JP2024005659A - Solenoid valve control device, solenoid valve control system, hydraulic system - Google Patents

Abstract

The present invention suppresses variations in control signals caused by quantization errors and controls a solenoid valve with high precision according to operation. [Solution] A solenoid valve control device that controls a solenoid valve (10, 11), which includes a detected value receiving unit that acquires one or more detected values 62, and a random number generator that generates a random number signal 63 with a predetermined amplitude. a random number adding section that adds a random number signal 63 to a predetermined signal, and a signal converting section that generates a first control signal 66 from the detected value 62, and the random number adding section adds the detected value 62 and the first control signal. A random number signal 63 is added to at least one of the signals 66 and the solenoid valves (10, 11) are controlled by the first control signal 66. [Selection diagram] Figure 4

Description

The present invention relates to a solenoid valve control device that controls a solenoid valve, a solenoid valve control system including the solenoid valve control device, and a hydraulic system.

Conventionally, solenoid valves have been used in various fields. For example, the work vehicle disclosed in Patent Document 1 includes an electromagnetic valve that changes hydraulic fluid supplied from a hydraulic pump to an actuator in accordance with the operation of an operating tool.

The operating tool is provided with a sensor that detects the amount of operation of the operating tool, and the control device receives the detected value of the sensor. The control device rounds the received detection value to a numerical value with a predetermined precision according to the performance of the control device and the solenoid valve (drops digits), and outputs a control signal to the solenoid valve according to the rounded value. By controlling the electromagnetic valve based on this control signal, hydraulic oil is supplied to the actuator according to the operation of the operating tool. Further, the control signal may be generated taking into consideration the pump pressure (hydraulic pressure), flow rate (discharge flow rate), etc. of the hydraulic pump, and these detected values may be rounded. Furthermore, the command current for the solenoid valve, which is the control signal, may be rounded.

Japanese Patent Application Publication No. 2009-270607

However, according to this method of generating control signals, a quantization error corresponding to the difference between the actual detected value and the rounded value occurs, and as a result, the dispersion of the control signal increases, making it difficult to accurately control the solenoid valve. It may be out of control.

An object of the present invention is to suppress variations in control signals caused by quantization errors and to control a solenoid valve with high precision according to operation.

In order to achieve the above object, a solenoid valve control device according to an embodiment of the present invention is a solenoid valve control device that controls a solenoid valve, and includes a detected value receiving section that acquires one or more detected values, and a detected value receiving section that acquires one or more detected values. a random number generation section that generates a random number signal with an amplitude of , a random number addition section that adds the random number signal to a predetermined signal, and a signal conversion section that generates a first control signal from the detected value; The unit adds the random number signal to at least one of the detected value and the first control signal, and controls the solenoid valve using the first control signal.

In order to control the solenoid valve using a control signal with a precision suitable for controlling the solenoid valve, it is necessary to change the precision by rounding the detected value and control signal (instruction current) used to generate the control signal. In areas where detected values and control signals tend to increase or decrease, if the detected values and control signals are rounded as they are, there will be a noticeable tendency for the values to be rounded up or down near a specific value, and changes in values will be emphasized. Ru.

Furthermore, the device may further include a signal processing unit that rounds at least one of the detected value and the first control signal to a predetermined number of digits.

According to the above configuration, since the random number signal is added to the detected value or the control signal and then rounded, emphasis on changes in values is suppressed. As a result, variations in control signals caused by quantization errors are suppressed, and the solenoid valve can be controlled with high precision according to the operation.

The solenoid valve control device further includes a frequency adding section that adds a frequency signal of a predetermined frequency to the first control signal to generate a second control signal, and the solenoid valve is controlled by the second control signal. May be controlled.

With such a configuration, variations in control signals caused by quantization errors are suppressed, and the solenoid valve can be controlled with high precision according to the operation.

Furthermore, the electromagnetic valve control device may further include a frequency adding section that adds a frequency signal of a predetermined frequency to the detected value.

With such a configuration, variations in control signals caused by quantization errors are suppressed, and the solenoid valve can be controlled with high precision according to the operation.

Further, the amplitude of the random number signal may be set to half the rounding width.

With this configuration, even in areas where detected values tend to increase or decrease, detected values in the vicinity of a specific detected value are suppressed from changing beyond the rounding width, resulting in rounded detection. This prevents the value from changing significantly from the detected value before rounding. As a result, deviation of the first control signal or the second control signal from the detected value is suppressed, and the solenoid valve can be controlled with high precision according to the operation.

Further, the random number signal may have an amplitude in a range of -0.5d or more and 0.5d or less, where d is the rounding width.

With such a configuration, the detected value is appropriately adjusted in the direction of rounding up or down. Rapid changes in the detected value in the vicinity of a specific detected value are suppressed, and as a result, dispersion (variation) of the control signal is suppressed.

Furthermore, the electromagnetic valve control system according to an embodiment of the present invention controls the electromagnetic valve based on the detected value, which is the oil pressure of hydraulic oil discharged from the electromagnetic valve and the hydraulic pump that controls the electromagnetic valve. Equipped with a solenoid valve control device.

With such a configuration, variations in control signals caused by quantization errors are suppressed, and the solenoid valve can be controlled with high precision according to the operation.

Further, the hydraulic system of the present invention includes a hydraulic pump that supplies hydraulic oil, a hydraulic actuator operated by the hydraulic oil, a pressure sensor that detects the hydraulic pressure of the hydraulic oil discharged from the hydraulic pump, and a hydraulic actuator that operates using the hydraulic oil. The electromagnetic valve includes an electromagnetic valve that changes the state of supply of the hydraulic oil to the actuator, and an electromagnetic valve control device that controls the electromagnetic valve based on a detected value of the pressure sensor.

With such a configuration, variations in control signals caused by quantization errors are suppressed, and the hydraulic system can be controlled with high precision according to the operation.

FIG. 2 is a left side view illustrating a tractor. It is a schematic diagram showing an example of composition of a control valve unit. FIG. 3 is a diagram illustrating the configuration of a control device. FIG. 3 is a diagram illustrating the flow of signals generated by the control device. FIG. 3 is a diagram illustrating a flow of generating a control signal in response to an operation of a control lever in a control device. FIG. 3 is a diagram illustrating a change in a control signal over time. FIG. 3 is a diagram illustrating a random number signal. FIG. 3 is a diagram illustrating the effect of adding a random number signal.

DESCRIPTION OF THE PREFERRED EMBODIMENTS A tractor equipped with a front loader will be described below as an example of a hydraulic system including a solenoid valve control device and a solenoid valve control system according to an embodiment of the present invention. In the following description, F in the figures indicates the front direction, B indicates the rear direction, U indicates the upward direction, and D indicates the downward direction.

[Overall configuration of tractor]
First, the configuration of a tractor (hydraulic system) will be explained using FIG. The tractor includes a body 3 supported by left and right front wheels 1 and left and right rear wheels 2. An engine 4 is supported at the front of the fuselage 3, and a driving section 5 is provided in the fuselage 3. The driving section 5 is provided with a driver's seat 6, a steering handle 7 for steering the front wheels 1, and the like.

The tractor also includes a front loader 13 (working device) supported by the body 3. Left and right support frames 14 are connected to the right and left parts of the body 3 and extend upward, and the front loader 13 is supported by the support frames 14 . The front loader 13 includes left and right booms 15 and buckets 16. The left and right booms 15 are vertically swingably supported on the upper part of the support frame 14 and extend forward, and the bucket 16 is vertically swingably supported at the front ends of the left and right booms 15.

Right and left double-acting boom cylinders 17 (corresponding to hydraulic actuators) are connected across the support frame 14 and the boom 15. Left and right double-acting bucket cylinders 18 (corresponding to hydraulic actuators) are connected across the boom 15 and bucket 16 . The boom 15 is raised and lowered by extending and contracting the boom cylinder 17. The bucket 16 is operated to swing up and down as the bucket cylinder 18 is expanded and contracted.

The boom cylinder 17 and the bucket cylinder 18 are hydraulically controlled by an electronically controlled hydraulic system (corresponding to a solenoid valve control system) provided in the fuselage 3.

[Configuration of control valve unit]
The configuration of the control valve unit 8 that supplies and discharges hydraulic oil (pressure oil) to and from the boom cylinder 17 and the bucket cylinder 18 will be described below with reference to FIG. 2.

The control valve unit 8 includes a hydraulic pump 22 that supplies hydraulic oil, a control valve unit 8, and a control device 51 that controls the operation of the control valve unit 8. The control valve unit 8 is connected to an operating lever 35 (corresponding to an operating tool) provided in the operating section 5, a variable displacement hydraulic pump 22 mounted on the aircraft body 3, a boom cylinder 17, a bucket cylinder 18, and a control device 51. be done. The control valve unit 8 controls the hydraulic oil supplied from the hydraulic pump 22 in accordance with the operation of the operating lever 35, and supplies it to the boom cylinder 17 and the bucket cylinder 18. That is, the boom cylinder 17 and the bucket cylinder 18 are hydraulically controlled by hydraulic oil supplied from the hydraulic pump 22. The hydraulic oil supplied from the hydraulic pump 22 is controlled based on the oil pressure of the hydraulic oil supplied from the hydraulic pump 22, together with the amount of operation on the operating lever 35, or instead of the amount of operation on the operating lever 35. You can.

The control valve unit 8 includes a block-shaped valve case 9, and includes a solenoid valve (electronically controlled control valve) 10, a solenoid valve 11, three relief valves 19, four check valves 21, etc. be accommodated in. In addition, the solenoid valve 10 may be one that directly drives the spool using a solenoid, or may be one that uses a solenoid to change the supply state of pilot oil for driving the spool.

Hydraulic pump 22 is driven by engine 4. The hydraulic pump 22 discharges (discharges) lubricating oil from a mission case 23 mounted on the aircraft body 3 as hydraulic oil, and the discharge amount of the hydraulic oil is changed by the operation cylinder 50. The hydraulic pump 22 includes a pressure sensor 22a that detects the hydraulic pressure of the hydraulic oil to be discharged.

When the operating lever 35 is operated in the front-back direction, the solenoid valve 10 is operated, hydraulic oil is supplied to the boom cylinder 17, and the boom cylinder 17 is operated. When the operating lever 35 is operated in the left-right direction, the solenoid valve 11 is operated, hydraulic oil is supplied to the bucket cylinder 18, and the bucket cylinder 18 is operated. That is, the solenoid valve 10 and the solenoid valve 11 switch the supply state of the hydraulic oil discharged from the hydraulic pump 22 and control the operations of the boom cylinder 17 and the bucket cylinder 18.

When the load applied to the boom cylinder 17 becomes large and the pressure of the hydraulic oil becomes higher than a set value, the relief valve 19 is operated to the open position to discharge the hydraulic oil, and the load applied to the boom cylinder 17 is reduced.

When the load applied to the bucket cylinder 18 increases and the pressure of the hydraulic oil becomes higher than a set value, the relief valve 19 is operated to the open position to discharge the hydraulic oil and the load applied to the bucket cylinder 18 is reduced.

A control device (corresponding to a solenoid valve control device) 51 calculates a control value for controlling the solenoid valve 10 or 11 according to at least one of the operating position of the operating lever 35 and the oil pressure of the hydraulic oil. By operating the solenoid valve 10 or 11 based on this control value (control signal), hydraulic oil is supplied from the hydraulic pump 22 to the boom cylinder 17 or the bucket cylinder 18 in accordance with the operation on the operation lever 35. Boom cylinder 17 or bucket cylinder 18 operates.

The electronically controlled hydraulic system includes an operating lever 35, a control device 51, and a solenoid valve 10 and a solenoid valve 11.

[Configuration of control device]
Next, the configuration of the control device 51 will be explained using FIGS. 3 to 5.

The control device 51 includes a processor such as an ECU or a CPU, and each functional unit included in the control device 51 is controlled by the processor. The control device 51 includes a detected value receiving section 52, a random number generating section 53, a random number adding section 54, a signal processing section 56, a signal converting section 57, a frequency adding section 58, and a storage section 59.

The detected value receiving unit 52 acquires a detected value 62 of at least one of the sensor 35a and the pressure sensor 22a provided on the operating lever 35 as the operating position of the operating lever 35 (step #1 in FIG. 5). The acquired detection value 62 is stored in the storage unit 59. The sensor 35a detects the operating position of the operating lever 35 over time at predetermined time intervals.

The random number generation unit 53 generates a random number signal 63 with a predetermined amplitude, and stores the random number signal 63 in the storage unit 59 (step #2 in FIG. 5). The random number addition unit 54 adds a random number signal 63 to at least one of the detected values 62 to generate an input signal 64 (step #3 in FIG. 5). The generated input signal 64 is stored in the storage section 59.

The signal processing unit 56 rounds the number of digits of the input signal 64 to a number of digits suitable for generating control signals for the solenoid valves 10 and 11 (quantizes step #4 in FIG. 5). The accuracy of the detected value 62 depends on the performance of the sensor 35a and the pressure sensor 22a, and the accuracy of the control signal depends on the performance of the solenoid valve 10, the solenoid valve 11, and the control device 51. If the accuracy of the detected value 62 and the accuracy of the control signal do not match, it may not be possible to appropriately generate the control signal. In order to match the significant figures of the detected value 62 with the significant figures of the control signal, the signal processing unit 56 rounds the detected value 62 to perform fraction processing. Rounding can be performed by any method such as rounding off, rounding up, or rounding down to a predetermined digit.

The signal converter 57 generates a first control signal 66, which is an electric signal for controlling the solenoid valve 10 and the solenoid valve 11, from at least one of the rounded input signal 64 and the detected value 62 (see FIG. 5). Step #5). The generated first control signal 66 is stored in the storage section 59.

The frequency adding unit 58 adds a frequency signal 67 of a predetermined frequency to the first control signal 66 to generate a second control signal 69 (step #6 in FIG. 5). The generated second control signal 69 is stored in the storage section 59. The frequency of the frequency signal 67 is arbitrary, such as 100 Hz, but for example, the period is such that the sensor 35a or the pressure sensor 22a outputs the detected value 62 (detects the operating position of the operating lever 35/detects the hydraulic pressure of the hydraulic oil). ) can be the frequency that corresponds to the time interval. Furthermore, although the amplitude of the frequency signal 67 is arbitrary, it is preferably less than half the rounding width (quantization width). The solenoid valve 10 and the solenoid valve 11 can be controlled by the first control signal 66 or the second control signal 69, but in this embodiment, the solenoid valve 10 and the solenoid valve 11 are controlled by using the second control signal 69. (Step #7 in FIG. 5). The boom cylinder 17 and bucket cylinder 18 operate in accordance with the operations of the electromagnetic valves 10 and 11.

When the second control signal 69 is used to control the solenoid valve 10 and the solenoid valve 11, even if the operating lever 35 is not operated, the control signal corresponding to at least the frequency signal 67 is applied to the solenoid valve 10 and the solenoid valve. 11, so that the solenoid valve 10 and the solenoid valve 11 continue to operate at all times. As a result, the friction generated in the spools of the solenoid valve 10 and the solenoid valve 11 can be reduced to smooth the operation of the solenoid valve 10 and the solenoid valve 11, the boom cylinder 17, and the bucket cylinder 18. The responsiveness of the valve 11, boom cylinder 17, and bucket cylinder 18 can be improved.

[Effect of adding random number signal]
Next, the effect of adding the random number signal 63 will be explained using FIG. 6.

As described above, when generating the control signal (first control signal 66) from the detected value 62, the detected value 62 is rounded (quantized) to a predetermined precision (significant figures). Rounding is performed using a predetermined method such as rounding off or truncating to a predetermined number of digits. Therefore, the change in the detected value 62 may be emphasized due to rounding. As a result, the control signals may vary (FIG. 6(a)), and the operation of the hydraulic actuators (boom cylinder 17 and bucket cylinder 18) may not be stable.

On the other hand, by matching the performance (resolution) of the sensor 35a with the required performance of the electromagnetic valves 10 and 11, the necessity of rounding the detected value 62 is reduced. However, improving the performance of the sensor 35a, the pressure sensor 22a, etc. increases the cost, and also increases the communication capacity for transmitting signals from the sensor 35a or the pressure sensor 22a to the control device 51.

According to this embodiment, the signal obtained by adding the random number signal 63 to the detected value 62 is rounded without improving the performance of the sensor 35a, the pressure sensor 22a, etc., so even if the detected value 62 changes, the control Signal variations are suppressed (FIG. 6(b)). As a result, the operation of the hydraulic actuator (boom cylinder 17 and bucket cylinder 18) can be stabilized, and the hydraulic actuator (boom cylinder 17 and bucket cylinder 18) can be controlled accurately according to the operation.

[Random number signal]
The random number signal 63 is a signal whose amplitude changes randomly. For example, the random number signal 63 is generated by combining signals having a plurality of different frequencies.

The amplitude of the random number signal 63 can be determined in consideration of the rounding width (quantization width). For example, if the amplitude of the random number signal 63 is half the rounding width and the rounding width is d, the amplitude of the random number signal 63 is preferably 0.5d or less. In other words, the random number signal 63 is a signal in which a random number greater than or equal to -0.5d and less than or equal to 0.5d appears at a predetermined period.

Specifically, if the control signal is an integer value, the rounding width (quantization width) is 1, so as shown in FIG. This is a signal in which random numbers appear periodically. Note that the increments of the random numbers are arbitrary, and the random numbers are values in increments of 1/10 of the rounding width, that is, -0.5, -0.4, -0.3...0.0,...0 It may take values of .4, 0.5, or values in 1/100th increments of the rounding width, that is, -0.50, -0.49, -0.48...0.00,...0. It may take values of 48, 0.49, 0.50.

Here, when the detected value 62 changes gradually, as shown by the broken line in FIG. 8, if the detected value 62 is rounded as it is without adding the random number signal 63, the value will be rounded up or down near a specific value. There are cases where the tendency for the rounded signal to change becomes noticeable, the change in the detected value 62 is emphasized, and the variance of the rounded signal becomes large. For example, when rounding the detected value 62 to the nearest whole number, the difference between the signal values when the detected value 62 is rounded around 0.4, 0.5, 1.4, 1.5, etc. will be 1, For a change of about 0.1 in the value 62, the rounded signal changes by 1. In this way, in the vicinity of a specific value, the amount of change in the rounded signal becomes greater than the amount of change in the detected value 62, and the value of the rounded signal in the vicinity of the specific value changes rapidly, causing the detected value 62 changes are emphasized.

In this way, when the detected value 62 changes gradually, before and after a specific value (a boundary value at which a numerical value is rounded up or down), values at which the numerical value is rounded up gather on one side, and values at which the numerical value is rounded down on the other side. They tend to gather together. Therefore, if the detected value 62 is rounded as it is, the rounded value will change by the rounding width before and after a specific value. In this embodiment, a random number signal 63 whose amplitude is half the rounding width is added to the detected value 62. Therefore, as shown by the thick line in Figure 8, the values in the vicinity of the value where the change is emphasized change randomly, and before and after a specific value, values that are rounded up gather on one side, and values that are rounded down on the other side. The tendency for values to cluster together is alleviated. In other words, the value of the signal rounded around a specific value is suppressed from rapidly changing, and as a result, variations in the control signal are suppressed. Furthermore, by adding the random number signal 63, the tendency for rounding errors with the detected value 62 to be biased toward the low frequency region is alleviated, so the influence of rounding processing on the control signal is reduced, and variations in the control signal are suppressed. . From the above results, the solenoid valve 10 and the solenoid valve 11 (see FIG. 2) can be controlled with high accuracy according to the operation.

[Another embodiment]
(1) In the above embodiment, the signal processing unit 56 may round all the input signals 64, but some or all of the input signals 64 may not be rounded by the signal processing unit 56. If all input signals 64 are not rounded, the signal processing unit 56 may not be provided. The signal converter 57 may be configured to round the input signal 64 that has not been rounded by the signal processor 56 as a result of the process of generating the first control signal 66 .

(2) In each of the above embodiments, the detected value 62 of at least one of the sensor 35a and the pressure sensor 22a is rounded by adding the random number signal 63, but the detected value 62 to which the random number signal 63 is added is It may be any signal (detected value 62) to which rounding processing is performed among the signals (detected value 62) related to.

For example, the signal (detection value 62) to which rounding processing is performed in hydraulic control includes, in addition to the operating amount of the operating lever 35 and the hydraulic pressure of the hydraulic fluid discharged from the hydraulic pump 22, the discharge flow rate of the hydraulic fluid discharged from the hydraulic pump 22; These include actual current values of the solenoid valves 10 and 11, control signals (first control signal 66, second control signal 69) generated by the control device 51, and the like. In other words, the signal to be rounded (detected value 62) is the value that is sent to the control device 51 by detecting the actual state of the electronically controlled hydraulic system, such as the hydraulic oil pressure, discharge flow rate, and actual current value, and the value that is transmitted to the control device 51. A value detected by the operator's operation transmitted to the control device 51 such as the amount of operation on the lever 35, a value calculated by the control device 51 such as the control signal (first control signal 66, second control signal 69), etc. be.

The discharge flow rate is detected by a flow rate sensor (not shown) provided in the hydraulic pump 22, and the control device 51 generates a control signal (( A first control signal 66 and a second control signal 69) are generated. The actual current value is detected by a current sensor 10a and a current sensor 11a provided in the solenoid valve 10 and the solenoid valve 11, and is transmitted from the solenoid valve 10 and the solenoid valve 11 to the control device 51. The control device 51 can generate control signals (first control signal 66, second control signal 69) in consideration of the actual current value. The control device 51 can round the control signals (the first control signal 66 and the second control signal 69) to the number of digits corresponding to the solenoid valves 10 and 11. In this case, the control device 51 may generate the control signals (first control signal 66, second control signal 69) from the detected value 62 without rounding the input signal 64.

As described above, by adding the random number signal 63 to an arbitrary signal (detection value 62) and rounding it, control signals (first control signal 66, second control signal 69) can be generated with higher precision, and electromagnetic Valve 10 and solenoid valve 11 can be controlled.

(3) In the above embodiment, the frequency signal 67 is not limited to being added to the first control signal 66, but is also added to the detected value 62 before the random number signal 63 is added or the input signal 64 before being rounded. May be added.

As a result, the solenoid valves 10 and 11 continue to operate, and the responsiveness of the solenoid valves 10 and 11, the boom cylinder 17, and the bucket cylinder 18 to the operation of the control lever 35 is improved. Furthermore, by adding the frequency signal 67 to the detected value 62 or the input signal 64, the detected value 62 is rounded after being added with the random number signal 63 and the frequency signal 67, and the control caused by the quantization error It can be expected that signal variations can be further suppressed.

(4) In each of the above embodiments, the solenoid valve 10 and the solenoid valve 11 are not limited to being controlled by the second control signal 69, but may be controlled by the first control signal 66. In this case, the control device 51 does not need to include the frequency adding section 58.

Even if the frequency signal 67 is not added, even if the solenoid valve 10 and the solenoid valve 11 are controlled with the first control signal 66 generated from the input signal 64 which is rounded by adding the random number signal 63 to the detected value 62, the result will be sufficient. Responsiveness may be ensured in some cases. According to the above configuration, while ensuring responsiveness with a simpler configuration, variations in control signals caused by quantization errors can be suppressed, and the solenoid valves 10 and 11 can be controlled with high precision according to the operation.

(5) In each of the embodiments described above, the control device 51 operates a solenoid valve for operating the operation cylinder 50 instead of or in addition to the solenoid valves 10 and 11 using a random number signal. The discharge flow rate of the hydraulic pump 22 may be controlled by the control signal generated with the addition of 63. Thereby, the boom cylinder 17 and bucket cylinder 18, which are hydraulic actuators, can be controlled with higher precision.

(6) In each of the above embodiments, the number of hydraulic actuators is not limited to two, the boom cylinder 17 and the bucket cylinder 18, but one or three or more hydraulic actuators may be provided. In this case, each of the hydraulic actuators is provided with a solenoid valve for controlling the supply of hydraulic fluid, and one or more of the solenoid valves is controlled by the control device 51 with the addition of a random number signal 63. Controlled by control signals.

(7) In each of the above embodiments, the configuration of the control valve unit 8 is not limited to the configuration shown in FIG. 2, and may be any configuration as long as it can control the supply of hydraulic oil to each hydraulic actuator. For example, the configuration of the oil passage, the configuration of the electromagnetic valves 10 and 11, and the presence/absence and configuration of the relief valve 19 are arbitrary.

(8) In each of the above embodiments, the operating lever 35 is not limited to a lever, and may be an operating tool of any configuration such as a switch or a pedal. Further, the configuration is not limited to the configuration in which one operating lever 35 (operating tool) receives operations of a plurality of hydraulic actuators, but an operating tool may be provided for each one or a plurality of hydraulic actuators.

(9) In each of the embodiments described above, the control device 51 is not limited to being composed of functional blocks as described above, but may be composed of arbitrary functional blocks. For example, each functional block of the control device 51 may be further subdivided, or conversely, a part or all of each functional block may be combined. Further, the functions of the control device 51 are not limited to the above-mentioned functional blocks, and may be realized by a method executed by any functional block. Moreover, some or all of the functions of the control device 51 may be configured by software. A program related to software is stored in an arbitrary storage device such as the storage unit 59, and executed by a processor such as a CPU included in the control device 51 or a separately provided processor.

The electromagnetic valve control device of the present invention can be applied to all devices equipped with electromagnetic valves. Examples of such devices include, for example, hydraulic devices, pneumatic devices, water pressure devices, water supply and drainage devices, and air conditioning devices. Moreover, examples of the above-mentioned hydraulic devices include agricultural machinery, construction machinery, industrial machinery, machine tools, vehicles, ships, aircraft, and the like.

3 Aircraft 10 Solenoid valve (electronically controlled control valve)
11 Solenoid valve (electronically controlled control valve)
17 Boom cylinder (hydraulic actuator)
18 Bucket cylinder (hydraulic actuator)
22 Hydraulic pump 22a Pressure sensor 35 Operation lever (operation tool)
51 Control device (electromagnetic valve control device)
52 Detection value receiving section 53 Random number generation section 54 Random number addition section 56 Signal processing section 57 Signal conversion section 58 Frequency addition section 62 Detection value 63 Random number signal 66 First control signal 67 Frequency signal 69 Second control signal

Claims (8)

A solenoid valve control device that controls a solenoid valve,
a detected value receiving unit that acquires one or more detected values;
a random number generator that generates a random number signal with a predetermined amplitude;
a random number addition unit that adds the random number signal to a predetermined signal;
a signal conversion unit that generates a first control signal from the detected value,
The random number adding section adds the random number signal to at least one of the detected value and the first control signal, and controls the electromagnetic valve using the first control signal. The electromagnetic valve control device according to claim 1, further comprising a signal processing unit that rounds at least one of the detected value and the first control signal to a predetermined number of digits. The electromagnetic device according to claim 1, further comprising a frequency adding section that adds a frequency signal of a predetermined frequency to the first control signal to generate a second control signal, and controls the electromagnetic valve by the second control signal. Valve control device. The electromagnetic valve control device according to claim 1, further comprising a frequency adding section that adds a frequency signal of a predetermined frequency to the detected value. The electromagnetic valve control device according to claim 1, wherein the amplitude of the random number signal is half the rounding width. The electromagnetic valve control device according to claim 1, wherein the random number signal has an amplitude in a range of -0.5d or more and 0.5d or less, where d is a rounding width. The solenoid valve control device according to any one of claims 1 to 6, wherein the solenoid valve is controlled based on the detected value, which is the hydraulic pressure of hydraulic oil discharged from a solenoid valve and a hydraulic pump that controls the solenoid valve. Solenoid valve control system with. A hydraulic pump that supplies hydraulic oil;
a hydraulic actuator operated by the hydraulic fluid;
a pressure sensor that detects the hydraulic pressure of the hydraulic oil discharged from the hydraulic pump;
a solenoid valve that changes the supply state of the hydraulic oil from the hydraulic pump to the hydraulic actuator;
A hydraulic system comprising: the electromagnetic valve control device according to any one of claims 1 to 6, which controls the electromagnetic valve based on a detected value of the pressure sensor.

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