EP1644643A1 - Method and arrangement for controlling at least two hydraulic consumers - Google Patents

Method and arrangement for controlling at least two hydraulic consumers

Info

Publication number
EP1644643A1
EP1644643A1 EP04762391A EP04762391A EP1644643A1 EP 1644643 A1 EP1644643 A1 EP 1644643A1 EP 04762391 A EP04762391 A EP 04762391A EP 04762391 A EP04762391 A EP 04762391A EP 1644643 A1 EP1644643 A1 EP 1644643A1
Authority
EP
European Patent Office
Prior art keywords
pump
pressure
metering
control
consumers
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
EP04762391A
Other languages
German (de)
French (fr)
Other versions
EP1644643B1 (en
Inventor
Horst Hesse
Gerhard Keuper
Heinrich Lödige
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.)
Bosch Rexroth AG
Original Assignee
Bosch Rexroth AG
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 Bosch Rexroth AG filed Critical Bosch Rexroth AG
Publication of EP1644643A1 publication Critical patent/EP1644643A1/en
Application granted granted Critical
Publication of EP1644643B1 publication Critical patent/EP1644643B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • E02F9/2221—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
    • 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
    • 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
    • E02F9/2278—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
    • 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
    • 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
    • F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
    • 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
    • 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
    • F15B2211/20—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
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • F15B2211/40515—Flow control characterised by the type of flow control means or valve with variable throttles or orifices
    • 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
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • F15B2211/40553—Flow control characterised by the type of flow control means or valve with pressure compensating valves
    • F15B2211/40569—Flow control characterised by the type of flow control means or valve with pressure compensating valves the pressure compensating valve arranged downstream of the flow 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
    • F15B2211/40—Flow control
    • F15B2211/41—Flow control characterised by the positions of the valve element
    • F15B2211/413—Flow control characterised by the positions of the valve element the positions being continuously variable, e.g. as realised by proportional 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
    • F15B2211/40—Flow control
    • F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
    • F15B2211/41572—Flow control characterised by the connections of the flow control means in the circuit being connected to a pressure source and an 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
    • F15B2211/40—Flow control
    • F15B2211/42—Flow control characterised by the type of actuation
    • F15B2211/426—Flow 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
    • F15B2211/40—Flow control
    • F15B2211/455—Control of flow in the feed line, i.e. meter-in 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
    • F15B2211/40—Flow control
    • F15B2211/465—Flow control with 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/605—Load sensing circuits
    • F15B2211/6051—Load sensing circuits having valve means between output member and the load sensing circuit
    • F15B2211/6054—Load sensing circuits having valve means between output member and the load sensing circuit using shuttle 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
    • F15B2211/60—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

Definitions

  • the invention relates to a control arrangement for
  • Hydraulic systems are frequently used to control several consumers, in which the consumers are supplied with pressure medium via a variable pump.
  • a metering orifice and a pressure compensator are provided between the variable pump and each consumer, the latter being able to be connected upstream (metering principle) or downstream (metering principle).
  • EP 0 566 449 AI discloses a hydraulic control arrangement which operates on the current divider principle and works on the load-sensing (LS) principle.
  • LS load-sensing
  • a variable displacement pump is adjusted depending on the highest load pressure of the hydraulic consumers actuated so that the inlet pressure is above the highest load pressure by a certain pressure difference.
  • the pressure medium flows to the two hydraulic consumers via two adjustable metering orifices, the first of which is arranged between a pump line coming from the variable displacement pump and a first hydraulic consumer and the second between the pump line and the second hydraulic consumer.
  • the pressure compensators downstream of the metering orifices are acted upon in the opening direction by the pressure after the respective metering orifice and in the closing direction by a control pressure present in a rear control chamber, which usually corresponds to the highest load pressure of all hydraulic consumers supplied by the same hydraulic pump. If, when several hydraulic consumers are operated at the same time, the metering orifices are opened to such an extent that the quantity of pressure medium supplied by the hydraulic pump adjusted to the stop is smaller than the total quantity of pressure medium required, the pressure medium quantities flowing to the individual hydraulic consumers become independent of the respective load pressure the hydraulic consumer is reduced proportionally. In this case, one speaks of a control with load-independent flow distribution (LUDV control) (current divider principle).
  • LUDV control load-independent flow distribution
  • an LUDV control system is practically a special case of a load-sensing control system.
  • a load-sensing control system For several hydraulic consumers, to which pressure medium flows via a metering orifice with an upstream pressure compensator (current regulator principle), which is acted upon in the closing direction by the pressure in front of the metering orifice and in the opening direction by the load pressure of the respective hydraulic consumer and by a compression spring, no load-independent flow distribution is obtained. If several hydraulic consumers are actuated simultaneously and the quantity of pressure medium supplied by the variable displacement pump is insufficient, only the quantity of pressure medium flowing to the hydraulic consumer with the highest load pressure is reduced.
  • variable displacement pump is controlled as a function of the highest load pressure in such a way that a pressure is established in the pump line which is a pressure difference equivalent to the force of a control spring of a pump control valve above the highest load pressure (so-called ⁇ p control of the Variable pump).
  • variable displacement pump pump with a variable delivery rate
  • adjustable metering orifices connected upstream of each consumer can be actuated proportionally, preferably electrically, the actuating pump being actuated as a function of target values specified for the metering orifices.
  • the variable pump is not adjusted as a function of a pressure signal corresponding to the highest load pressure, but as a function of setpoints that are specified by an operator, for example in order to move the consumer at a certain speed.
  • the adjustment pump is then set depending on these setpoints so that it can supply all consumers with the preset So11 volume flows. This means that the variable displacement pump must be adjusted to a swivel angle at which you requested it
  • such a system represents a volume flow control, in which volume flow errors due to volumetric losses of the pump play no role, since the operator, when the volume flow and thus the speed of the consumer is too low, readjusted manually and thus compensates for the volume flow error. Since the control of the variable pump takes place independently of the highest load pressure as volume flow control, the system has a much lower susceptibility to vibration than the known LS control arrangements.
  • Another advantage of the control arrangement according to the invention and the method according to the invention is that when a consumer is operated individually, the metering orifices can be opened completely outside the fine control range, the volume flow to the consumer being determined by the control of the variable displacement pump - the throttling losses at the metering orifice are then minimal.
  • the throttle losses can be reduced according to an advantageous development of the invention in that the metering orifice of the consumer to which the highest pressure medium volume flow flows, i.e. the highest
  • Setpoint set consumers is fully controlled and the cross sections of the other metering orifices are adjusted according to the ratio of the pressure medium volume flows, so that the system losses compared to conventional solutions are minimized. However, this case does not occur as often, as a consumer is usually driven at maximum speed.
  • variable displacement pump and the metering foils are controlled via a central control device, which preferably has a data memory in which the characteristic curves of the variable displacement pump and the metering orifices are stored.
  • variable pump is preferably provided with a speed sensor, via which the current pump speed is detectable, so that the target volume flow can be easily adjusted via the stored characteristic curves.
  • the control arrangement according to the invention is preferably carried out with suction valves, via which pressure medium can be sucked into a low-pressure side of the consumer when there is a pulling load.
  • the pump is reset in the solution according to the invention, so that the system losses are further reduced compared to conventional solutions.
  • the setpoints are preferably acquired by evaluating the setting of a joy stick or by detecting the position of the control pistons of the metering orifice.
  • the figure shows a circuit diagram of a hydraulic control arrangement 1 according to the invention, which practically represents a modified LUDV system.
  • the control arrangement according to the invention has a variable displacement pump 2, via which two or more consumers 4, 6 can be supplied with pressure medium.
  • the consumers 4, 6 are controlled by means of a control device, for example a joystick 8, via which control signals are output to a control device 10. These signals are practically a command to move consumers at a certain speed.
  • the output of the variable displacement pump 2 is connected to a pump line 12 which branches into two feed lines 14, 16.
  • An electrically proportionally adjustable metering orifice 18 or 20 is arranged in each inlet line 14, 16, and a pressure compensator 22 or 24 is connected downstream of each.
  • the outlet of the two pressure compensators 22, 24 is connected to the consumer via a flow line 26, 28.
  • the consumers are 4, 6 hydraulic cylinders, the cylinder spaces of which are connected to the feed line 26 or 28.
  • the metering orifices 18, 20 are implemented by way of electrically or hydraulically proportionally adjustable directional valves.
  • the return and discharge lines connecting the cylinder spaces 30, 32 mentioned to the tank T are omitted, the flow cross-sections of which are preferably likewise opened or closed via the proportional valve forming the orifice plate 18, 20.
  • the pressure compensators 22, 24 are acted upon in the opening direction by the pressure after the respective metering orifice 18, 20 and in the closing direction by a pressure which corresponds to the highest load pressure at the two consumers 4, 6.
  • This highest load pressure is tapped via an LS line 34 and a shuttle valve 36 from the flow line 26, 28 to which the highest load pressure is present.
  • the two metering orifices 18, 20 are controlled via the control device 10 as a function of the control signal (setpoint) set on the joystick 8.
  • the pressures behind the two metering orifices 18, 20 are the same and the size of the volume flows to the consumers rather 4, 6 behave like the opening cross-sections of the two metering orifices (18, 20).
  • the pressure applied after the metering orifices 18, 20 is throttled to the respective load pressure applied via the downstream pressure compensator 22, 24.
  • variable displacement pump 2 is designed with a pressure sensor for detecting the pump pressure, a speed sensor for detecting the pump speed and a swivel angle sensor for detecting the pump swivel angle.
  • the characteristics of the variable displacement pump 2 and the two proportionally adjustable metering orifices 18, 20 are also stored in the data memory of the control device, so that extremely precise volume flow control via the variable displacement pump 2 is possible with the help of all or some of the aforementioned sensors and the characteristic curves.
  • the function of the control arrangement according to the invention is as follows:
  • variable displacement pump 2 To actuate the two consumers 4, 6, control signals are generated by the operator via one or more joysticks 8, which are output to the control device 10.
  • the variable displacement pump 2 In order to control the consumers 4, 6 accordingly, the variable displacement pump 2 must provide a specific pressure medium volume flow which corresponds to the sum of the set volume flows set via the joystick 8. That is, the variable pump 2 must be adjusted depending on the setting of the joystick 8 to a swivel angle at which this total volume flow is delivered.
  • the corresponding adjustment of the variable displacement pump 2 can be carried out in a simple manner as a function of the desired value by detecting the current pump pressure, the current pump speed and the set swivel angle via the pump characteristic.
  • the pump controller receives no pressure signal, which usually corresponds to the highest load pressure, but the control of the variable pump takes place solely depending on the setpoints set with the joystick.
  • volume flow errors due to volumetric losses of the variable displacement pump 2 can be compensated for by this setpoint adjustment via the joystick 8, since the operator immediately adjusts via the joystick 8 if the consumers 4, 6 are not actuated at the desired speed.
  • Another special feature of the invention is that when consumers 4, 6 are operated in parallel, the consumer 4, 6 that is to be supplied with the greatest pressure medium volume flow is determined via control device 10. This can be done in a simple manner using the setpoints set on the joystick 8, so that no further sensors are required.
  • the metering orifice 18, 20 of this consumer 4, 6 to be supplied with the highest pressure medium volume flow is then opened completely by means of the control device 10 and the opening cross sections of the other metering orifices 20 and 18 are adjusted accordingly, so that the system losses are minimized compared to conventional solutions.
  • the assigned metering orifice 18 or 20 can be opened fully outside the fine control range in order to minimize the system losses.
  • the pressure medium volume flow to the consumer is then controlled solely via the variable pump.
  • the cylinder spaces 30, 32 of the consumers 4, 6 are each connected to the tank T via a suction valve, so that in the event of a pulling load, the tank T Suction valves, not shown, pressure medium can be sucked into the cylinder chambers 30, 32 (low pressure side).
  • This pressure in the low-pressure side is recorded and a control signal is sent to the adjusting pump 2 via the control device 10, so that the swivel angle of the adjusting pump 2 is reduced and no pressure medium is conveyed via the pump.
  • the losses can be further minimized compared to conventional circuits.
  • the setpoints are specified via a joystick 8.
  • the desired volume flow can also be determined from the travel of the valve slide of the metering orifice 18, 20, ie in this case it is not the signal set on the joystick 8 that is direct, but rather the signal on the valve slide of the metering orifices 18, 20 setting actual value used. Since in the system according to the invention volume flow control takes place via the variable displacement pump 2, the susceptibility to vibrations is significantly lower than in the previously known solutions. By eliminating the LS signal lines to the control valve, the circuitry complexity compared to the ⁇ p systems described at the beginning can be minimized.
  • variable displacement pump can be designed as described above in such a way that the geometric displacement volume can be set, but constant or variable displacement pumps with a variable-speed drive can also be used.
  • a control arrangement for controlling at least two hydraulic consumers and one are disclosed
  • Procedure for controlling these consumers This are supplied with pressure medium via a pump, a metering orifice and a downstream pressure compensator being provided between the consumers and the pump.
  • the pump is set as a function of the setpoints to which the metering orifices are set.

Abstract

The invention relates to an arrangement and a method for controlling at least two hydraulic consumers. Said consumers are supplied with a pressurised means by a pump, respectively one dosing diaphragm and one pressure regulator mounted upstream being provided between the consumers and the pump. According to the invention, the pump is regulated according to the nominal values to which the dosing diaphragms are adjusted.

Description

Beschreibung description
SteueranorclTiung und Verfahren τaιr Ansteuerung von e- nigstens zwei hydraulischen VerbrauchernControl arrangement and method τaιr control of at least two hydraulic consumers
Die Erfindung betrifft eine Steueranordnung zurThe invention relates to a control arrangement for
Druckmittelversorgung wenigstens zweier hydraulischerPressure medium supply of at least two hydraulic
Verbraucher gemäß dem Oberbegriff des Patentanspruches 1 und ein Verfahren zur Ansteuerung derartiger Verbraucher gemäß dem Oberbegriff des Patentanspruches 9.Consumer according to the preamble of patent claim 1 and a method for controlling such consumers according to the preamble of patent claim 9.
Zur Ansteuerung mehrerer Verbraucher werden häufig Hydrauliksysteme eingesetzt, bei denen die Verbraucher über eine Verstellpumpe mit Druckmittel versorgt werden. Zwischen der Verstellpumpe und jedem Verbraucher sind eine Zumessblende und eine Druckwaage vorgesehen, wobei letztere der Zumessblende vorgeschaltet (Stromreglerprinzip) oder nachgeschaltet (Stromteilerprinzip) sein können.Hydraulic systems are frequently used to control several consumers, in which the consumers are supplied with pressure medium via a variable pump. A metering orifice and a pressure compensator are provided between the variable pump and each consumer, the latter being able to be connected upstream (metering principle) or downstream (metering principle).
Aus der EP 0 566 449 AI ist eine nach dem Stromteilerprinzip arbeitende hydraulische Steueranordnung bekannt, die nach dem Load-Sensing (LS) Prinzip arbeitet. Bei derartigen LS-Systemen wird eine Verstellpumpe in Abhängigkeit vom höchsten Lastdruck der betätigten hydraulischen Verbraucher jeweils so eingestellt, dass der Zulaufdruck um eine bestimmte Druckdifferenz über dem höchsten Lastdruck liegt. Den beiden hydraulischen Verbrauchern fließt das Druckmittel über zwei verstellbare Zumessblenden zu, von denen die erste zwischen einer von der Verstellpumpe abgehenden Pumpenleitung und einem ersten hydraulischen Verbraucher und die zweite zwischen der Pumpenleitung und dem zweiten hydraulischen Verbraucher angeordnet ist. Durch die den Zumessblenden nachgeschalteten Druckwaagen (Stromteilerprinzip) wird erreicht, dass bei ausreichend gelieferter Druckmittelmenge unabhängig von den Lastdrücken der hydraulischen Verbraucher eine bestimmte Druckdifferenz über die Zumessblenden besteht, so dass die einem hydraulischen Verbraucher zufließende Druckmittelmenge nur noch vom Öffnungsquerschnitt der jeweiligen Zumessblende abhängt. Wird diese weiter geöffnet, so muss mehr Druckmittelmenge über sie fließen, um die bestimmte Druckdifferenz zu erzeugen. Die Verstellpumpe wird dabei jeweils so verstellt, dass sie die benötigte Druckmittelmenge liefert. Man spricht deshalb auch von einer Bedarfsstromregelung.EP 0 566 449 AI discloses a hydraulic control arrangement which operates on the current divider principle and works on the load-sensing (LS) principle. In such LS systems, a variable displacement pump is adjusted depending on the highest load pressure of the hydraulic consumers actuated so that the inlet pressure is above the highest load pressure by a certain pressure difference. The pressure medium flows to the two hydraulic consumers via two adjustable metering orifices, the first of which is arranged between a pump line coming from the variable displacement pump and a first hydraulic consumer and the second between the pump line and the second hydraulic consumer. Through the pressure compensators downstream of the metering orifices (Flow divider principle) ensures that with a sufficient amount of pressure medium supplied, regardless of the load pressures of the hydraulic consumers, there is a certain pressure difference across the metering orifices, so that the amount of pressure medium flowing to a hydraulic consumer only depends on the opening cross-section of the respective metering orifice. If this is opened further, more pressure medium must flow over it in order to generate the specific pressure difference. The variable pump is adjusted so that it delivers the required amount of pressure medium. One therefore speaks of a demand flow control.
Die den Zumessblenden nachgeschalteten Druckwaagen werden in Öffnungsrichtung von dem Druck nach der jeweiligen Zumessblende und in Schließrichtung von einem in einem rückwärtigen Steuerraum anstehenden Steuerdruck beaufschlagt, der üblicherweise dem höchsten Lastdruck aller von derselben Hydropumpe versorgten hydraulischen Verbraucher entspricht. Wenn bei einer gleichzeitigen Betätigung mehrerer hydraulischer Verbraucher die Zumess- blenden so weit aufgemacht werden, dass die von der bis zum Anschlag verstellten Hydropumpe gelieferte Druckmittelmenge kleiner ist als die insgesamt geforderte Druck- mittelmenge, werden die den einzelnen hydraulischen Verbraucher zufließenden Druckmittelmengen unabhängig vom jeweiligen Lastdruck der hydraulischen Verbraucher verhältnisgleich reduziert. Man spricht deshalb in diesem Fall von einer Steuerung mit lastunabhängiger Durchfluss- Verteilung (LUDV-Steuerung) (Stromteilerprinzip) . Weil bei einer derartigen LUDV-Steuerung auch der höchste Lastdruck abgegriffen und von der Druckmittelquelle ein um eine bestimmte Druckdifferenz über dem höchsten Last- druck liegender Zulaufdruck erzeugt wird, ist eine LUDV- Steuerung praktisch ein Sonderfall einer Load-Sensing- Steuerung. Für mehrere hydraulische Verbraucher, denen Druckmittel jeweils über eine Zumessblende mit vorgeschalteter Druckwaage zufließt (Stromreglerprinzip) , die in Schließrichtung vom Druck vor der Zumessblende und in Öffnungsrichtung vom Lastdruck des jeweiligen hydraulischen Verbrauchers und von einer Druckfeder beaufschlagt ist, erhält man keine lastunabhängige Durchflussverteilung. Bei einer gleichzeitigen Betätigung mehrerer hydraulischer Verbraucher und nicht ausreichend von der Verstellpumpe gelieferter Druckmittelmenge wird dabei nur die dem lastdruckhöchsten hydraulischen Verbraucher zufließende Druckmittelmenge reduziert. Bei den vorbeschriebenen LS-Systemen wird die Verstellpumpe in Abhängigkeit vom höchsten Lastdruck derart angesteuert, dass sich in der Pumpenleitung ein Druck einstellt, der um eine zur Kraft einer Regelfeder eines Pumpen-Regelventils äquivalente Druckdifferenz über dem höchsten Lastdruck liegt (sogenannte Δp-Steuerung der Verstellpumpe) .The pressure compensators downstream of the metering orifices are acted upon in the opening direction by the pressure after the respective metering orifice and in the closing direction by a control pressure present in a rear control chamber, which usually corresponds to the highest load pressure of all hydraulic consumers supplied by the same hydraulic pump. If, when several hydraulic consumers are operated at the same time, the metering orifices are opened to such an extent that the quantity of pressure medium supplied by the hydraulic pump adjusted to the stop is smaller than the total quantity of pressure medium required, the pressure medium quantities flowing to the individual hydraulic consumers become independent of the respective load pressure the hydraulic consumer is reduced proportionally. In this case, one speaks of a control with load-independent flow distribution (LUDV control) (current divider principle). Because such a LUDV control system also taps the highest load pressure and generates an inlet pressure that is a certain pressure difference above the highest load pressure, an LUDV control system is practically a special case of a load-sensing control system. For several hydraulic consumers, to which pressure medium flows via a metering orifice with an upstream pressure compensator (current regulator principle), which is acted upon in the closing direction by the pressure in front of the metering orifice and in the opening direction by the load pressure of the respective hydraulic consumer and by a compression spring, no load-independent flow distribution is obtained. If several hydraulic consumers are actuated simultaneously and the quantity of pressure medium supplied by the variable displacement pump is insufficient, only the quantity of pressure medium flowing to the hydraulic consumer with the highest load pressure is reduced. In the LS systems described above, the variable displacement pump is controlled as a function of the highest load pressure in such a way that a pressure is established in the pump line which is a pressure difference equivalent to the force of a control spring of a pump control valve above the highest load pressure (so-called Δp control of the Variable pump).
Eine gegenüber der eingangs genannten EP 0 566 449 AI verbesserte Lösung ist in der DE 199 04 616 AI beschrieben, jedoch auch bei diesem System wird die vorbeschriebene Δp-Steuerung eingesetzt. Der Nachteil dieser Steuerung besteht darin, dass durch die Notwendigkeit, den von der Pumpe gelieferten Druck jeweils um das vorbeschriebene Δp über den höchsten Lastdruck zu erhö- hen, erhebliche Systemverluste auftreten können, da diese Druckdifferenz im Bereich zwischen 20 bis 40 bar liegt. Des weiteren zeigte es sich, daß die Δp-Steuerung eine gewisse Schwingungsanfälligkeit aufweist, die eine kontinuierliche Ansteuerung der Verbraucher erschwert . Demgegenüber liegt der Erfindung die Aufgabe zugrunde, eine hydraulische Steueranordnung zur Ansteuerung zumindest zweier Verbraucher sowie ein Verfahren zur Ansteuerung dieser Verbraucher derart weiterzubilden, dass die Energieverluste und die Schwingungsanfälligkeit verringert sind.An improved solution compared to EP 0 566 449 AI mentioned at the outset is described in DE 199 04 616 AI, but the Δp control described above is also used in this system. The disadvantage of this control is that the need to increase the pressure supplied by the pump by the above-described Δp above the highest load pressure can result in considerable system losses, since this pressure difference is in the range between 20 to 40 bar. Furthermore, it was found that the Δp control has a certain susceptibility to vibration, which makes continuous control of the consumer difficult. In contrast, the object of the invention is to develop a hydraulic control arrangement for controlling at least two consumers and a method for controlling these consumers in such a way that the energy losses and the susceptibility to vibrations are reduced.
Diese Aufgabe wird hinsichtlich der Steueranordnung durch die Merkmale des Patentanspruches 1 und hinsieht- lieh des Verfahrens durch die Merkmale des nebengeordneten Patentanspruches 9 gelöst .With regard to the control arrangement, this object is achieved by the features of patent claim 1 and, with regard to the method, by the features of the independent patent claim 9.
Erfindungsgemäß sind eine Verstellpumpe (Pumpe mit veränderbarer Fördermenge) und jedem Verbraucher vorgeschaltete einstellbare Zumessblenden - vorzugsweise elektrisch - proportional ansteuerbar, wobei die Ansteuerung der Verstellpumpe in Abhängigkeit von für die Zumessblenden vorgegebenen Sollwerten erfolgt. D.h., im Gegensatz zu den eingangs beschriebenen LS-Systemen wird die Verstellpumpe nicht in Abhängigkeit von einem dem höchsten Lastdruck entsprechenden Drucksignal verstellt, sondern in Abhängigkeit von Sollwerten, die von einer Bedienperson vorgegeben werden, um den Verbraucher beispielsweise mit einer bestimmten Geschwindigkeit zu bewegen. Die Einstellung der Verstellpumpe erfolgt dann in Abhängigkeit von diesen Sollwerten so, dass sie sämtliche Verbraucher mit den voreingestellten So11volumenströmen versorgen kann. D.h., die Verstellpumpe muss auf einen Schwenkwinkel verstellt werden, bei dem sie gerade diesen angefordertenAccording to the invention, a variable displacement pump (pump with a variable delivery rate) and adjustable metering orifices connected upstream of each consumer can be actuated proportionally, preferably electrically, the actuating pump being actuated as a function of target values specified for the metering orifices. In contrast to the LS systems described at the outset, the variable pump is not adjusted as a function of a pressure signal corresponding to the highest load pressure, but as a function of setpoints that are specified by an operator, for example in order to move the consumer at a certain speed. The adjustment pump is then set depending on these setpoints so that it can supply all consumers with the preset So11 volume flows. This means that the variable displacement pump must be adjusted to a swivel angle at which you requested it
Verbraucher-Summenstrom liefert.Total consumer current supplies.
Ein derartiges System stellt im Prinzip eine Volumenstrom-Steuerung dar, bei der Volumenstromfehler durch volumetrische Verluste der Pumpe keine Rolle spielen, da der Bediener, wenn der Volumenstrom und damit die Ge- schwindigkeit der Verbraucher zu gering ist, manuell nachregelt und die Volumenstromfehler somit ausgleicht . Da die Ansteuerung der Verstellpumpe unabhängig vom höchsten Lastdruck als Volumenstromsteuerung erfolgt, hat das System eine wesentlich geringere Schwingungsanfälligkeit als die bekannten LS- Steueranordnungen.In principle, such a system represents a volume flow control, in which volume flow errors due to volumetric losses of the pump play no role, since the operator, when the volume flow and thus the speed of the consumer is too low, readjusted manually and thus compensates for the volume flow error. Since the control of the variable pump takes place independently of the highest load pressure as volume flow control, the system has a much lower susceptibility to vibration than the known LS control arrangements.
Ein weiterer Vorteil der erfindungsgemäßen Steueran- Ordnung und des erfindungsgemäßen Verfahrens liegt darin, dass bei Einzelbetrieb eines Verbrauchers die Zumessblenden außerhalb des Feinsteuerbereiches vollständig aufgesteuert werden können, wobei der Volumenstrom zum Verbraucher von der Ansteuerung der Verstellpumpe bestimmt ist - die Drosselverluste an der Zumessblende sind dann minimal . Bei der Ansteuerung mehrerer Verbraucher können die Drosselverluste gemäß einer vorteilhaften Weiterbildung der Erfindung dadurch • verringert werden, dass die Zumessblende desjenigen Verbrauchers, zu dem der höchste Druckmittelvolumenstrom strömt, d.h. der auf den höchstenAnother advantage of the control arrangement according to the invention and the method according to the invention is that when a consumer is operated individually, the metering orifices can be opened completely outside the fine control range, the volume flow to the consumer being determined by the control of the variable displacement pump - the throttling losses at the metering orifice are then minimal. When several consumers are controlled, the throttle losses can be reduced according to an advantageous development of the invention in that the metering orifice of the consumer to which the highest pressure medium volume flow flows, i.e. the highest
Sollwert eingestellte Verbraucher, voll aufgesteuert wird und die Querschnitte der anderen Zumessblenden entsprechend dem Verhältnis der Druckmittelvolumenströme nachgeführt werden, so dass die Systemverluste gegenüber herkömmlichen Lösungen minimiert sind. Dieser Fall tritt allerdings nicht so häufig auf, da in der Regel ein Verbraucher mit maximaler Geschwindigkeit gefahren wird.Setpoint set consumers, is fully controlled and the cross sections of the other metering orifices are adjusted according to the ratio of the pressure medium volume flows, so that the system losses compared to conventional solutions are minimized. However, this case does not occur as often, as a consumer is usually driven at maximum speed.
Die Ansteuerung der Verstellpumpe und der Zumessfolen- den erfolgt über eine zentrale Steuereinrichtung, die vorzugsweise einen Datenspeicher hat, in dem Kennlinien der Verstellpumpe und der Zumessblenden gespeichert sind.The variable displacement pump and the metering foils are controlled via a central control device, which preferably has a data memory in which the characteristic curves of the variable displacement pump and the metering orifices are stored.
Die Verstellpumpe wird vorzugsweise mit einem Dreh- zahlsensor versehen, über den die aktuelle Pumpendrehzahl erfassbar ist, so dass der Sollvolumenstrom einfach über die abgespeicherten Kennlinien einstellbar ist.The variable pump is preferably provided with a speed sensor, via which the current pump speed is detectable, so that the target volume flow can be easily adjusted via the stored characteristic curves.
Die erfindungsgemäße Steueranordnung wird Vorzugs- weise mit Nachsaugventilen ausgeführt, über die bei einer ziehenden Last Druckmittel in eine Niederdruckseite des Verbrauchers nachgesaugt werden kann. In diesem Fall wird bei der erfindungsgemäßen Lösung die Pumpe zurückgestellt, so dass die Systemverluste gegenüber herkömmli- chen Lösungen weiter reduziert sind.The control arrangement according to the invention is preferably carried out with suction valves, via which pressure medium can be sucked into a low-pressure side of the consumer when there is a pulling load. In this case, the pump is reset in the solution according to the invention, so that the system losses are further reduced compared to conventional solutions.
Die Erfassung der Sollwerte erfolgt vorzugsweise durch Auswertung der Einstellung eines Joy-Sticks oder Erfassung der Position der Regelkolben der Zumessblende.The setpoints are preferably acquired by evaluating the setting of a joy stick or by detecting the position of the control pistons of the metering orifice.
Sonstige vorteilhafte Weiterbildungen der Erfindung sind Gegenstand weiterer Unteransprüche.Other advantageous developments of the invention are the subject of further dependent claims.
Im folgenden wird ein bevorzugtes Ausführungsbeispiel der Erfindung anhand eines Schaltschemas erläutert.A preferred exemplary embodiment of the invention is explained below using a circuit diagram.
Die Figur zeigt ein Schaltschema einer erfindungsgemäßen hydraulischen Steueranordnung 1, die praktisch ein abgewandeltes LUDV-System darstellt.The figure shows a circuit diagram of a hydraulic control arrangement 1 according to the invention, which practically represents a modified LUDV system.
Die erfindungsgemäße Steueranordnung hat eine Verstellpumpe 2, über die zwei oder mehrere Verbraucher 4, 6 mit Druckmittel versorgbar sind. Die Ansteuerung der Verbraucher 4, 6 erfolgt mittels eines Steuergerätes, beispielsweise eines Joysticks 8, über den Steuersignale an eine Steuereinrichtung 10 abgegeben werden. Diese Signale stellen praktisch einen Befehl dar, die Verbraucher mit einer bestimmten Geschwindigkeit zu bewegen. Der Ausgang der Verstellpumpe 2 ist an eine Pumpenleitung 12 angeschlossen, die in zwei Zulaufleitungen 14, 16 verzweigt. In jeder Zulaufleitung 14, 16 ist eine elektrisch proportional verstellbare Zumessblende 18 bzw. 20 angeordnet, der jeweils eine Druckwaage 22 bzw. 24 nachgeschaltet ist . Der Ausgang der beiden Druckwaagen 22, 24 ist jeweils über eine Vorlaufleitung 26, 28 mit dem Verbraucher verbunden. Im vorliegenden Fall sind die Verbraucher 4, 6 Hydraulikzylinder, deren Zylinderräume an die Vorlaufleitung 26 bzw. 28 angeschlossen sind. In der Praxis werden die Zumessblenden 18, 20 durch elektrisch oder hydraulisch proportional verstellbare Wegeventile ausgeführt. In dem vorliegenden Hydraulikschaubild sind der Einfachheit halber die die genannten Zylinderräume 30, 32 mit dem Tank T verbindenden Rücklauf- und Ablaufleitungen weggelassen, deren Durchflussquerschnitte vorzugsweise ebenfalls über das jeweils die Zumessblende 18, 20 ausbildende Proportionalventil auf- oder zugesteuert werden.The control arrangement according to the invention has a variable displacement pump 2, via which two or more consumers 4, 6 can be supplied with pressure medium. The consumers 4, 6 are controlled by means of a control device, for example a joystick 8, via which control signals are output to a control device 10. These signals are practically a command to move consumers at a certain speed. The output of the variable displacement pump 2 is connected to a pump line 12 which branches into two feed lines 14, 16. An electrically proportionally adjustable metering orifice 18 or 20 is arranged in each inlet line 14, 16, and a pressure compensator 22 or 24 is connected downstream of each. The outlet of the two pressure compensators 22, 24 is connected to the consumer via a flow line 26, 28. In the present case, the consumers are 4, 6 hydraulic cylinders, the cylinder spaces of which are connected to the feed line 26 or 28. In practice, the metering orifices 18, 20 are implemented by way of electrically or hydraulically proportionally adjustable directional valves. In the present hydraulic diagram, for the sake of simplicity, the return and discharge lines connecting the cylinder spaces 30, 32 mentioned to the tank T are omitted, the flow cross-sections of which are preferably likewise opened or closed via the proportional valve forming the orifice plate 18, 20.
Die Druckwaagen 22, 24 sind in Öffnungsrichtung von dem Druck nach der jeweiligen Zumessblende 18, 20 und in Schließrichtung von einem Druck beaufschlagt, der dem höchsten Lastdruck an den beiden Verbrauchern 4, 6 ent- spricht. Dieser höchste Lastdruck wird über eine LS- Leitung 34 und ein Wechselventil 36 von derjenigen Vorlaufleitung 26, 28 abgegriffen, an der der höchste Lastdruck anliegt. Die Ansteuerung der beiden Zumessblenden 18, 20 erfolgt über die Steuereinrichtung 10 in Abhängigkeit von dem am Joystick 8 eingestellten Steuersignal (Sollwert) .The pressure compensators 22, 24 are acted upon in the opening direction by the pressure after the respective metering orifice 18, 20 and in the closing direction by a pressure which corresponds to the highest load pressure at the two consumers 4, 6. This highest load pressure is tapped via an LS line 34 and a shuttle valve 36 from the flow line 26, 28 to which the highest load pressure is present. The two metering orifices 18, 20 are controlled via the control device 10 as a function of the control signal (setpoint) set on the joystick 8.
Wie eingangs beschrieben, sind bei einem derartigen System die Drücke hinter den beiden Zumessblenden 18, 20 gleich und die Größe der Volumenströme zu den Verbrau- ehern 4, 6 verhalten sich wie die Öffnungsquerschnitte der beiden Zumessblenden (18, 20 ) . Über die nachgeschaltete Druckwaage 22, 24 wird der nach den Zumessblenden 18, 20 anliegende Druck auf den jeweils anliegenden Lastdruck abgedrosselt.As described at the beginning, in such a system the pressures behind the two metering orifices 18, 20 are the same and the size of the volume flows to the consumers rather 4, 6 behave like the opening cross-sections of the two metering orifices (18, 20). The pressure applied after the metering orifices 18, 20 is throttled to the respective load pressure applied via the downstream pressure compensator 22, 24.
Die Verstellpumpe 2 ist beim dargestellten Ausführungsbeispiel mit einem Drucksensor zur Erfassung des Pumpendruckes, einem Drehzahlsensor zur Erfassung der Pumpendrehzahl und einem SchwenkwinkeIsensor zur Erfassung des Pumpenschwenkwinkels ausgeführt. Im Datenspeicher der Steuereinrichtung sind des weiteren die Kennlinien der Verstellpumpe 2 und der beiden proportional verstellbaren Zumessblenden 18, 20 abgelegt, so dass mit Hilfe aller oder einiger der vorgenannten Sensoren und der Kennlinien eine äußerst exakte Volumenstromsteuerung über die Verstellpumpe 2 möglich ist. Die Funktion der erfindungsgemäßen Steueranordnung ist wie folgt:In the exemplary embodiment shown, the variable displacement pump 2 is designed with a pressure sensor for detecting the pump pressure, a speed sensor for detecting the pump speed and a swivel angle sensor for detecting the pump swivel angle. The characteristics of the variable displacement pump 2 and the two proportionally adjustable metering orifices 18, 20 are also stored in the data memory of the control device, so that extremely precise volume flow control via the variable displacement pump 2 is possible with the help of all or some of the aforementioned sensors and the characteristic curves. The function of the control arrangement according to the invention is as follows:
Zur Betätigung der beiden Verbraucher 4, 6 werden durch den Bediener über einen oder mehrere Joysticks 8 Steuersignale erzeugt, die an die Steuereinrichtung 10 abgegeben werden. Zur entsprechenden Ansteuerung der Verbraucher 4, 6 muss die Verstellpumpe 2 einen bestimmten Druckmittelvolumenstrom bereitstellen, der der Summe der über den Joystick 8 eingestellten Soll- Volumenströme entspricht. D.h., die Verstellpumpe 2 muss in Abhängigkeit von der Einstellung des Joysticks 8 auf einen Schwenkwinkel verstellt werden, bei dem dieser Summenvolumenstrom geliefert wird. Die entsprechende Einstellung der Verstellpumpe 2 kann in Abhängigkeit von dem Sollwert auf einfache Weise durch Erfassung des aktuellen Pumpendruckes, der aktuellen Pumpendrehzahl und des eingestellten Schwenkwinkels über die Pumpenkennlinie erfolgen. D.h. erfindungsgemäß erhält der Pumpenregler kein Drucksignal, das in der Regel dem höchsten Lastdruck entspricht, sondern die Ansteuerung der Verstellpumpe erfolgt allein in Abhängigkeit von den über den Joystick eingestellten Sollwerten.To actuate the two consumers 4, 6, control signals are generated by the operator via one or more joysticks 8, which are output to the control device 10. In order to control the consumers 4, 6 accordingly, the variable displacement pump 2 must provide a specific pressure medium volume flow which corresponds to the sum of the set volume flows set via the joystick 8. That is, the variable pump 2 must be adjusted depending on the setting of the joystick 8 to a swivel angle at which this total volume flow is delivered. The corresponding adjustment of the variable displacement pump 2 can be carried out in a simple manner as a function of the desired value by detecting the current pump pressure, the current pump speed and the set swivel angle via the pump characteristic. In other words, according to the invention, the pump controller receives no pressure signal, which usually corresponds to the highest load pressure, but the control of the variable pump takes place solely depending on the setpoints set with the joystick.
Durch diese Sollwerteinstellung über den Joystick 8 können Volumenstromfehler aufgrund volumetrischer Verluste der Verstellpumpe 2 ausgeglichen werden, da der Bediener sofort über den Joystick 8 nachregelt, falls die Verbraucher 4, 6 nicht mit der gewünschten Geschwindigkeit betätigt werden.Volume flow errors due to volumetric losses of the variable displacement pump 2 can be compensated for by this setpoint adjustment via the joystick 8, since the operator immediately adjusts via the joystick 8 if the consumers 4, 6 are not actuated at the desired speed.
Eine weitere Besonderheit der Erfindung liegt darin, dass bei Parallelbetrieb der Verbraucher 4, 6 über die Steuereinrichtung 10 derjenige Verbraucher 4, 6 ermittelt wird, der mit dem größten Druckmittelvolumenstrom zu versorgen ist. Dies kann auf einfache Weise über die am Joystick 8 eingestellten Sollwerte erfolgen, so dass keinerlei weitere Sensoren erforderlich sind. Die Zumess- blende 18, 20 dieses mit dem höchsten Druckmittelvolumenstrom zu versorgenden Verbrauchers 4 , 6 wird dann mittels der Steuereinrichtung 10 vollständig geöffnet und die Öffnungsquerschnitte der anderen Zumessblenden 20 bzw. 18 entsprechend nachgeführt, so dass die Systemverluste gegenüber herkömmlichen Lösungen minimiert sind. In dem Fall, in dem nur ein Verbraucher 4, 6 angesteuert wird, kann die zugeordnete Zumessblende 18 bzw. 20 außerhalb des Feinsteuerbereiches voll geöffnet werden, um die Systemverluste zu minimieren. Der Druckmittelvolumenstrom zu dem Verbraucher wird dann alleine über die Verstell- pumpe gesteuert .Another special feature of the invention is that when consumers 4, 6 are operated in parallel, the consumer 4, 6 that is to be supplied with the greatest pressure medium volume flow is determined via control device 10. This can be done in a simple manner using the setpoints set on the joystick 8, so that no further sensors are required. The metering orifice 18, 20 of this consumer 4, 6 to be supplied with the highest pressure medium volume flow is then opened completely by means of the control device 10 and the opening cross sections of the other metering orifices 20 and 18 are adjusted accordingly, so that the system losses are minimized compared to conventional solutions. In the case in which only one consumer 4, 6 is controlled, the assigned metering orifice 18 or 20 can be opened fully outside the fine control range in order to minimize the system losses. The pressure medium volume flow to the consumer is then controlled solely via the variable pump.
Bei einem vorteilhaften Ausführungsbeispiel der Erfindung sind die Zylinderräume 30, 32 der Verbraucher 4, 6 jeweils über ein Nachsaugventil mit dem Tank T verbunden, so dass im Fall einer ziehenden Last über diese nicht dargestellten Nachsaugventile Druckmittel in die Zylinderräume 30, 32 (Niederdruckseite) nachgesaugt werden kann. Dieser Druck in der Niederdruckseite wird erfasst und über die Steuereinrichtung 10 ein Steuersignal an die Verstellpumpe 2 abgegeben, so dass der Schwenkwinkel der Verstellpumpe 2 zurückgefahren wird und kein Druckmittel über die Pumpe gefördert wird. Mit dieser Schaltung können die Verluste im Vergleich zu herkömmlichen Schaltungen weiter minimiert werden.In an advantageous embodiment of the invention, the cylinder spaces 30, 32 of the consumers 4, 6 are each connected to the tank T via a suction valve, so that in the event of a pulling load, the tank T Suction valves, not shown, pressure medium can be sucked into the cylinder chambers 30, 32 (low pressure side). This pressure in the low-pressure side is recorded and a control signal is sent to the adjusting pump 2 via the control device 10, so that the swivel angle of the adjusting pump 2 is reduced and no pressure medium is conveyed via the pump. With this circuit, the losses can be further minimized compared to conventional circuits.
Im vorbeschriebenen Ausführungsbeispiel sind die Sollwerte über einen Joystick 8 vorgegeben. Bei Proportionalventilen mit Schieberwegmessung kann der Sollvolumenstrom auch aus dem Weg des Ventilschiebers der Zumess- blende 18, 20 ermittelt werden, d.h., in diesem Fall wird nicht das am Joystick 8 eingestellte Signal direkt, sondern der sich aufgrund dieses Signals am VentilSchieber der Zumessblenden 18, 20 einstellende Ist-Wert verwendet. Da bei dem erfindungsgemäßen System eine Volumenstromsteuerung über die Verstellpumpe 2 erfolgt, ist die Schwingungsanfälligkeit wesentlich geringer als bei den bisher bekannten Lösungen. Durch den Wegfall der LS- Meldeleitungen zum Regelventil lässt sich der Schaltungs- technische Aufwand gegenüber den eingangs beschriebenen Δp-Systemen minimieren.In the exemplary embodiment described above, the setpoints are specified via a joystick 8. In the case of proportional valves with slide travel measurement, the desired volume flow can also be determined from the travel of the valve slide of the metering orifice 18, 20, ie in this case it is not the signal set on the joystick 8 that is direct, but rather the signal on the valve slide of the metering orifices 18, 20 setting actual value used. Since in the system according to the invention volume flow control takes place via the variable displacement pump 2, the susceptibility to vibrations is significantly lower than in the previously known solutions. By eliminating the LS signal lines to the control valve, the circuitry complexity compared to the Δp systems described at the beginning can be minimized.
Die Verstellpumpe kann wie vorbeschrieben so ausgeführt sein, dass das geometrische Verdrängungsvolumen einstellbar ist, es können jedoch auch Konstant- oder Verstellpumpen mit drehzahlveränderlichem Antrieb eingesetzt werden.The variable displacement pump can be designed as described above in such a way that the geometric displacement volume can be set, but constant or variable displacement pumps with a variable-speed drive can also be used.
Offenbart sind eine Steueranordnung zur Ansteuerung von zumindest zwei hydraulischen Verbrauchern und einA control arrangement for controlling at least two hydraulic consumers and one are disclosed
Verfahren zur Ansteuerung dieser Verbraucher. Diese werden über eine Pumpe mit Druckmittel versorgt, wobei zwischen den Verbrauchern und der Pumpe jeweils eine Zumessblende und eine nachgeschaltete Druckwaage vorgesehen sind. Erfindungsgemäß erfolgt die Einstellung der Pumpe in Abhängigkeit von den Sollwerten, auf die die Zumessblenden eingestellt sind. Procedure for controlling these consumers. This are supplied with pressure medium via a pump, a metering orifice and a downstream pressure compensator being provided between the consumers and the pump. According to the invention, the pump is set as a function of the setpoints to which the metering orifices are set.
Bezugszeichenliste :Reference symbol list:
1 Steueranordnung1 control arrangement
2 Verstellpumpe2 variable pump
4 Verbraucher4 consumers
6 Verbraucher6 consumers
8 Joystick8 joystick
10 Steuereinrichtung10 control device
12 Pumpenleitung12 pump line
14 Zulaufleitung14 inlet pipe
16 Zulaufleitung16 inlet pipe
18 Zumessblende18 metering orifice
20 Zumessblende20 metering orifice
22 Druckwaage22 pressure compensator
24 Druckwaage24 pressure compensator
26 Vorlaufleitung26 flow line
28 Vorlaufleitung28 supply line
30 Zy1inderräum30 cylinder rooms
32 Zy1inderräum32 cylinder rooms
34 LS-Leitung34 LS line
36 Wechselventil 36 shuttle valve

Claims

Patentansprüche Patent claims
1. Steueranordnung zur Druckmittelversorgung wenigstens zweier hydraulischer Verbraucher (4, 6), mit einer Pumpe (2) , deren Fördermenge veränderbar ist und mit zwei verstellbaren Zumessblenden (18, 20) , von denen eine erste zwischen einer von der Pumpe (2) abgehenden Zulaufleitung (14) und einem ersten hydraulischen Verbraucher (4) und die zweite zwischen einer Zulaufleitung (16) und einem zweiten hydraulischen Verbraucher (6) angeordnet ist, und mit zwei Druckwaagen (22, 24), von denen eine erste der ersten Zumessblende (18) und die zweite der zweiten Zumessblende (20) nachgeschaltet ist und deren Regelkolben auf einer Vorderseite vom Druck nach der jeweiligen Zumessblende (18, 20) in Öffnungsrichtung und in Schließrichtung von dem höchsten Lastdruck oder einem davon abgeleiteten Druck beaufschlagbar ist, wobei die Pumpe (2) und die Zumessblenden (18, 20) - vorzugsweise proportional - verstellbar sind, gekennzeichnet durch eine Steuereinrichtung (10) zur Abgabe eines Steuersignals an die Pumpe (2) in Abhängigkeit von den für die Zumessblenden (18, 20) vorgegebenen Sollwerten.1. Control arrangement for supplying pressure medium to at least two hydraulic consumers (4, 6), with a pump (2), the delivery rate of which can be changed, and with two adjustable metering orifices (18, 20), a first of which is located between one of the pump (2). Inlet line (14) and a first hydraulic consumer (4) and the second is arranged between an inlet line (16) and a second hydraulic consumer (6), and with two pressure compensators (22, 24), a first of which is the first metering orifice ( 18) and the second is connected downstream of the second metering orifice (20) and the control piston of which can be acted upon on a front side by the pressure after the respective metering orifice (18, 20) in the opening direction and in the closing direction by the highest load pressure or a pressure derived therefrom, the pump (2) and the metering orifices (18, 20) - preferably proportionally - are adjustable, characterized by a control device (10) for emitting a control signal to the pump (2) depending on the setpoint values specified for the metering orifices (18, 20).
2. Steueranordnung nach Patentanspruch 1, wobei der Förderstrom der Pumpe (2) elektrisch mittels Proportionalmagneten verstellbar ist.2. Control arrangement according to claim 1, wherein the delivery flow of the pump (2) is electrically adjustable by means of proportional magnets.
3. Steueranordnung nach Patentanspruch 1 oder 2, wobei mittels der Steuereinrichtung (10) die Zumessblende (18, 20) mit dem höchsten Sollwert voll aufsteuerbar ist und die anderen Zumessblenden (18, 20) entsprechend nachführbar sind. 3. Control arrangement according to claim 1 or 2, wherein the metering orifice (18, 20) can be fully controlled with the highest setpoint by means of the control device (10) and the other metering orifices (18, 20) can be adjusted accordingly.
1. Steueranordnung nach einem der vorhergehenden Patentansprüche, dadurch gekennzeichnet, dass die Steuereinrichtung (10) einen Datenspeicher hat, in dem die Kennlinien der Verstellpumpe (2) und der Zumessblenden (18, 20) gespeichert sind.1. Control arrangement according to one of the preceding claims, characterized in that the control device (10) has a data memory in which the characteristics of the variable pump (2) and the metering orifices (18, 20) are stored.
5. Steueranordnung nach einem der vorhergehenden Patentansprüche, dadurch gekennzeichnet, dass die Pumpe (2) eine Axialkolbenpumpe ist .5. Control arrangement according to one of the preceding claims, characterized in that the pump (2) is an axial piston pump.
6. Steueranordnung nach einem der vorhergehenden Patentansprüche, mit einem Drehzahlsensor zur Erfassung der Pumpendrehzahl .6. Control arrangement according to one of the preceding claims, with a speed sensor for detecting the pump speed.
7. Steueranordnung nach einem der vorhergehenden Patentansprüche, mit Nachsaugventilen, über die Druckmittelräume der Verbraucher (4, 6) mit einem Tank verbindbar sind, so dass im Fall einer ziehenden Last Druckmittel in die Druckmittelräume (30, 32) nach- saugbar ist.7. Control arrangement according to one of the preceding claims, with suction valves, via which the pressure medium spaces of the consumers (4, 6) can be connected to a tank, so that in the event of a pulling load, pressure medium can be sucked into the pressure medium spaces (30, 32).
8. Steueranordnung nach einem der vorhergehenden Patentansprüche, wobei die Sollwerte in Abhängigkeit von der Einstellung eines Joy-Sticks (8) oder in Abhängigkeit von der Regelkolbenposition der Zumessblenden (18, 20) erfasst sind.8. Control arrangement according to one of the preceding claims, wherein the setpoint values are recorded depending on the setting of a joy stick (8) or depending on the control piston position of the metering orifices (18, 20).
9. Verfahren zur Ansteuerung von zumindest zwei hydraulischen Verbrauchern, die über eine Pumpe (2) mit veränderlicher Fördermenge mit Druckmittel versorgbar sind, wobei jedem Verbraucher eine Zumessblende (18, 20) zugeordnet ist, die zwischen der Pumpe und dem jeweiligen Verbraucher (4, 6) vorgesehen sind und denen jeweils eine Druckwaage (22, 24) nachgeschaltet ist, deren Regelkolben in Öffnungsrichtung vom Druck nach der vorgeschalteten Zumessblende (18, 20) und in Schließrichtung vom höchsten Lastdruck oder einem davon abgeleiteten Druck beaufschlagt wird, dadurch gekennzeichnet, dass die Pumpe (2) in Abhängigkeit von den für die Zumessblenden (18, 20) vorgegebenen Sollwerten angesteuert wird.9. Method for controlling at least two hydraulic consumers, which can be supplied with pressure medium via a pump (2) with a variable delivery rate, each consumer being assigned a metering orifice (18, 20) which is connected between the pump and the respective consumer (4, 6) are provided and each of which is followed by a pressure compensator (22, 24), the control piston of which in the opening direction depends on the pressure after the upstream metering orifice (18, 20) and in Closing direction is acted upon by the highest load pressure or a pressure derived therefrom, characterized in that the pump (2) is controlled depending on the setpoint values specified for the metering orifices (18, 20).
10. Verfahren nach Patentanspruch 9, wobei die auf den höchsten Sollwert einzustellende Zumessblende (18, 20) vollständig aufgesteuert und die anderen Zumess- blenden entsprechend nachgeführt werden.10. The method according to claim 9, wherein the metering aperture (18, 20) to be set to the highest setpoint is fully opened and the other metering apertures are adjusted accordingly.
11. Verfahren nach Patentanspruch 9 oder 10, wobei im Fall einer ziehenden Last der Förderstrom der Pumpe zurückgefahren und Druckmittel über Nachsaugventile zur Niederdruckseite der Verbraucher (4, 6) nachgesaugt wird. 11. The method according to claim 9 or 10, wherein in the case of a pulling load, the flow of the pump is reduced and pressure medium is sucked in via suction valves to the low-pressure side of the consumer (4, 6).
EP04762391A 2003-07-15 2004-07-15 Method and arrangement for controlling at least two hydraulic consumers Not-in-force EP1644643B1 (en)

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DE10332120A DE10332120A1 (en) 2003-07-15 2003-07-15 Control arrangement and method for controlling at least two hydraulic consumers
PCT/DE2004/001536 WO2005008076A1 (en) 2003-07-15 2004-07-15 Method and arrangement for controlling at least two hydraulic consumers

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EP (1) EP1644643B1 (en)
JP (1) JP4818915B2 (en)
KR (1) KR101085984B1 (en)
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JP4818915B2 (en) 2011-11-16
US7275370B2 (en) 2007-10-02
US20060230753A1 (en) 2006-10-19
KR101085984B1 (en) 2011-11-22
DE10332120A1 (en) 2005-02-03
JP2007506921A (en) 2007-03-22
CN100445575C (en) 2008-12-24
CN1823230A (en) 2006-08-23
DE502004009762D1 (en) 2009-08-27
WO2005008076A1 (en) 2005-01-27
EP1644643B1 (en) 2009-07-15

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