Drive control method of operating machine

摘要

In drive control of an operating machine configured to drive a structure by a hydraulic motor configured to be driven by operating oil supplied from a hydraulic pump an electric motor configured to cooperate with the hydraulic motor, a speed command generated based on a manipulation amount of a remote control valve configured to determine an operation amount of the structure is subjected to speed feedback control performed based on the actual rotation speed of the hydraulic motor and pressure difference feedback control performed based on an operating oil pressure difference between a suction port and discharge port of the hydraulic motor. With this, a tilting angle command is generated such that the operating oil, the amount of which is necessary at the actual rotation speed of the hydraulic motor, is ejected, and the tilting angle of the hydraulic pump is controlled.

主权项

1. A drive control method of an operating machine configured to drive a structure by a hydraulic motor and an electric motor configured to cooperate with the hydraulic motor, the hydraulic motor being configured to be driven by operating oil supplied from a hydraulic pump through a control valve, the hydraulic pump being configured to be able to change an ejection flow rate by control of a tilting angle of the hydraulic pump,
the method comprising the steps of: causing a speed command, generated based on a manipulation amount of a remote control valve configured to determine an operation amount of the structure, to be subjected to speed feedback control, performed based on an actual rotation speed of the hydraulic motor, and pressure difference feedback control, performed based on an operating oil pressure difference between a suction port and a discharge port of the hydraulic motor, to generate a tilting angle command such that the operating oil, the amount of which is necessary at the actual rotation speed of the hydraulic motor, is ejected; controlling the tilting angle of the hydraulic pump; and at the time of deceleration by a reverse lever operation of the remote control valve, minimizing the tilting angle of the hydraulic pump and setting the control valve to a neutral position to generate a deceleration resistance on the hydraulic motor.