EP1413773A2 - Dispositif de contrôle proportionel électro-hydraulique à commande informatisée - Google Patents

Dispositif de contrôle proportionel électro-hydraulique à commande informatisée Download PDF

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Publication number
EP1413773A2
EP1413773A2 EP03017275A EP03017275A EP1413773A2 EP 1413773 A2 EP1413773 A2 EP 1413773A2 EP 03017275 A EP03017275 A EP 03017275A EP 03017275 A EP03017275 A EP 03017275A EP 1413773 A2 EP1413773 A2 EP 1413773A2
Authority
EP
European Patent Office
Prior art keywords
control
proportional
pressure
inlet
control device
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.)
Granted
Application number
EP03017275A
Other languages
German (de)
English (en)
Other versions
EP1413773A3 (fr
EP1413773B1 (fr
Inventor
Martin Dipl.-Ing. Univ. Heusser
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.)
Hawe Hydraulik GmbH and Co KG
Original Assignee
Hawe Hydraulik GmbH and Co KG
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 Hawe Hydraulik GmbH and Co KG filed Critical Hawe Hydraulik GmbH and Co KG
Publication of EP1413773A2 publication Critical patent/EP1413773A2/fr
Publication of EP1413773A3 publication Critical patent/EP1413773A3/fr
Application granted granted Critical
Publication of EP1413773B1 publication Critical patent/EP1413773B1/fr
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/003—Systems with load-holding 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
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/044—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the return line, i.e. "meter out"

Definitions

  • the invention relates to a computerized electrohydraulic proportional control device of the type specified in the preamble of claim 1.
  • Pressure sensors are included in the working lines. Furthermore, adjustment path sensors connected to the computer control are assigned to the main directional control valves. As a special feature, mechanical decoupling of the inlet and outlet control edges is provided, so that the inlet and outlet could each be controlled extremely sensitively and individually.
  • the two proportional pilot valves each of which adjusts a main directional control valve, operate with the same pilot pressure, so that they influence one another and the mechanical decoupling of the control edges is at least partially nullified hydraulically.
  • controlled braking of the discharge flow is necessary in particular if a pulling or pushing load acts on a mast section which cannot be controlled with sufficient certainty by a current regulator in the inlet, since the pulling one or pushing load temporarily reverses the kinematic relationships.
  • a pulling or pushing load acts on a mast section which cannot be controlled with sufficient certainty by a current regulator in the inlet, since the pulling one or pushing load temporarily reverses the kinematic relationships.
  • Such a situation can e.g. occur if a mast section touches an obstacle when lowering or an extreme mast position causes a reversal of the direction of force.
  • the proportional pressure control valves In a control device known from US-B1-6 199 378, the proportional pressure control valves must each keep the working pressure or return pressure via slide pistons which are not leak-free in the shut-off positions. Therefore, the hydraulic consumer cannot be reliably blocked hydraulically.
  • the proportional pressure control valves provided on the outlet side contain preloaded non-return valves that limit the maximum pressure and have priority over excessive pressure increases in the event of excessive pressure increases. This means that if the load in the hydraulic motor is reversed unintentionally, pressure medium can flow to the tank, although this is not controlled by the electronic control device. This leads to movements or changes in movement on the hydraulic motor, which cannot be controlled by the electronic control device. All proportional pressure regulating valves contain spools which are acted upon directly by the proportional solenoid without pressure pre-control. This requires large, expensive and strong proportional magnets, which makes it difficult to achieve sensitive control behavior.
  • a control device known from US-A-5 875 701
  • the moving components of an earth-moving machine are actuated via hydraulic consumers, which are controlled in direction and speed by means of a joystick control with a microprocessor and unspecified valve devices.
  • the microprocessor is fed with information on the relative angular positions of the components of the machine and the joysticks.
  • the invention has for its object to provide a control device of the type mentioned, especially for a mast that is leak-tight in all shut-off positions, and in which to take into account difficult load conditions that may have a reversing effect on the hydraulic motor, the inlet and the outlet can be controlled independently of one another and individually, the performance of modern computer controls being used to adjust the control device to changing load cases.
  • the two proportional control seat valves offer the possibility of a floating position by setting the two drain proportional control seat valves to a selective passage position via the computer control. The information from the actual pressure sensors in the working lines of the hydraulic motor is processed via the computer control so that the appropriate setting is made for each control seat valve.
  • the control is able to adapt to changes in the load conditions (e.g. changes between pulling and pushing load) and to maintain the set speed of the hydraulic motor despite a simple construction of the valve assembly.
  • a pressure pilot control that can be activated against spring force via the proportional magnet in each control seat valve.
  • an individual pilot pressure of the pressure control can be set, which cannot be influenced by the pilot pressure in another proportional control valve.
  • the pressure pilot control performs the actual control adjustment of the control seat valve depending on the energization of the proportional solenoid, which therefore requires less primary force.
  • the two inlet-side control seat valves and the two outlet-side control seat valves are in each case structurally identical, preferably even identical. If necessary, even all four control seat valves are identical to one another, preferably even identical. Both options also reduce the control effort (e.g. as control signals transmitting messages) for the computer control.
  • the computer control operates with a CAN node in a CAN bus system to which the four proportional magnets are connected in parallel via a data bus.
  • the data bus preferably has a daisy chain configuration for the four proportional magnets, for which fewer or no high-quality processors are required.
  • a joint angle sensor in particular for angle detection for a superordinate mast tip position, should also be expediently provided and connected to the computer control.
  • the adjustment of the respective Proportional control poppet valves via the computer control can then take place additionally or dominantly with regard to the mast tip position or the angle between mast sections.
  • a pressure sensor for the inlet pressure to the inlet proportional control seat valves is also expediently connected to the computer control.
  • the computer control then knows the pressure difference between the supply line and the working lines. With this information, the size of the valve passage (in the outlet and / or in the inlet) can be set even more precisely in order to achieve an ideal load-independent flow distribution (LUDV), i.e. a stepless and load-independent setting of the speed of the hydraulic motor, or just throttling precisely.
  • LUDV load-independent flow distribution
  • control routines of modern processors of a computer control can continue to be used profitably, even if an electric pump drive, and possibly a pressure sensor for the pump delivery pressure, are connected to a further CAN node of the bus system, so that the drive control or regulation of the pump via the Bus system is feasible.
  • the pump can be a constant feed pump with an electrical bypass valve that is controlled from the bus system.
  • the pump can be a pressure-constant control pump that can be switched electrically from the bus system to unpressurized.
  • the pump can be a control pump with an electrical flow rate and / or delivery pressure setting controlled from the bus system.
  • a computerized, electro-hydraulic proportional control device S is used for speed and / or direction control of a hydraulic motor H, here an articulated cylinder of a mast M.
  • the hydraulic motor H is arranged between two sections 1, 3 of the mast M.
  • the two sections 1, 3 are at least pivotally connected to one another in a joint 2, so that an angle ⁇ between the sections 1, 3 can be adjusted by means of the hydraulic motor H.
  • the hydraulic motor H is fed from a pump 4, which is driven by an electric drive M, for example.
  • a pressure line 5 leads from the pump 4 to two 2/2-way proportional control seat valves VZ1, VZ2.
  • the pressure line 5 may continue to other consumers or control devices, not shown.
  • a return line 6 leads to a tank T, which comes from two outflow-side 2/2-way proportional control seat valves VA1, VA2.
  • Two working lines 7, 8 each lead to the hydraulic motor H, each with a pressure sensor 9, 10 connected to a computer control CU (a converter which converts hydraulic pressure P into an electrical signal E).
  • the pressure sensors 9, 10 are connected, for example, to a CAN node CK1 of a CAN bus system. If necessary, an angle sensor 11 is provided for the joint 2, which is also connected to the CAN node CK1 and serves to provide a higher mast tip position determined by angle detection.
  • Another pressure sensor 11 is connected to the pressure line 5 and is electrically connected to a further CAN node CK2 of the bus system, wherein the electric pump drive M can also be connected to the CAN node CK2.
  • the working line 7 branches off to the outlet-side proportional control valve VA1 and the inlet-side proportional control valve VZ1, with a branch in the branching branch to the inlet-side proportional control valve VZ1 in the direction of flow to the proportional control seat valve VZ1 non-leakage check valve 19 is arranged.
  • a check valve 19 ' is also provided for the working line 8, which branches off to the proportional control seat valves VA2, VZ2.
  • Each proportional control valve VA1, VA2, VZ1, VZ2 has its own proportional magnet 13, 14, 15, 16.
  • the proportional magnets 13 to 16 are connected in parallel to a data bus 20 to the CAN node CK1. If necessary, the data bus 20 is designed as a daisy chain.
  • a pressure pilot control 17 can be activated against the force of a valve spring 18, so that the proportional magnet adjusts the pilot pressure by adjusting the proportional control seat valve (servo effect).
  • the proportional control seat valves are structurally separate from one another, the inlet and outlet control edges are also mechanically decoupled, and an individual pilot control pressure of the pressure pilot control 17 can also be set in each proportional control seat valve, which cannot be influenced by the pilot control pressure in another proportional control seat valve is.
  • the proportional magnet 13 and the proportional magnet 16 are energized, possibly different from one another and as in the computer control Cu calculated or saved. If the angle ⁇ is to be reduced, the proportional magnet 14 and the proportional magnet 15 are energized. To brake an adjustment movement between the mast sections 1, 3, the current supply to the respective proportional magnet 15 or 16 is changed individually, for example in accordance with the information from the respective pressure sensor 9 or 10.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
EP20030017275 2002-10-15 2003-07-30 Dispositif de contrôle proportionnel électro-hydraulique à commande informatisée Expired - Fee Related EP1413773B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE20215838U DE20215838U1 (de) 2002-10-15 2002-10-15 Computerisierte elektrohydraulische Proportional-Steuervorrichtung
DE20215838U 2002-10-15

Publications (3)

Publication Number Publication Date
EP1413773A2 true EP1413773A2 (fr) 2004-04-28
EP1413773A3 EP1413773A3 (fr) 2004-05-12
EP1413773B1 EP1413773B1 (fr) 2006-03-08

Family

ID=31969835

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20030017275 Expired - Fee Related EP1413773B1 (fr) 2002-10-15 2003-07-30 Dispositif de contrôle proportionnel électro-hydraulique à commande informatisée

Country Status (2)

Country Link
EP (1) EP1413773B1 (fr)
DE (2) DE20215838U1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1533520A1 (fr) * 2003-11-18 2005-05-25 HAWE Hydraulik GmbH & Co. KG Système de réglage électrohydraulique régénérative de l'incidence des pales de turbine éolienne
WO2006094970A2 (fr) * 2005-03-08 2006-09-14 Robert Bosch Gmbh Procede pour proteger contre les coincements, et dispositif anticoincement
WO2008000707A1 (fr) * 2006-06-26 2008-01-03 Robert Bosch Gmbh Procédé pour actionner une capote de cabriolet électrohydraulique et système pour l'exécution de ce procédé
US7444809B2 (en) 2006-01-30 2008-11-04 Caterpillar Inc. Hydraulic regeneration system
EP2199186A1 (fr) 2008-12-17 2010-06-23 HAWE Hydraulik SE Dispositif de commande de direction hydraulique
EP2392819A1 (fr) * 2010-05-31 2011-12-07 HAWE Hydraulik SE Dispositif de réglage rotatif hydroélectrique des pales de rotor sur le rotor d'une éolienne
CN102339026A (zh) * 2011-05-26 2012-02-01 陈海波 一种基于重力调节的作业平台水平控制系统
US8726645B2 (en) 2010-12-15 2014-05-20 Caterpillar Inc. Hydraulic control system having energy recovery

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005010638A1 (de) * 2005-03-08 2006-09-28 Bosch Rexroth Aktiengesellschaft Hydraulische Betätigungsvorrichtung, insbesondere für ein Cabriolet
DE102006012008A1 (de) * 2006-03-14 2007-09-20 Robert Bosch Gmbh Steuervorrichtung zur Rotorblattverstellung
US7634911B2 (en) 2007-06-29 2009-12-22 Caterpillar Inc. Energy recovery system
DE102009025827A1 (de) * 2009-05-18 2010-11-25 Bucyrus Dbt Europe Gmbh Hydraulikschaltvorrichtung für die Mobilhydraulik, mobile Hydraulikmaschine und Ventileinheit
DE102012203390A1 (de) * 2012-03-05 2013-09-05 Robert Bosch Gmbh Hydraulisches Antriebsystem mit gesonderten Zu- und Ablaufventilen und einer Regenerationsleitung
DE102012203387A1 (de) * 2012-03-05 2013-09-05 Robert Bosch Gmbh Ventilbaugruppe mit Neutralumlauf und gesonderten Zu- und Ablaufventilen
AT514115B1 (de) 2013-04-09 2015-05-15 Ttcontrol Gmbh Elektrohydraulischer Steuerkreis

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5875701A (en) 1997-06-09 1999-03-02 Caterpillar Inc. Method and apparatus for controlling an implement of a work machine using linkage angles
EP0900888A1 (fr) 1996-12-03 1999-03-10 Shin Caterpillar Mitsubishi Ltd. Dispositif de commande destine a un engin de construction
US6199378B1 (en) 1999-09-21 2001-03-13 Caterpillar Inc. Off-setting rate of pressure rise in a fluid system
US6467264B1 (en) 2001-05-02 2002-10-22 Husco International, Inc. Hydraulic circuit with a return line metering valve and method of operation

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE20114538U1 (de) * 2001-09-03 2001-10-31 Kuepper Weisser Gmbh Hydrauliksystem für die Eigengewichtsentlastung von Anbaugeräten

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0900888A1 (fr) 1996-12-03 1999-03-10 Shin Caterpillar Mitsubishi Ltd. Dispositif de commande destine a un engin de construction
US5875701A (en) 1997-06-09 1999-03-02 Caterpillar Inc. Method and apparatus for controlling an implement of a work machine using linkage angles
US6199378B1 (en) 1999-09-21 2001-03-13 Caterpillar Inc. Off-setting rate of pressure rise in a fluid system
US6467264B1 (en) 2001-05-02 2002-10-22 Husco International, Inc. Hydraulic circuit with a return line metering valve and method of operation

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
"Klassiker kontra Neuentwicklung?", FLIUD, 1 January 2002 (2002-01-01) - 1 February 2002 (2002-02-01), pages 26 - 28,29
Elektronic-Hydraulic CAN-Bus Control Systems" der Firma Ultronics Limited, GL 526 RT, Englang, mit der Registiernummer UL/1/1/500/CP/1/99

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1533520A1 (fr) * 2003-11-18 2005-05-25 HAWE Hydraulik GmbH & Co. KG Système de réglage électrohydraulique régénérative de l'incidence des pales de turbine éolienne
WO2006094970A2 (fr) * 2005-03-08 2006-09-14 Robert Bosch Gmbh Procede pour proteger contre les coincements, et dispositif anticoincement
WO2006094970A3 (fr) * 2005-03-08 2006-12-14 Bosch Gmbh Robert Procede pour proteger contre les coincements, et dispositif anticoincement
US7444809B2 (en) 2006-01-30 2008-11-04 Caterpillar Inc. Hydraulic regeneration system
WO2008000707A1 (fr) * 2006-06-26 2008-01-03 Robert Bosch Gmbh Procédé pour actionner une capote de cabriolet électrohydraulique et système pour l'exécution de ce procédé
EP2199186A1 (fr) 2008-12-17 2010-06-23 HAWE Hydraulik SE Dispositif de commande de direction hydraulique
EP2392819A1 (fr) * 2010-05-31 2011-12-07 HAWE Hydraulik SE Dispositif de réglage rotatif hydroélectrique des pales de rotor sur le rotor d'une éolienne
US8726645B2 (en) 2010-12-15 2014-05-20 Caterpillar Inc. Hydraulic control system having energy recovery
CN102339026A (zh) * 2011-05-26 2012-02-01 陈海波 一种基于重力调节的作业平台水平控制系统
CN102339026B (zh) * 2011-05-26 2014-05-28 昆山航天智能技术有限公司 一种基于重力调节的作业平台水平控制系统

Also Published As

Publication number Publication date
DE50302571D1 (de) 2006-05-04
EP1413773A3 (fr) 2004-05-12
EP1413773B1 (fr) 2006-03-08
DE20215838U1 (de) 2004-02-26

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