CN101360917A - Hydraulic unit and method of controlling speed of motor in hydraulic unit - Google Patents

Hydraulic unit and method of controlling speed of motor in hydraulic unit Download PDF

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Publication number
CN101360917A
CN101360917A CNA2007800015363A CN200780001536A CN101360917A CN 101360917 A CN101360917 A CN 101360917A CN A2007800015363 A CNA2007800015363 A CN A2007800015363A CN 200780001536 A CN200780001536 A CN 200780001536A CN 101360917 A CN101360917 A CN 101360917A
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China
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motor
load
hydraulic pump
value
hydraulic unit
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CNA2007800015363A
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CN101360917B (en
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仲田哲雄
宫城淳一
柳田靖人
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Daikin Industries Ltd
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Daikin Industries Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/20—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by changing the driving speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • F04B49/065—Control using electricity and making use of computers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
    • F15B11/0423—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in" by controlling pump output or bypass, other than to maintain constant speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2201/00—Pump parameters
    • F04B2201/12—Parameters of driving or driven means
    • F04B2201/1202—Torque on the axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00—Motor parameters
    • F04B2203/02—Motor parameters of rotating electric motors
    • F04B2203/0201—Current
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00—Motor parameters
    • F04B2203/02—Motor parameters of rotating electric motors
    • F04B2203/0209—Rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2205/00—Fluid parameters
    • F04B2205/05—Pressure after the pump outlet
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20538—Type of pump constant capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/255—Flow control functions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6651—Control of the prime mover, e.g. control of the output torque or rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6656—Closed loop control, i.e. control using feedback

Abstract

The invention provides a hydraulic unit and a method of controlling speed of a motor in the hydraulic unit. A hydraulic unit having an inverter (14) for supplying electric power to a motor (15), a load sensor (17) for sensing a load on a hydraulic pump (16A), a rotation sensor (19) for sensing the rotation speed of the motor (15), a current-command-value calculation means (12) for calculating an electric-current command value so that the difference between a speed command value representing a target rotation speed of the motor (15) and the rotation speed of the motor (15) is converged to zero, correction means (18A) for correcting the electric-current command value based on the load on the hydraulic pump (16A), and control signal creation means for outputting a control signal to the inverter (14) based on the corrected electric-current command value.

Description

SPEED CONTROL OF MOTOR method in hydraulic unit and the hydraulic unit
Technical field
The present invention relates to hydraulic unit by the motoring oil hydraulic pump.
Background technique
In the past, in the hydraulic unit of oil hydraulic pump as driving source that will directly be connected on the motor, by the speed value of motor and current rotational speed are compared execution speed control (PI control) computing and calculate current instruction value, realize Current Control based on current instruction value by inverter.And, by driving motor, discharge hydraulic oil from oil hydraulic pump by inverter control.(for example patent documentation 1).
Patent documentation 1: TOHKEMY 2004-162860 communique
In this hydraulic unit, when total fluid amount of the fluid of discharging from oil hydraulic pump when the driving by oil hydraulic pump increased, the pressure of this fluid (hydraulic pressure) increased.The load that the increase of this hydraulic pressure causes oil hydraulic pump when discharging increases, and the load torque of motor is increased.
Therefore, in this hydraulic unit, for example under the situation of having given stair-stepping speed value, when the rotational speed speed of response command value of motor and when sharply rising, the load of oil hydraulic pump sharply increases, and then the load torque of motor sharply increases.And when the load torque of motor sharply increased, the speed controlling that is made of PI control can't servo-actuated, causes the rotational speed reduction of motor so sometimes.
Method as preventing that the motor rotational speed from reducing for example has following method: the processing rate that improves the microcomputer that carries out PI control shortens the control cycle of P1 control, thereby improves the responsiveness of control.But when this method of employing, the cost that produces microcomputer improves.In addition, there is the limit physically in the raising of the processing rate of microcomputer, so, in the method, can't effectively prevent the reduction of motor rotational speed.
And, as additive method, following method is arranged: estimate load torque according to the rotational speed of motor being carried out the acceleration information that differential obtains, and in speed controlling, utilize load torque.But rotational speed is the information that disperses, so noise contribution is owing to differential increases.Therefore, during the control of applied load torque execution speed, the action potentially unstable.
And, in order to improve and when improving the gain of speed controlling, when having given stair-stepping speed value, may produce vibration at the responsiveness of load change.
Summary of the invention
The present invention finishes just in view of the above problems, and its purpose is, a kind of technology that can improve the rotational speed of motor with respect to the servo-actuated of the load change of oil hydraulic pump is provided.
First form of hydraulic unit of the present invention is following hydraulic unit, this hydraulic unit drives oil hydraulic pump (16A) by motor (15) and provides fluid to hydraulic transmission, it is characterized in that this hydraulic unit has: inverter (14), it provides electric power to described motor (15); Load sensor (17), it detects the load of described oil hydraulic pump (16A); Turn-sensitive device (21), it detects the rotational speed of described motor (15); Current instruction value arithmetic element (12), its operation current command value makes the deviation between the rotational speed of the speed value of target rotational speed of the described motor of expression (15) and described motor (15) converge on zero; Correcting unit (18A ..., 18D), its load according to described oil hydraulic pump is proofreaied and correct described current instruction value; And control signal generation unit (13), it is according to the current instruction value after proofreading and correct, to described inverter (14) output control signal.
And, the feature of second form of hydraulic unit is, in its first form, described correcting unit (18A ..., 18D) proofread and correct described current instruction value so that the rotational speed of described motor (15) follow described oil hydraulic pump (16A) load rising and rise.
And the feature of the 3rd form of hydraulic unit is, in its first or second form, described correcting unit (18A ..., 18D) make described current instruction value follow described oil hydraulic pump (16A) load rising and increase.
And, the feature of the 4th form of hydraulic unit is, in any one form of its first to the 3rd form, described correcting unit (18A) uses predefined correction factor (Kf) to obtain corrected value (If), adds the above corrected value (If) in described current instruction value.
And, the feature of the 5th form of hydraulic unit is, in any one form of its first to the 3rd form, described correcting unit (18B, 18C, 18D) uses the data sheet (DT) that obtains in advance to obtain corrected value (If), adds the above corrected value (If) in described current instruction value.
And the feature of the 6th form of hydraulic unit is, in any one form of its first to the 5th form, described load sensor (17) is the pressure transducer (17) that detects the pressure of the fluid in the pumping-out line (19) of described oil hydraulic pump (16A).
And, the 7th form of hydraulic unit is the method for control speed of a kind of motor (15), described motor (15) is used for driving oil hydraulic pump (16A) provides hydraulic unit from fluid to hydraulic transmission by the described motor (15) by inverter (14) control, it is characterized in that this method for control speed has following steps: the step that a) detects the load of described oil hydraulic pump (16A); B) detect the step of the rotational speed of described motor (15); C) operation current command value makes the deviation between the rotational speed of the speed value of target rotational speed of the described motor of expression (15) and described motor (15) converge on zero step; D) step of proofreading and correct described current instruction value according to the load of described oil hydraulic pump (16A); And e) according to the current instruction value after proofreading and correct, to the step of described inverter (14) output control signal.
According to first form to the, seven forms of hydraulic unit of the present invention, come the correcting current command value according to the load of oil hydraulic pump, so can improve of the servo-actuated of the rotational speed of motor with respect to the change of the load (load hydraulic pressure) of oil hydraulic pump.
Especially according to second form of hydraulic unit of the present invention, the correcting current command value, make the rotational speed of motor follow oil hydraulic pump load rising and rise, so can prevent the rotational speed of motor follow oil hydraulic pump load rising and reduce.
Make purpose of the present invention, feature, form and advantage clearer and more definite by following detailed description and accompanying drawing.
Description of drawings
Fig. 1 is the skeleton diagram of structure that the hydraulic unit of mode of execution is shown.
Fig. 2 is the skeleton diagram that the structure of the hydraulic unit that does not have correction unit is shown.
Fig. 3 is the figure that is illustrated in the action situation when having given stair-stepping speed command in the hydraulic unit of mode of execution.
Fig. 4 is the figure that is illustrated in the action situation when not having to have given in the hydraulic unit of the correction unit hydraulic unit stair-stepping speed command.
Fig. 5 is the skeleton diagram that the hydraulic unit with the correction unit that can use data sheet to obtain corrected value is shown.
Fig. 6 is the skeleton diagram that the hydraulic unit that utilizes two oil hydraulic pumps of a motoring is shown.
Fig. 7 is the skeleton diagram that the hydraulic unit that is connected in series with two oil hydraulic pumps is shown.
Embodiment
Below, with reference to the description of drawings embodiments of the present invention.
＜structure 〉
Fig. 1 is the skeleton diagram of structure that the hydraulic unit 10A of embodiments of the present invention is shown.This hydraulic unit 10A for example is connected with molding machine etc., provides fluid as working fluid to the hydraulic transmission (actuator) (not shown) that with hydraulic pressure is power source.
As shown in Figure 1, hydraulic unit 10A has controller 20, inverter part 14, motor 15, oil hydraulic pump 16A, pressure transducer 17 and pulse oscillator 21.In having the hydraulic unit 10A of this structure,,, and discharge this fluid from fluid jar (not shown) suction fluid by the oil hydraulic pump 16A that drives by motor 15.The fluid of being discharged offers hydraulic transmissions such as oil hydraulic cylinder or fluid pressure motor by pumping-out line 19.
The load sensor performance function that pressure transducer 17 detects as the load to oil hydraulic pump.And, the oil liquid pressure (being also referred to as " current pressure " or " load hydraulic pressure ") in the pumping-out line 19 of pressure transducer 17 detection oil hydraulic pumps.
Pulse oscillator 21 is as turn-sensitive device performance function, is used to detect the pulse signal of the rotational speed of motor to controller 20 (speed detection unit 22) output.
Inverter part 14 is controlled the rotating speed of motor 15 by according to coming the control signal of self-controller 20 to switch.
Controller 20 has P-Q control device 11, current instruction value operational part 12, correction unit 18A, control signal generating unit 13 and speed detection unit 22.And controller 20 outputs are used to drive the control signal of inverter.
P-Q control device 11 generates head pressure-discharge flow rate characteristic (P-Q characteristic) according to setting pressure and setting flow from upper systems such as molding machines.And P-Q control device 11 will be from the current pressure of pressure transducer 17 as input, the output speed command value.
Current instruction value operational part (being also referred to as " PI control device ") 12 as input, carried out proportional integral (PI) control, the output current command value with speed value and present speed.In more detail, PI control device 12 operation current command value make the deviation between the rotational speed of the speed value of target rotational speed of expression motor 15 and motor 15 converge to zero.
Correction unit 18A comes the correcting current command value according to the current pressure from pressure transducer 17.Details is narrated in the back.
Control signal generating unit 13 generates the control signal of control inverter portion 14 according to the current instruction value after proofreading and correct.
＜correction unit 〉
Then, be described in detail correction unit 18A.
Fig. 2 is the skeleton diagram that the structure of general hydraulic unit 10B is shown.Hydraulic unit 10B has the structure identical with hydraulic unit 10A except not having this point of correction unit 18A.
In the molding machine that is connected with hydraulic unit 10B,, need higher responsiveness according to mass-produced viewpoint.Therefore, in the hydraulic unit 10B that drives this molding machine, to give stair-stepping speed command than the short period.
And when total fluid amount of the fluid of discharging from oil hydraulic pump 16A increased, the hydraulic pressure in the pumping-out line 19 of oil hydraulic pump 16A (load hydraulic pressure) increased.And when load hydraulic pressure increased, the load of oil hydraulic pump 16A increased during discharge.That is, the load torque of load hydraulic pressure and motor 15 roughly has proportionate relationship, and when load hydraulic pressure increased, the load torque of motor 15 increased.
Therefore, in hydraulic unit 10B, when giving stair-stepping speed command, the rotational speed speed of response command value of motor 15 and sharply rising.Because the rotational speed of motor 15 rises, load hydraulic pressure is sharply increased.And load torque is followed the increase of load hydraulic pressure and is sharply increased.Thus, can't servo-actuated based on the speed controlling of PI control, the rotational speed of motor 15 reduces.
In order to prevent to increase the reduction of the rotational speed of the motor 15 that causes, as long as the generation torque of motor 15 is followed the increase of load torque and increased owing to such load torque.Here, the generation torque and the motor current of motor 15 have proportionate relationship, so, for the generation torque of increasing motor 15, be that current instruction value increases as long as make motor current.
That is, directly say, change, then can improve of the servo-actuated of the rotational speed of motor 15 with respect to the change of load hydraulic pressure if make current instruction value follow the change of load hydraulic pressure.And, increase if make current instruction value follow the rising of load hydraulic pressure, then can prevent the reduction of the rotational speed of motor 15.
Therefore, in the hydraulic unit 10A of present embodiment, be provided with according to load hydraulic pressure and come the correction unit 18A of correcting current command value.In this correction unit 18A, use by pressure transducer 17 detected current pressure (detected pressure value) Pd and the correction factor Kf that obtains in advance and obtain corrected value (current correction value) If.Then, this corrected value If is added (addition) to from the current instruction value of current instruction value operational part 12 outputs.
Utilizing above-mentioned correction unit 18A, is that the pressure (load hydraulic pressure) of the fluid in the pumping-out line 19 comes the correcting current command value according to the load of oil hydraulic pump 16A.Therefore, can improve of the servo-actuated of the rotational speed of (improvement) motor 15 with respect to the change of the load (load hydraulic pressure) of oil hydraulic pump 16A.
As correction factor Kf, use the coefficient of obtaining by test in advance.Particularly, correction factor Kf is configured to can obtain the reduction of the rotational speed that prevents motor 15 and makes its follow up speed instruct needed current instruction value in correction unit 18A.And correction factor Kf also can show as and be configured to obtain the reduction of the rotational speed that prevents motor 15 and make its follow up speed instruct the insufficient section of needed current instruction value as corrected value.
Like this, be configured to obtain the correction factor Kf of the insufficient section of current instruction value, the rotational speed of motor 15 can be controlled to be the rotational speed of giving by speed value as corrected value by use.
And the corrected value If that uses correction factor Kf to obtain follows the rising of load hydraulic pressure and increases.Therefore, in correction unit 18A, can the correcting current command value, so that the rotational speed of motor 15 follows the rising of load hydraulic pressure and rise, the rotational speed that can prevent motor 15 is followed the rising of load hydraulic pressure and is reduced.
Then, specify action when in hydraulic unit 10A, having given stair-stepping speed command SC.Fig. 3 is the figure that is illustrated in the action situation when having given stair-stepping speed command SC among the hydraulic unit 10A of present embodiment.
Shown in Fig. 3 (a), when having given stair-stepping speed command SC in hydraulic unit 10A, the rotational speed Rs1 of motor 15 responds this speed command SC and sharply rises.And the pressure P d1 of the fluid of discharging from oil hydraulic pump 16A sharply increases, and the load torque of motor 15 increases.
But, in hydraulic unit 10A, obtain in correction unit 18A that its value is followed the increase of load hydraulic pressure Pd1 and the corrected value If that increases.And, in output, add this corrected value If from current instruction value operational part 12, obtain the current instruction value Ic1 (with reference to Fig. 3 (b)) after the correction.Like this, current instruction value Ic1 increases with the increase of dynamic load hydraulic pressure Pd1, so the rotational speed Rs1 that can prevent motor 15 is owing to the increase of load torque reduces.And the rotational speed Rs1 servo-actuated that can make motor 15 is in the rotational speed of being given by speed command SC.
Action when stair-stepping speed command SC is given in the action in the time of will giving stair-stepping speed command SC here, in hydraulic unit 10A and not having among the hydraulic unit 10B of correction unit 18A compares.Fig. 4 is the figure that is illustrated in the action situation when having given stair-stepping speed command SC among the hydraulic unit 10B.
Shown in Fig. 4 (a), when in hydraulic unit 10B, having given stair-stepping speed command SC, utilize the rapid rising of the rotational speed Rs2 of motor 15 to influence the increase of load hydraulic pressure Pd2, the rotational speed Rs2 of motor 15 is reduced.
And, comparison diagram 3 (b) and Fig. 4 (b), in interval B T, the varying in size of current instruction value.The difference of the size of current instruction value is represented, in hydraulic unit 10B, does not obtain (computing) and makes the rotational speed servo-actuated of motor 15 in the needed suitable current instruction value of speed command SC (Fig. 4 (b)).
Like this, the speed controlling by being made of PI control only as can be known when having given the such rapid speed command of stair-stepping speed command SC, can't make this speed command of rotational speed servo-actuated of motor 15.
In the present embodiment, in correction unit 18A, use by pressure transducer 17 detected load hydraulic pressure Pd and the correction factor Kf that obtains in advance and obtain the increase of following the hydraulic pressure Pd that loads and the corrected value If that increases.Then, this corrected value If is appended to from the current instruction value of current instruction value operational part 12 outputs.
As mentioned above, by being added to from the current instruction value of current instruction value operational part 12 outputs, current instruction value Ic1 is increased with the increase of dynamic load hydraulic pressure Pd1 according to the corrected value If that load hydraulic pressure Pd1 obtains with feedovering.And the rotational speed Rs1 that can prevent motor 15 is owing to the increase of load torque reduces.
＜variation 〉
More than, embodiments of the present invention have been described, still, the invention is not restricted to above-mentioned illustrated content.
For example, in the above-described embodiment, in correction unit 18A, use the correction factor Kf that obtains in advance to obtain corrected value If, but be not limited thereto.Fig. 5 illustrates to have to use data sheet DT to obtain the skeleton diagram of hydraulic unit 10C of the correction unit 18B of corrected value If.
Particularly, as shown in Figure 5, in correction unit 18B, also can use load hydraulic pressure (detected pressure value) Pd that expression obtains in advance and the data sheet DT of the relation between the corrected value If to obtain (computing) corrected value If.
Thus, when load pressure and follow up speed instruct needed corrected value not have proportionate relationship, also can obtain with respect to from the suitable corrected value If of the load pressure Pd of pressure transducer 17.
And, in the above-described embodiment, use an oil hydraulic pump 16A to drive hydraulic unit 10A, but be not limited thereto.
Particularly, also can use a plurality of hydraulic pump drive hydraulic units.Fig. 6 is the skeleton diagram that the hydraulic unit 10D that utilizes a motoring two oil hydraulic pump 16A, 16B is shown.
For example, as shown in Figure 6,,, represent the driven information of which oil hydraulic pump (pump activation bit) to correction unit 18C output from P-Q control device 11 according to the switching of pump utilizing two oil hydraulic pump 16A, 16B to constitute under the situation of hydraulic unit 10D.And, in correction unit 18C, switch the data sheet that is used to obtain corrected value If, and obtain the corrected value If corresponding with the pump that is driven according to the pump activation bit.
In addition, drive at the same time under the situation of two oil hydraulic pump 16A, 16B, in the obtaining of corrected value If, load hydraulic pressure (detected pressure value) Pd when using expression to drive two oil hydraulic pump 16A, 16B simultaneously and the data sheet of the relation between the corrected value If.
And two oil hydraulic pump 16A, 16B also can not be connected in parallel.Fig. 7 is the skeleton diagram that the hydraulic unit that is connected in series with two oil hydraulic pumps is shown.As shown in Figure 7, under the situation of two oil hydraulic pumps that are connected in series by the mode of another oil hydraulic pump 16A suction with the fluid of discharging, by the pressure of pressure transducer (17) detection by the fluid of the oil hydraulic pump 16A discharge in downstream side by an oil hydraulic pump 16B.And the hydraulic pressure of discharging according to the oil hydraulic pump 16A by the downstream side comes the correcting current command value.
Though the present invention is had been described in detail, above-mentioned explanation only is the example in all forms, and the present invention is not limited to this.Need not depart from the scope of the present invention and just can expect not illustrative a plurality of variation.

Claims (13)

1. hydraulic unit, this hydraulic unit drives oil hydraulic pump (16A) and provides fluid to hydraulic transmission by motor (15), it is characterized in that this hydraulic unit has:
Inverter (14), it provides electric power to described motor (15);
Load sensor (17), it detects the load of described oil hydraulic pump (16A);
Turn-sensitive device (21), it detects the rotational speed of described motor (15);
Current instruction value arithmetic element (12), its operation current command value makes the deviation between the rotational speed of the speed value of target rotational speed of the described motor of expression (15) and described motor (15) converge to zero;
Correcting unit (18A ..., 18D), its load according to described oil hydraulic pump is proofreaied and correct described current instruction value; And
Control signal generation unit (13), it is according to the current instruction value after proofreading and correct, to described inverter (14) output control signal.
2. hydraulic unit according to claim 1 is characterized in that,
Described correcting unit (18A ..., 18D) proofread and correct described current instruction value so that the rotational speed of described motor (15) follow described oil hydraulic pump (16A) load rising and rise.
3. hydraulic unit according to claim 1 and 2 is characterized in that,
Described correcting unit (18A ..., 18D) make described current instruction value follow described oil hydraulic pump (16A) load rising and increase.
4. hydraulic unit according to claim 1 and 2 is characterized in that,
Described correcting unit (18A) uses predefined correction factor (Kf) to obtain corrected value (If), and adds the above corrected value (If) in described current instruction value.
5. hydraulic unit according to claim 3 is characterized in that,
Described correcting unit (18A) uses predefined correction factor (Kf) to obtain corrected value (If), and adds the above corrected value (If) in described current instruction value.
6. hydraulic unit according to claim 1 and 2 is characterized in that,
Described correcting unit (18B, 18C, 18D) uses the data sheet (DT) that obtains in advance to obtain corrected value (If), and adds the above corrected value (If) in described current instruction value.
7. hydraulic unit according to claim 3 is characterized in that,
Described correcting unit (18B, 18C, 18D) uses the data sheet (DT) that obtains in advance to obtain corrected value (If), and adds the above corrected value (If) in described current instruction value.
8. hydraulic unit according to claim 1 and 2 is characterized in that,
Described load sensor (17) is the pressure transducer (17) that detects the pressure of the fluid in the pumping-out line (19) of described oil hydraulic pump (16A).
9. hydraulic unit according to claim 3 is characterized in that,
Described load sensor (17) is the pressure transducer (17) that detects the pressure of the fluid in the pumping-out line (19) of described oil hydraulic pump (16A).
10. hydraulic unit according to claim 4 is characterized in that,
Described load sensor (17) is the pressure transducer (17) that detects the pressure of the fluid in the pumping-out line (19) of described oil hydraulic pump (16A).
11. according to claim 5 or 7 described hydraulic units, it is characterized in that,
Described load sensor (17) is the pressure transducer (17) that detects the pressure of the fluid in the pumping-out line (19) of described oil hydraulic pump (16A).
12. hydraulic unit according to claim 6 is characterized in that,
Described load sensor (17) is the pressure transducer (17) that detects the pressure of the fluid in the pumping-out line (19) of described oil hydraulic pump (16A).
13. the method for control speed of a motor (15), described motor (15) is used for by the hydraulic unit of fluid is provided to hydraulic transmission by described motor (15) the driving oil hydraulic pump (16A) of inverter (14) control, it is characterized in that this method for control speed has following steps:
A) detect the step of the load of described oil hydraulic pump (16A);
B) detect the step of the rotational speed of described motor (15);
C) operation current command value makes the deviation between the rotational speed of the speed value of target rotational speed of the described motor of expression (15) and described motor (15) converge to zero step;
D) step of proofreading and correct described current instruction value according to the load of described oil hydraulic pump (16A); And
E) according to the current instruction value after proofreading and correct, to the step of described inverter (14) output control signal.
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ATE528512T1 (en) 2011-10-15
CN101360917B (en) 2011-12-07

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