EP0632167A2 - Dispositif et procédé par la commande d'engins de chantier hydrauliques - Google Patents

Dispositif et procédé par la commande d'engins de chantier hydrauliques Download PDF

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Publication number
EP0632167A2
EP0632167A2 EP94107376A EP94107376A EP0632167A2 EP 0632167 A2 EP0632167 A2 EP 0632167A2 EP 94107376 A EP94107376 A EP 94107376A EP 94107376 A EP94107376 A EP 94107376A EP 0632167 A2 EP0632167 A2 EP 0632167A2
Authority
EP
European Patent Office
Prior art keywords
oil amount
hand side
side pump
discharge oil
required discharge
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.)
Withdrawn
Application number
EP94107376A
Other languages
German (de)
English (en)
Other versions
EP0632167A3 (fr
Inventor
Song Myung-Hoon
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Volvo Construction Equipment Korea Co Ltd
Original Assignee
Samsung Heavy Industries Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Samsung Heavy Industries Co Ltd filed Critical Samsung Heavy Industries Co Ltd
Publication of EP0632167A2 publication Critical patent/EP0632167A2/fr
Publication of EP0632167A3 publication Critical patent/EP0632167A3/fr
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • 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
    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps

Definitions

  • the present invention relates to an apparatus and a method for controlling hydraulic construction equipment, and more particularly to an apparatus and a method for controlling a moving speed of each bucket and a moving speed ratio between each bucket to be proportional to a degree of operation of each operation indicator and an operation ratio between each operation indicator regardless of changes in various working conditions or load pressures.
  • the hydraulic construction equipment such as excavators, loaders and dozers have the buckets moved by using a plurality of variable displacement pumps and a plurality of hydraulic cylinders, and these buckets are operated by various operation indicators such as joystick, pedal, lever, etc.
  • an apparatus for controlling a hydraulic construction equipment comprising: means for receiving an operation command from an input portion and converting said operation command into an operation signal; means for calculating a required discharge oil amount of a pump which is proportional to said operation signal and a required moving speed of an actuator which is proportional to the degree of operation and the operation ratio of said operation signal; means for adjusting said required discharge oil amount and said required moving speed based on a maximum dischargeable oil amount of said pump; means for subsracting a real discharge oil amount and a real moving speed from said adjusted discharge oil amount and said adjusted moving speed; means for controlling the discharge oil amound of said pump according to the control signal from said substracting means; and means for controlling the moving speed of said actuator according to the control signal from said substracting means.
  • a method for controlling a hydraulic construction equipment comprising the steps of: (1) calculating a necessary discharge oil amout required for the moving of actuators according to a reference input signal for controlling an oil amount of pumps with a left-hand and a right-hand sides, another reference input signal for controlling a moving speed of said actuators, and maximum dischargeable oil amount signal of said pumps; (2) determining a required discharge oil amount for the left-hand side pump according to a comparison between a sum of a necessary oil amounts required for the moving of the actuators corresponding to the left-hand side pump and a maximum dischargeable oil amount of the left-hand side pump; (3) determining a required discharg oil amount for the right-hand side pump according to a comparison between a sum of a necessary oil amounts required for the moving of the actuators corresponding to the right-hand side pump and a maximum dischargeable oil amount of the right-hand side pump; and (4) generating a reference input signal for controlling the oil amount of said pumps and another reference input signal for controlling
  • Fig. 1 is a schematic hydraulic circuit diagram illustrating an overall hydraulic system of an excavator which represents one of the typical hydraulic construction equipment.
  • the hydraulic system of the present invention has an engine 25 as a power source, a first and a second variable displacement pumps 35a, 35b operated by the engine 25, a first and a second pump regulation valves 45a, 45b for controlling the discharge oil of the first and second pumps 35a, 35b respectively, a first and a second pressure detectors for detecting the discharge pressures from the first and the second pumps 35a, 35b, a first and a second oil amount detectors 65a, 65b for detecting the discharge oil amounts from the first and the second pumps 35a, 35b, and operation indicator 75 of the buckets using a switch or a touch sensor, a controller 85 containing a microcomputer for controlling the overall operation by receiving the input signal from the operation indicator, a first and a second solenoid controlled proportion valves 95a, 95b for controlling the oil amount by receiving the electrical signals from the controller 85, a dipper stick cylinder 105a for actuating the dipper stick of the excavator, a boom cylinder for actuating
  • the signal values are calculated by the controller 85.
  • the first and the second pump regulation valves 45a, 45b control the first and the second variable displacement pumps 35a, 35b to supply the sum of the oil amounts proportional to the degree of operation given by the operation indicator 75
  • the first and the second solenoid controlled proportion valves 95a, 95b control the oil amounts supplied to the dipper stick cylinder 105a and the boom cylinder 105b to be proportional to the degree of operation and the operation ratio given by the operation indicator 75.
  • Fig. 2 represents the block diagram of the controller of the present invention.
  • the required discharge amount of oil proportional to the degree of operation i.e., the reference input signal Qref for controlling the oil amount of the pump
  • the required moving speed of the bucket proportional to the degree of operation and the operation ratio of the operation signals i.e., the reference input signal Vref for controlling the moving speed of the bucket
  • the maximum dischargeable oil amount signals Qmax detected by the first and the second pressure detectors 55a, 55b are calculated.
  • a speed and oil amount control unit 40 adjusts the reference input signals Qref and Vref to +Qref2 and +Vref2 respectively, and sends these adjusted input signals to an oil amount controller 50 and a speed controller 70.
  • the oil amount controller 50 performs the calculation for controlling the discharge amount of the pump based on the reference input signal +Qref2 and the real discharge oil amount signal Qreal with an error(Eq) detected from the oil amount detectors 65a, 65b shown in Fig. 1, and sends out an oil amount control signal Vpump to the first and the second pump regulation valves 45a, 45b of the pump 60.
  • the speed controller 70 performs the calculation for controlling the moving speed of the bucket based on the reference input signal +Vref2 and the real moving speed Vreal with an error Ev detected from the boom speed detector 115a and the dipper stick speed detector 115b shown in Fig. 1, and sends out a speed control signal Vmcv to the first and the second solenoid controlled proportion valves 95a, 95b of the bucket 80.
  • control unit 40 The operation of the control unit 40 will be described in more detail with reference to the flow diagram shown in Fig. 3.
  • the operation calculator 30, according to the operation signal given by the operation indicator 20, produces the reference input signal Qref for controlling the oil amount proportional to the degree of operation, the reference input signal Vref for controlling the moving speed proportional to the degree of operation and the operation ratio, and the maximum dischargeable oil amount signal Qmax (step 1).
  • the necessary oil amount required for the actuation of each bucket is calculated by the reference input signal Vref for controlling the moving speed through well-known calculation process(step 2).
  • step 3 After the required oil amounts are calculated from step 1 and step 2, it is determined whether or not the adding-up condition of pump can be satisfied(step 3).
  • the adding-up condition of the pumps means that when more than one buckets are actuated in combination, the oil amounts discharged from more than one pumps are added up and supplied to any one of the buckets.
  • step 3 the sum of the oil amounts Qsum, total that should be discharged from both pumps for the actuation of the bucket is calculated(step 4). The case of not satisfying the adding-up condition will be described later on.
  • the required discharge amount of the left-hand side pump Quc,left and the required discharge amount of the right hand side pump Quc,right are determined with each amount equal to the 50% of the sum of oil amounts Qsum,total calculated in step 4(step 5).
  • the required discharge amount of the left-hand side pump Quc,left is compared with the maximum dischargeable amount of the left-hand side pump Qmax,left(step 6). As a result of the comparison in step 6, if Quc,left is larger than Qmax,left, Qud,left is set to be equal to Qmax,left and the difference amount Quc,left - Qmax,left is added to the required discharge amount of the right-hand side pump(step 7).
  • the difference amount can be added to the required discharge amount of the right-hand side pump since the adding-up condition in step 3 has been satisfied.
  • the required discharge amount of the left-hand side pump is less than the maximum discharge amount of the right-hand side pump in step 6, the required discharge amount of the right-hand side pump Quc,right determined in step 5 is compared with the maximum discharge amount of the right-hand side pump Qmax,right(step 8).
  • Quc,right is less than Qmax,right, the 10th step is continued. If the Quc,right is larger than Qmax,right, Quc,right is set to be equal to Qmax,right and the difference amount Quc,right - Qmax,right is added to the required discharge amount of left-hand side pump(step 9). Since the adding-up condition of step 3 has been satisfied, the difference amount can be added to the discharge amount of left-hand side pump.
  • step 10 After the required discharge amount of left-hand side and right-hand side pumps from steps 6 and 8, the sum of the required discharge amounts calculated in step 4 that should be discharged from both pumps for the actuation of buckets is compared with the sum of the maximum dischargeable amount of both pumps(i.e., the maximum dischargeable amounts of left-hand side pump + the maximum dischargeable amount of right-hand side pump)(step 10).
  • the sum of the required discharge amount that should be discharged from both pumps for the actuation of buckets are larger than the sum of the maximum dischargeable amounts of both pumps, the sum of the required discharge amount is set to be equal to the sum of the maximum dischargeable amounts.
  • The, sum of the maximum dischargeable amount is distributed in the same proportions as those of the necessary discharge amounts required for the actuation of buckets in their respective moving directions which have been calculated in step 2, and based on the distributed amounts, the required moving speed of each bucket is calculated(step 11).
  • the reference signals for controlling the oil amount and the moving speed are produced respectively(step 18).
  • the required discharge amount of left-hand side pump is calculated is the sum of the discharge amounts that should be discharged from the left-hand side pump for the actuation of buckets(step 12).
  • the sum of the discharge amounts that should be discharged from the left-hand side pump is compared with the maximum dischargeable amounts from the left-hand side pump(step 13).
  • step 13 if the sum of the discharge amounts that should be discharged from the left-hand side pump is less than the maximum dischargeable amount from the left-hand side pump, the maximum dischargeable amount can be used and step 15 is continued since the determination of the required dischargeable amount of the left-hand side pump is not necessary.
  • the sum of the required discharge amounts that should be discharged from the left-hand side pump is larger than the maximum dischargeable amount from the left-hand side pump, the sum of the required discharge amounts is set to be equal to the maximum dischargeable amount from the left-hand side pump. Then, the maximum dischargeable amount is distributed in the same proportions as those of the discharge amount from the left-hand side pump required for the actuation of each bucket in the respective moving directions, and based on the distributed discharge amounts, the required moving speed of each bucket using the left-hand side pump is calculated(step 14).
  • the required discharge amounts from the right-hand side pump are calculated as the sum of the required discharge amounts that should be discharged from the right-hand side pump(step 15).
  • the calculated sum of the required discharge amounts that should be discharged from the right-hand side pump is compared with the maximum dischargeable amounts from the right-hand side pump(step 16).
  • the sum of the required discharge amounts from the right-hand side pump is larger than the maximum dischargeable amount from the pump, the sum of the required discharge amount is set to be equal to the maximum dischargeable amount from the right-hand side pump. Then, the maximum dischargeable amount is distributed in the same proportions as those of the discharge amounts from the right-hand side pump required for the actuation of each bucket in the respective moving directions, and based on the distributed discharge amounts, the required moving speed of each bucket using the right-hand side pump is calculated(step 17).
  • the reference input signal for controlling the oil amounts Qref and the reference input signal for controlling the moving speed Vref are calculated by the steps described in the above, and are sent to the oil amount controller 50 and the speed controller 70, respectively.
  • the present invention which can be applied in the hydraulic construction equipment has advantages of the work automation and efficiency by controlling optimally the moving speed of each bucket and the speed ratio between each bucket to be accurately proportional to the degree of operation of each operation indicator and the operation ratio between each operation indicator regardless of changes in working conditions and load pressures

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)
EP94107376A 1993-07-02 1994-05-11 Dispositif et procédé par la commande d'engins de chantier hydrauliques. Withdrawn EP0632167A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1019930012456A KR0171389B1 (ko) 1993-07-02 1993-07-02 유압식 건설기계의 제어장치 및 방법
KR9312456 1993-07-02

Publications (2)

Publication Number Publication Date
EP0632167A2 true EP0632167A2 (fr) 1995-01-04
EP0632167A3 EP0632167A3 (fr) 1996-12-11

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EP94107376A Withdrawn EP0632167A3 (fr) 1993-07-02 1994-05-11 Dispositif et procédé par la commande d'engins de chantier hydrauliques.

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EP (1) EP0632167A3 (fr)
JP (1) JPH0726591A (fr)
KR (1) KR0171389B1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999027197A2 (fr) * 1997-11-26 1999-06-03 Case Corporation Commande electronique pour outil de travail a deux axes
US6115660A (en) * 1997-11-26 2000-09-05 Case Corporation Electronic coordinated control for a two-axis work implement
CN102817394A (zh) * 2012-09-07 2012-12-12 三一重机有限公司 一种挖掘机液压泵控制系统及方法及挖掘机
US20200200157A1 (en) * 2018-12-20 2020-06-25 Siemens Gamesa Renewable Energy A/S Hydraulic pump arrangement

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101922729B1 (ko) * 2012-01-30 2019-02-20 두산인프라코어 주식회사 건설기계의 전자 유압 제어장치
US11591768B2 (en) 2017-08-31 2023-02-28 Komatsu Ltd. Control system of work machine and method for controlling work machine
CN113404116A (zh) * 2021-06-11 2021-09-17 山东常林机械集团股份有限公司 一种蓄能挖掘机平地模式的控制方法及系统

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1988003285A1 (fr) * 1986-10-22 1988-05-05 Caterpillar Inc. Appareil de commande de valve proportionnelle pour systemes de fluide
FR2669661A1 (fr) * 1990-11-24 1992-05-29 Samsung Heavy Ind Dispositif et procede de commande automatique du debit du fluide hydraulique d'un engin excavateur.
WO1993000487A1 (fr) * 1991-06-25 1993-01-07 The University Of British Columbia Systeme de commande hydraulique proportionnelle
EP0545271A1 (fr) * 1991-11-30 1993-06-09 Samsung Heavy Industries Co., Ltd Appareil pour la commande du débit d'une pompe hydraulique

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1988003285A1 (fr) * 1986-10-22 1988-05-05 Caterpillar Inc. Appareil de commande de valve proportionnelle pour systemes de fluide
FR2669661A1 (fr) * 1990-11-24 1992-05-29 Samsung Heavy Ind Dispositif et procede de commande automatique du debit du fluide hydraulique d'un engin excavateur.
WO1993000487A1 (fr) * 1991-06-25 1993-01-07 The University Of British Columbia Systeme de commande hydraulique proportionnelle
EP0545271A1 (fr) * 1991-11-30 1993-06-09 Samsung Heavy Industries Co., Ltd Appareil pour la commande du débit d'une pompe hydraulique

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999027197A2 (fr) * 1997-11-26 1999-06-03 Case Corporation Commande electronique pour outil de travail a deux axes
US6115660A (en) * 1997-11-26 2000-09-05 Case Corporation Electronic coordinated control for a two-axis work implement
US6233511B1 (en) 1997-11-26 2001-05-15 Case Corporation Electronic control for a two-axis work implement
WO1999027197A3 (fr) * 1997-11-26 2003-05-08 Case Corp Commande electronique pour outil de travail a deux axes
CN102817394A (zh) * 2012-09-07 2012-12-12 三一重机有限公司 一种挖掘机液压泵控制系统及方法及挖掘机
CN102817394B (zh) * 2012-09-07 2014-10-01 三一重机有限公司 一种挖掘机液压泵控制系统及方法及挖掘机
US20200200157A1 (en) * 2018-12-20 2020-06-25 Siemens Gamesa Renewable Energy A/S Hydraulic pump arrangement

Also Published As

Publication number Publication date
KR950003644A (ko) 1995-02-17
EP0632167A3 (fr) 1996-12-11
JPH0726591A (ja) 1995-01-27
KR0171389B1 (ko) 1999-03-30

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