Hydraulic system of working machine and method for controlling hydraulic system of working machine
In a hydraulic system of a working device, a controller includes a first calculator that calculates a first electric current value for decelerating an angular velocity of a movable member, a second calculator that calculates a second electric current value for decreasing a supply flow rate of a hydraulic fluid to a hydraulic cylinder, and an electric current restrictor that corrects an electric current supplied to an electromagnetic proportional valve by the second electric current value if a determination distance of an operation length from a current operation position of the hydraulic cylinder to a stroke end is longer than a first threshold value and is not more than a second threshold value and corrects the electric current supplied to the electromagnetic proportional valve by either the selected first or second electric current value if the determination distance is not more than the first threshold value.
1. A hydraulic system of a working machine, comprising:
a working device that includes a movable member and a hydraulic cylinder that swings the movable member;
an electromagnetic proportional valve to change a flow rate of a hydraulic fluid supplied to the hydraulic cylinder; and
a controller to control the flow rate of the hydraulic fluid supplied to the hydraulic cylinder to a predetermined flow rate or less by controlling an electric current supplied to the electromagnetic proportional valve, wherein
the controller includes:
a first calculator to calculate a first electric current value, which is an electric current value of an electric current supplied to the electromagnetic proportional valve in order to control the electromagnetic proportional valve to decelerate an angular velocity of the movable member as an operation length of the hydraulic cylinder approaches a stroke end of the hydraulic cylinder,
a second calculator to calculate a second electric current value, which is an electric current value of an electric current supplied to the electromagnetic proportional valve in order to control the electromagnetic proportional valve to decrease a supply flow rate of the hydraulic fluid to the hydraulic cylinder as the operation length of the hydraulic cylinder approaches the stroke end of the hydraulic cylinder, and
an electric current restrictor to correct the electric current supplied to the electromagnetic proportional valve by the second electric current value in a case where a determination distance, which is an operation length from a current operation position of the hydraulic cylinder to the stroke end, is longer than a first threshold value and is equal to or less than a second threshold value longer than the first threshold value and to correct the electric current supplied to the electromagnetic proportional valve by a selected one of the first electric current value and the second electric current value in a case where the determination distance is equal to or less than the first threshold value.
2. The hydraulic system according to claim 1 , wherein
the first calculator does not calculate the first electric current value in a case where the determination distance is longer than the first threshold value; and
the second calculator does not calculate the second electric current value in a case where the determination distance is longer than the second threshold value.
3. The hydraulic system according to claim 1 , wherein
the first electric current value in a case where the determination distance is the first threshold value is an electric current value corresponding to a reference angular velocity, which is a minimum value of the angular velocity in a case where the flow rate of the hydraulic fluid supplied to the hydraulic cylinder is the predetermined flow rate; and
the first electric current value in a case where the determination distance is zero is an electric current value corresponding to a predetermined terminal angular velocity smaller than the reference angular velocity.
4. The hydraulic system according to claim 1 , wherein
the second electric current value in a case where the determination distance is the second threshold value is an electric current value for supplying the hydraulic fluid at a flow rate substantially equal to the predetermined flow rate to the hydraulic cylinder.
5. The hydraulic system according to claim 1 , wherein
the electric current restrictor selects one of the first electric current value and the second electric current value that is smaller in the flow rate of the hydraulic fluid supplied to the hydraulic cylinder in a case where the determination distance is equal to or less than the first threshold value.
6. The hydraulic system according to claim 1 , wherein
the electric current restrictor corrects the electric current supplied to the electromagnetic proportional valve by the first electric current value in a case where the determination distance is equal to or less than the first threshold value.
7. The hydraulic system according to claim 1 , further comprising a first operation device that outputs an operation signal to the controller, wherein
the controller includes a definer to define, on a basis of the operation signal, the electric current supplied to the electromagnetic proportional valve within a range equal to or less than a reference electric current value at which an opening of the electromagnetic proportional valve is maximum and the flow rate of the hydraulic fluid supplied to the hydraulic cylinder is the predetermined flow rate, and
the electric current restrictor corrects the electric current value defined by the definer by the first electric current value or the second electric current value.
8. The hydraulic system according to claim 1 , further comprising:
a second operation device that is operable;
an operation valve to control a flow rate of an ejected pilot oil in accordance with operation of the second operation device;
a direction switching valve to control the hydraulic cylinder by changing a switching position by the pilot oil supplied from the operation valve and changing the flow rate of the hydraulic fluid supplied to the hydraulic cylinder; and
a connecting oil passage to connect the direction switching valve and the hydraulic cylinder, wherein
the electromagnetic proportional valve is provided in the connecting oil passage, and changes the opening in accordance with the electric current supplied from the controller and changes the flow rate of the hydraulic fluid supplied from the direction switching valve to the hydraulic cylinder to the predetermined flow rate or less.
9. A method for controlling a hydraulic system of a working machine including a working device that includes a movable member and a hydraulic cylinder that swings the movable member and an electromagnetic proportional valve to change a flow rate of a hydraulic fluid supplied to the hydraulic cylinder, in which the flow rate of the hydraulic fluid supplied to the hydraulic cylinder is controlled to a predetermined flow rate or less by controlling an electric current supplied to the electromagnetic proportional valve, the method comprising:
a first step of calculating a first electric current value, which is an electric current value of an electric current supplied to the electromagnetic proportional valve in order to control the electromagnetic proportional valve to decelerate an angular velocity of the movable member as an operation length of the hydraulic cylinder approaches a stroke end of the hydraulic cylinder,
a second step of calculating a second electric current value, which is an electric current value of an electric current supplied to the electromagnetic proportional valve in order to control the electromagnetic proportional valve to decrease a supply flow rate of the hydraulic fluid to the hydraulic cylinder as the operation length of the hydraulic cylinder approaches the stroke end of the hydraulic cylinder; and
a third step of correcting the electric current supplied to the electromagnetic proportional valve by the second electric current value in a case where a determination distance, which is an operation length from a current operation position of the hydraulic cylinder to the stroke end, is longer than a first threshold value and is equal to or less than a second threshold value longer than the first threshold value and correcting the electric current supplied to the electromagnetic proportional valve by one of the first electric current value and the second electric current value that is smaller in the flow rate of the hydraulic fluid supplied to the hydraulic cylinder in a case where the determination distance is equal to or less than the first threshold value.