and
a controller that controls driving of the hydraulic pump and the directional control valve, wherein
the controller is configured to
compute a requested velocity of the hydraulic actuator based on the operation signal of the operation lever,
compute a first estimated velocity of the hydraulic actuator estimated on a basis of a sensed value of the first sensor,
compute a second estimated velocity of the hydraulic actuator estimated on a basis of a sensed value of the second sensor,
perform an arbitration between the first estimated velocity and the second estimated velocity according to a driving state of the hydraulic actuator to compute an arbitrated velocity, and
control the driving of the hydraulic pump and the directional control valve based on a deviation between the requested velocity and the arbitrated velocity, and
the arbitration by the controller is
such that a degree of effect of the second estimated velocity is larger than a degree of effect of the first estimated velocity when it can be determined on a basis of the first estimated velocity that the driving state of the hydraulic actuator is a state of starting to move, and
such that the degree of effect of the first estimated velocity is larger than the degree of effect of the second estimated velocity when it can be determined on the basis of the first estimated velocity that the driving state of the hydraulic actuator is approaching a steady state past a predetermined state.
2. The work machine according to claim 1 , wherein
the arbitration by the controller is to increase the degree of effect of the second estimated velocity and relatively decrease the degree of effect of the first estimated velocity as a degree of deviation of the first estimated velocity with respect to the second estimated velocity is increased.
3. The work machine according to claim 2 , wherein
the arbitration by the controller is to increase the degree of effect of the first estimated velocity and relatively decrease the degree of effect of the second estimated velocity as a degree of deviation of the first estimated velocity with respect to the requested velocity is decreased.
4. The work machine according to claim 1 , wherein
the controller is configured to compute the arbitrated velocity by performing the arbitration so as to switch to either one of the first estimated velocity and the second estimated velocity,
the computation of the arbitrated velocity by the controller is to
calculate the second estimated velocity as the arbitrated velocity when the first estimated velocity is lower than a threshold value at a state of an acceleration of the hydraulic actuator or when the first estimated velocity is higher than the threshold value at a state of a deceleration of the hydraulic actuator, and
calculate the first estimated velocity as the arbitrated velocity when the first estimated velocity is equal to or higher than the threshold value at the state of the acceleration of the hydraulic actuator or when the first estimated velocity is equal to or lower than the threshold value at the state of deceleration of the hydraulic actuator, and
the threshold value is set as a value of a predetermined percentage to the requested velocity.
5. The work machine according to claim 4 , wherein
the computation of the arbitrated velocity by the controller is performed such that an amount of change before and after switching between the first estimated velocity and the second estimated velocity is limited.