EP1725715B1 - Verfahren und vorrichtung zur bewegungstilgung bei baumaschinen - Google Patents

Verfahren und vorrichtung zur bewegungstilgung bei baumaschinen Download PDF

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Publication number
EP1725715B1
EP1725715B1 EP05716056A EP05716056A EP1725715B1 EP 1725715 B1 EP1725715 B1 EP 1725715B1 EP 05716056 A EP05716056 A EP 05716056A EP 05716056 A EP05716056 A EP 05716056A EP 1725715 B1 EP1725715 B1 EP 1725715B1
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EP
European Patent Office
Prior art keywords
damping
hydraulic cylinder
bucket
control
cabin
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.)
Active
Application number
EP05716056A
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German (de)
English (en)
French (fr)
Other versions
EP1725715A1 (de
Inventor
Renato Gianoglio
Frediani Salvatore
Jürgen Weber
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.)
CNH Industrial Baumaschinen GmbH
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CNH Baumaschinen GmbH
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Publication date
Application filed by CNH Baumaschinen GmbH filed Critical CNH Baumaschinen GmbH
Publication of EP1725715A1 publication Critical patent/EP1725715A1/de
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Publication of EP1725715B1 publication Critical patent/EP1725715B1/de
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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
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations

Definitions

  • the invention relates to a method and a device forfoldsstilgung in self-propelled unsprung construction equipment, especially in wheel loaders, with a driven by a hydraulic cylinder implement.
  • a hydraulic accumulator is used as a load suspension system, wherein the responsible for raising and lowering the implement hydraulic lines between the lifting cylinder and a control valve are connected. It is disclosed that for variable adjustment of the load pressure of the hydraulic accumulator at least one nozzle in conjunction with a plurality of directional control valves between the load suspension system are provided at the respective load pressure of the lifting cylinder, wherein the valves are actuated in pilot control lines between a pilot control and the control valve via provided pressure switch.
  • the compliance of the hydraulic accumulator is used to allow an out-of-phase movement of the equipment, which in turn the movement; a shovel over the construction machine erases.
  • suspension systems are known from the prior art, which are used in the agricultural technology sector, especially in tractors.
  • damping characteristic is fixed in passive systems (fixed nozzles) and modifiable in the case of active systems by means of electronics.
  • the object of the invention is to develop a method and a device for motion reduction in construction machines, which are adapted to changing tasks, e.g. Cabin damping or paddle damping, the tree can be adjusted which is cost-effective and allows retrofitting in previously unsprung construction equipment with little effort, the damping should be optimized even with loaded blade.
  • changing tasks e.g. Cabin damping or paddle damping
  • the pressure signals detected by a pressure sensor in the hydraulic cylinder for determining the degree of filling and / or detected by an angle sensor position of the mast can be supplied in addition to the input variable (A) as further input variables of the control unit.
  • the pressure signals in the hydraulic cylinder indicate the degree of filling or the blade load in order to be able to determine load-dependent control parameters in an adaptive control algorithm. Since the control algorithm is adaptive, that is to say self-adjusting, an optimized damping for different operating points with respect to the load on the blades can be achieved.
  • the construction machine with two different damping modes namely cabin mode and bucket mode
  • the cabin mode is then preferably activated in order to achieve a higher driving speed during transfer journeys.
  • Switching to the bucket mode is accomplished when the bucket placed on the lift equipment is damped, thus allowing better handling in the labor input of the construction machine.
  • the mode selection can be done manually by the operator of the machine, or most advantageously automatically, by evaluating the signal from the pressure sensor to activate the bucket mode with the bucket full and the cabin mode with the bucket empty.
  • the switching between the individual damping modes can be performed by the operator of the construction machine not only when stationary but also while driving, it being possible to distinguish between an operating point of a pressure level and / or the driving speed.
  • the switching between the individual damping modes preferably takes place using the pressure sensor arranged in the hydraulic cylinder.
  • the device for authorities in self-propelled unsprung construction equipment, in particular wheel loaders, with a driven by a hydraulic cylinder implement a hydraulic source, a controlled valve for supplying the hydraulic cylinder with hydraulic fluid, at least one sensor for detecting a physical quantity and a control unit a control software, wherein as sensor, an acceleration sensor is provided and the control unit is designed so as to process the signals of the acceleration sensor by means of the control software as input signals and to determine a control current for the valve as an output variable for a compensating movement of the hydraulic cylinder.
  • the device according to the invention has the difference compared to the prior art that no pressure control, but a speed control of the hydraulic cylinder is realized on the basis of an acceleration feedback.
  • no highly dynamic valves are needed, but it can be used in an advantageous manner, the valve for the working group of the control block.
  • the acceleration sensor By means of the acceleration sensor can directly detected on the bucket and / or the cab of the construction machine accelerations are detected to cause an antiphase movement of the hydraulic cylinder.
  • the signal detected by the acceleration sensor is fed to the control unit where it is optionally weighted with a pressure signal and a path compensating signal and converted into a corresponding signal which determines the current value for the valve controlling the hydraulic cylinder.
  • the controlled valve releases a valve cross section, so that a corresponding volume flow can flow to the hydraulic cylinder.
  • the arrangement of the acceleration sensor can take place at any point of the construction machine, but preferably in the region of the function or machine assembly to be damped, or the blade or driver's cab, of the construction machine.
  • the movement-eradication system generates a counter force in the hydraulic cylinders of the working equipment, particularly advantageously in the lifting cylinders, in order to compensate for the force or movement action by means of the hydraulic fluid.
  • the pressure signal is detected by a pressure sensor, which is preferably arranged in the region of the hydraulic cylinder bottom of the lifting cylinder. This pressure signal represents the degree of filling of the blade of the equipment. Since the degree of filling can vary continuously, it is provided that the control unit is adaptive. Thus, load-adaptive optimal vibration compensation can be achieved.
  • the pressure sensor is therefore able to distinguish an empty from a filled blade and to supply the corresponding signal to the control unit.
  • the pressure sensor can additionally be supplemented by an angle sensor or another position sensor (eg stroke sensor for lifting cylinder).
  • the angle sensor detects the position of the mast and compares it with a previously stored reference value.
  • the deviation of the angular position from the reference position is processed by a controller.
  • the control unit can be defined in an advantageous manner an allowable range for the position of the mast, the compliance during the repayment movement is one of the control or regulating tasks of the control device.
  • the current position can be measured by an angle sensor arranged on the mast.
  • the control unit present in the construction machine for the control of the work functions is supplemented according to the invention by a control software whose algorithm can include a plurality of damping functions. While in motion cancellation systems in the prior art so far only the unwanted accelerations of the blade could be compensated, now the selection of a desired damping mode, the associated damping function can be activated. Typical damping functions for the bucket mode, the cabin mode but also for the combined mode are provided in the control software. Depending on the selected damping mode, a corresponding control current for the valve is released according to the associated damping function.
  • Fig. 1 schematically illustrates the external excitations / pulses 4, which typically act on a construction machine 1.
  • the cabin 1.1 of the wheel loader shown here is vertically accelerated by the Fahrbahnanregung 4.1 and the excitation 4.2 by the equipment movement 5.
  • the vehicle or cabin damping takes place without damping system exclusively by the tires 1.3 of the construction machine 1.
  • suggestions / pulses may overlap by the roadway 4.1 or by the equipment 4.2, which leads to an increased and thus causing unwanted cabin acceleration.
  • Fig. 2 shows the control architecture of the device for motion reduction in construction machines 1 in a closed loop.
  • This embodiment illustrates the use of the acceleration sensor 2.1 according to the invention, the angle sensor 2.2 and the pressure sensor 2.3, the control of the hydraulic cylinder 1.4 at a stimulation of the construction machine 1 by in the Fig. 1 illustrated equipment 1.2 and by the roadway 3.
  • the in the Fig. 1 shown construction machine 1 has a valve factory 1.5 of the control block, not shown, a control unit 6, the angle sensors 2.2, the optionally used pressure sensor 2.3 and an acceleration sensor 2.1.
  • the suggestions 4.1 of the construction machine 1 through the roadway 3 are transmitted to the car 1.1 of the construction machine 1 via the wheels / tires 1.3 of the construction machine 1 as well as via the suggestions 4.2 of the equipment 1.2.
  • These superimposed excitations 4 are detected by an acceleration sensor 2.1 and fed to the control unit 6 as an electrical signal.
  • This electrical signal forms the first input variable for the control unit 6.
  • the layer 10 of the mast 1.2.1 of the control unit 6 is supplied.
  • the supervision the position 10 of the mast 1.2.1 takes place by means of the factory existing on the construction machine 1 angle sensors 2.2 in order to avoid excessive hydraulic cylinder strokes and a drifting equipment position.
  • the measurement of the pressure 8 in the hydraulic cylinder 1.4 takes place by means of a pressure sensor 2.3.
  • a pressure sensor 2.3 With this optionally usable pressure sensor 2.3, the degree of filling of the bucket 1.2.2 can be determined.
  • the mass-laden goods located in the blade 1.2.2 exert on the hydraulic cylinder 1.4 a compressive force which is detected by the pressure sensor 2.3.
  • the above-described input signals of the sensors 2 and transducer are according to one in the Fig. 3 processed algorithm for generating an output signal.
  • the output signal is an electrical signal and provides the current value for a valve 1.5 of a control block, not shown.
  • the valve 1.5 releases a valve cross-section as a function of the current value, the current value being proportional to the released volume flow 7.
  • the hydraulic cylinder 1.4 With the insertion or discharge of hydraulic fluid, the hydraulic cylinder 1.4 is moved. The speed of the lifting movement is proportional to the released volume flow 7. The lifting movement of the hydraulic cylinder 1.4 corresponds to a compensating movement with respect to the roadway excitation 4.1 and equipment excitation 4.2. Which while in the hydraulic cylinder 1.4 adjusting pressure 8 is detected again by means of the pressure sensor 2.3 and the control unit 6 is supplied. The external stimuli 4 not erased by the control unit 6 of the construction machine 1 are detected by the acceleration sensor 2. 1 as acceleration 5 and supplied to the control unit 6 again. This closes the control loop.
  • an out-of-phase movement of the hydraulic cylinder 1.4 can be generated in order to control the external excitations 4, e.g. the roadway excitation 4.1 or the equipment excitation 4.2, to compensate.
  • Fig. 3 shows the signal structure of the device forensstilgung.
  • the control unit 6 has three modules 12, namely the "active-ride-compensator” 12.1, the "boom-position-compensator” 12.2 and the "load-compensator” 12.3, wherein each module 12.1-12.3 processes at least one input signal and generates a corresponding output signal.
  • the module "active-ride-compensator” 12.1 processes the signal from the acceleration sensor 2.1 and determines the necessary control current 9 for the valve 1.5 to cause a compensating cylinder stroke.
  • the detected acceleration is amplified by means of a gain element and converted into a signal as a function of a selected damping mode 11 by means of an interpolation function.
  • the interpolation function is activated only by a generated signal of the load-compensator 12.3 described below.
  • the damping modes 11, cabin damping 11.1 and blade damping 11.2 contain different mathematical transfer functions that can be activated individually or in cooperation.
  • the generated signal for the control current 9 is amplified immediately before leaving the module 12.1.
  • the overlap existing in the valve 1.5 is further compensated by an additional portion 6.6 of the control current 9.
  • the boom-position-compensator 12.2 receives the signal which represents the position 10 of the mast 1.2.1. This signal is detected by arranged on the mast 1.2.1 angle sensors 2.2. At the time of activation of the damping function, the system stores the current position 10 of the mast 1.2.1 as a reference position. When load entry into the blade 1.2.2 of the implement 1.2 changes the angle of attack, wherein the position 10 of the mast 1.2.1 changed. This angular position is detected by the angle sensor 2.2 and compared in the "boom-position-compensator" 12.2 with the reference position. The deviation of the angular position from the reference position is processed by a PID controller 6.1 and subsequently processed by a designed as a limiter transmission element 6.4 on. The position controller only responds when the position of the mast leaves a permissible range. The signal generated by the PID controller 6.1 and limited by the limiter signal is now added to the generated signal of the "active-ride-compensator".
  • the "load-compensator” processes the signals of the pressure sensor 2.3, which is arranged in the hydraulic cylinder 1.4.
  • the pressure in the hydraulic cylinder 1.4 indicates the degree of filling of the blade 1.2.2 or the pressure force which is applied to the hydraulic cylinder 1.4 by the mass-loaded material located in the blade 1.2.2.
  • the signals of the pressure sensor 2.3 are converted by means of a transmission element, then amplified by a gain element and subsequently processed by means of a low-pass filter.
  • the low pass filter only filters out the steady state portion of the signal which is proportional to the bucket load or bucket charge.
  • the generated signal is now the "active-ride-compensator” supplied and activated depending on the size of the signal, the aforementioned interpolation function.
  • the interpolation function includes the determination of the controller parameters of the "active-ride-compensator" as a function of the blade load.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
  • Soil Working Implements (AREA)
EP05716056A 2004-03-17 2005-03-15 Verfahren und vorrichtung zur bewegungstilgung bei baumaschinen Active EP1725715B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004012945A DE102004012945A1 (de) 2004-03-17 2004-03-17 Vorrichtung und Verfahren zur Bewegungstilgung bei Baumaschinen
PCT/EP2005/002719 WO2005090694A1 (de) 2004-03-17 2005-03-15 Verfahren und vorrichtung zur bewegungstilgung bei baumaschinen

Publications (2)

Publication Number Publication Date
EP1725715A1 EP1725715A1 (de) 2006-11-29
EP1725715B1 true EP1725715B1 (de) 2010-01-06

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EP05716056A Active EP1725715B1 (de) 2004-03-17 2005-03-15 Verfahren und vorrichtung zur bewegungstilgung bei baumaschinen

Country Status (7)

Country Link
US (1) US7756622B2 (es)
EP (1) EP1725715B1 (es)
AT (1) ATE454507T1 (es)
BR (1) BRPI0508902B1 (es)
DE (2) DE102004012945A1 (es)
ES (1) ES2336340T3 (es)
WO (1) WO2005090694A1 (es)

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DE102007045846A1 (de) * 2007-09-26 2009-04-02 Deere & Company, Moline Landwirtschaftliche Maschine und Verfahren zur Positionsbestimmung
ITUD20080057A1 (it) * 2008-03-17 2009-09-18 Cifa Spa Procedimento di controllo delle vibrazioni di un braccio articolato per il pompaggio di calcestruzzo, e relativo dispositivo
US8162070B2 (en) * 2008-09-03 2012-04-24 Cnh America Llc Hydraulic shock dissipation for implement bounce
AT507087B1 (de) * 2008-12-05 2010-02-15 Siemens Vai Metals Tech Gmbh Verfahren und vorrichtung zur semi-aktiven reduktion von druckschwingungen in einem hydrauliksystem
US9644339B2 (en) * 2010-03-05 2017-05-09 Komatsu Ltd. Damper operation control device and damper operation control method for working vehicle
US8977440B2 (en) * 2010-09-09 2015-03-10 Robert Bosch Gmbh Body movement mitigation in earth-moving vehicles
CA2815333C (en) * 2010-11-12 2015-05-19 Jlg Industries, Inc. Longitudinal stability monitoring system
US8833861B2 (en) * 2010-12-03 2014-09-16 Caterpillar Inc. Loading analysis system and method
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WO2015073329A1 (en) 2013-11-14 2015-05-21 Eaton Corporation Pilot control mechanism for boom bounce reduction
JP6385069B2 (ja) * 2014-02-24 2018-09-05 住友重機械工業株式会社 ショベル
CN106661894B (zh) 2014-07-15 2019-12-10 伊顿公司 实现悬臂弹跳减少以及防止液压系统中的非指令运动的方法和设备
US10183852B2 (en) 2015-07-30 2019-01-22 Danfoss Power Solutions Gmbh & Co Ohg Load dependent electronic valve actuator regulation and pressure compensation
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US10174473B2 (en) * 2017-02-15 2019-01-08 Michael G D'Andrea System and method for active vibration cancellation for use in a snow plow
DE112018001592T5 (de) 2017-04-28 2020-01-02 Eaton Intelligent Power Limited Driftkompensationssystem für eine drift in bezug auf die dämpfung von masse-induzierten schwingungen in maschinen
CN111542702B (zh) 2017-04-28 2022-09-23 丹佛斯动力系统Ii技术有限公司 用于抑制具有液压控制的吊杆或细长构件的机器中的质量感应振动的系统
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Also Published As

Publication number Publication date
EP1725715A1 (de) 2006-11-29
US20070299589A1 (en) 2007-12-27
BRPI0508902B1 (pt) 2016-10-11
DE102004012945A1 (de) 2005-10-13
WO2005090694A1 (de) 2005-09-29
BRPI0508902A (pt) 2007-08-07
DE502005008824D1 (de) 2010-02-25
ATE454507T1 (de) 2010-01-15
US7756622B2 (en) 2010-07-13
ES2336340T3 (es) 2010-04-12

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