EP0091018B1 - Positionsregelung für einen doppelt wirkenden hydraulischen Motor - Google Patents

Positionsregelung für einen doppelt wirkenden hydraulischen Motor Download PDF

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Publication number
EP0091018B1
EP0091018B1 EP83102914A EP83102914A EP0091018B1 EP 0091018 B1 EP0091018 B1 EP 0091018B1 EP 83102914 A EP83102914 A EP 83102914A EP 83102914 A EP83102914 A EP 83102914A EP 0091018 B1 EP0091018 B1 EP 0091018B1
Authority
EP
European Patent Office
Prior art keywords
signal
error signal
valves
inverted
driver circuits
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP83102914A
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German (de)
English (en)
French (fr)
Other versions
EP0091018A1 (de
Inventor
Kenneth Dee Kramer
Edward Horton Fletcher
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Deere and Co
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Deere and Co
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Filing date
Publication date
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Priority to AT83102914T priority Critical patent/ATE20690T1/de
Publication of EP0091018A1 publication Critical patent/EP0091018A1/de
Application granted granted Critical
Publication of EP0091018B1 publication Critical patent/EP0091018B1/de
Expired legal-status Critical Current

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Classifications

    • 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
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
    • F15B13/043—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves
    • 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
    • F15B11/006—Hydraulic "Wheatstone bridge" circuits, i.e. with four nodes, P-A-T-B, and on-off or proportional valves in each link
    • 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
    • F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
    • F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
    • F15B9/03—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type with electrical control means
    • 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
    • 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
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30505—Non-return valves, i.e. check valves
    • 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
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/30575—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve in a Wheatstone Bridge arrangement (also half bridges)
    • 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
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F15B2211/328—Directional control characterised by the type of actuation electrically or electronically with signal modulation, e.g. pulse width modulation [PWM]
    • 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
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • 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
    • F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
    • 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
    • F15B2211/6653—Pressure control
    • 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
    • F15B2211/6654—Flow rate control
    • 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
    • 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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • 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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/77—Control of direction of movement of the output member
    • F15B2211/7733—Control of direction of movement of the output member providing vibrating movement, e.g. dither control for emptying a bucket
    • 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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/77—Control of direction of movement of the output member
    • F15B2211/7741—Control of direction of movement of the output member with floating mode, e.g. using a direct connection between both lines of a double-acting cylinder

Definitions

  • the invention relates to a position control for a double-acting hydraulic motor with the features of the preamble of claim 1.
  • Such a position control is known from Figure 1 on page 5, volume 2 of the contributions to the hydraulic field of the 3rd Aachen Fluid Technology Colloquium (March 14-16, 1978).
  • the control device provided for this purpose provides a feedback of hydraulic and mechanical variables as well as the recording of external control signals in order to generate the usual error signals, via which the pilot valves are controlled.
  • the values fed back into the control device can also include the speed of the movable working member of the hydraulic motor, as well as a signal representing the position of this working member.
  • a position control for hydraulic motors in which a hydraulic bridge circuit is provided, which has a pressure-side and an outlet-side connection and whose diagonal points are connected to a pressure chamber of the piston of the hydraulic motor.
  • the bridge valves in the four branches of the bridge circuit can be controlled hydraulically with the help of two solenoid valves. These are each assigned to a common control pressure line for opposing bridge valves (cf. DD-A-131 870).
  • This known arrangement also has a position actual value sensor and a position target value sensor for the working element of the hydraulic motor.
  • Driver circuits which are controlled via a comparator circuit, are assigned to the electromagnetic valves.
  • each 2-way poppet valve is assigned its own driver circuit, the driver circuits of the two pairs of poppet valves can be controlled particularly reliably and precisely using the different signals specified, so that despite the high flow speed for the hydraulic fluid, no undesirable high pressures and thus instabilities can arise .
  • the target positions can thus be controlled with high accuracy and extremely quickly and flexibly, even with slow mechanical systems.
  • the double-acting cylinder 10 according to FIG. 1 is assigned the valve device 12, via which the cylinder is connected to a pressure medium source (pump 14) and a sump 16.
  • the hydraulic working cylinder is assigned a sensor 18 which reports its position and which can be designed as described in US Pat. No. 3,726,191.
  • the valve device 12 for the two actuators Delivery directions of the hydraulic cylinder 10 comprises a plurality of 2-way seat valves 20a-20d biased by spring 110 and controllable pressure in the closed position. Of these, a seat valve is assigned to the feed line coming from the pressure source 14 and another to the drain line leading to the sump 16 for each actuation direction.
  • the two working chambers of the hydraulic cylinder 10 are designated 11 and 13, respectively.
  • the seat valve 20a lies between the pressure medium source 14 and the working chamber 11, the seat valve 20b between the sump 16 and the working chamber 11, the seat valve 20c between the working chamber 13 and the sump 16 and the seat valve 20d between the pressure medium source 14 and the chamber 13
  • first check valve 22 prevents flow between the working chamber 11 towards the seat valve 20a.
  • a second check valve 24 prevents flow from the working chamber 13 to the seat valve 20d.
  • Pilot valves 100, 102 are assigned to each of the seat valves, each of which has an electromagnetic actuation coil 21a to 21d.
  • the two 2-way seat valve pairs 20a, 20b and 20c, 20d are each directly connected to one of the working chambers 11, 13 of the hydraulic cylinder 10. The arrangement is such that each poppet valve works proportionally.
  • Closing springs 102 are assigned to the pilot valves, which act in the direction of blocking the opening 104. If the opening 104 is exposed, a pressure difference occurs over the channel 106 of the valve body 108. This thus moves against the bias of the spring 110 from its valve seat 112 in proportion to the energy applied to the electromagnetic winding.
  • a control device 30 for controlling the variable preload pressure for the 2-way seat valve pairs is provided. This is associated with the actual position sensor 18 and a setpoint position transmitter 28, a comparator circuit and driver circuits 80a-80d for the electromagnetic coils 21a-21d of the pilot valves 100, 102.
  • the actual position value signal is designated by X in FIG. 2, the desired position value signal by C.
  • the actual value signal of the position of the working member of the hydraulic cylinder is fed to the control device 30 via a isolating amplifier 32 with a unit gain factor.
  • the actual value signal reaches a differentiator 34 and is amplified by the inverter 36 with an amplification factor of approximately -0.6.
  • the signal from the isolating amplifier 32 and the signal from the setpoint position transmitter 28 reach the arithmetic element 38.
  • the error signal E at the output of this element is amplified by the amplifier 40 with an amplification factor of approximately 2.0 and by the inverter 42 (a Reverse amplifier with unit gain factor) reversed.
  • the resulting signal - E arrives at the + input of the arithmetic element 44.
  • At its - input there is a signal from the inverter 36 which represents the speed of the working element of the hydraulic cylinder.
  • the arithmetic element 44 thus supplies an inverted and speed-compensated error signal -E '.
  • This signal is also present at the input of the inverter 46 (reversing amplifier with unit amplification factor), which delivers a non-reversed but speed-compensated error signal + E 'at its output.
  • the two speed-compensated error signals - E 'and E' are fed to the - inputs of the arithmetic elements 48 and 52 or 50 and 54, the outputs of which are each connected to a driver circuit 80a, 80b, 80c, and 80d.
  • Each of these driver circuits is assigned to the electromagnetic coil 21a-21d of one of the pilot valves of the four 2-way seat valve pairs.
  • Each driver circuit 80a can in the feed circuit of the electromagnetic coil a current change of z. B. generate 300 mA. This actuation current is designated Ic. This current change occurs with a voltage change of z. B. 2.5 volts at the output of arithmetic element 44.
  • the circuit of FIG. 2 shows a bistable device controlled by the operator in the form of a switch 56, which is also connected to the negative input of the arithmetic elements 48 to 54.
  • a low output level of the signal of the switch 56 leads to the switching off of all electromagnetic coils, with the result that all seat valves 20a-20d close.
  • the circuit includes another. bistable device controlled by the operator in the form of a switch 58 which is connected to + inputs of the arithmetic elements 48 and 54 or to - inputs of the arithmetic elements 50 and 52.
  • a switch 58 By actuating the switch 58, the seat valves 20a and 20d can be brought to close and the seat valves 20b and 20c can be kept in the open state. As a result, the piston of the hydraulic cylinder 10 comes into a freely floating state.
  • the output of amplifier 40 is connected via resistor R1 to the + input of a comparator 60 and the output of inverter 42 is connected via resistor R2 to the + input of a comparator 62.
  • the inputs of the two comparators are acted upon by the variable signal Vdb from an adjustable device 64 in the form of a setting potentiometer.
  • the output of the comparator 62 is connected to the + input of the comparator 60.
  • a signal of high value is available at the output of the comparator 60, with the exception of the moment when this occurs Error signal E or the reverse error signal - E are within the response value range, the response width is determined by the reference signal Vdb.
  • the output of the comparator 60 is connected via resistor R3 to a voltage source of 8 volts and to the input of an integration device 66, which has a reverse gain factor of -0.3.
  • the integrator 66 changes the output signal between voltage limits in response to abrupt changes in the output of the comparator 60.
  • the integrator 66 performs a reverse operation and provides an inverted reference signal Vdb ', which is normally low unless the error signals E and - E within of the mentioned response value range.
  • the inverted reference signal Vdb ' is present at the + inputs of the arithmetic elements 50, 52 of the driver circuits 80b and 80c, whereby the seat valves 20b and 20c close when the error signals E or - E are in the response value range.
  • a sensor 68 which detects the output pressure of the pressure medium source 14 is provided, the output signal of which is proportional to the output pressure of the pressure medium source.
  • This signal is combined with the inverted reference signal Vdb 'in the arithmetic element 70.
  • the combined signal is present at the + inputs of the arithmetic elements 48, 54 of the driver circuits 80a and 80d. If the output pressure of the pressure medium source 14 decreases, the output signal of the sensor 68 increases, with the result of a proportional reduction in the supply to the electromagnetic coils 21a and 21d. As a result, the seat valves 20a and 20d move in the direction of the closed position. This process increases the pressure drop across these poppet valves, which compensates for the increase in pressure from the pressure source 14 accordingly. When this pressure is reduced, the compensation takes place in the opposite direction.
  • the output signals of the arithmetic elements 48 to 54 serve as input signals for the four driver circuits 80a-80d of the circuit according to FIG. 2.
  • the signals reach the input of an input amplifier 82a-82d, each of which has an amplification factor of approximately 0.8.
  • the amplified input signals each arrive at the negative input of an arithmetic element 84a-84d.
  • an oscillator 72 which generates an oscillation signal of a predetermined frequency.
  • the output of this oscillator is connected on the one hand directly to negative inputs of the arithmetic elements 84b and 84d of the driver circuits 80b and 80d and on the other hand via an inverter 74 to a negative input of the arithmetic elements 84a and 84c of the driver circuits 80a and 80c.
  • the frequency of the vibration signal is 200 Hz and the signal has a triangular waveform.
  • the output signal V3 of the arithmetic elements 84a to 84d is sent to an amplifier 86a to 86d with an amplification factor of approximately 20. Its output signal V4 is sent to a modulator 88a to 88d in which the pulse width of the signal V4 is modulated.
  • An oscillator 76 is connected directly to the modulation devices 88a, 88b of the driver circuits 80a and 80b and via an amplifier 78 to the modulation devices 88c and 88d of the driver circuits 80c and 80d.
  • the oscillator 76 generates a signal with a frequency of 300 Hz and a triangular waveform.
  • the output signal Vc of the modulation devices 88 is a square-wave voltage signal of 3,000 Hz.
  • the result is a duty cycle which is calculated as follows: 100 x ((V4-1.26) / (3.93-1.26)), where 3.93 and 1.26 are the upper and lower peaks of the oscillator 72 signal, respectively.
  • the output signal Vc is supplied to one end of the electromagnetic coils 21a-21d. The other end is grounded through a resistor R4a to R4d and is also connected to the input of a feedback amplifier 90a to 90d. Its output is connected to the input of an integration device 92a to 92d, which applies an output signal V2 to the + input of the associated arithmetic elements 84a to 84d.
  • the amplifier 90a has a gain factor of approximately 2.84.
  • the input signal of the integration device 92 has a value of approximately 3.43 volts.
  • each driver circuit 80a to 80d supplies an actuation current Ic for the electromagnetic coil 21a to 21d which is proportional to the combined signal from the arithmetic element 84 to 84d.
  • the feedback through the amplifier 90 and the integration device 92 reduces the influence of disturbance variables and provides an improved frequency response sensitivity of the control device 30.
  • the direct supply of the oscillation signal of the oscillator 72 on the one hand and the supply via the inverter 74 on the other hand ensures that the outputs of the two driver circuit pairs 80a, 80c on the one hand and 80b, 80d on the other hand are phase-shifted by 180 °. This prevents simultaneous opening of the seat valves 20a and 20b or the seat valves 20d and 20c and prevents a short-circuit flow.
  • the oscillation signal of the oscillator 76 is reversed by the inverter 78. This means that the seat valves 20a, 20b located in front of the inverter 78 and the seat valves 20c, 20d located behind the inverter are alternatively actuated in a pulsed manner. This reduces the peak demand in terms of power supply.
  • the position control works so that a differential pressure drop across the seat valves 20a to 20d occurs, which is inversely proportional to the size of the feed current Ic.
  • the hydraulic pressure medium flow between the working chambers 11 and 13 and the pressure medium source 14 and the sump 16 is controlled accordingly.
  • a positive and not reversed error signal E occurs.
  • the reverse error signal - E is then negative and there is no feed current to the electromagnetic coils 21a and 21c, so that the associated seat valves 20a and 20c remain closed.
  • actuation currents Ic are generated in the driver circuits 80b and 80d by this signal, so that the seat valves 20b and 20d open.
  • the working piston of the hydraulic cylinder 10 is extended to a position that corresponds to the desired position signal C.
  • the setpoint position transmitter 28 is actuated so that the working piston is to be retracted, the reverse error signal becomes positive and the non-inverted error signal becomes negative.
  • the seat valves take on opposite states. The information about the speed of the working piston supplied by the differentiator 34 increases the overall stability of the position control.
EP83102914A 1982-04-01 1983-03-24 Positionsregelung für einen doppelt wirkenden hydraulischen Motor Expired EP0091018B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT83102914T ATE20690T1 (de) 1982-04-01 1983-03-24 Positionsregelung fuer einen doppelt wirkenden hydraulischen motor.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US06/364,373 US4437385A (en) 1982-04-01 1982-04-01 Electrohydraulic valve system
US364373 1989-06-12

Publications (2)

Publication Number Publication Date
EP0091018A1 EP0091018A1 (de) 1983-10-12
EP0091018B1 true EP0091018B1 (de) 1986-07-09

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP83102914A Expired EP0091018B1 (de) 1982-04-01 1983-03-24 Positionsregelung für einen doppelt wirkenden hydraulischen Motor

Country Status (12)

Country Link
US (1) US4437385A (es)
EP (1) EP0091018B1 (es)
JP (1) JPH0610481B2 (es)
AT (1) ATE20690T1 (es)
AU (1) AU550989B2 (es)
BR (1) BR8301657A (es)
CA (1) CA1202100A (es)
DE (1) DE3364410D1 (es)
DK (1) DK137783A (es)
ES (1) ES8404021A1 (es)
MX (1) MX155212A (es)
ZA (1) ZA832274B (es)

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FR2525292B1 (fr) * 1982-04-19 1986-12-19 Chatelin Jacques Servo-moteur hydraulique
US4506700A (en) * 1983-10-07 1985-03-26 Deere & Company Poppet valve with float function
GB8426486D0 (en) * 1984-10-19 1984-11-28 Lucas Ind Plc Electro-hydraulic actuator systems
JPS62297502A (ja) * 1986-06-18 1987-12-24 Kuroda Precision Ind Ltd 空気圧シリンダの駆動制御装置
US4741247A (en) * 1986-09-17 1988-05-03 Rexa Corporation Pneumatic actuator apparatus
AU603907B2 (en) * 1987-06-30 1990-11-29 Hitachi Construction Machinery Co. Ltd. Hydraulic drive system
DE3901475C2 (de) * 1989-01-19 1994-07-14 Danfoss As Fluidgesteuerte Servoanordnung
US5079989A (en) * 1989-06-12 1992-01-14 Vickers, Incorporated Electrohydraulic valve system with a pressure feedback signal modulated by a velocity feedback signal when the velocity exceeds a veloity limit
US4989495A (en) * 1989-08-21 1991-02-05 Hydra-Power Systems, Inc. Hydraulic positioning system with normal and high supply and exhaust flow paths
SE466712B (sv) * 1990-07-24 1992-03-23 Bo Andersson Anordning vid hydraulmotor foer styrning av densamma
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EP0091018A1 (de) 1983-10-12
US4437385A (en) 1984-03-20
JPH0610481B2 (ja) 1994-02-09
CA1202100A (en) 1986-03-18
ZA832274B (en) 1984-11-28
JPS58180803A (ja) 1983-10-22
ES520993A0 (es) 1984-04-01
AU1292383A (en) 1983-10-06
AU550989B2 (en) 1986-04-10
DE3364410D1 (en) 1986-08-14
BR8301657A (pt) 1983-12-13
DK137783A (da) 1983-10-02
DK137783D0 (da) 1983-03-25
ES8404021A1 (es) 1984-04-01
ATE20690T1 (de) 1986-07-15
MX155212A (es) 1988-01-29

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