CN103423219A - Pressure flow regulator, adjustment unit for plunger machine, and adjusting method of adjustment unit - Google Patents
Pressure flow regulator, adjustment unit for plunger machine, and adjusting method of adjustment unit Download PDFInfo
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- CN103423219A CN103423219A CN2013101766009A CN201310176600A CN103423219A CN 103423219 A CN103423219 A CN 103423219A CN 2013101766009 A CN2013101766009 A CN 2013101766009A CN 201310176600 A CN201310176600 A CN 201310176600A CN 103423219 A CN103423219 A CN 103423219A
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- pressure
- changing valve
- regulon
- valve
- piston
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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
- F04B49/002—Hydraulic systems to change the pump delivery
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- 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
- F15B11/05—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed specially adapted to maintain constant speed, e.g. pressure-compensated, load-responsive
- F15B11/055—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed specially adapted to maintain constant speed, e.g. pressure-compensated, load-responsive by adjusting the pump output or bypass
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- 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
- F15B2211/20546—Type of pump variable capacity
- F15B2211/20553—Type of pump variable capacity with pilot circuit, e.g. for controlling a swash plate
Abstract
The invention relates to a pressure flow regulator, an adjustment unit for a plunger machine, and an adjusting method of yjr adjustment unit. An adjustment unit of a hydraulic plunger machine capable of being adjusted having a pressure flow regulator is disclosed. The adjustment unit has at least one adjusting cylinders for adjusting the discharge amount of the plunger machine, the adjusting cylinder being operated through a switching valve.
Description
Technical field
The present invention relates to the pressure that a kind of regulon of the piston engine for the hydraulic pressure to regulating regulated and carry the stream regulator.In addition, the present invention relates to a kind of a kind of regulon and method for described regulon is adjusted of carrying such piston engine of stream regulator for thering is such pressure.
Background technique
A kind of piston engine that can regulate that is configured to the form of oil hydraulic pump is disclosed in DE 10 2,010 048 070 A1.The angle of revolution of described piston engine can be regulated cylinder by two and change.Regulate cylinder and, thus in order to regulate the angle of revolution of described piston engine, be provided with a kind of pressure and carry the stream regulator in order to regulate described one.This pressure carries stream regulator to have two Proportional valves, the cylinder chamber by described two described adjusting cylinders of Proportional valve can be connected to described piston engine on pressure piping be connected or can be connected with the storage tank pipeline.Handle described Proportional valve in the mode of hydraulic pressure.
It is that the cost of described Proportional valve is higher and robustness described Proportional valve is less that such pressure is carried the shortcoming of stream regulator.In addition, the leakage of described Proportional valve is higher, and this causes the loss in efficiency of described piston engine.
Summary of the invention
With respect to this, task of the present invention is, provides a kind of and carries the stream regulator for the pressure that regulon is regulated, and this pressure carries stream regulator to overcome shortcoming above-mentioned.Another task of the present invention is, a kind of regulon of piston engine of carrying the hydraulic pressure that can regulate of stream regulator for having such pressure is provided, and this regulon overcomes mentioned shortcoming equally.In addition, task of the present invention is, a kind of method of being adjusted for the regulon to such is set, and by the method, can come in an extremely simple manner piston engine is controlled.
About described pressure, carry the task of stream regulator to be resolved according to the described feature of claim 1, about the task of described regulon, be resolved according to the described feature of claim 6 and be resolved according to the described feature of claim 12 about the task of described method.
The theme that other favourable improvement project of the present invention is other dependent claims.
According to the present invention, the pressure of being regulated for the regulon of the piston engine of the hydraulic pressure to regulating carries the stream regulator to have the changing valve for described regulon is controlled.
This solution has advantages of such, and described pressure is carried the stream regulator cost is cheaper due to described changing valve, because changing valve has less manufacture cost and easily form on device technique.Described pressure carries the leakage of stream regulator smaller due to described changing valve equally.In addition, changing valve has very little setting time, thereby pressure carries the stream regulator to have equally very short setting time.By described firm changing valve, described pressure carries the stream regulator to have higher impact strength.Due to the less vulnerability to jamming with respect to contaminated hydraulic fluid of described changing valve, described pressure carries the maintenance expense of stream regulator less.The variation caused due to temperature variation of the transfer characteristic of described changing valve is compared equally very little with Proportional valve, described pressure carries the stream regulator to use under very different temperature conditions reliably thus.Changing valve is also very sane with respect to the interference of electromagnetism.In addition, for described Proportional valve is controlled and needed D/A converter, contrary with described prior art in the prior art, can be directly by digital control unit in other words mobile controller control the changing valve that described pressure is carried the stream regulator.
Described changing valve, such as being 2/2 access valve, can be opened and can connect by the closing pressure medium by described 2/2 access valve.Described changing valve can be configured to guiding valve or preferable configuration for leak free centre valve actually.Preferably the elastic force towards the direction of closed position to the valve body charge valve spring of described changing valve and final controlling element that can be by the electromagnetism valve body towards the direction of open position to described changing valve loads breaking force.
Described at least one changing valve can use with PWM mode (PWM) or with the pattern (BaM) of trajectory neatly.Different cross sections, aperture can be set thus for described changing valve.
In another kind of design proposal of the present invention, be provided with at least one for changing valve that being connected between described regulon and pressure medium source controlled and at least one is for falling the changing valve of being controlled that is connected between end (Druckmittelsenke) to described regulon with the pressure medium consumption.Thus can be in simple mode such as the adjusting cylinder of regulating described regulon.
Describedly fall end for the described pressure medium consumption in other words between described pressure medium source and described regulon and be connected with pressure medium between described regulon the changing valve of being controlled and can control with inlet restriction/outlet throttling pattern (MIO).
In order with pulse code modulation pattern (PCM), being connected between end to be fallen in described regulon and described pressure medium source or described pressure medium consumption, controlled, between described regulon and described pressure medium source and/or described regulon and described pressure medium consume to fall in the pressure medium flow path between end and be provided with at least two changing valves.The changing valve in pressure medium flow path preferably has different nominal sizes at this, for using described changing valve with the pulse code modulation pattern equally.As an alternative, described larger changing valve can be for being finely tuned described adjusting cylinder such as carrying out for the adjusting cylinder to described regulon coarse adjustment and described less changing valve.
According to the present invention, for the regulon of the piston engine of the hydraulic pressure that can regulate, have by pressure of the present invention and carry the stream regulator.Described regulon has at least one at this and regulates the adjusting cylinder that is particularly useful for regulating angle of revolution for the discharge capacity to described piston engine.Described adjusting cylinder has the ，Gai Gang chamber, cylinder chamber that limited by piston and moves described piston for the direction of the expansion along this cylinder chamber and can carry the changing valve of stream regulator use the pressure medium intercepted from the pressure piping of described piston engine to load and can consume fall to hold by another changing valve and described pressure medium for pressure medium is discharged from described cylinder chamber by described pressure to be connected.Such as, when moving, the direction of the expansion of described cylinder chamber enlarges the discharge capacity of described piston engine and the discharge capacity of dwindling described piston engine when the direction along contrary moves at the piston of described adjusting cylinder.
Advantageously by Regulation spring, the piston along the direction of dwindling of described cylinder chamber to described adjusting cylinder loads elastic force.The second adjusting cylinder can be set, and this second adjusting cylinder has the piston that defines the cylinder chamber.Described cylinder chamber can be connected with the pressure piping of described piston engine at this.Described piston then works such as being in reverse to the described first piston of regulating cylinder.Described piston engine can be the axial piston engine of oblique disk structure, and the piston of wherein said adjusting cylinder then acts on swash plate, for controlling the discharge capacity of described piston engine.
In order to control described piston engine, such as the control unit that simply is provided with electronics, the control unit of this electronics is controlled described changing valve according to the pressure in the pressure piping of especially described piston engine and/or according to the displacement distance of the piston of described adjusting cylinder or the angle of revolution of described swash plate.For measuring pressure, preferably be provided with pressure transducer, this pressure transducer intercepts the pressure in the pressure piping of described piston engine.In order to measure displacement distance, can use displacement transducer, the displacement distance of the piston of the described adjusting cylinder of this displacement sensor.
For described regulon can be reacted to the unexpected pressure peak in described pressure piping in simple mode, relief valve can be set, this relief valve can be on fluid with described at least one be arranged in changing valve between the cylinder chamber of described pressure piping and described adjusting cylinder mode in parallel and arrange.Described relief valve is such as being along flow direction towards the unlimited safety check in described cylinder chamber.
In order by described control unit, described regulon to be controlled, such as easily with 3 regulators, adjusting described changing valve.Described changing valve can be adjusted according to pressure at this, especially according to the pressure in described pressure piping or adjust according to load pressure.Also it is contemplated that, according to the displacement distance of described piston, adjust described adjusting cylinder.
Overheated for fear of changing valve, the change-over period of described changing valve can have the on-time with respect to the predetermined ratio of cutting off the endurance.That is to say and do not switch on to described changing valve to the energising of described changing valve and with the time lag following closely with the specific time lag.
In order easily to adjust a plurality of changing valves, the inversion frequency of these changing valves is identical.
By specific sample frequency, described pressure and/or described displacement distance are sampled, this can be roughly synchronizes with controlling of described changing valve being carried out by specific inversion frequency, and this realizes extremely simply adjusting.Several times that preferred described sample frequency is inversion frequency or be equivalent to described inversion frequency.By described inversion frequency, only with the predetermined time lag, control impuls is exported to described changing valve.
Also it is contemplated that, described sample frequency and described inversion frequency are not synchronously evolution, can realize this point thus, only have and just trigger when needed described inversion frequency, be undertaken by specific sample frequency for the sampling of described pressure and/or described displacement distance.
Preferred described sample frequency is greater than described inversion frequency, and this causes this point, in the process of giving described changing valve energising, continues described pressure and/or described displacement distance are sampled and on-time of the valve that can interrupt being energized when needed.For this reason advantageously, the on-time of described changing valve is variable in a change-over period.Described changing valve can cut out in this case in advance, if such as measured pressure requires so.
In another kind of design proposal of the present invention, the change-over period of described changing valve is independent of one another, can control independently of one another thus described changing valve and can change independently of one another described changing valve thus.
A kind of extremely simply have following steps by of the present invention for the method to being adjusted by regulon of the present invention:
-especially by specific sample frequency, displacement distance and/or the described pressure of the piston of described adjusting cylinder are sampled;
-control described changing valve according to described displacement distance and/or described pressure, wherein said control is especially carried out according to 3 adjustment methods.
The accompanying drawing explanation
Below by means of schematic accompanying drawing, to of the present invention, preferred embodiment be explained in detail.Accompanying drawing illustrates as follows:
Fig. 1 is the circuti diagram had by the hydraulic pressure of the first embodiment's the piston engine by regulon of the present invention;
Fig. 2 is 3 schematic diagram of adjusting method of described regulon;
Fig. 3 is the skeleton diagram of the described structure of the regulator by regulon of the present invention;
Fig. 4 is the position curve through adjusting of the piston of the described cylinder of the adjusting by regulon of the present invention;
Fig. 5 is the skeleton diagram of the described structure of the regulator by regulon of the present invention;
Fig. 6 to 9 is pressure diagrams through adjusting of described piston engine;
Figure 10 is the schematic diagram of the principle of work and power of digital pressure regulator;
Figure 11 is the schematic diagram of current curve of the output stage of control unit;
Figure 12 is the schematic diagram of the change-over period of changing valve;
Figure 13 is the skeleton diagram of the described structure of the regulator by regulon of the present invention; And
Figure 14 is the circuti diagram had by the hydraulic pressure of the second embodiment's the piston engine by regulon of the present invention.
Embodiment
According to Fig. 1, show the circuti diagram of the hydraulic pressure with the piston engine 1 that can regulate.This piston engine can be axial or radial plunger machine, described axial or enough oil hydraulic pump or the oil hydraulic motors done of radial plunger function.
Below by means of the axial piston engine that can be offset with swash plate driving mechanism, the present invention is made an explanation.In order to make the unshowned swash plate skew of described piston engine 1, be provided with and regulate cylinder 2.This adjusting cylinder has the cylinder chamber 6 limited by piston 4.Described piston is connected with the unshowned swash plate of described piston engine 1 by one-sided piston rod 8.The movement of the direction of the expansion along described cylinder chamber 6 of described piston 4 makes the direction skew of described swash plate along the expansion of the discharge capacity of described piston engine 1.On the contrary, the movement of the direction of dwindling along described cylinder chamber 6 of described piston 4 causes the skew of the direction of dwindling of the discharge capacity along described piston engine 1 of described swash plate.By the elastic force of the Returnning spring 10 in the doughnut therefrom passed by piston rod 8 12 that is arranged in described adjusting cylinder 2, along the direction of dwindling of described cylinder chamber 6, to described piston 4, load elastic force.
On described piston engine 1, connecting pressure piping 14 and connecting storage tank pipeline 16 on compression fittings P on storage tank joint T.Described pressure piping 14 is connected with the load of unshowned hydraulic pressure.Described storage tank pipeline 16 imports in storage tank 18.Described cylinder chamber 6 can 22 be connected with described storage tank pipeline 14 in other words by the first and second changing valves 20.Described changing valve 20 and 22 is arranged in parallel and is correspondingly controlling described cylinder chamber 6 and is connected with the pressure medium between described pressure piping 14 on fluid.Described have the nominal size larger than following changing valve 22 in top changing valve 20 at this in Fig. 1.Be provided with flow controller 24 at fluid between described less changing valve 22 and described cylinder chamber 6.In the situation that arranged relief valve 26 in parallel with described changing valve 20 and 22 between described pressure piping 14 and described cylinder chamber 6 on fluid.This is the safety check unlimited towards described cylinder chamber 6 along the pressure medium flow direction.Be provided with another changing valve 28 between described cylinder chamber 6 and described storage tank 18, can open and close described cylinder chamber 6 with this changing valve and be connected with the pressure medium between described storage tank 18.
Described changing valve 20,22 and 28 is configured to 2/2 access valve.Described changing valve 20,22 and 28 valve body load with elastic force and final controlling element 32 that can be by electromagnetism loads by the power that is in reverse to described elastic force towards the direction of open position towards the direction of closed position by valve spring 30 at this.Described changing valve 20,22 and 28 cuts out thus in the state of not energising.Described changing valve has a kind of percolation direction and has such as 3.34mm such as for 0.2mm the time in valve stroke
2The cross section, aperture.For the pressure reduction that is carried in the 90bar on described changing valve, such as the flow that produces 20 l/min.Operate time and recovery time are such as amounting to the 0.3ms left and right.The relative on-time (ratio with respect to the currentless stage of the state of energising) is determined maximum 20%, because otherwise face electromagnetic coil overheated of described final controlling element.Described changing valve is such as being designed into 10
9The individual change-over period.
For the piston 4 of measuring described adjusting cylinder 2 displacement distance of piston rod 8 in other words, be provided with displacement transducer 34.This displacement transducer is measured described displacement distance and it is reported to the control unit of unshowned electronics by specific sample frequency.In addition, be provided with pressure transducer 36, with this pressure transducer, measure the pressure in described pressure piping 14 and equally it reported to the control unit of described electronics.Measurement for pressure is undertaken by specific sample frequency equally at this.
In order to change rapidly described changing valve 20,22,28, preferably ad hoc designed the control unit of described electronics.The control unit of described electronics, such as being the output stage electronic equipment, has two electronic subassemblies that can programme for described output stage electronic equipment on the electronic circuit board of every European specification, and described electronic subassembly can produce special current curve.Corresponding electronic subassembly, such as being the CJ840 type, especially can be controlled four changing valves by corresponding electronic subassembly.Described CJ840 assembly parts is such as programming by the application-oriented situation of spi bus ground.As output parameter, especially can consider maximum voltage and the current peak up to 12 amperes of 65 volts.The described process of controlling is generally undertaken by microcontroller, thereby uses based on TTL(transistor-transistor-logical circuit) level carry out work.
The adjustment scheme for described piston engine 1 is carried out to digital pressure adjustment in principle can be used as the adjustment scheme with three dot characteristics and describes, referring to Fig. 2.Top (connection) point (P2) in Fig. 2 indicates for activating the limit of described larger changing valve 20.Following point (P1) is facilitated the activation of the changing valve 28 of described outlet side.The so-called dead band that described adjustment scheme is arranged between described transition point.Described dead band also can be regarded as for adjusting the tolerance range of deviation, because described adjustment scheme is allowed the deviation within this scope.In this dead band, described adjustment scheme stops always, until described adjustment amount surpasses again transition point by interference effect etc.With the extra less changing valve for meticulous metering 22, this 3 adjustment schemes have obtained expansion.The design explanation of beginning, the described less changing valve 22 for carrying out meticulous metering should weaken the overdose caused by described larger changing valve 20 with the conversion of combination.The changing valve 20 of responsible rough metering (and being responsible for thus rapid reloading is carried out in described cylinder chamber 6) should early be stopped using and described less changing valve 22 is born the compensation for remaining adjustment deviation.The state that described less changing valve 22 thereby always keep activates is until the real connection limit (P2), and the described transition point for larger changing valve 22 (P3) is set to higher.But the adjustment process of controlling by described changing valve 20,22 and 28 on the whole has three dot characteristics.Described 3 adjustment schemes because of rather than with single actuator, work, described single actuator is implemented connection, cut-out and maintenance stage.Or rather, describedly comprise that three actuators of piston engine 1 and the regulating system of regulation mechanism have this specific character on the whole.
For the described regulon with adjusting cylinder 2 and changing valve 20,22 and 28 is adjusted, be provided with very different adjusting method, below these adjusting method are made an explanation.
For the first adjusting method, according to Fig. 3 and 4 displacement distances according to described piston 4, the piston engine 1 of Fig. 1 to be controlled, wherein said displacement distance is detected by described displacement transducer 34.
According to Fig. 3, described 3 regulators are controlled the actuator of the form that is configured to changing valve 20,22 and 28 with control parameter u, referring to Fig. 1.This causes again for the control piston of the described adjusting cylinder 2 regulated quantity y of piston 4 in other words.Then as " adjustment amount-apart from s ", therefrom produce the displacement distance of described piston 4, from described " adjustment amount-apart from s " with " reference variable-apart from s
Specified" try to achieve together the adjustment deviation e for described 3 regulators.According to described adjustment amount-apart from s to the unshowned revolution reel cage of the piston engine 1 of Fig. 1 in other words swash plate controlled, this causes the angle of revolution α for the driving mechanism of described piston engine 1.This causes again specific volume flow Q, and this volume flowrate is sent to described load, can react to the pressure p of described load thus.
Described angle of revolution changes in the proportional situation of the change in location to described piston 4 thus, the conveying stream therefrom changed.Then depend on that described load ground produces described pressure.Described piston 4 should (such as maximum 20mm displacement distance) be placed in position given in advance by the mode of by means of described changing valve 20,22,28, loading described cylinder chamber 6 within its regulation range.
Fig. 4 illustrates, and how described piston position follows described rating value as adjustment amount.This can be seen that the sawtooth curve of described adjustment amount.This curve produces the leakage (curve descended slightly) by described piston 4 generations in other words from the unexpected filling process (rising edge) of being undertaken by described changing valve 20,22 and the evacuation procedure (trailing edge) of being undertaken by described changing valve 28.Because change described changing valve 20,22,28 with relative on-time (on-time of maximum possible) of 20% of setting regularly, so produce the overshoot (ü berschwinger) that is derived from overdose in described curve.In order to reduce these overshoot and, for the leakage to producing by described piston 4 compensates, as the inlet valve for meticulous metering of being controlled, should to use described less changing valve 22.Sampling for described adjustment amount is only carried out in described change-over period (such as the inversion frequency with 10Hz) at the beginning.Therefore, can find out the reaction of the variation to described reference variable of the corresponding postponement of described adjustment amount in Fig. 4.Control all changing valves 20,22,28 with identical beat (Taktung) and on-time.That is to say, it doesn't matter, and which changing valve 20,22,28 has been changed, all changing valves are all observed 80% pause stage subsequently with respect to endurance change-over period, even the changing valve 20,22,28 of not changed in advance in the meantime must be reacted on correcting property ground (ausregelnd) at all, this is very large shortcoming not necessarily, because changing valve 20 22 and 28 common conversion in other words is normally unnecessary.As front has been enumerated, described changing valve 20,22 and 28 inversion frequency are 10 hertz.The sample frequency of the displacement transducer 34 on Fig. 1 is similarly 10 hertz.
For rating value transition, partly produce overshoot, described overshoot is derived from overdose, and referring to the reference character 1 in Fig. 4, this is by the on-time of regulation causes regularly.By less sample frequency and inversion frequency, the reaction of the delay of described adjustment amount appears, referring to the reference character 2 in Fig. 4.The advantage of this less inversion frequency is the less conversion frequency therefrom produced.By discontinuous metrology steps, only the amount of necessary degree is put in described conditioning chamber.What therefrom generation was very large can most of advantage of saving described loss for described control oil.
By means of the position adjustment for described piston 4 or the revolution reel cage adjustment that can therefrom derive, at first can be adjusted the quantity delivered of described piston engine unit 1, because can distribute corresponding conveying stream in each angle of revolution in other words for each piston position.But described pressure form differently in the situation that depend on described load.
According to Fig. 5, replace the displacement distance of described piston 4 in another kind of adjusting method, the pressure in the pressure piping 14 that detects Fig. 1 by described pressure transducer 36 as adjustment amount.
For the piston engine of the pressure governor with hydraulic pressure, the pressure governor of described hydraulic pressure mainly has the task that the rating value that makes described pressure and defined is complementary.Thereby it is not the adjustment for control characteristic, but a kind of adjustment for interference characteristic.Utilize digital pressure governor also can realize the adjustment for control characteristic.
In Fig. 6, the adjusting method of using the adjustment amount affected without (causing such as waiting by pulsation) extra interference volume is observed.Described rating value is exemplarily stipulated to 100bar.The inversion frequency of described changing valve 20,22,28 is such as having 10Hz.By the state of described adjustment amount, at the corresponding changing valve 20,22,28 of changing at the beginning of described change-over period, at this, need corresponding changing valve that described adjustment amount is matched with described reference variable again.In addition, adopt identical beat and change-over period for all changing valves 20,22,28.If the reaction that pressure rise can be made it faster than described adjusting method, the relief valve 36 of Fig. 1 will prevent too high pressure peak so.Described relief valve 36 is worked as the safety valve.It fills described conditioning chamber as supplementing of described changing valve 20,22 when described pressure surpasses specific limiting value.For fear of overdose, described changing valve 20,22 and on-time of 28 can be set changeably.That is to say, described changing valve 20,22,28 also can early cut off as required before reaching the on-time of maximum possible.This carries out in the following manner, and if inquire about described adjustment amount after in the sampling beat, changing necessarily changing valve 20,22,28, has and need to (according to the result of described inquiry) just again cut off described changing valve.Sample frequency is preferably 1kHz.In addition, by described less changing valve 22 for carrying out meticulous metering.But, due to the on-time that can set changeably of described larger changing valve 20, this point is only also necessary for the metering again of the intermittence of leaking.The limit in described regulator-dead band (transition point) such as regulation to 10bar under 5bar on described rating value and described rating value, referring to Fig. 2.
Fig. 6 illustrates, and as after the pressure rise started, referring to reference character 1, by the load described relief valve 26 that raises, prevents that described system appearance is than 25% large pressure rise on described rating value (100bar), referring to reference character 2.As supplementing of actual value and rating value, in the situation that also paint in Fig. 6 into not adjusting issuable pressure diagram.When only the second change-over period after 100ms starts, described adjusting method could be reacted for the first time.Pressure rise subsequently, referring to reference character 3, is that this leakage causes the emptying slowly of described cylinder chamber 4 by the result of the leakage of described piston 4 generations.Upper while once starting the described change-over period, rise and surpass the top transition point of described larger changing valve 20 by the described adjustment amount of described leakage, referring to reference character 4.The conversion of described changing valve 20 causes the decline of described pressure.At moment 300ms, described adjustment amount is also within the dead band in described regulator.Only by described less changing valve 22, when starting the described change-over period, on one's own initiative described leakage is measured to this point more at every turn described pressure diagram and described reference variable are complementary, referring to reference character 5.Reducing load and thus during pressure drop, referring to reference character 6, described adjusting method can only be reacted with the postponement of change-over period, referring to reference character 7.For the second time load rise (can discover out by the unjustified pressure risen) cause the further deviation of described adjustment amount, until for the pressure limit of described relief valve 26, referring to reference character 8.
The described variable on-time significantly contributes to improve the precision of reactivity and described pressure diagram.Even can abandon described less changing valve 22 at this about the function for reducing overdose.On the contrary, still use described less changing valve 22 for meticulous metering.In addition, the viewpoint that loss reduces for controlling oil is still positive.
The adjusting method of below by means of Fig. 7, a kind of use " nested (verschachtelt) change-over period " being carried out to the pressure adjustment to piston engine unit 1 describes.In order to realize the also reaction faster of described adjustment amount, with the changeless change-over period, processed.If start a new change-over period and do not need conversion when it starts, that does not just suspend another change-over period fully, but inquires necessary conversion requirement from this constantly in the sampling beat such as 1kHz.If then after several inquiries constantly, need the conversion of described changing valve 20,22,28, just by the connection ratio of corresponding necessity and necessary time-out ratio, start the normal change-over period so subsequently.
In Fig. 7, can find out, such as several milliseconds before moment 500ms with regard to carrying out the reaction of described changing valve 20, referring to the reference character 1 in Fig. 7, because there is no need to be changed after upper time-out endurance once finishes.This reaction was only just carried out at moment 500ms by former adjustment scheme.Produce thus another for the measure that skew that described leakage causes is suppressed of passing through to described pressure diagram.
Further improve the reactivity of described adjustment amount by the cancellation of described changeless change-over period.If also use extraly described less changing valve 22 at this, can also slightly further improve described adjustment curve so.
By means of Fig. 8, the adjusting method of carrying out the pressure adjustment to using the valve to described changing valve 20,22 and 28 separately to control makes an explanation.
In the pure filling of observing described cylinder chamber 6 with when emptying, 22 and 28 the common conversion in other words of common described changing valve 20 be unnecessary and thus common control not unfavorable.But the conversion of the combination of described changing valve 20,22,28 brings advantage aspect better reacting aspect metering targetedly and when load transition repeatedly fast.
By the manipulation measure that produces about sample rate and change-over period separately, now can be independently of one another and change described changing valve 20,22,28 even simultaneously.Opening of described changing valve 28 do not cause and the same large volume flowrate from described cylinder chamber 6 of volume flowrate produced in described cylinder chamber 6 when opening described changing valve 20 equally for a long time.Add the pressure reduction (the cylinder chamber pressure is with respect to storage tank pressure) carried than (high pressure phase is for the cylinder chamber pressure) is little on described changing valve 20 on described changing valve 28.Produce less volume flowrate by described less pressure reduction.By the conversion of combination, now also can carry out the filling process of meticulous metering.Pressure diagram in Fig. 8 shows, the reaction of how and then carrying out with the horse back of described changing valve 28 comes partly (overdose by described changing valve 20 causes) too large Pressure Drop is compensated, referring to the reference character 1 in Fig. 8.By the load pressure rise fast caused that raises, must by described relief valve 26, be trapped, referring to the reference character 2 in Fig. 8 with carrying on as usual.
It is unnecessary that the conversion of described combination has improved the precision of described adjustment curve and also made thus the necessity of the changing valve 22 for carrying out meticulous metering become.
By the raising of described inversion frequency, can realize better reactivity.
The adjusting method that higher inversion frequency is carried out the pressure adjustment to a kind of use in Fig. 9 makes an explanation.Can not prevent pressure rise fast for the optimization of the reactivity in transfer characteristic ground as before, because the larger change-over period makes the reaction variation fast of described adjusting method.Along with the raising of inversion frequency, within the specific time lag, obtain more for the chance of changing described changing valve 20,22,28 and the larger reactivity for interference effect that obtains thus described adjusting method.
Fig. 9 illustrates, and by the present overwhelming majority of load rising situation of described relief valve 26 trappings, can be proofreaied and correct before reaching safety margins (Absicherungsgrenze) in advance, referring to the reference character 1 in Fig. 9.Almost do not see still larger deviation in the place that also demonstrates larger pressure surge in advance in described adjustment curve, referring to the reference character 2 in Fig. 9.
By by described inversion frequency such as bringing up to this mode of 100Hz, can be in time pressure rise be fast proofreaied and correct, thereby seldom or not must be insured by described relief valve 36.By the reactivity of obvious raising, it is more accurate that described adjustment curve also obviously becomes.Quickly interference effect is proofreaied and correct and described pressure diagram obviously is complementary with described reference variable better.At this, unique shortcoming is the raising of maximum conversion frequency.The sum of change-over period is restricted and, by the conversion increased, can produces the shorter working life of described changing valve 20,22,28.But described conversion frequency also depends on the dynamic of described adjustment amount, that is to say and depends on load period, and described adjusting method must solve load period.Load variations causes interference effect in described adjustment amount.Another impact on described transfer characteristic also causes the leakage produced by described control piston.Described leakage is because design reasons is larger, and that just must correspondingly be adjusted further again.Utilize this adjustment scheme, can produce now the curve preferably of described adjustment amount.
The main task of described adjusting method is, the transition point of the defined of described adjustment deviation and described changing valve 20,22,28 is compared.If described adjustment deviation surpasses the numerical value of transition point, so next just transmit the requirement for opening described changing valve 20,22,28, surpass before this transition point of described changing valve 20,22,28.In subtense angle " level control ", by the sample frequency compared result, inquired about.If require the reaction of described changing valve 20,22,28 in described adjusting method of the inquiry moment, that just starts commutation pulse.Described commutation pulse logically is coupled on the on-time signal.This starts and continues the time of the maximum 20% of described change-over period when the beginning of each change-over period.Guarantee thus do not have the on-time to surpass relative on-time of regulation, even then described changing valve 20,22,28 should continue to stay open according to adjusting deviation.Described commutation pulse connects with described sampling pulse mutually in the mode of feedback again, thereby can inquire about described comparative result with the sampling beat in on-state.Thus, if again described adjustment deviation was compensated, can early cut off described changing valve before the end of 20% on-time.
Can after controlling, realize level the option of convertible insurance mechanism (Schaltsicherung) for controlling of described changing valve 28.Must consider such possibility in a particular case, described adjustment amount can not approach described reference variable in the scope in the longer time lag.Although, if the described transmission power of the state of the outside skew of described piston engine 1 (maximum angle of revolution) is not enough to for can the mineralization pressure threshold value, that is just such as the above-mentioned situation of appearance.In order often not require now described changing valve 28 to be changed, although described cylinder chamber 6 is emptying, described convertible insurance mechanism avoids the unnecessary conversion of described changing valve 28 in this help.Briefly, described convertible insurance mechanism is counted the described change-over period for positive comparative result (changing valve 20 must be changed).Although if described adjustment deviation enough large number transfer process and not do not change, so described convertible insurance mechanism just thinks, described cylinder chamber 6 emptying and further transfer process temporarily can not produce any variation.Suppress the further conversion of described changing valve 28, until described adjustment deviation is again within the dead band in described regulator always.
Again with figure, the principle of work and power in principle is described in Figure 10.If the dead band of described adjustment amount (virtual condition) by described regulator by transition point, come the limit of mark to produce, that activates described changing valve 20,22,28 with regard to converting characteristic according to the rules, for making described adjustment amount, with described reference variable (rating value), matches again.
A kind of allocation plan of below by means of Figure 11, described valve being controlled makes an explanation.Figure 11 shows the feature of current curve, and described output stage produces described feature, for making described valve, changes rapidly.Programming (in the register of CJ840-electronic subassembly, binary digital being set) is such as manually implementing by computer.Different binary digital combination in five registers is representing the different characteristics that can change.After the turn-on voltage feed mechanism, described register is set to default-setting (Default-Einstellung).Current curve in Figure 11 shows the current value produced by the original start value.
The closing characteristics of described changing valve 20,22,28 is divided into double teacher basically.The controlling signal and will issue described output stage for the instruction of opening described changing valve 20,22,28 of described regulator.In order to open described changing valve 20,22,28, the electric current that at first needs the larger voltage that passes through 65 volts of maximums to reach.The electric current of this so-called boost phase can be set as the time range for described boost phase.(Stromboost) is larger for this current boost, and the magnetic field in the electromagnetic coil of the final controlling element 32 of Fig. 1 just can more quickly form and described valve armature is placed among motion.What can programme equally is " obtaining (the Pick-Up) " stage followed closely after this, and the described voltage of stage by pulsewidth modulation that obtains has specific current value, until described changing valve 20,22,28 has surely been opened.And the rapid arc extinction of after-current is undertaken by higher negative voltage and remain on the maintenance electric current of adjusting by PWW equally.Keep the stage of electric current adjustment for observing the state of opening and finishing by rapid arc extinction equally when requiring to close.Here time range and current value also can be set.
There will be the volume flowrate pulsation when using described piston engine 1, from described volume flowrate pulsation, can produce the pulsation of pressure again.Described adjustment amount has the curve that is subject to the signal noise pollution by described pulsation.But, in order to carry out as far as possible accurately and effectively adjusting, to the sampling of adjustment amount as far as possible accurately, be necessary.For the sampling parameter is carried out to smoothing processing, different feasible programs is arranged, below these feasible programs are made an explanation.
It is contemplated that, with the hardware filtering device such as the Bezier low-pass filter carries out smoothing processing to described sampling parameter.
Possible, by means of software filter, described sampling parameter is carried out to smoothing processing.The utilization of the filtering method of process digital programmable provides different feasible programs.Software filter is calculated the signal through smoothing processing by unsteady mean value, and described software filter is realized the working time fewer than hardware based wave filter.But, only when averaging, more measured value being processed, people just obtain enough signal smoothing effects.Because carrying out when digital pressure is adjusted carrying out work by the sample frequency of 1kHz, so this can cause the delay of several milliseconds.Therefore the time delay meeting makes described regulator become unstable.Described unstability can produce from the overdose of described changing valve 20,22,28.These changing valves can not be changed in time due to the time delay caused by described filtering.
Reach best level and smooth result at this, if just also meet Nai Kuisi sampling thheorem (formula 1), the too large time delay that therefrom produces again described signal for the sampling of the numerical value that remains to be averaging.
F
Sampling2f
max Formula 1.
Although higher sample frequency can realize desired less time delay, the efficiency of described smoothing processing becomes worse and worse thus, because the vibration that then from the mean value of the sampled point of described more big figure, produces again high frequency.
When with low-pass filter, carrying out smoothing processing, can implement by means of simple PT1-element (PT1-Glied) filtering of signal.The angular frequency f of described transmission
EBy time constant T
zChange.
The phase displacement that can aware in the transmission characteristic of described PT1-element (=signal propagation time) uses the angular frequency that becomes larger for less frequency to be reduced to the microsecond scope.But must be noted that, described angular frequency must not be more too many greatly than described pulse frequency, because otherwise described wave filter can become inoperative.
The another kind of feasible program of lower pass-filter provides compressibility and the inertia of hydraulic medium.Described scheme thereby be provided with for the level and smooth of described pulse signal or suppress, described level and smooth or suppress before measuring cell, in transmission medium, to carry out.In the situation that depend on volume between pressure transducer (Druckaufnahme) and driving mechanism (manufacturer of pulse) and in general in the situation that depend on total system volume, described pulse is in the situation that correspondingly be suppressed and arrive described sensor place.
Another kind provides a kind of umerical pulsed filter for the feasible program of carrying out smoothing processing.Conclusive disturbance factor in described adjustment amount is representing described pulse.Described pulse depends primarily on rotating speed and the number of driving mechanism piston.Therefore, described pulse can be described by sine approx on mathematics.Obtain thus the described scheme of calculating to a certain extent described pulse from the pressure signal detected by pressure transducer.But described pulse is not representing desirable sine in actual conditions, and is representing a plurality of stacks with sinusoidal signal of different frequencies and amplitude.Therefore when carrying out filtering, the sine by means of simplifying only maximum interference effect is leached.In order to carry out more effectively smoothing processing, all other sinusoidal signals together must be calculated in described filtering, and other impact is taken in.Impact for the feature of described pulse especially also produces from part throttle characteristics, but described part throttle characteristics is difficult to prediction.
The another kind of feasible program that is used for described adjusting method is optimized is to change inversion frequency, referring to Figure 12.The larger reactivity of described regulator should be able to be brought higher inversion frequency thereupon.But said inversion frequency can not at random improve.The limit of the inversion frequency of maximum possible that the power of described changing valve is given in advance.That is to say, the relative on-time of described maximum possible must not be less than the on-time of the transfer characteristic permission of described changing valve 20,22,28 within endurance change-over period.As can be seeing in Figure 12, the described relative on-time be approximately one millisecond for the inversion frequency of 200Hz.Because described valve is preferably and opens and closing process only needs 0.6ms, thus in described situation only 0.7ms representing the maximum on-time for the state of opening and this.
In final effect, for this inversion frequency, the on-time that can change is no longer depended in the reaction of described regulator, but depends on the summation of the transfer process with one millisecond the on-time that keeps identical.Unique feasible program for affecting the described on-time has improved twice by sample rate.Can reach thus half open the endurance with maximum on-time.Because the opening and closing endurance of described valve keeps fixing, so in this case metering process has been reduced to 0.2ms.Therefore the inversion frequency of 200Hz can be considered as to the upper limit.The realization of larger inversion frequency is unworthy, because the conversion power of described magnet valve no longer can realize changing requirement.
Another kind can be expanded described regulator by using the mode that the time lag that can set is carried out inner feedback for the feasible program that improves reactivity.As the Circuit tuning in Figure 13 illustrates, this feedback by the inside of carrying out with the PT1-element realizes.
By the setting parameter of described PT1-transfer function, correspondingly described adjustment deviation is modified thus, thereby earlier reach the transition point of described 3 regulators.Described adjustment deviation can be said so and obtain a kind of feature in advance by the correction of feedback.Described regulator is earlier facilitated thus regulated quantity to change and therefore can be offset quickly the adjustment amount that departs from described rating value.The parameter of described aligning step is from feedback parameters, amplification factor K
rWith time constant T
rMiddle acquisition and with input being in proportion of transition (Eingangssprung).The P share of described regulator obtains from regulated quantity changes, and described regulated quantity variation produces from aligning step.Described adjusting belongs to the constituent element (I share) of described regulator function in Circuit tuning by its integrated feature.
Be approximately 3 regulators with the integrated regulating system that is arranged in back and produce following transfer function:
For described transfer function, be clear that, this regulator has the Pl characteristic.Factor before the bracket of formula 3 can with amplification factor K and the described time constant T of the transfer function of described Pl regulator
rWith TN, equate:
Formula 4.
The amplification degree larger (or Tr is less) of described feedback Kr, the degree in advance (aligning step) of described adjustment deviation is just larger, and described degree in advance produces by the feedback of described inside.Total amplification degree of described standard-Pl-regulator diminishes at this.Early reach the transition point of described regulator by the feature in advance of the described adjustment deviation by means of feeding back to revise.
About (causing by different Pressure Drops) different volume flowrate of flow through inlet valve and outlet valve 20,28, the dual feedback of separating for each valve 20,28 is more suitable.Common feedback can not conform to such fact, by described outlet valve 28, by less Pressure Drop, can expect less volume flowrate.The volume flowrate of different sizes means the different impact on the amplification degree of described regulon.
The larger volume flowrate that described inlet valve can provide by it can be said so and also be had the effect of the amplification larger than described outlet valve 28.Therefore, for described outlet valve 28, should be able to realize less degree in advance, because the danger here by less volume flowrate-overdose that the amplification degree causes is less than at described inlet valve 20 places.Be suitable for the feedback of each valve 20,28 thereby can realize personalized configuration, the configuration of described personalization can be competent at different volume flowrates-amplification degree.
A kind of for improve the metering resolution feasible program higher sample rate can be provided.But, just as also produced the limit here for inversion frequency, the described limit is come given in advance by the power of described magnet valve.The sample frequency that is greater than 2kHz no longer is worth, because described valve 20,22,28 needs at least 300 μ s, until these valves open fully or cut out.Than opening or close large sampling time section of endurance, guarantee, described valve 20,22,28 open or closing process in can not interrupt.Therefore can guarantee better, needn't be often vainly to described valve 20,22,28 energisings.
Double by described sample frequency, can make to measure double resolution equally.That is to say, can carry out meticulousr metering and can avoid better overdose thus.The raising that larger sample rate may be brought reactivity thereupon simultaneously.Control for described relative on-time can be carried out with larger resolution thus, that is to say in case of necessity can than the 1kHz with common Zao start the cut-out of described valve 20,22,28.
Show a kind of circuti diagram of hydraulic pressure according to Figure 14, the circuti diagram of this hydraulic pressure shows a kind of piston engine that can be used as oil hydraulic pump and oil hydraulic motor.Also show another and regulate cylinder 40 except described adjusting cylinder 2, this adjusting cylinder 40 has piston 42.From described piston 42 piston rod 44 that extends out, this piston rod acts on the unshowned swash plate of described piston engine 38.Described piston 42 use its dorsad a side of described piston rod 44 define cylinder chamber 46, this cylinder chamber is connected with the pressure piping 14 of described piston engine 38.Arranged spring 48 in described cylinder chamber 46, this spring loads elastic force along the direction of the expansion of described cylinder chamber 46 to described piston 42.The piston 4 that the piston 42 of described adjusting cylinder 40 is in reverse to described adjusting cylinder 2 works.The movement of the direction of the expansion along described cylinder chamber 46 of described piston 42 cause thus described piston 4 the direction of dwindling along described cylinder chamber 6 movement and vice versa.Different from the circuti diagram of the hydraulic pressure of Fig. 1, the second changing valve is set between described cylinder chamber 6 and described pressure piping 14 and relief valve is not set yet according to Figure 14.
The changing valve 20,22 and 28 of Fig. 1 in other words the changing valve 20 and 28 of Figure 14 can be with PWM mode (PWM), with inlet restriction/outlet throttling (MIO) pattern or with the pattern (BAM) of trajectory, control.In Fig. 1, on two changing valves 20 and the 22 pressure medium flow paths that are arranged between described pressure piping 14 and described cylinder chamber 6, according to the described changing valve of this Fig. 1, can control with pulse code modulation pattern (PCM).Controlling such as having obtained in file DE 10 2,009 052 285 A1 of changing valve being carried out with the pattern of trajectory is open.
Especially according to the invention discloses a kind of regulon of carrying the piston engine of the hydraulic pressure that can regulate that flows regulator for thering is pressure.Described regulon has at least one adjusting cylinder of being regulated for the discharge capacity to described piston engine.By changing valve, described adjusting cylinder is controlled.
Reference numerals list:
1 piston engine
2 regulate cylinder
3 regulons
4 pistons
6 cylinder chambers
8 piston rods
10 Returnning springs
12 doughnuts
14 pressure pipings
16 storage tank pipelines
18 storage tanks
20 first changing valves
22 second changing valves
24 flow controllers
26 relief valves
28 changing valves
30 valve springs
32 final controlling element
34 displacement transducers
36 pressure transducers
37 control units
38 piston engines
40 regulate cylinder
42 pistons
44 piston rods
46 cylinder chambers
48 springs
Claims (12)
1. the pressure of being regulated for the regulon (3) of the piston engine (1) of the hydraulic pressure to regulating is carried the stream regulator, wherein is provided with the changing valve (20,22,28) for described regulon (3) is controlled.
2. carry the stream regulator by pressure claimed in claim 1, wherein with PWM mode (PWM) or with the pattern (BaM) of trajectory, use described at least one changing valve (20,22,28).
3. carry the stream regulator by the described pressure of claim 1 or 2, wherein said at least one changing valve (20,22,28) is provided for being controlled being connected between described regulon and pressure medium source (14) and at least one changing valve (20,22,28) is provided for described regulon and pressure medium are consumed and fall being connected between end (18) and controlled.
4. carry the stream regulator by pressure claimed in claim 3, wherein with inlet restriction/outlet throttling pattern (MIO), described changing valve (20,22,28) is controlled.
5. carry the stream regulator by pressure in any one of the preceding claims wherein, wherein at least two changing valves (20,22,28) are provided for being controlled being connected between described regulon and described pressure medium source (14) and/or two changing valves (20,22,28) are provided for described regulon and described pressure medium are consumed and fall being connected between end (18) and controlled.
6. regulon, for thering is the piston engine (1) of carrying the hydraulic pressure that can regulate of stream regulator by pressure in any one of the preceding claims wherein, there is the adjusting cylinder (2) that at least one is regulated for the discharge capacity to described piston engine (1), wherein said adjusting cylinder (2) has the cylinder chamber (6) limited by piston (4), described cylinder chamber is in order to make described piston (4) move and can carry by described pressure the changing valve (20 of stream regulator along the direction of the expansion of this cylinder chamber (6), 22) use from the pressure medium of the pressure piping (14) of described piston engine (1) intercepting and load and described cylinder chamber can be consumed and fall end (18) and be connected by another changing valve (28) and described pressure medium for pressure medium is discharged from described cylinder chamber (6).
7. by regulon claimed in claim 6, wherein be provided with the control unit (37) of electronics, the control unit of this electronics is controlled described changing valve (20,22,28) according to the displacement distance of the piston (4) of the pressure in especially described pressure piping (14) and/or described adjusting cylinder (2).
8. by regulon claimed in claim 7, wherein said control unit (37) is controlled described changing valve (20,22,28) with 3 regulators.
9. by the described regulon of any one in claim 6 to 8, wherein the change-over period of changing valve (20,22,28) has the predetermined ratio of on-time with respect to break time.
10. by the described regulon of any one in claim 7 to 9, wherein the sampling of described pressure and/or described displacement distance is synchronously carried out with specific sample frequency and controlling roughly of described changing valve (20,22,28) being carried out with specific inversion frequency.
11., by the described regulon of claim 9 or 10, the change-over period of wherein said changing valve (20,22,28) is independent of one another.
12., for the method to being adjusted by the described regulon of claim 6 to 11 any one, the method has following steps:
-displacement distance and/or the pressure of the piston (4) of described adjusting cylinder (2) are sampled;
-control described changing valve (20,22,28) according to described displacement distance and/or described pressure.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102012009729.8 | 2012-05-15 | ||
| DE102012009729A DE102012009729A1 (en) | 2012-05-15 | 2012-05-15 | Pressure-flow regulator, adjustment unit for an adjustable hydraulic displacement machine with a pressure-flow regulator and method for controlling such an adjustment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103423219A true CN103423219A (en) | 2013-12-04 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013101766009A Pending CN103423219A (en) | 2012-05-15 | 2013-05-14 | Pressure flow regulator, adjustment unit for plunger machine, and adjusting method of adjustment unit |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP2664804A2 (en) |
| CN (1) | CN103423219A (en) |
| DE (1) | DE102012009729A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111828622A (en) * | 2019-04-16 | 2020-10-27 | 罗伯特·博世有限公司 | Axial piston pump for a hydrostatic travel drive, hydrostatic travel drive having an axial piston pump, and control method |
| CN115899020A (en) * | 2022-12-19 | 2023-04-04 | 东北林业大学 | Programmable test bed for testing dynamic characteristics of proportional valve control cylinder |
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| DE102014217181A1 (en) * | 2014-08-28 | 2016-03-03 | Robert Bosch Gmbh | Pressure control circuit |
| CN104533865B (en) * | 2015-01-08 | 2017-04-05 | 中国人民解放军国防科学技术大学 | A kind of hydraulic energy-saving controller |
| DE102017200537A1 (en) | 2017-01-13 | 2018-07-19 | Robert Bosch Gmbh | Method and control device for operating a reciprocating pump |
| CN109654079B (en) * | 2017-10-12 | 2024-02-20 | 华东交通大学 | Full-switch valve combined outlet throttle load port independent control valve |
| DE102018212042A1 (en) * | 2018-07-19 | 2020-01-23 | Robert Bosch Gmbh | Hydraulic machine with regulated displacement |
| DE102018132914A1 (en) * | 2018-12-19 | 2020-06-25 | Tkr Spezialwerkzeuge Gmbh | Hydraulic tool and method for the automatic control of pneumatically driven hydraulic tools |
| DE102020110002A1 (en) * | 2020-04-09 | 2021-10-14 | Rheinisch-Westfälische Technische Hochschule (Rwth) Aachen | Arrangement of a work system for performing work by means of a pressurized hydraulic fluid and a pumping device |
| DE102021108081B4 (en) * | 2021-03-30 | 2023-02-02 | Andreas Lupold Hydrotechnik Gmbh | Device for controlling a hydraulic pump or a hydraulic motor |
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| CN115899020A (en) * | 2022-12-19 | 2023-04-04 | 东北林业大学 | Programmable test bed for testing dynamic characteristics of proportional valve control cylinder |
Also Published As
| Publication number | Publication date |
|---|---|
| EP2664804A2 (en) | 2013-11-20 |
| DE102012009729A1 (en) | 2013-11-21 |
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