Construction machine
A speed compensation part included in a construction machine executes a feedback control of regulating an opening degree of a second control valve to an opening degree obtained by subtracting a correction amount from a second target opening degree of the second control valve, when a combined manipulation is performed and a preset load determination condition is satisfied. The correction amount is calculated by the speed compensation part so as to be larger as a speed difference between a first target speed and a first actual speed becomes larger, the first target speed being a target speed of a first actuator and determined on the basis of a manipulation amount of a first instructive manipulation, the first actual speed being an actual speed of the first actuator.
1 . A construction machine, comprising:
a first pump being a variable displacement hydraulic pump for discharging hydraulic fluid;
a second pump being a variable displacement hydraulic pump for discharging hydraulic fluid;
a first actuator that receives a supply of the hydraulic fluid discharged from the first pump to come into operation;
a second actuator that receives a supply of the hydraulic fluid discharged from the second pump to come into operation;
a first control valve that is located between the first pump and the first actuator, and opens and closes to change a flow rate of the hydraulic fluid to be supplied from the first pump to the first actuator;
a second control valve that is located between the first pump and the second actuator, and opens and closes to change a flow rate of the hydraulic fluid to be supplied from the first pump to the second actuator;
a third control valve that is located between the second pump and the second actuator, and opens and closes to change a flow rate of the hydraulic fluid to be supplied from the second pump to the second actuator;
a first manipulation device that receives a first instructive manipulation for instructing an operation of the first actuator;
a second manipulation device that receives a second instructive manipulation for instructing an operation of the second actuator;
a pump control part that regulates a discharge rate of the first pump and a discharge rate of the second pump so that the hydraulic fluid is discharged at a total target flow rate from at least one of the first pump and the second pump, the total target flow rate being a sum of a first target flow rate which is a target flow rate of the hydraulic fluid to the first actuator and determined on the basis of a manipulation amount of the first instructive manipulation and a second target flow rate which is a target flow rate of the hydraulic fluid to the second actuator and determined on the basis of a manipulation amount of the second instructive manipulation;
a valve control part that regulates an opening degree of the first control valve to a first target opening degree determined on the basis of the first target flow rate, regulates an opening degree of the second control vale to a second target opening degree determined on the basis of a second control valve target flow rate which is a target flow rate of the hydraulic fluid to the second actuator via the second control valve and a part of the second target flow rate, and regulates an opening degree of the third control valve to a third target opening degree determined on the basis of a third control valve target flow rate which is a target flow rate of the hydraulic fluid to the second actuator via the third control valve and a part of the second target flow rate;
a condition determination part that determines whether a preset load determination condition is satisfied, the load determination condition being a condition to determine that a first load being a load of the first actuator is larger than a second load being a load of the second actuator; and
a speed compensation part that executes a feedback control of regulating the opening degree of the second control valve to an opening degree obtained by subtracting a correction amount from the second target opening degree, when a combined manipulation of giving the first instructive manipulation to the first manipulation device and giving the second instructive manipulation to the second manipulation device is performed and the condition determination part determines that the load determination condition is satisfied, the correction amount being calculated by the speed compensation part so as to be larger as a speed difference between a first target speed and a first actual speed becomes larger, the first target speed being a target speed of the first actuator and determined on the basis of the manipulation amount of the first instructive manipulation, the first actual speed being an actual speed of the first actuator.
2 . The construction machine according to claim 1 , further comprising a first detector that detects the first actual speed or a physical quantity corresponding to the first actual speed, wherein
the load determination condition includes a condition that the first actual speed or the physical quantity detected by the first detector is lower than the first target speed or smaller than a physical quantity corresponding to the first target speed.
3 . The construction machine according to claim 2 , wherein the first actuator includes a slewing motor being a hydraulic motor for slewing an upper slewing body included in the construction machine and configured to slew,
the first actual speed is a rotational speed of the slewing motor, and
the first target speed is a target rotational speed of the slewing motor.
4 . The construction machine according to claim 1 , further comprising:
a first load detector that detects the first load; and
a second load detector that detects the second load, wherein
the load determination condition includes a condition that the first load detected by the first load detector is larger than the second load detected by the second load detector.
5 . The construction machine according to claim 1 , wherein the speed compensation part further executes a feedback control of regulating the opening degree of the third control valve to an opening degree obtained by adding a correction amount to the third target opening degree, the correction amount being calculated by the speed compensation part so as to be larger as a speed difference between a second target speed which is a target speed of the second actuator and determined on the basis of the manipulation amount of the second instructive manipulation and a second actual speed which is an actual speed of the second actuator becomes larger, when the combined manipulation is performed and the condition determination part determines that the load determination condition is satisfied.
6 . The construction machine according to claim 1 , wherein the speed compensation part further executes a feedback control of regulating the opening degree of the first control valve to an opening degree obtained by adding a correction amount to the first target opening degree, the correction amount being calculated by the speed compensation part so as to be larger as the speed difference between the first target speed and the first actual speed becomes larger, when the combined manipulation is performed and the condition determination part determines that the load determination condition is satisfied.
7 . The construction machine according to claim 1 , wherein the speed compensation part further executes a feedback control of regulating, on the basis of a correction amount, the discharge rate of at least one of the first pump and the second pump, the correction amount being calculated by the speed compensation part so as to be larger as a flow rate difference between the total target flow rate and a total actual flow rate becomes larger, the total actual flow rate being calculated by the speed compensation part and being a sum of a first actual flow rate which is an actual flow rate of the hydraulic fluid supplied to the first actuator and a second actual flow rate which is an actual flow rate of the hydraulic fluid supplied to the second actuator, when the combined manipulation is performed and the condition determination part determines that the load determination condition is satisfied.
8 . The construction machine according to claim 7 , wherein, when the total target flow rate calculated by the speed compensation part is higher than a total maximum discharge rate being a sum of a first maximum discharge rate which is a maximum discharge rate of the hydraulic fluid dischargeable from the first pump and a second maximum discharge rate which is a maximum discharge rate of the hydraulic fluid dischargeable from the second pump, the speed compensation part corrects the first target flow rate and the second target flow rate so that the total target flow rate is equal to or lower than the total maximum discharge rate while keeping a ratio between the first target flow rate and the second target flow rate.
9 . The construction machine according to claim 8 , further comprising:
a first discharge pressure detector that detects a first discharge pressure being a discharge pressure of the hydraulic fluid from the first pump;
a second discharge pressure detector that detects a second discharge pressure being a discharge pressure of the hydraulic fluid from the second pump;
an engine that drives the first pump and the second pump; and
an output determination part that determines an output from the engine, wherein
the speed compensation part calculates the total maximum discharge rate, on the basis of the output from the engine, the first discharge pressure, and the second discharge pressure.