EP1965083B1 - Unité hydraulique et procédé permettant de commander la vitesse du moteur dans une unité hydraulique - Google Patents

Unité hydraulique et procédé permettant de commander la vitesse du moteur dans une unité hydraulique Download PDF

Info

Publication number
EP1965083B1
EP1965083B1 EP07806100A EP07806100A EP1965083B1 EP 1965083 B1 EP1965083 B1 EP 1965083B1 EP 07806100 A EP07806100 A EP 07806100A EP 07806100 A EP07806100 A EP 07806100A EP 1965083 B1 EP1965083 B1 EP 1965083B1
Authority
EP
European Patent Office
Prior art keywords
oil pressure
motor
command value
load
current command
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
EP07806100A
Other languages
German (de)
English (en)
Other versions
EP1965083A4 (fr
EP1965083A1 (fr
Inventor
Tetsuo Nakata
Junichi Miyagi
Yasuto Yanagida
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.)
Daikin Industries Ltd
Original Assignee
Daikin Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daikin Industries Ltd filed Critical Daikin Industries Ltd
Publication of EP1965083A1 publication Critical patent/EP1965083A1/fr
Publication of EP1965083A4 publication Critical patent/EP1965083A4/fr
Application granted granted Critical
Publication of EP1965083B1 publication Critical patent/EP1965083B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/20—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by changing the driving speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • F04B49/065—Control using electricity and making use of computers
    • 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"
    • F15B11/0423—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" by controlling pump output or bypass, other than to maintain constant speed
    • 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
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2201/00—Pump parameters
    • F04B2201/12—Parameters of driving or driven means
    • F04B2201/1202—Torque on the axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00—Motor parameters
    • F04B2203/02—Motor parameters of rotating electric motors
    • F04B2203/0201—Current
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00—Motor parameters
    • F04B2203/02—Motor parameters of rotating electric motors
    • F04B2203/0209—Rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2205/00—Fluid parameters
    • F04B2205/05—Pressure after the pump outlet
    • 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
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • 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
    • F15B2211/20538—Type of pump constant 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • 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
    • F15B2211/255—Flow control functions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6651—Control of the prime mover, e.g. control of the output torque or rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6656—Closed loop control, i.e. control using feedback

Definitions

  • the present invention relates to an oil pressure unit for driving an oil pressure pump with a motor.
  • a speed control (PI control) calculation is executed to calculate a current command value through comparison of a speed command value of the motor and a current rotation speed, and a current control based on the current command value is realized by an inverter.
  • the motor controlled by the inverter is then driven so that pressure oil is discharged from the oil pressure pump (e.g., patent document 1).
  • Patent document 1 Japanese Laid-Open Patent Publication No. 2004-162860
  • oil pressure the pressure of oil (oil pressure) becomes larger as a total amount of the oil discharged from the oil pressure pump by a drive of the oil pressure pump increases.
  • An increase in the oil pressure leads to an increase in a load of the oil pressure pump in discharge, and causes a load torque of the motor to become larger.
  • a method of preventing lowering of the rotation speed of the motor includes a method of improving a response of the control by shortening a control period of the PI control by improving a processing speed of a microcomputer that performs the PI control.
  • a cost of the microcomputer increases if such method is adopted.
  • the improvement of the processing speed of the microcomputer has physical limitations, lowering in the rotation speed of the motor cannot be effectively prevented with such method.
  • Another method includes a method using the load torque for the speed control in which the load torque is estimated from acceleration information obtained by differentiating the rotation speed of the motor.
  • the rotation speed is discrete information, a noise component increases by differentiation.
  • a behavior will become unstable if the speed control is executed using the load torque.
  • a first aspect of an oil pressure unit relates to the oil pressure unit for supplying oil to an actuator by driving an oil pressure pump (16A) with a motor (15), characterized in that it comprises an inverter (14) for supplying power to the motor (15), a load sensor (17) for detecting a load of the oil pressure pump (16A), a rotation sensor (21) for detecting a rotation speed of the motor (15), a current command value calculation means (12) for calculating a current command value so that a deviation between a speed command value representing a target rotation speed of the motor (15) and a rotation speed of the motor (15) converges to zero, a correction means (18A; ... ; 18D) for correcting the current command value based on the load of the oil pressure pump (16A), and a control signal generation means (13) for outputting a control signal to the inverter (14) based on a corrected current command value.
  • an inverter (14) for supplying power to the motor (15)
  • a load sensor (17) for detecting a load of the oil pressure pump
  • said correction means (18A; ... ;18D) corrects the current command value to raise the rotation speed of said motor (15) with an increase in the load of said oil pressure pump (16A).
  • said correction means (18A; ... ; 18D) increases the current command value with an increase in the load of said oil pressure pump (16A).
  • said correction means (18A) acquires a correction value (Iv) using a correction coefficient (Kf) set in advance, and adds said correction value (Iv) to said current command value.
  • said correction means (18B; 18C; 18D) acquires a correction value (Iv) using a data table DT acquired in advance, and adds said correction value (Iv) to said current command value.
  • said load sensor (17) is a pressure sensor (17) for detecting a pressure of oil in a discharge line (19) of said oil pressure pump (16A).
  • a seventh aspect of the oil pressure unit relates to a speed control method of a motor (15) in the oil pressure unit for supplying oil to an actuator by driving an oil pressure pump (16A) with the motor (15) controlled by an inverter (14) and, characterized in that it comprises the steps of a) detecting a load of said oil pressure pump (16A); b) detecting a rotation speed of said motor (15); c) calculating a current command value so that a deviation between a speed command value representing a target rotation speed of said motor (15) and a rotation speed of said motor (15) converges to zero; d) correcting the current command value based on the load of said oil pressure pump (16A); and e) outputting a control signal to said inverter (14) based on the corrected current command value.
  • the followability of the rotation speed of the motor with respect to the variation of the load (load oil pressure) of the oil pressure pump can be improved since the current command value is corrected based on the load of the oil pressure pump.
  • FIG. 1 is a schematic view showing a configuration of an oil pressure unit 10A according to the embodiment of the present invention.
  • the oil pressure unit 10A is connected to a molding machine etc., and supplies oil as working fluid to an actuator (not shown) having the oil pressure as the power source.
  • the oil pressure unit 10A includes a controller 20, an inverter unit 14, a motor 15, an oil pressure pump 16A, a pressure sensor 17, and a pulse generator 21.
  • the oil is taken in from a tank (not shown) by the oil pressure pump 16A driven by the motor 15, and the oil is discharged.
  • the discharged oil is supplied to the actuator such as an oil pressure cylinder or an oil pressure motor through a discharge line 19.
  • the pressure sensor 17 serves as a load sensor for detecting the load of the oil pressure pump.
  • the pressure sensor 17 also detects the pressure (also referred to as “present pressure” or “load oil pressure”) of the oil in the discharge line 19 of the oil pressure pump.
  • the pulse generator 21 serves as a rotation sensor for outputting a pulse signal for detecting the rotation speed of the motor to the controller 20 (speed detection part 22).
  • the inverter unit 14 controls the rotation number of the motor 15 by performing switching based on a control signal from the controller 20.
  • the controller 20 includes a P-Q control part 11, a current command value calculation part 12, a correction part 18A, a control signal generation part 13, and a speed detection part 22.
  • the controller 20 outputs a control signal for driving the inverter.
  • the P-Q control part 11 generates discharge pressure-discharge flow rate characteristics (P-Q characteristics) based on a set pressure and a set flow rate from a higher level system such as a molding machine.
  • the P-Q control part 11 outputs a speed command value based on the present pressure from the pressure sensor 17 as an input.
  • the current command value calculation part (also referred to as "PI control part") 12 performs a proportional-integral (PI) control with the speed command value and the current speed as inputs, and outputs a current command value. More specifically, the PI control part 12 calculates the current command value so that the deviation between speed command value representing the target rotation speed of the motor 15 and the rotation speed of the motor 15 converges to zero.
  • PI control part also referred to as "PI control part”
  • the correction part 18A corrects the current command value based on the present pressure from the pressure sensor 17. The details will be hereinafter described.
  • the control signal generation part 13 generates a control signal for controlling the inverter part 14 based on the corrected current command value.
  • the correction part 18A will now be described in detail.
  • FIG. 2 is a schematic view showing a configuration of a general oil pressure unit 10B.
  • the oil pressure unit 10B has the same configuration as the oil pressure unit 10A other than that the correction part 18A is not equipped.
  • a high response is demanded on the molding machine to which the oil pressure unit 10B is connected from the standpoint of mass production.
  • a stepwise speed command is provided in a short cycle.
  • the oil pressure (load oil pressure) in the discharge line 19 of the oil pressure pump 16A becomes larger.
  • the load oil pressure becomes larger, the load of the oil pressure pump 16A in discharge increases. That is, the load oil pressure and the load torque of the motor 15 are more or less in a proportional relationship, where the load torque of the motor 15 becomes larger as the load oil pressure becomes larger.
  • the rotation speed of the motor 15 drastically rises in response to the speed command value.
  • the load oil pressure drastically increases with rise in rotation speed of the motor 15.
  • the load torque drastically becomes larger with an increase in the load oil pressure.
  • the speed control by the PI control cannot be followed, and the rotation speed of the motor 15 lowers.
  • the generated torque of the motor 15 needs to become larger with the increase in load torque.
  • the generated torque of the motor 15 and the motor current are in proportional relationship, and thus the motor current, that is, the current command value merely needs to become large for the generated torque of the motor 15 to become large.
  • the followability of the rotation speed of the motor 15 with respect to variation of the load oil pressure can be improved by changing the current command value with variation of the load oil pressure. Furthermore, the lowering in the rotation speed of the motor 15 can be prevented by increasing the current command value with the increase in load oil pressure.
  • the correction part 18A for correcting the current command value based on the load oil pressure is equipped.
  • the correction value (current correction value) Iv is acquired using the present pressure (pressure detected value) Pd detected by the pressure sensor 17 and a correction coefficient Kf acquired in advance.
  • the correction value Iv is added to the current command value output from the current command value calculation part 12.
  • the current command value is corrected based on the load of the oil pressure pump 16A, that is, the pressure (load oil pressure) of the oil in the discharge line 19. Therefore, the followability of the rotation speed of the motor 15 with respect to the variation of the load (load oil pressure) of the oil pressure pump 16A can be enhanced (improved).
  • the coefficient acquired through tests in advance is used as the correction coefficient Kf.
  • the correction coefficient Kf is set so that the current command value necessary for preventing lowering in the rotation speed of the motor 15 and following the speed command can be acquired in the correction part 18A.
  • the correction coefficient Kf can also be represented as being set so that the lack of current command value necessary for preventing lowering in the rotation speed of the motor 15 and following the speed command can be acquired as the correction value.
  • the rotation speed of the motor 15 can be controlled to the rotation speed given by the speed command value.
  • the correction value Iv acquired using the correction coefficient Kf becomes larger with rise in load oil pressure.
  • the current command value can be corrected so as to raise the rotation speed of the motor 15 with the increase in load oil pressure, and lowering in rotation speed of the motor 15 involved in rise of the load oil pressure is prevented.
  • FIG. 3 is a view showing a state of an operation when a stepwise speed command SC is provided in the oil pressure unit 10A according to the present embodiment.
  • the correction value Iv which value becomes larger with the increase in the load oil pressure Pd1 is acquired in the correction part 18A.
  • the correction value Iv is added to the output from the current command value calculation part 12, and the corrected current command value Ic1 is acquired (see FIG. 3(b) ).
  • the current command value Ic1 becomes larger following the increase in the load oil pressure Pd1, and thus the lowering in the rotation speed Rs1 of the motor 15 by the increase in load torque is prevented.
  • the rotation speed Rs1 of the motor 15 thus can follow the rotation speed given by the speed command SC.
  • FIG. 4 is a view showing a state of an operation when the stepwise speed command SC is provided in the oil pressure unit 10B.
  • the magnitude of the current command value is different in zone BT.
  • the difference in magnitude of the current command value indicates that the appropriate current command value necessary for following the rotation speed of the motor 15 to the speed command SC is not acquired (calculated) in the oil pressure unit 10B ( FIG. 4(b) ).
  • the correction value Iv that becomes larger with the increase in the load oil pressure Pd is acquired using the load oil pressure Pd detected by the pressure sensor 17 and the correction coefficient Kf previously acquired in the correction part 18A.
  • the relevant correction value Iv is added to the current command value output from the current command value calculation part 12.
  • the current command value Ic1 can be increased following the increase in the load oil pressure Pd1 by adding the correction value Iv acquired based on the load oil pressure Pd1 to the current command value output from the current command value calculation part 12 in a feedforward manner.
  • the lowering in the rotation speed Rs1 of the motor 15 by the increase in load torque thus can be prevented.
  • FIG. 5 is a schematic view showing an oil pressure unit 10C including a correction part 18B capable of acquiring the correction value Iv using a data table DT.
  • the correction value Iv may be acquired (calculated) using a data table DT showing a relationship between the load oil pressure (pressure detected value) Pd acquired in advance and the correction value Iv in the correction part 18B, as shown in FIG. 5 .
  • An appropriate correction value Iv thus can be acquired with respect to the load pressure Pd from the pressure sensor 17 even if the load pressure and the correction value necessary for following the speed command are not in a proportional relationship.
  • oil pressure unit 10A is driven using one oil pressure pump 16A in the above embodiment, but is not limited thereto.
  • FIG. 6 is a schematic view showing an oil pressure unit 10D in which two oil pressure pumps 16A, 16B are driven with one motor.
  • information indicating which oil pressure pump is being driven is output to the correction part 18C from the P-Q control part 11 according to the switching of the pump when configuring the oil pressure unit 10D with two oil pressure pumps 16A, 16B.
  • the data table for acquiring the correction value Iv is switched according to the pump drive information, and the correction value Iv corresponding to the driven pump is acquired.
  • the data table showing a relationship between the load oil pressure (pressure detected value) Pd and the correction value Iv in a case where the two oil pressure pumps 16A, 16B are simultaneously driven is used to acquire the correction value Iv.
  • FIG. 7 is a schematic view showing an oil pressure unit in which two oil pressure pumps are connected in series. As shown in FIG. 7 , when the two oil pressure pumps are connected in series such that the oil discharged from one oil pressure pump 16B is taken in by the other oil pressure pump 16A, the pressure of the oil discharged form the oil pressure pump 16A on the downstream side is detected by the pressure sensor (17). The current command value is corrected based on the oil pressure discharged by the oil pressure pump 16A on the downstream side.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Computer Hardware Design (AREA)
  • Control Of Positive-Displacement Pumps (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Electric Motors In General (AREA)

Claims (4)

  1. Source de pression d'huile pour alimenter de l'huile à un actionneur en entraînant une pompe de pression d'huile (16A) avec un moteur (15), cette source de pression d'huile comprenant :
    un onduleur (14) pour alimenter de l'énergie électrique audit moteur (15) ;
    un détecteur de charge (17) pour détecter une charge de ladite pompe de pression d'huile (16A) ;
    un détecteur de rotation (21) pour détecter une vitesse de rotation dudit moteur (15) ;
    un moyen de calcul de valeur de commande actuelle (12) pour calculer une valeur de commande actuelle de manière à ce qu'un écart entre une valeur de commande de vitesse représentant une vitesse de rotation cible dudit moteur (15) et une vitesse de rotation dudit moteur (15) converge vers zéro ;
    un moyen de correction (18A ; ... ; 18D) pour corriger ladite valeur de commande actuelle en se basant sur la charge de ladite pompe de pression d'huile ; et
    un moyen de génération de signal de commande (13) pour envoyer un signal de commande audit onduleur (14) basé sur une valeur de commande actuelle corrigée,
    caractérisé en ce que
    ledit moyen de correction (18B ; 18C ; 18D) augmente ladite valeur de commande actuelle pour amener une vitesse de rotation dudit moteur (15) à une valeur proche de ladite vitesse de rotation cible, avec une augmentation de la charge de ladite pompe de pression d'huile (16A).
  2. Source de pression d'huile selon la revendication 1, caractérisée en ce que ledit moyen de correction (18A; ... ; 18D) corrige ladite valeur de commande actuelle pour augmenter la vitesse de rotation dudit moteur (15) avec une augmentation de la charge de ladite pompe de pression d'huile (16A).
  3. Source de pression d'huile selon la revendication 1 ou 2, caractérisée en ce que ledit moyen de correction (18A ; ; 18D) augmente ladite valeur de commande actuelle avec une augmentation de la charge de ladite pompe de pression d'huile (16A).
  4. Source de pression d'huile selon l'une quelconque des revendications précédentes, caractérisée en ce que ledit détecteur de charge (17) est un détecteur de pression (17) pour détecter une pression d'huile dans une conduite de refoulement (19) de ladite pompe de pression d'huile (16A).
EP07806100A 2006-08-30 2007-08-27 Unité hydraulique et procédé permettant de commander la vitesse du moteur dans une unité hydraulique Active EP1965083B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2006233529A JP4425253B2 (ja) 2006-08-30 2006-08-30 油圧ユニットおよび油圧ユニットにおけるモータの速度制御方法
PCT/JP2007/066559 WO2008026544A1 (fr) 2006-08-30 2007-08-27 Unité hydraulique et procédé permettant de commander la vitesse du moteur dans une unité hydraulique

Publications (3)

Publication Number Publication Date
EP1965083A1 EP1965083A1 (fr) 2008-09-03
EP1965083A4 EP1965083A4 (fr) 2009-11-11
EP1965083B1 true EP1965083B1 (fr) 2011-10-12

Family

ID=39135827

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07806100A Active EP1965083B1 (fr) 2006-08-30 2007-08-27 Unité hydraulique et procédé permettant de commander la vitesse du moteur dans une unité hydraulique

Country Status (7)

Country Link
US (1) US20090097986A1 (fr)
EP (1) EP1965083B1 (fr)
JP (1) JP4425253B2 (fr)
KR (1) KR100954697B1 (fr)
CN (1) CN101360917B (fr)
AT (1) ATE528512T1 (fr)
WO (1) WO2008026544A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012009136A1 (de) 2012-05-05 2013-11-07 Robert Bosch Gmbh Verfahren zum Betreiben einer Fluidpumpe
DE112018003927B4 (de) * 2017-08-03 2021-03-25 Voith Patent Gmbh Verfahren zur Regelung des Ausgangsdrucks eines Hydraulikantriebsystems, Verwendung des Verfahrens und Hydraulikantriebssystem
DE102014116098B4 (de) 2013-11-15 2022-01-05 Okuma Corporation Öldruck-Steuervorrichtung

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101737379B (zh) * 2008-11-21 2012-08-29 鸿富锦精密工业（深圳）有限公司 油压式设备的速度-压力控制装置
US8818649B2 (en) * 2009-06-25 2014-08-26 Hitachi Construction Machinery Co., Ltd. Rotation control device for working machine
DE102009059025A1 (de) * 2009-12-18 2011-06-22 Robert Bosch GmbH, 70469 Verfahren zum Betrieb einer hydraulischen Arbeitsmaschine
KR101095983B1 (ko) 2011-04-19 2011-12-19 주식회사 하이드텍 유압 전동 시스템 및 그의 제어 방법
CN103999006B (zh) * 2011-12-16 2016-07-13 沃尔沃建造设备有限公司 利用电液致动器系统的操作者自调整方法
JP5884481B2 (ja) * 2011-12-28 2016-03-15 株式会社ジェイテクト モータ制御装置および電動ポンプユニット
EP2664968A1 (fr) * 2012-05-16 2013-11-20 Siemens Aktiengesellschaft Dispositif de régulation pour une unité de cylindre hydraulique avec commande séparée de chaque soupape
US9611931B2 (en) 2012-05-24 2017-04-04 GM Global Technology Operations LLC Method to detect loss of fluid or blockage in a hydraulic circuit using exponentially weighted moving average filter
JP6050081B2 (ja) * 2012-10-05 2016-12-21 株式会社荏原製作所 ドライ真空ポンプ装置
FR3005703B1 (fr) * 2013-05-14 2016-08-19 Machine Smart Systeme hydraulique a controle electronique de pression et de debit
JP5673768B1 (ja) * 2013-09-27 2015-02-18 ダイキン工業株式会社 油圧装置
CN104179736B (zh) * 2014-08-15 2016-08-24 徐工集团工程机械股份有限公司科技分公司 一种工程机械定量泵调速液压系统
JP6396733B2 (ja) * 2014-09-22 2018-09-26 オークマ株式会社 油圧制御装置
DE102016106483B4 (de) * 2016-04-08 2019-02-07 Jenaer Antriebstechnik Gmbh Verfahren zur Kompensation von zyklischen Störungen beim Betrieb einer Pumpe sowie Regelungseinheit
JP6849078B2 (ja) * 2017-08-28 2021-03-24 アイシン・エィ・ダブリュ株式会社 制御装置
US11566666B2 (en) 2019-03-20 2023-01-31 Fanuc Corporation Processing machine and pressure adjustment method
JP7010906B2 (ja) * 2019-03-20 2022-01-26 ファナック株式会社 加工機および圧力調整方法
JP7346886B2 (ja) * 2019-04-12 2023-09-20 マックス株式会社 空気圧縮機
JP7360301B2 (ja) * 2019-11-08 2023-10-12 Ｋｙｂ株式会社 作動流体供給システム
JP7500406B2 (ja) 2020-12-03 2024-06-17 株式会社ミツバ モータ制御装置、モータ駆動システム、油圧発生装置、及びモータ制御方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5257960A (en) * 1990-10-31 1993-11-02 Fuji Jukogyo Kabushiki Kaisha System for controlling a continuously variable
US20060191262A1 (en) * 2005-02-28 2006-08-31 Husco International, Inc. Hydraulic control valve system with electronic load sense control

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2588319B1 (fr) * 1985-10-04 1987-12-04 Milton Roy Dosapro Procede pour etablir de maniere precise le debit d'une pompe doseuse et pompe doseuse faisant application
US4733152A (en) * 1986-03-10 1988-03-22 Isco, Inc. Feedback system
US5019757A (en) * 1990-03-19 1991-05-28 General Electric Company Method and apparatus for controlling a blower motor in an air handling system to provide constant pressure
US5141402A (en) * 1991-01-29 1992-08-25 Vickers, Incorporated Power transmission
ES2117801T3 (es) * 1993-09-27 1998-08-16 Unilever Nv Sistema de bombeo con contador de flujo y compensacion de carga y procedimiento para el mismo.
JPH07177775A (ja) * 1993-12-20 1995-07-14 Toshiba Corp 電力変換装置の制御装置
JP3345311B2 (ja) 1997-08-15 2002-11-18 川崎製鉄株式会社 圧延機駆動用電動機の速度制御装置
DE19931961A1 (de) * 1999-07-12 2001-02-01 Danfoss As Verfahren zur Regelung einer Fördergröße einer Pumpe
US6468042B2 (en) * 1999-07-12 2002-10-22 Danfoss Drives A/S Method for regulating a delivery variable of a pump
JP4582981B2 (ja) * 1999-07-14 2010-11-17 油研工業株式会社 油圧パワー供給システム
US6353299B1 (en) * 1999-10-19 2002-03-05 Fasco Industries, Inc. Control algorithm for brushless DC motor/blower system
JP2001248566A (ja) * 2000-03-02 2001-09-14 Tokimec Inc ポンプ回転速度制御システム
DE10162773A1 (de) * 2001-12-20 2003-07-10 Knf Flodos Ag Sursee Dosierpumpe
JP4341232B2 (ja) * 2002-11-15 2009-10-07 ダイキン工業株式会社 自律型インバータ駆動油圧ユニットの昇温制御方法およびその装置
US6979181B1 (en) * 2002-11-27 2005-12-27 Aspen Motion Technologies, Inc. Method for controlling the motor of a pump involving the determination and synchronization of the point of maximum torque with a table of values used to efficiently drive the motor
US7080508B2 (en) * 2004-05-13 2006-07-25 Itt Manufacturing Enterprises, Inc. Torque controlled pump protection with mechanical loss compensation
DE102005013773A1 (de) * 2005-03-22 2006-09-28 Diehl Ako Stiftung & Co. Kg Verfahren zur Regelung einer Pumpe

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5257960A (en) * 1990-10-31 1993-11-02 Fuji Jukogyo Kabushiki Kaisha System for controlling a continuously variable
US20060191262A1 (en) * 2005-02-28 2006-08-31 Husco International, Inc. Hydraulic control valve system with electronic load sense control

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012009136A1 (de) 2012-05-05 2013-11-07 Robert Bosch Gmbh Verfahren zum Betreiben einer Fluidpumpe
WO2013167248A1 (fr) 2012-05-05 2013-11-14 Robert Bosch Gmbh Procédé permettant de faire fonctionner une pompe à fluide
DE102014116098B4 (de) 2013-11-15 2022-01-05 Okuma Corporation Öldruck-Steuervorrichtung
DE112018003927B4 (de) * 2017-08-03 2021-03-25 Voith Patent Gmbh Verfahren zur Regelung des Ausgangsdrucks eines Hydraulikantriebsystems, Verwendung des Verfahrens und Hydraulikantriebssystem

Also Published As

Publication number Publication date
CN101360917B (zh) 2011-12-07
KR20080087084A (ko) 2008-09-30
KR100954697B1 (ko) 2010-04-26
CN101360917A (zh) 2009-02-04
WO2008026544A1 (fr) 2008-03-06
EP1965083A4 (fr) 2009-11-11
JP4425253B2 (ja) 2010-03-03
ATE528512T1 (de) 2011-10-15
JP2008057611A (ja) 2008-03-13
EP1965083A1 (fr) 2008-09-03
US20090097986A1 (en) 2009-04-16

Similar Documents

Publication Publication Date Title
EP1965083B1 (fr) Unité hydraulique et procédé permettant de commander la vitesse du moteur dans une unité hydraulique
KR101268848B1 (ko) 하이브리드형 건설기계 및 하이브리드형 건설기계의 제어 방법
JP5938901B2 (ja) モータ制御装置および電動ポンプユニット
KR101875241B1 (ko) 하이브리드 건설 기계
CN106574559B (zh) 挖土机
CN103329428B (zh) 电动泵设备
WO2015114061A1 (fr) Dispositif de commande de moteur et de pompe et engin de chantier
JP5884481B2 (ja) モータ制御装置および電動ポンプユニット
JP2013519815A (ja) 容積式ポンプの動作制御装置、ポンプシステム、およびこれらの作動方法
JP2008232445A (ja) 油圧ユニットおよび油圧ユニットにおけるモータの速度制御方法
CN103299075A (zh) 电动泵装置
KR20190085990A (ko) 포크 리프트 및 포크 제어방법
JP5803874B2 (ja) ハイブリッド式作業機械
JP2008232137A (ja) エンジンアクセル制御方法およびその装置
CN107250463B (zh) 用于建筑机械的液压泵的控制方法
JP6079032B2 (ja) モータ制御装置および電動ポンプユニット
KR100188887B1 (ko) 유압식 건설기계의 엔진-펌프 제어방법
US12132426B2 (en) Motor control device, motor drive system, hydraulic pressure generator, motor control method, and storage medium
EP3112640B1 (fr) Machine de construction hybride
US20220182000A1 (en) Motor control device, motor drive system, hydraulic pressure generator, motor control method, and storage medium
JP4321428B2 (ja) サーボシステムの異常検出装置
JP6563182B2 (ja) 建設機械
JP5212515B2 (ja) 液圧ユニット
JP5962008B2 (ja) モータ制御装置および電動ポンプユニット

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20080625

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA HR MK RS

A4 Supplementary search report drawn up and despatched

Effective date: 20091014

RIC1 Information provided on ipc code assigned before grant

Ipc: F15B 11/00 20060101AFI20080408BHEP

Ipc: F04B 49/00 20060101ALI20091008BHEP

Ipc: F04B 49/06 20060101ALI20091008BHEP

Ipc: H02P 27/06 20060101ALI20091008BHEP

DAX Request for extension of the european patent (deleted)
17Q First examination report despatched

Effective date: 20100305

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602007017847

Country of ref document: DE

Effective date: 20120112

REG Reference to a national code

Ref country code: NL

Ref legal event code: VDEP

Effective date: 20111012

LTIE Lt: invalidation of european patent or patent extension

Effective date: 20111012

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111012

Ref country code: BE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111012

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120212

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111012

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120113

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120213

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111012

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111012

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111012

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111012

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120112

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111012

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111012

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111012

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111012

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111012

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111012

26N No opposition filed

Effective date: 20120713

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602007017847

Country of ref document: DE

Effective date: 20120713

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120831

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120831

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120831

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20130430

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111012

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120827

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120831

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120123

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: AT

Payment date: 20130726

Year of fee payment: 7

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111012

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111012

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120827

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070827

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 528512

Country of ref document: AT

Kind code of ref document: T

Effective date: 20140827

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140827

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230525

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20230711

Year of fee payment: 17

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240702

Year of fee payment: 18

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20240701

Year of fee payment: 18