EP0809737B2 - Elektrohydraulische proportionale steuerventilvorrichtung - Google Patents

Elektrohydraulische proportionale steuerventilvorrichtung Download PDF

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Publication number
EP0809737B2
EP0809737B2 EP96903123A EP96903123A EP0809737B2 EP 0809737 B2 EP0809737 B2 EP 0809737B2 EP 96903123 A EP96903123 A EP 96903123A EP 96903123 A EP96903123 A EP 96903123A EP 0809737 B2 EP0809737 B2 EP 0809737B2
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EP
European Patent Office
Prior art keywords
port
pressure
valve
fluid
actuating
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EP96903123A
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English (en)
French (fr)
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EP0809737B1 (de
EP0809737A1 (de
Inventor
Stephen Brian Turner
David Franz Lakin
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Ultronics Ltd
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Ultronics Ltd
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    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/167—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load using pilot pressure to sense the demand
    • 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
    • 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
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/163—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for sharing the pump output equally amongst users or groups of users, e.g. using anti-saturation, pressure compensation
    • 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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • 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
    • F15B2211/3057—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 having two valves, one for each port of a double-acting output member
    • 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
    • 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
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50536—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using unloading valves controlling the supply pressure by diverting fluid to the return line
    • 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
    • F15B2211/50—Pressure control
    • F15B2211/515—Pressure control characterised by the connections of the pressure control means in the circuit
    • F15B2211/5157—Pressure control characterised by the connections of the pressure control means in the circuit being connected to a pressure source and a return line
    • 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
    • F15B2211/50—Pressure control
    • F15B2211/575—Pilot 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
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/634—Electronic controllers using input signals representing a state of a valve
    • 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
    • F15B2211/6654—Flow rate control

Definitions

  • This invention relates to electrohydraulic proportional control valve assemblies for controlling fluid actuated devices.
  • Such a control valve assembly typically incorporates a main spool valve having a first actuating port for bidirectional fluid flow between the spool valve and a first port of the fluid actuated device, a second actuating port for bidirectional fluid flow between the spool valve and a second port of the fluid actuated device, a pump port for input fluid flow to the spool valve from a hydraulic pump, a tank port for output fluid flow from the spool valve to a hydraulic tank, and a spool for controlling the direction and rate of fluid flow between the first actuating port and the pump or tank port and the direction and rate of fluid flow between the second actuating port and the pump or tank port.
  • This control valve assembly may also incorporate a pressure compensator in the form of an auxiliary spool valve which is controlled so as to maintain a constant pressure drop across the spool of the main spool valve.
  • a control valve assembly enables the fluid actuated device to be controlled independently of the load, so that, in the case of a control ram for a lifting arm of an earth moving vehicle for example, the arm is lifted or lowered at a substantially uniform rate regardless of the size of the load lifted by the arm or of variation in loading during lifting due to the structure of the arm itself.
  • control valve assemblies are of complex mechanical construction, and this can render the control valve assemblies costly and difficult to manufacture.
  • control valve assemblies are capable of only limited control functions, and in particular are prone to malfunction in an over-running load condition, that is when external forces acting on the fluid actuated device due to gravity act in the same direction as the moving part of the fluid actuated device is being moved under hydraulic control.
  • the processor incorporates a comparator which establishes whether the input port as indicated by the directional signal is at the higher pressure, and provides an output signal to a positioning device for controlling the output of the pump in dependence on the result of this comparison and in accordance with the requirement of the load.
  • a comparator which establishes whether the input port as indicated by the directional signal is at the higher pressure, and provides an output signal to a positioning device for controlling the output of the pump in dependence on the result of this comparison and in accordance with the requirement of the load.
  • Such a control valve assembly utilises adjustment of the position of the two valve members to control the flow rate and/or pressure at the ports of a fluid actuated device, such as a hydraulic cylinder or hydraulic motor, in dependence on the sensed valve member position, the sensed pressures in the ports and the sensed pump pressure and in response to the operator actuated demand signal, produced by operator actuation of a joystick for example.
  • the valve members are continuously controlled by the servo control means in response to a continually updated actuating signal adapted to drive the valve members to positions corresponding to throughflow cross-sections appropriate to the required flow and pressure conditions and the desired operating mode of the fluid actuated device, and a large number of control functions can be provided by appropriate programming of the control circuitry.
  • the flow rate and/or pressure at the ports of the fluid actuated device may be controlled so that the device is adjustable at a uniform rate which is independent of the load, that is so that the rate of movement of the moving part of the device is not affected by variation of the applied load or supply pressure, either in a passive load condition or in an over-running load condition.
  • servo control of valve member position in dependence on the feedback position signals ensures highly accurate valve member positioning, without requiring either detailed analysis of valve characteristics or adjustment to take account of wear.
  • valve means having separately movable valve members are advantageous as it enables differential opening and closing of the first and second actuating ports to effect control of the fluid actuated device.
  • Independent control of the flow rate and/or pressure at the two ports of the fluid actuated device by such valve means thus enables operation of the fluid actuated device at a higher level of efficiency and safety than is possible in prior control arrangements in which efficiency losses are incurred as a result of the need to displace the moving part of the device against a back pressure.
  • one or both of the valve members may be opened to tank in order to vent the two sides of the fluid actuated device separately or simultaneously.
  • the illustrated electrohydraulic proportional control valve assembly 1 comprises first and second spool valves 2 and 3 connected to first and second actuating ports 4 and 5 for controlling fluid flow to opposite sides of a movable piston 6 of a fluid actuated device 7 in the form of a hydraulic cylinder or motor.
  • the first and second spool valves 2 and 3 have spools 12 and 13 which are axially movable by pilot fluid flows controlled by electrically operated pilot actuator valves 44 and 45 (described more fully below with reference to Figure 2) between end positions in which the spool 12 or 13 places the corresponding actuating port 4 or 5 in communication with either a pump port 15 or 16 connected to the output of a pump 17 or a tank port 18 or 19 connected to a tank 20.
  • the fluid supplied to the pilot actuator valves 44 and 45 is regulated by a pilot pressure regulator 14.
  • the spool 12 or 13 or each spool valve 2 or 3 is movable to effect opening of the spool valve 2 or 3 either to the pump port 15 or 16 or the tank port 18 or 19 over a throughflow cross-section which may be varied proportionately between a minimum opening value and a maximum opening value in dependence on the position of the spool 12 or 13.
  • both spools 12 and 13 are spring biased towards their neutral positions (in which they are shown in Figure 1), and position sensors 23 and 24 are provided for supplying electrical position signals indicative of the positions of the spools 12 and 13.
  • a pressure relief valve 25 is provided for venting the output of the pump 17 to the tank 20 in a manner which will be described in more detail below.
  • Four pressure sensors 26, 27, 28 and 29 are provided for supplying electrical pressure signals P A , P B , P S and P T indicative of the fluid pressures in the first and second actuating ports 4 and 5, the pump port 15 or 16 and the tank port 18 or 19.
  • the pilot pressure regulator 14 may also serve to regulate pilot fluid supply to the pilot actuator valves of a further pair of spool valves, identical to the spool valves 2 and 3, for controlling supply of fluid to a further fluid actuated device 30.
  • the two devices 7 and 30 may be two rams for controlling different linkage axes of an earth moving vehicle for example, and may be controlled by two valve slices in the assembly as described in more detail below.
  • Figure 2 shows a section through a valve slice part incorporating one of the first and second spool valves 2 and 3 and one of the associated pilot actuator valves 44 and 45, two such parts being provided in each valve slice.
  • the pilot actuator valve 44 or 45 comprises a moving coil 35 fixed to a pilot spool 36 which is centred by two springs 37 and 38, the coil 35 being displaceable in an annular air gap 39 within a magnetic former 40 when a current is supplied to the coil 35 so as to provide magnetic interaction between the magnetic field associated with the current flow and the magnetic flux produced in the air gap 39 by the former 40.
  • the pilot actuator valve 44 or 45 has two actuating ports 46 and 47 connected to the ends of the spool valve 2 or 3 by connecting conduits 48 and 49 respectively, as well as a tank port 70 connected to the tank and two pump ports 71 and 72 connected to pump either directly or by way of the pilot pressure regulator 14.
  • the spool 12 or 13 of the spool valve 2 or 3 is centred by two springs 73 and 74 and has an extension 75 at one end enabling a position feedback signal dependant on the position of the spool 12 or 13 to be outputted by the position sensor 23 or 24.
  • the pilot actuator valve current is controlled in a complex way by the control circuitry in order to achieve optimum dynamic and position control characteristics, that is in order to rapidly drive the main spool 12 or 13 to the required position and in order to accurately retain the spool in that position for as long as necessary.
  • This may in practice require energisation of the coil 35 by a small current under servo control even when movement of the main spool 12 or 13 is not required, so as to provide small fluid flows through the pilot actuator valve 44 or 45 to compensate for fluid leakage so as to retain the main spool 12 or 13 in the position to which it has been driven.
  • any current required to maintain the main spool in position will be very low, and will not adversely affect the generally low current consumption of the control circuitry which accurately monitors the position of the main spool valve 12 or 13 by means of the position sensor 23 or 24 at all times and controls the current to the coil 35 continuously so as to provide the required feedback control of the main spool position.
  • the moving coil 35 and the spool 36 to which it is fixed are of light construction, the coil 35 has low power consumption and the control circuitry requires only low power, low cost components. Furthermore high speed movement of the spool 36 is possible in response to the applied current under servo control, and rapid reversal of spool movement can be effected by reversal of the current in the coil 35 to cause the spool 36 to move in the opposite direction.
  • an appropriate pressure relief signal triggered by sensing of a pressure overload by one of the pressure sensors 26 and 27 can cause operation of the appropriate pilot actuator valve 44 or 45 so as to rapidly open one of the main spools 12 and 13 to tank, in order to reduce the pressure in the fluid actuated device in such a manner as to avoid damage due to over pressure.
  • Such pressure relief occurs particularly rapidly due to the high speed dynamic response of the pilot actuator valves 44 and 45.
  • Other control features enabled by the high speed dynamic response of the pilot actuator valves 44 and 45 under servo control will be discussed below.
  • the complete control valve assembly comprises, for example, a bank of two valve slices 50 and 51 of the general form described, each of which has a first actuating port 4 and a second actuating port 5 for connection to a respective fluid pressure actuated device (not shown), and an end slice 52 connected to the valve slices 50 and 51 and having a pump port 53 and a tank port 54.
  • the end slice 52 serves to control the supply pressure of hydraulic fluid from a fixed displacement pump (not shown) connected to the pump port 53 in dependence on demand signals indicative of the demand for fluid to be supplied to the valve slices 50 and 51, in order to ensure that fluid is supplied only when required and in order to place the pump on standby if there is no requirement for fluid supply to the valve slices 50 and 51.
  • the pressure relief valve 25 shown in Figure 1 is controlled in dependence on the load pressures sensed by the pressure sensors 26 and 27 to control the pressure of fluid supplied by the pump so that it exceeds the highest load pressure sensed by a predetermined amount.
  • the pressure relief valve 25 routes the fluid back to the tank at a nominal low pressure.
  • the valve 25 may be configured to pilot the displacement control of the pump in such a way as to ensure supply of fluid in accordance with the requirements of the system.
  • a control computer 55 is electrically connected to the valve slices 50 and 51 and to a joystick 56 by a serial communications network, so as to monitor operator actuation of the joystick 56, and so as to supply to the valve slices 50 and 51 pressure (P) or flow (Q) demand signals, and pressure-flow (P-Q) select signals.
  • the control computer 55 serves to supply initial set up data to the valve slices 50 and 51 on initial set up programming utilising a plug-in programmer 57, and also to provide error monitoring of the valve slices 50 and 51. If required, provision may be made for temporary connection to the valve slices 50 and 51 of a plug-in driver 58 for emergency operation of the valve slices 50 and 51.
  • a health monitor display 59 may be connected to the control unit 55 to indicate correct operation of the valve slices 50 and 51.
  • control computer 55 supplies a pressure-flow (P-Q) select signal to each valve slice and a selection is made by a selector in each valve slice in dependence on this signal as to whether pressure control or flow control is to be effected.
  • P-Q pressure-flow
  • the particular control mode in which the fluid actuated device is to be controlled is determined by the form of the select signal supplied by the control computer in dependence on the demand signal supplied by operator actuation of the joystick and/or control mode selector buttons or switches, as indicated by the control mode iteration loop 80 in the figure. If the flow control mode is selected, a flow demand signal Q DEM is supplied to a selector 81 which determines the required direction of fluid flow to the fluid actuated device, that is whether the flow is to port A or port B. In the event of zero flow being required, the control is effected so that both main spools are held in their neutral positions.
  • a further selector 82 determines whether the pressure in the port A is greater than or less than the pressure in the port B, that is whether the load is to be treated as a passive load or an over running load.
  • the required throughflow cross-section a of the spool valve for controlling the flow to the port A is calculated at 83 by dividing the flow demand signal Q DEM by the value ⁇ (P S - P A ) and a constant of proportionality.
  • a nominal downstream back pressure to be applied at the port B is set at 84, and the required positions of the two spools are then controlled at 85 by supplying control signals to the pilot actuator valve of the upstream spool valve in order to set the required throughflow cross-section a and by supplying control signals to the pilot actuator valve of the downstream spool valve so as to set the downstream back pressure at a predetermined level.
  • the required throughflow cross-section a of the spool valve for controlling the flow through the port B is calculated at 86 by dividing the flow demand signal Q DEM by the value ⁇ (P B - P T ) and the constant of proportionality (where P T is the sensed tank pressure or an assumed tank pressure where a tank sensor is not provided), and control of the filling of the upstream side of the piston of the fluid actuated device by way of the port A is set at 87, so that control of the required positions of the two spools at 88 provides for controlled metering out of fluid from the port B by appropriate setting of the throughflow cross-section a of the downstream valve and controlled filling by way of the port A under control of the upstream valve.
  • such a control arrangement enables discontinuous switching from a passive load condition to an overrunning load condition, as when a lifting arm of an earth moving vehicle is swung by the fluid actuated device through an over centre position so that the direction in which gravity acts on the load is in the same direction as piston movement, rather than in the opposite direction as it is prior to the over centre position being reached.
  • the provision of a tank sensor enables more accurate control in the event of an overrunning load, and avoids any control discontinuities.
  • the selector 81 determines that the required direction of fluid flow is to the port B of the fluid actuated device, then a similar series of control steps are carried out to the steps already described except that the control in relation to the ports A and B is reversed so that the calculations utilise the sensed pressure signal P B in place of P A and vice versa.
  • the spool positions are continuously monitored by the position sensors, and the signals supplied to the pilot actuator valves are varied as required in dependence on the position feedback signals from the position sensors.
  • the pressures applied at the two ports A and B of the fluid actuated device are controlled in dependence on movement of the joystick by the operator such that the joystick movement determines the rate of change of pressure (magnitude and sense) applied to the load and, in the event of movement of the joystick being stopped, no further pressure change is applied to the load.
  • the pressure demand is calculated at 89 from the joystick input signal.
  • a selector 90 determines whether the pressure demand requires the application of pressure to the port A or the port B. If the pressure demand is zero both port pressures are set to a nominal value.
  • a selector 91 first determines whether or not oscillating pressure is to be applied to the piston, for example in order to vibrate the load when a compaction mode has been selected. Depending on the result of this selection the required pressure at the port A is set to the demand pressure and the required pressure at the port B is set to a nominal value at 92, and the required control signals to the pilot actuator valves of the two spool valves are applied at 93 in order to control the positions of the main spools incrementally in dependence on the position feedback signals in order to set the required pressures in the ports A and B.
  • the pressure demand requires application of pressure to the port B
  • a similar sequence of control steps is effected except that the demand pressure is applied to the port B and the pressure in the port A is set to a nominal value, that is a predetermined pressure above the sensed or assumed tank pressure.
  • a sine wave varying cyclic demand pressure is added to the basic demand pressure so that the load is vibrated by the resulting pressure control.
  • the pressure control mode can be utilised with advantage in various operating conditions. For example, when lifting a load, the pressure control mode can be initiated so as to provide continuous pressure counterbalancing of the load and so as to allow the load to be manipulated manually with the application of only small pressures. Furthermore, if the load is an excavating arm carrying a bucket for digging through the ground for example, the applied pressure can be controlled so that, in the event of the bucket hitting an obstruction such an underground utility, a predetermined pressure limit will not be exceeded, and there is no danger of damage to the underground utility by the application of excess pressure.
  • both main spools are controlled at 94 so as to open both sides of the piston of the fluid actuated device to tank so as to enable free floating movement of the piston and any load coupled thereto.
  • valve assembly Whilst the above described valve assembly utilizes first and second spool valves 2 and 3 for controlling fluid flow to and from the fluid actuated device, an alternative, non-illustrated valve assembly in accordance with the invention utilizes a pair of poppet valves in place of each such spool valve for controlling respectively the flow of fluid to the device from the pump by way of the associated actuating port and the flow of fluid from the device to the tank by way of the actuating port.
  • the pair of poppet valves associated with each actuating port is controlled by the pilot actuator valves to provide the required fluid flows in the various control modes.
  • each of the pilot actuator valves may itself comprise a pair of poppet valves for controlling the fluid flows to and from the main valve or valves in response to current actuation of the moving coil.

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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)
  • Analytical Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Servomotors (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)

Claims (14)

  1. Elektrohydraulische Proportionalregelungsventilanordnung (1) zum Steuern einer von einem in zwei Richtungen strömenden Strömungsmittel betätigten Vorrichtung (7) mit einer ersten und einer zweiten Öffnung und einem beweglichen Teil (6), das zwischen der ersten und der zweiten Öffnung so angeordnet ist, daß auf gegenüberliegende Seiten durch ein der ersten Öffnung zugeführtes Strömungsmittel und ein der zweiten Öffnung zugeführtes Strömungsmittel eingewirkt wird, wobei die Ventilanordnung aufweist: eine erste Betätigungsöffnung (4) für einen in zwei Richtungen erfolgenden Strömungsmittelstrom zwischen der Ventilanordnung und der ersten Öffnung der strömungsmittelbetätigten Vorrichtung (7), eine zweite Betätigungsöffnung (5) für einen in zwei Richtungen erfolgenden Strömungsmittelstrom zwischen der Ventilanordnung und der zweiten Öffnung der strömungsmittelbetätigten Vorrichtung (7), eine Pumpenöffnung (15, 16) für die Strömungsmittelstromeingabe zur Ventilanordnung von einer hydraulischen Pumpe (17) und eine Tanköffnung (18, 19) für die Strömungsmittelausgabe von der Ventilanordnung zu einem hydraulischen Tank (20), wobei die Ventilanordnung umfaßt: erste Ventilmittel (2), die mit der ersten Betätigungsöffnung (4), der Pumpenöffnung (15) und der Tanköffnung (18) verbunden sind, um Richtung und Durchsatz eines Strömungsmittelstroms zwischen der ersten Betätigungsöffnung (4) und der Pumpenöffnung (15) und zwischen der ersten Betätigungsöffnung (4) und der Tanköffnung (18) zu steuern, und zweite Ventilmittel (3), die an die zweite Betätigungsöffnung (5), die Pumpenöffnung (16) und die Tanköffnung (19) angeschlossen sind, um Richtung und Durchsatz des Strömungsmittelstroms zwischen der zweiten Betätigungsöffnung (5) und der Pumpenöffnung (16) und zwischen der zweiten Betätigungsöffnung (5) und der Tanköffnung (19) zu steuern, wobei die ersten Ventilmittel (2) mindestens ein erstes Ventilteil (12) aufweisen, das beweglich ist, um den Durchflußquerschnitt für den Strömungsmittelstrom zwischen der ersten Betätigungsöffnung (4) und der Pumpen- oder Tanköffnung (15 oder 18) zu ändern, und die zweiten Ventilmittel (3) mindestens ein zweites Ventilteil (13) aufweisen, das unabhängig von der Bewegung des ersten Ventilteils bzw. der ersten Ventilteile (12) beweglich ist, um den Durchflußquerschnitt für den Strömungsmittelstrom zwischen der zweiten Betätigungsöffnung (5) und der Pumpen- oder Tanköffnung (16 oder 19) zu ändern, Lageerfassungsmittel (23, 24), um elektrische Lagesignale zu liefern, die eine Aussage über die tatsächlichen Lagen des ersten und des zweiten Ventilteils (12 und 13) liefern, Druckerfassungsmittel (26, 27 und 28), um elektrische Drucksignale zu liefern, die eine Aussage über die Strömungsmitteldrücke in der ersten und der zweiten Betätigungsöffnung (4 und 5) und der Pumpenöffnung (15, 16) liefern, und Servo-Regelungsmittel zum Regeln der Lagen des ersten und des zweiten Ventilteils (12 und 13) in Abhängigkeit von den elektrischen Lage- und Drucksignalen und als Antwort auf ein elektrisches Anforderungssignal, das auf Betätigung durch eine Bedienungsperson bereitgestellt wird, um die Durchflußquerschnitte für den Strömungsmittelstrom durch die ersten und zweiten Ventilmittel (2 und 3) zwischen der ersten Betätigungsöffnung (4) und der Pumpen- oder Tanköffnung (15 oder 18) und zwischen der zweiten Betätigungsöffnung (5) und der Pumpen- oder Tanköffnung (16 oder 19) einzustellen, um die geforderte Steuerung des beweglichen Teils (6) der strömungsmittelbetätigten Vorrichtung (7) zu bewirken,
    wobei ein Auswahlsignal, das durch einen Steuerrechner in Abhängigkeit von dem elektrischen Anforderungssignal geliefert wird, bewirkt, daß eine Auswahl darüber getroffen wird, ob Drucksteuerung oder Strömungssteuerung bewirkt werden soll; und wobei,
    wenn die Strömungssteuerungs-Betriebsart ausgewählt wird, eine Steuerung bewirkt wird, indem bestimmt wird, ob der Strömungsmittelstrom zur ersten Betätigungsöffnung oder zur zweiten Betätigungsöffnung gerichtet ist, und indem der Querschnitt des Strömungsmittelstroms durch die in Betracht kommenden Ventilmittel eingestellt wird; und
    alternativ, wenn die Drucksteuerungs-Betriebsart ausgewählt wird, die an beiden Betätigungsöffnungen angelegten Drücke gesteuert werden.
  2. Anordnung nach Anspruch 1, wobei das erste und das zweite Ventilteil (12 und 13) Steuerkolben sind, die axial verschiebbar sind, um den Durchflußquerschnitt für einen Strömungsmittelstrom zwischen jeder Betätigungsöffnung und der Pumpen- oder Tanköffnung zu ändern.
  3. Anordnung nach Anspruch 1 oder 2, wobei die Servo-Regelungsmittel elektrisch betreibbare Hilfssteuerventilmittel (44, 45) aufweisen, um die Lage eines jeden der Ventilteile (12, 13) zu regeln, indem einem Teil des Ventilteils eine gesteuerte Verdrängungsströmung eines Hilfssteuerströmungsmittels zugeführt wird, während gleichzeitig ein gesteuerter Abfluß eines Hilfssteuerströmungsmittels von einem anderen Teil des Ventilteils bewirkt wird, was ausreicht, um das Ventilteil in einer ersten Betriebsart in eine geforderte Lage zu bewegen, und indem die Verdrängungsströmung des Hilfssteuerströmungsmittels zum Ventilteil und der Abfluß des Hilfssteuerströmungsmittels nachfolgend unterbrochen wird, um das Ventilteil in einer zweiten Betriebsart in der geforderten Lage zu halten.
  4. Anordnung nach Anspruch 3, wobei die Hilfssteuerventilmittel ein erstes Hilfssteuerventil (44) zum Bewirken der axialen Bewegung des ersten Ventilteils (12) in beiden Richtungen und ein zweites Hilfssteuerventil (45) zum Bewirken der axialen Bewegung des zweiten Ventilteils (13) in beiden Richtungen unabhängig von der Bewegung des ersten Ventilteils (12) aufweisen.
  5. Anordnung nach Anspruch 4, wobei jedes Steuerventil umfaßt: eine Betätigungsspule (35), die durch das Anlegen eines elektrischen Betätigungsstroms an die Spule relativ zu einem magnetischen Umformer (40) beweglich ist, und ein Ventilelement (36), das durch die Spule bewegt werden kann, um gleichzeitig die Zuführung eines Hilfssteuerströmungsmittels zu dem einen Teil des Ventilteils und den Abfluß eines Hilfssteuerströmungsmittels von dem anderen Teil des Ventilteils zu steuern.
  6. Anordnung nach einem der Ansprüche 3, 4 oder 5, wobei eine Hilfssteuerdruck-Reguliereinrichtung (14) vorgesehen ist, um den Druck des Strömungsmittels zu regulieren, das den Hilfssteuerventilmitteln (44, 45) zugeführt wird, um den letztgenannten Druck im wesentlichen konstant zu halten.
  7. Anordnung nach Anspruch 1 oder Anspruch 2, wobei die Servo-Regelungsmittel elektrisch betreibbare Hilfssteuerventile (44, 45) umfassen, um die Lage jedes der Ventilteile (12, 13) zu regeln, und
    wobei eine Hilfssteuerdruck-Reguliereinrichtung (14) vorgesehen ist, um den Druck des Strömungsmittels zu regulieren, das den Hilfssteuerventilmitteln (44, 45) zugeführt wird, um den letztgenannten Druck im wesentlichen konstant zu halten.
  8. Anordnung nach einem der vorhergehenden Ansprüche, wobei die Servo-Regelungsmittel in einer Drucksteuerungs-Betriebsart betreibbar sind, um die Lagen des ersten und des zweiten Ventilteils (12 und 13) zu regeln, als Antwort auf ein von einer Bedienungsperson betätigtes elektrisches Druckanforderungssignal, das einem geforderten Lastdruck entspricht, um einer der Betätigungsöffnungen (4 oder 5) einen gesteuerten Strömungsmittelstrom zuzuführen und einen gesteuerten Strömungsmittelabfluß aus der anderen Betätigungsöffnung (5 oder 4) zu bewirken, um eine Druckdifferenz in der strömungsmittelbetätigten Vorrichtung (7) zu erzeugen, die dem geforderten Lastdruck entspricht.
  9. Anordnung nach einem der vorhergehenden Ansprüche, wobei die Servo-Regelungsmittel in einer Schwebe-Betriebsart betreibbar sind, um die Lagen des ersten und des zweiten Ventilteils (12 und 13) zu regeln, als Antwort auf ein von einer Bedienungsperson betätigtes, elektrisches Schwebe-Anforderungssignal, um Strömungsmittel aus beiden Betätigungsöffnungen (4 und 5) abgehen zu lassen, um frei schwebende Bewegung einer Last, die mit der strömungsmittelbetätigten Vorrichtung (7) gekoppelt ist, zu ermöglichen.
  10. Anordnung nach einem der vorhergehenden Ansprüche, wobei die Servo-Regelungsmittel in einer Verdichtungs-Betriebsart betreibbar sind, um die Lagen des ersten und des zweiten Ventilteils (12 und 13) zu regeln, als Antwort auf ein von einer Bedienungsperson betätigtes, elektrisches Verdichtungs-Anforderungssignal, um rasch die Strömungsmittelstromrichtung zu den Betätigungsöffnungen (4 und 5) zu ändern, um eine Last, die mit der strömungsmittelbetätigten Vorrichtung (7) gekoppelt ist, vibrieren zu lassen.
  11. Anordnung nach einem der vorhergehenden Ansprüche, wobei die Servo-Regelungsmittel in einer Druckentlastungs-Betriebsart betreibbar sind, die Lagen des ersten und des zweiten Ventilteils (12 und 13) zu regeln, als Antwort auf ein elektrisches Druckentlastungssignal, das dadurch ausgelöst wird, daß eine Druck-Überlast in einer der Betätigungsöffnungen (4, 5) von den Druckerfassungsmitteln (26, 27) erfaßt wird, um einen gesteuerten Strömungsmittelabfluß aus der einen Betätigungsöffnung zu ermöglichen, um den Druck abzubauen.
  12. Anordnung nach einem der vorhergehenden Ansprüche, wobei die Druckerfassungsmittel umfassen: einen ersten Druckfühler (26) zum Liefern eines ersten elektrischen Drucksignals, das eine Aussage über den Strömungsmitteldruck in der ersten Betätigungsöffnung (4) liefert, einen zweiten Druckflihler (27) zum Liefern eines zweiten elektrischen Drucksignals, das eine Aussage über den Strömungsmitteldruck in der zweiten Betätigungsöffnung (5) liefert, einen dritten Druckfühler (28) zum Liefern eines dritten elektrischen Drucksignals, das eine Aussage über den Strömungsmitteldruck in der Pumpenöffnung (15, 16) liefert, und einen vierten Druckfühler (29) zum Liefern eines vierten elektrischen Drucksignals, das eine Aussage über den Strömungsmitteldruck in der Tanköffnung (18, 19) liefert, und
    wobei die Servo-Regelungsmittel dafür eingerichtet sind, die Lagen des ersten und des zweiten Ventilteils (12, 13) in Abhängigkeit vom ersten, zweiten, dritten und vierten elektrischen Drucksignal zu regeln
  13. Anordnung nach einem der vorhergehenden Ansprüche, wobei ein Steuerrechner (55) vorgesehen ist, um die durch eine Bedienungsperson betätigten elektrischen Anforderungssignale zu überwachen und eine Gesamtfunktionssteuerung der Servo-Regelungsmittel in Abhängigkeit von den Anforderungssignalen durchzuführen.
  14. Anordnung nach einem der vorhergehenden Ansprüche, die einen modularen Aufbau hat und eine Reihenanordnung aus Ventilscheiben aufweist, die zusammengefügt und dafür angepaßt sind, eine Vielzahl von strömungsmitteldruckbetätigten Vorrichtungen zu steuern.
EP96903123A 1995-02-25 1996-02-22 Elektrohydraulische proportionale steuerventilvorrichtung Expired - Lifetime EP0809737B2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GBGB9503854.3A GB9503854D0 (en) 1995-02-25 1995-02-25 Electrohydraulic proportional control valve assemblies
GB9503854 1995-02-25
PCT/GB1996/000393 WO1996027051A1 (en) 1995-02-25 1996-02-22 Electrohydraulic proportional control valve assemblies

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EP0809737A1 EP0809737A1 (de) 1997-12-03
EP0809737B1 EP0809737B1 (de) 1999-06-16
EP0809737B2 true EP0809737B2 (de) 2007-09-19

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KR (1) KR100432381B1 (de)
CN (1) CN1070974C (de)
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DK (1) DK0809737T4 (de)
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FR3149938A1 (fr) * 2023-06-13 2024-12-20 Robert Bosch Gmbh Installation hydraulique à réglage du débit sortant pour la commande d’un vérin

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DE3347000A1 (de) * 1983-12-24 1985-07-04 Robert Bosch Gmbh, 7000 Stuttgart Elektrohydraulische einrichtung zur steuerung eines doppeltwirkenden hydromotors
JP2828490B2 (ja) * 1990-06-19 1998-11-25 日立建機株式会社 ロードセンシング油圧駆動回路の制御装置
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Also Published As

Publication number Publication date
CN1070974C (zh) 2001-09-12
JPH11501106A (ja) 1999-01-26
GB9603811D0 (en) 1996-04-24
DE69602923T3 (de) 2008-05-21
GB2298291C (en) 2008-02-26
GB9503854D0 (en) 1995-04-19
KR19980702483A (ko) 1998-07-15
KR100432381B1 (ko) 2004-09-16
EP0809737B1 (de) 1999-06-16
GB2298291B (en) 1998-06-10
WO1996027051A1 (en) 1996-09-06
JP2006177561A (ja) 2006-07-06
CN1175988A (zh) 1998-03-11
DE69602923D1 (de) 1999-07-22
DK0809737T3 (da) 1999-11-22
DK0809737T4 (da) 2008-01-07
WO1996027051B1 (en) 2001-04-12
GB2298291A (en) 1996-08-28
EP0809737A1 (de) 1997-12-03
DE69602923T2 (de) 1999-12-09

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