EP2192309B1 - Method and control circuit for regulating a supply of pressure fluid for a hydraulic actuator - Google Patents

Method and control circuit for regulating a supply of pressure fluid for a hydraulic actuator Download PDF

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Publication number
EP2192309B1
EP2192309B1 EP09014791.9A EP09014791A EP2192309B1 EP 2192309 B1 EP2192309 B1 EP 2192309B1 EP 09014791 A EP09014791 A EP 09014791A EP 2192309 B1 EP2192309 B1 EP 2192309B1
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EP
European Patent Office
Prior art keywords
rotational speed
electric motor
determined
speed difference
pressure
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Application number
EP09014791.9A
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German (de)
French (fr)
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EP2192309A3 (en
EP2192309A2 (en
Inventor
Albert Koeckemann
Gerold Liebler
Christian Lebert
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Robert Bosch GmbH
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Robert Bosch GmbH
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of 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
    • F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
    • F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
    • F15B9/04—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by varying the output of a pump with 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
    • F15B2211/20—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
    • F15B2211/20546—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
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • 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 invention relates to a method and a control device for controlling a pressure medium supply for a hydraulic actuator.
  • an electric motor drives a pump, which supplies the cylinder with a hydraulic pressure medium according to a pressure / volume flow control.
  • a pressure / volume flow control Within the working cycle of the plastic injection molding machine, there are areas in which the pressure is controlled, as well as other areas in which the volume flow is controlled.
  • the object of the invention is to provide a method and a control device for controlling a pressure medium supply for a hydraulic actuator, in which deviations of the pressure or the flow rate can be compensated precisely and quickly.
  • a method for regulating a pressure medium supply for a hydraulic actuator of a cyclically operating machine is provided.
  • the actuator is supplied by a variable displacement pump with a pressure medium quantity, wherein the variable displacement pump is driven by a speed-controlled electric motor.
  • the pressure or the amount of pressure medium is controlled by a pump controller by controlling the volume setting of the variable.
  • the method includes a step of establishing a speed profile for varying the speed of the electric motor during a cycle.
  • a step of driving the rotational speed of the electric motor and the volume adjustment of the variable displacement pump, in which within one cycle of the engine, the electric motor is driven with a default value for the rotational speed according to the established speed profile is provided.
  • a step of determining a pressure / volumetric flow profile for the pressure medium quantity and a step of determining the speed deviation of the electric motor results from the deviation of the rotational speed of the electric motor from a target value for the rotational speed, the rotational speed deviation being determined on the basis of the determined pressure / volumetric flow profile.
  • the step of controlling the rotational speed of the electric motor and the volume adjustment of the variable displacement pump takes place as a function of the determined rotational speed deviation.
  • a speed deviation may, for example, be caused by slippage or by castering of the engine due to acceleration processes. In this case, for example, the default value for the speed or the volume setting of the variable displacement in dependence on the determined speed deviation occur. It is also possible to make the control of both the speed and the control of the volume setting of the determined speed deviation dependent.
  • slip that is, a deviation of the rotational speed of the rotor from a default value.
  • the slip is the speed difference between the rotating field of the stator and the rotor.
  • the slippage of the engine makes itself felt strongly, so that the speed at which the variable displacement pump is driven by the speed, which is predetermined by the speed profile, deviates greatly in percentage. Due to this slippage, when pressure medium is requested, it is provided more slowly than intended. As a result, the control is not only slower, but takes place deviating from the calculated energy minimum.
  • the regulation of the pressure medium quantity can thus be carried out more accurately. Due to the more precise regulation, energy is also saved.
  • Caster occurs during acceleration processes, since the speed of the electric motor does not follow immediately, but with a delay to the default value for the speed. If the tracking of the electric motor is determined in determining the speed deviation, the control is more accurate even in situations where the engine has accelerated or recently accelerated. Acceleration also includes negative accelerations, the deceleration processes.
  • the slip is determined as a function of the determined pressure / volume flow profile.
  • the slip is usually dependent on the load that drives the electric motor.
  • the load depends on the currently required pressure or on the required quantity of pressure medium which the variable-displacement pump must supply.
  • the load and thus the slip of the engine can be determined without the need for a separate measurement.
  • the default value for the rotational speed is determined by adding the determined slip and the determined rotational speed target value in the step of driving the electric motor and the volume setting of the variable.
  • the speed difference of the electric motor is compensated by the addition of the determined speed deviation again. Thereupon the electric motor gives a speed that comes as close as possible to the speed of the speed profile.
  • the determined speed deviation is subtracted from the determined speed setpoint for determining the control value for the variable displacement from the determined speed setpoint in the step of driving the electric motor and the volume setting of the variable. This makes it possible to compensate for the speed difference by a higher volume setting, so that the volume flow is provided despite the low speed. This is particularly recommended when the speed of the electric motor is close to the maximum speed and an increase in the speed can lead to damage to the electric motor.
  • the slip can be calculated with a relatively simple arithmetic operation.
  • the electric motor is designed as an asynchronous motor and the electric motor is controlled encoderless.
  • Sensorless means that there is no sensor that measures the speed of the rotor and reports back to the control of the electric motor. Measuring the speed is basically time-consuming and causes more costs.
  • the encoderless control thus reduces the burden on the control circuit.
  • the invention also relates to a control circuit for controlling a pressure medium supply for a hydraulic actuator of a cyclically operating machine, wherein the actuator is supplied by a variable speed driven by a motor driven variable displacement pump with a pressure medium quantity.
  • the control circuit has a pump controller for regulating the pressure or the amount of pressure medium by controlling the volume setting of the variable.
  • a speed profile actuator is for establishing a speed profile for adjusting the speed of the electric motor during a cycle of the machine set up.
  • An adjusting device is provided for operating the electric motor according to the determined speed profile in one cycle of the machine.
  • the control circuit includes a control adjustment device for determining the speed deviation of the electric motor and a device for driving the pump controller and / or the setting device in dependence on the determined speed deviation.
  • the control circuit makes it possible, with an engine simulation from which the actual engine speed is approximately calculated, that the control is sufficiently accurate and fast even without measuring the speed during operation.
  • the simulation preferably contains both a calculation of the slip and a calculation of the caster.
  • the caster of the engine is calculated, whereby the deviation of the rotational speed at a constant drive speed and at variable drive speed is less large.
  • FIG. 1 shows an actuator of a production machine and the control used to provide hydraulic pressure means for this actuator.
  • Actuator 11 is a cylinder for a cyclical manufacturing machine that injects liquid plastic into a mold.
  • a duty cycle is subdivided into several successive sections, which differ in terms of the required print quantity. Each of these sections is a work process. Operations include, for example, "close tool”, “inject plastic”, “open the tool”, “wait for a hold phase”, or the like.
  • variable displacement pump 13 conveys pressure medium into the line 16 from a tank 15, whereupon the hydraulic fluid in the line 16 has a pressure p.
  • the valve 17 is provided between the conduit 16 and the actuator 11. This valve 17 controls the volume flow from the variable displacement pump 13 to the cylinder 11 and from there back to the tank 15.
  • the valve 17 is electrically controlled by a higher-level control 25, the electrical signal u1, which is conducted via the line 27.
  • a position transducer 21 measures the position of the piston rod of the cylinder 11, converts the position into an electrical signal s1, which is output via the line 23 to the higher-level control 25.
  • a control circuit For controlling the pressure p in the line 16, a control circuit is provided, the means for controlling the pressure medium supply 10, the pressure transducer 40, the actuator 31, the transmitter 32, the frequency converter 33, the electric motor 14, the shaft 34 and the variable 13th contains.
  • the device 10 receives from the higher-level controller 25 a setpoint for the pressure ps and a setpoint for the volume flow Qs.
  • the setpoint values ps and Qs correspond to a pressure / volumetric flow profile p (t) / Q (t) stored in the higher-level control.
  • the device 10 receives a cycle start signal yt0 indicating when a new cycle begins.
  • the device 10 receives the signal pi from the pressure transducer 40, which converts the pressure p in the line 16 into a corresponding electrical signal pi.
  • the device 10 outputs a desired value for the rotational speed ns and an output signal for the delivery volume yVF.
  • the parent circuit 25 also outputs a value nl1 representing a compensation value for the speed deviation.
  • the setpoint value for the speed ns and the compensation value nl1 are added by means of the summation element 35.
  • the result of this addition is output to frequency converter 33 as signal nc1.
  • the rotational speed of the shaft 34 is lower than the rotational speed nc1 due to the slip, but if possible corresponds to the nominal value for the rotational speed ns.
  • the set value for the rotational speed ns is used to calculate the delivery volume from it, since this value is closest to the actual rotational speed of the shaft 34.
  • the signal nc1 receives the frequency converter 33, which accordingly drives the electric motor 14 with an electrical signal of the frequency f so that the rotational speed n of the electric motor 14 is equal to the target value for the rotational speed ns.
  • the rotational movement of the electric motor is transmitted via the shaft 34 to the variable displacement pump 13.
  • the speed n of the electric motor 14 is not measured and fed back, the speed n is thus controlled in the open circuit.
  • the actuator 31 receives the output signal yVF from the device 10 and controls the delivery volume VF of the variable displacement pump 13.
  • the transducer 32 outputs an electrical signal indicative of the actual value of the delivery volume VFi of the variable displacement pump 13.
  • the device 10 includes a pump controller 41, a motor controller 42, a multiplier 44, and a calculator 45.
  • the multiplier 44 is implemented as a proportional element with a controllable gain KQ.
  • the arithmetic unit 45 receives as an input signal the setpoint value for the speed ns and outputs its reciprocal value to its output as the signal KQ.
  • the multiplier receives at its inputs the setpoint for the volume flow Qs and the signal KQ.
  • the multiplier 44 thus forms from the desired value Qs for the volume flow to be supplied to the cylinder, taking into account the rotational speed n of the electric motor 14, a target value VFs for the delivery volume of the variable displacement pump 13.
  • the pump regulator 41 receives as input the actual value for the delivery volume VFi, the actual Value for the pressure pi, the setpoint for the delivery volume VFs and the setpoint for the pressure ps and outputs at its output the output signal for the delivery volume yVF.
  • FIG. 2 shows details of the pump controller 41 FIG. 1 ,
  • the pressure regulator 41 has a first summation element 48, a second summation element 51, a delivery volume regulator 49, a pressure regulator 52 and a minimum value selection element 50.
  • the first summation element 48 forms from the desired value VFs and the actual value VFi a control difference, which is supplied to the delivery volume controller 49 as an input signal.
  • the output signal, designated yVF1, of the delivery volumetric regulator 49 is added to the minimum value selection element 50 as the first input signal.
  • the second summation element 51 receives the desired value for the pressure ps and the actual value for the pressure pi, from which the control difference for the pressure is formed by subtraction and output to the pressure regulator 52.
  • the pressure regulator 52 outputs as an output the value yp to the minimum value selector 50 which receives the value yp at its second input.
  • the minimum value selector element 50 selects the smaller of the two input signals yVF1 and yp and forwards this minimum value as manipulated variable yVF for the delivery volume VF to the actuator 31. Both the regulation of the delivery volume VF and the regulation of the pressure p are effected by adjusting the delivery volume of the variable displacement pump 13.
  • the transmission characteristics of the delivery flow regulator 49 and the pressure regulator 52 each have a proportional and a differential component.
  • a pressure / volume flow profile p (t) / Q (t) for the pressure medium supply of the cylinder 11 is stored.
  • a speed profile n (t) for the electric motor is as in the publication EP 1 236 558 B1 created.
  • a speed profile n (t) is created for the electric motor 14, which specifies the course of the rotational speed n during a production cycle.
  • the electric motor 14 is first operated at the constant speed nmax.
  • the control of the cylinder 11 supplied volume flow is carried out solely by the pump controller 41.
  • the pump controller 41 ensures that the variable displacement pump 13 to the cylinder 11, the volume flow which is required to the by the pressure / flow profile p (t) / Q (t) specified values. This volume flow is also referred to below as the volume flow requirement QA.
  • the optimization process has a series of learning cycles in which the variable displacement pump 13 is driven at the constant speed nmax.
  • a first learning cycle the duration of a manufacturing cycle is determined by measuring the time between two cycle start pulses. From the duration of a production cycle and the number of memory locations available in the motor controller 42 for the storage of values, the time interval ⁇ t for the detection of the values to be stored is determined.
  • the actual values VFi of the delivery volume are detected at a distance of ⁇ t and stored in the engine control unit 42. The values stored there form a delivery volume profile VFI (t).
  • the actual values pi of the pressure are detected and stored in the engine controller 42.
  • the stored values form a pressure profile pi (t).
  • a volume flow demand profile QA (t) is obtained.
  • a speed profile n (t) is obtained. It is advisable to choose the constant value so that it is close to the nominal value of the delivery volume VF of the variable displacement pump 13.
  • the constant value is selected such that it corresponds to approximately 90% of the nominal value of the delivery volume VF of the variable displacement pump 13. This value is denoted below by VFgO.
  • the stored value of the volume flow demand QA can be replaced by the speed value n calculated from it. If one controls the speed of the electric motor 14 in accordance with the speed profile n (t) determined in this way, the delivery volume VF of the variable displacement pump 13 would adjust to the value VFgO under ideal conditions. In practice, however, the delivery volume VF of the variable displacement pump 13 is not constant during a cycle, in particular because the speed n of the electric motor 14 can not be changed as fast as the delivery volume VF of the variable displacement pump 13. In addition, especially with regard to the lubrication of Variable displacement pump 13, the cooling of the electric motor 14 and the maximum permissible torque of the electric motor 14 its speed n may not be arbitrarily reduced.
  • the speed deviation is calculated for as many times as possible of a working cycle. For this purpose, it is calculated on the basis of the pressure and the volume setting of the variable displacement pump, how large the load of the electric motor is by the torque is calculated by means of the torque, which is dependent on the pressure.
  • simulation values for the slip are stored as a function of the torque and the stator speed.
  • the caster of the electric motor is calculated.
  • the speed profile shows when the rotor accelerates. Simulation values that simulate the acceleration show how much the rotational speeds of the rotor deviate from the default values for the rotational speed.
  • FIG. 3 shows a further embodiment of an actuator of a cyclically operating production machine with the associated control device for providing quantities of pressure medium.
  • a first difference results from the lack of feedback for the flow rate VF.
  • a setpoint VFs is calculated, with the aid of which the delivery rate is controlled in the open circuit.
  • a regulation of the flow does not take place. This measure further reduces the cost of the overall system by eliminating the transmitter 32 and the recirculations. This saving could also according to the embodiment FIG. 1 be made.
  • a second difference from the embodiment according to FIG. 1 is determined by the way in which the slip and the caster are taken into account in the control.
  • the output signal of the motor controller 42, the target value for the rotational speed ns is applied to the frequency converter 33. Due to the slip, the rotational speed n of the shaft 34 differs from the target value for the rotational speed ns. Other differences can occur when the motor is running and therefore the rotational speed of the rotor differs from the nominal value for the rotational speed ns.
  • the summation element 36 receives the nominal value for the rotational speed ns at a first input and a compensation value nl2 at a second input.
  • the summation element 36 subtracts the compensation value nl2 from the nominal value for the rotational speed ns.
  • the desired value of the delivery volume VFs is thus calculated with a corrected speed value nc2 which is as close as possible to the actual rotational speed n of the shaft 34. If the default value for the rotational speed ns is not changed, then in the presence of slip in the engine, the delivery volume VF is increased accordingly, so that a volume flow is outputted from the variable displacement pump 13, which corresponds to the pressure / flow profile.
  • the compensations according to FIG. 1 and FIG. 3 it is also possible to use the compensations according to FIG. 1 and FIG. 3 to combine.
  • the first compensation value nl1 which according to FIG. 1 is used to calculate the corrected speed command signal nc1, derived only from a calculation of the engine slip.
  • the compensation value nl1 corresponds to a speed derivative, which is added to compensate for a slip on the speed specification ns.
  • the second compensation value nl2, according to FIG. 3 Input is found in the flow rate setpoint VFs, is calculated in this case from a simulation of the caster of the motor 14.
  • This compensation value nl2 is subtracted from the speed specification ns in order to obtain the best possible estimate nc2 of the current engine speed. From the speed estimation nc2, as described above, a desired value of the delivery volume VFs is obtained in order to actuate the variable displacement pump 13 in the best possible agreement with the delivery flow setpoint value Qs.
  • the engine slip in the calculation of the volume flow Q i during the learning phase in order to compensate the set value Qs accordingly. For example, if there is a slip, the setpoint Qs is increased accordingly, so that the resulting flow corresponds to the pressure / flow profile.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Control Of Positive-Displacement Pumps (AREA)

Description

Die Erfindung betrifft ein Verfahren und eine Regelungsvorrichtung zur Regelung einer Druckmittelzufuhr für einen hydraulischen Aktor. Bei Kunststoffspritzgießmaschinen mit einem hydraulisch betriebenen Zylinder treibt ein Elektromotor eine Pumpe an, die dem Zylinder ein hydraulisches Druckmittel gemäß einer Druck/Volumenstrom-Regelung zuführt. Innerhalb des Arbeitszyklus der Kunststoffspritzgießmaschine gibt es Bereiche, in denen der Druck geregelt wird, sowie weitere Bereiche, in denen der Volumenstrom geregelt wird.The invention relates to a method and a control device for controlling a pressure medium supply for a hydraulic actuator. In plastic injection molding machines with a hydraulically operated cylinder, an electric motor drives a pump, which supplies the cylinder with a hydraulic pressure medium according to a pressure / volume flow control. Within the working cycle of the plastic injection molding machine, there are areas in which the pressure is controlled, as well as other areas in which the volume flow is controlled.

In der EP 1 236 558 B1 wird vorgeschlagen, auch die Drehzahl des Elektromotors an den angeforderten Druck oder den angeforderten Volumenstrom anzupassen. Dafür wird ein Drehzahl-Profil erstellt. Dieses Drehzahl-Profil wird verwendet, um die Drehzahl während des Ablaufs des Zyklus zu verändern. Es hat sich gezeigt, dass die Verwendung des Drehzahl-Profils dafür sorgt, dass die Regelung energieeffizienter wird, allerdings dauern die Einschwingvorgänge relativ lange.In the EP 1 236 558 B1 It is proposed to adjust the speed of the electric motor to the requested pressure or the requested volume flow. For a speed profile is created. This speed profile is used to change the speed during the cycle. It has been shown that using the speed profile makes the control more energy efficient, but the transients take a relatively long time.

Aufgabe der Erfindung ist es, ein Verfahren und eine Regelungsvorrichtung zur Regelung einer Druckmittelzufuhr für einen hydraulischen Aktor bereitzustellen, bei dem Abweichungen des Drucks bzw. der Fördermenge präzise und schnell ausgeglichen werden können.The object of the invention is to provide a method and a control device for controlling a pressure medium supply for a hydraulic actuator, in which deviations of the pressure or the flow rate can be compensated precisely and quickly.

Diese Aufgabe wird mit dem Gegenstand des unabhängigen Anspruchs 1 gelöst. Vorteilhafte Weiterbildungen der Erfindung ergeben sich aus den abhängigen Ansprüchen.This object is achieved with the subject matter of independent claim 1. Advantageous developments of the invention will become apparent from the dependent claims.

Erfindungsgemäß wird ein Verfahren zur Regelung einer Druckmittelzufuhr für einen hydraulischen Aktor einer zyklisch arbeitenden Maschine bereitgestellt. Der Aktor wird von einer Verstellpumpe mit einer Druckmittelmenge versorgt, wobei die Verstellpumpe von einem drehzahlgesteuerten Elektromotor angetrieben wird. Der Druck bzw. die Druckmittelmenge wird von einem Pumpenregler durch Ansteuern der Volumeneinstellung der Verstellpumpe geregelt. Das Verfahren weist einen Schritt des Erstellens eines Drehzahl-Profils zum Verändern der Drehzahl des Elektromotors während eines Zyklus auf. Zudem ist ein Schritt des Ansteuerns der Drehzahl des Elektromotors und der Volumeneinstellung der Verstellpumpe, bei dem innerhalb eines Zyklus der Maschine der Elektromotor mit einem Vorgabewert für die Drehzahl gemäß dem erstellten Drehzahl-Profil angesteuert wird, vorgesehen.According to the invention, a method for regulating a pressure medium supply for a hydraulic actuator of a cyclically operating machine is provided. The actuator is supplied by a variable displacement pump with a pressure medium quantity, wherein the variable displacement pump is driven by a speed-controlled electric motor. The pressure or the amount of pressure medium is controlled by a pump controller by controlling the volume setting of the variable. The method includes a step of establishing a speed profile for varying the speed of the electric motor during a cycle. In addition, a step of driving the rotational speed of the electric motor and the volume adjustment of the variable displacement pump, in which within one cycle of the engine, the electric motor is driven with a default value for the rotational speed according to the established speed profile is provided.

Es ist zudem ein Schritt des Ermittelns eines Druck/ Volumenstrom-Profils für die Druckmittelmenge und ein Schritt des Ermitteins der Drehzahlabweichung des Elektromotors vorgesehen. Die Drehzahlabweichung ergibt sich aus der Abweichung der Drehzahl des Elektromotors von einem Sollwert für die Drehzahl, wobei die Drehzahlabweichung anhand des ermittelten Druck/Volumenstrom-Profils ermittelt wird. Der Schritt des Ansteuerns der Drehzahl des Elektromotors und der Volumeneinstellung der Verstellpumpe erfolgt in Abhängigkeit von der ermittelten Drehzahlabweichung. Eine Drehzahlabweichung kann beispielweise durch Schlupf bedingt sein oder durch Nachlauf des Motors aufgrund von Beschleunigungsvorgängen. Dabei kann beispielsweise der Vorgabewert für die Drehzahl oder die Volumeneinstellung der Verstellpumpe in Abhängigkeit von der ermittelten Drehzahlabweichung erfolgen. Es ist auch möglich, die Ansteuerung sowohl der Drehzahl als auch die Ansteuerung der Volumeneinstellung von der ermittelten Drehzahlabweichung abhängig zu machen.There is also provided a step of determining a pressure / volumetric flow profile for the pressure medium quantity and a step of determining the speed deviation of the electric motor. The speed deviation results from the deviation of the rotational speed of the electric motor from a target value for the rotational speed, the rotational speed deviation being determined on the basis of the determined pressure / volumetric flow profile. The step of controlling the rotational speed of the electric motor and the volume adjustment of the variable displacement pump takes place as a function of the determined rotational speed deviation. A speed deviation may, for example, be caused by slippage or by castering of the engine due to acceleration processes. In this case, for example, the default value for the speed or the volume setting of the variable displacement in dependence on the determined speed deviation occur. It is also possible to make the control of both the speed and the control of the volume setting of the determined speed deviation dependent.

Beim Betrieb eines Elektromotors entsteht üblicherweise Schlupf, das heißt eine Abweichung der Drehzahl des Rotors von einem Vorgabewert. Bei einer asynchronen Maschine ist der Schlupf die Drehzahldifferenz zwischen dem Drehfeld des Stators und dem Läufer. Besonders bei niedrigen Drehzahlen macht sich der Schlupf des Motors stark bemerkbar, so dass die Drehzahl, mit der die Verstellpumpe getrieben wird, von der Drehzahl, die vom Drehzahlprofil vorgegeben ist, prozentual stark abweicht. Aufgrund dieses Schlupfs wird bei der Anforderung von Druckmittel dieses langsamer bereitgestellt, als es beabsichtigt ist. Dadurch erfolgt die Regelung nicht nur langsamer, sondern erfolgt abweichend von dem berechneten energetischen Minimum.During operation of an electric motor usually occurs slip, that is, a deviation of the rotational speed of the rotor from a default value. In an asynchronous machine, the slip is the speed difference between the rotating field of the stator and the rotor. Particularly at low speeds, the slippage of the engine makes itself felt strongly, so that the speed at which the variable displacement pump is driven by the speed, which is predetermined by the speed profile, deviates greatly in percentage. Due to this slippage, when pressure medium is requested, it is provided more slowly than intended. As a result, the control is not only slower, but takes place deviating from the calculated energy minimum.

Durch die Berücksichtigung der Drehzahlabweichung kann somit die Regelung der Druckmittelmenge genauer erfolgen. Aufgrund der genaueren Regelung wird auch Energie eingespart.By taking into account the speed deviation, the regulation of the pressure medium quantity can thus be carried out more accurately. Due to the more precise regulation, energy is also saved.

Nachlauf entsteht bei Beschleunigungsvorgängen, da die Drehzahl des Elektromotors nicht unmittelbar, sondern mit einer Verzögerung dem Vorgabewert für die Drehzahl folgt. Wenn bei dem Ermitteln der Drehzahlabweichung der Nachlauf des Elektromotors ermittelt wird, wird die Regelung auch in Situationen, in denen der Motor beschleunigt oder vor kurzem beschleunigt hat, genauer. Zur Beschleunigung zählen auch negative Beschleunigungen, die Verzögerungsvorgänge.Caster occurs during acceleration processes, since the speed of the electric motor does not follow immediately, but with a delay to the default value for the speed. If the tracking of the electric motor is determined in determining the speed deviation, the control is more accurate even in situations where the engine has accelerated or recently accelerated. Acceleration also includes negative accelerations, the deceleration processes.

In einer Ausführungsform wird der Schlupf in Abhängigkeit von dem ermittelten Druck/Volumenstrom-Profil ermittelt. Der Schlupf ist in der Regel von der Last, die der Elektromotor treibt, abhängig. Die Last ist wiederum abhängig von dem aktuell geforderten Druck bzw. von der angeforderten Druckmittelmenge, die die Verstellpumpe liefern muss. Somit kann anhand des Druck/Volumenstrom-Profils die Last und somit der Schlupf des Motors ermittelt werden, ohne dass es hierfür einer gesonderten Messung bedarf.In one embodiment, the slip is determined as a function of the determined pressure / volume flow profile. The slip is usually dependent on the load that drives the electric motor. The load, in turn, depends on the currently required pressure or on the required quantity of pressure medium which the variable-displacement pump must supply. Thus, based on the pressure / flow profile, the load and thus the slip of the engine can be determined without the need for a separate measurement.

In einer Ausführungsform wird beim Schritt des Ansteuerns des Elektromotors und der Volumeneinstellung der Verstellpumpe der Vorgabewert für die Drehzahl durch Addition des ermittelten Schlupfs und des ermittelten Drehzahl-Sollwerts ermittelt. Damit wird die Drehzahldifferenz des Elektromotors durch die Addition der ermittelten Drehzahlabweichung wieder ausgeglichen. Daraufhin gibt der Elektromotor eine Drehzahl aus, die möglichst nah an die Drehzahl des Drehzahl-Profils kommt.In one embodiment, the default value for the rotational speed is determined by adding the determined slip and the determined rotational speed target value in the step of driving the electric motor and the volume setting of the variable. Thus, the speed difference of the electric motor is compensated by the addition of the determined speed deviation again. Thereupon the electric motor gives a speed that comes as close as possible to the speed of the speed profile.

In einer weiteren Ausführungsform wird beim Schritt des Ansteuerns des Elektromotors und der Volumeneinstellung der Verstellpumpe die ermittelte Drehzahlabweichung von dem ermittelten Drehzahl-Sollwert zur Ermittlung des Ansteuerwerts für die Verstellpumpe von dem ermittelten Drehzahl-Sollwert subtrahiert. Dadurch ist es möglich, die Drehzahldifferenz durch eine höhere Volumeneinstellung zu kompensieren, so dass der Volumenstrom trotz der niedrigen Drehzahl bereitgestellt wird. Dies empfiehlt sich besonders, wenn die Drehzahl des Elektromotors nahe der maximalen Drehzahl ist und eine Erhöhung der Drehzahl zu einer Schädigung des Elektromotors führen kann.In a further embodiment, the determined speed deviation is subtracted from the determined speed setpoint for determining the control value for the variable displacement from the determined speed setpoint in the step of driving the electric motor and the volume setting of the variable. This makes it possible to compensate for the speed difference by a higher volume setting, so that the volume flow is provided despite the low speed. This is particularly recommended when the speed of the electric motor is close to the maximum speed and an increase in the speed can lead to damage to the electric motor.

Falls bei der Ermittlung der Drehzahlabweichung das Drehmoment des Elektromotors simuliert wird, kann daraus mit einer relativ einfachen Rechenoperation der Schlupf berechnet werden.If the torque of the electric motor is simulated in the determination of the speed deviation, the slip can be calculated with a relatively simple arithmetic operation.

Vorzugsweise ist der Elektromotor als Asynchronmotor ausgebildet und der Elektromotor wird geberlos angesteuert. Geberlos bedeutet, dass es keinen Sensor gibt, der die Drehzahl des Rotors misst und an die Steuerung des Elektromotors rückmeldet. Ein Messen der Drehzahl ist grundsätzlich aufwändig und verursacht mehr Kosten. Die geberlose Ansteuerung verringert somit den Aufwand für die Regelschaltung.Preferably, the electric motor is designed as an asynchronous motor and the electric motor is controlled encoderless. Sensorless means that there is no sensor that measures the speed of the rotor and reports back to the control of the electric motor. Measuring the speed is basically time-consuming and causes more costs. The encoderless control thus reduces the burden on the control circuit.

Die Erfindung betrifft auch eine Regelschaltung zur Regelung einer Druckmittelzufuhr für einen hydraulischen Aktor einer zyklisch arbeitenden Maschine, bei der der Aktor von einer von einem drehzahlgesteuerten Elektromotor angetriebenen Verstellpumpe mit einer Druckmittelmenge versorgt wird.The invention also relates to a control circuit for controlling a pressure medium supply for a hydraulic actuator of a cyclically operating machine, wherein the actuator is supplied by a variable speed driven by a motor driven variable displacement pump with a pressure medium quantity.

Die Regelschaltung weist einen Pumpenregler zum Regeln des Drucks bzw. der Druckmittelmenge durch Ansteuern der Volumeneinstellung der Verstellpumpe auf. Eine Drehzahlprofilerstellvorrichtung ist zum Erstellen eines Drehzahl-Profils zum Einstellen der Drehzahl des Elektromotors während eines Zyklus der Maschine eingerichtet. Eine Einstellvorrichtung ist zum Betreiben des Elektromotors entsprechend dem ermittelten Drehzahl-Profil in einem Zyklus der Maschine vorgesehen. Weiterhin enthält die Regelschaltung eine Regelungsanpassungsvorrichtung zum Ermitteln der Drehzahlabweichung des Elektromotors sowie eine Vorrichtung zum Ansteuern des Pumpenreglers und/oder der Einstellvorrichtung in Abhängigkeit der ermittelten Drehzahlabweichung.The control circuit has a pump controller for regulating the pressure or the amount of pressure medium by controlling the volume setting of the variable. A speed profile actuator is for establishing a speed profile for adjusting the speed of the electric motor during a cycle of the machine set up. An adjusting device is provided for operating the electric motor according to the determined speed profile in one cycle of the machine. Furthermore, the control circuit includes a control adjustment device for determining the speed deviation of the electric motor and a device for driving the pump controller and / or the setting device in dependence on the determined speed deviation.

Die Regelschaltung ermöglicht, dass mit einer Motorsimulation, aus der die tatsächliche Motordrehzahl näherungsweise berechnet wird, die Regelung auch ohne Messung der Drehzahl im Betrieb hinreichend genau und schnell ist. Die Simulation enthält vorzugsweise sowohl eine Berechnung des Schlupfs als auch eine Berechnung des Nachlaufs.The control circuit makes it possible, with an engine simulation from which the actual engine speed is approximately calculated, that the control is sufficiently accurate and fast even without measuring the speed during operation. The simulation preferably contains both a calculation of the slip and a calculation of the caster.

Durch die Regelschaltung können ungenaue Regelungen wegen der variablen Antriebsdrehzahl vermindert werden. Es ist eine genauere Förderstromregelung ohne eine Drehzahlerfassung möglich.Due to the control circuit imprecise regulations can be reduced because of the variable input speed. It is a more accurate flow control without a speed detection possible.

In einer Ausführungsform wird der Nachlauf des Motors berechnet, wodurch die Abweichung der Drehzahl bei konstant gehaltener Antriebsdrehzahl und bei variabler Antriebsdrehzahl weniger groß ist.In one embodiment, the caster of the engine is calculated, whereby the deviation of the rotational speed at a constant drive speed and at variable drive speed is less large.

Die Erfindung wird nun anhand von Ausführungsbeispielen erläutert.

Figur 1
zeigt einen Aktor einer Fertigungsmaschine mit der dazugehörigen Regelvorrichtung zum Erzeugen einer hydraulischen Druckmittelmenge.
Figur 2
zeigt Details der Regelvorrichtung nach Figur 1.
Figur 3
zeigt eine weitere Ausführungsform eines Aktors mit dazugehöriger Regelvorrichtung zum Erzeugen einer hydraulischen Druckmittelmenge.
The invention will now be explained with reference to exemplary embodiments.
FIG. 1
shows an actuator of a production machine with the associated control device for generating a hydraulic pressure medium quantity.
FIG. 2
shows details of the control device FIG. 1 ,
FIG. 3
shows a further embodiment of an actuator with associated control device for generating a hydraulic pressure medium amount.

Figur 1 zeigt einen Aktor einer Fertigungsmaschine sowie die dazu verwendete Regelung zum Bereitstellen von hydraulischem Druckmittel für diesen Aktor. FIG. 1 shows an actuator of a production machine and the control used to provide hydraulic pressure means for this actuator.

Der Aktor 11 ist ein Zylinder für eine zyklisch arbeitende Fertigungsmaschine, die flüssigen Kunststoff in eine Form einspritzt. Ein Arbeitszyklus unterteilt sich in mehrere nacheinander ablaufende Abschnitte, die sich hinsichtlich der benötigten Druckmenge unterscheiden. In diesen Abschnitten erfolgt jeweils ein Arbeitsvorgang. Arbeitsvorgänge sind beispielsweise "Werkzeug schließen", "Kunststoff einspritzen", "das Werkzeug öffnen", "eine Nachdruckphase abwarten" oder ähnliches.Actuator 11 is a cylinder for a cyclical manufacturing machine that injects liquid plastic into a mold. A duty cycle is subdivided into several successive sections, which differ in terms of the required print quantity. Each of these sections is a work process. Operations include, for example, "close tool", "inject plastic", "open the tool", "wait for a hold phase", or the like.

In diesen unterschiedlichen Abschnitten müssen unterschiedliche Druckmengen dem als Zylinder 11 ausgebildeten Aktor bereitgestellt werden, was mit Hilfe des Ventils 17 erfolgt. Die Verstellpumpe 13 fördert aus einem Tank 15 Druckmittel in die Leitung 16, woraufhin die Hydraulikflüssigkeit in der Leitung 16 einen Druck p aufweist. Das Ventil 17 ist zwischen der Leitung 16 und dem Aktor 11 vorgesehen. Dieses Ventil 17 steuert den Volumenstrom von der Verstellpumpe 13 zu dem Zylinder 11 und von dort zurück zum Tank 15. Das Ventil 17 wird elektrisch von einer übergeordneten Steuerung 25 das elektrische Signal u1, das über die Leitung 27 geleitet wird, angesteuert.In these different sections, different amounts of pressure must be provided to the actuator 11 designed as a cylinder 11, which takes place with the aid of the valve 17. The variable displacement pump 13 conveys pressure medium into the line 16 from a tank 15, whereupon the hydraulic fluid in the line 16 has a pressure p. The valve 17 is provided between the conduit 16 and the actuator 11. This valve 17 controls the volume flow from the variable displacement pump 13 to the cylinder 11 and from there back to the tank 15. The valve 17 is electrically controlled by a higher-level control 25, the electrical signal u1, which is conducted via the line 27.

Ein Wegemessumformer 21 misst die Position der Kolbenstange des Zylinders 11, wandelt die Position in ein elektrisches Signal s1 um, das über die Leitung 23 an die übergeordnete Steuerung 25 ausgegeben wird.A position transducer 21 measures the position of the piston rod of the cylinder 11, converts the position into an electrical signal s1, which is output via the line 23 to the higher-level control 25.

Zur Steuerung des Drucks p in der Leitung 16 ist eine Regelschaltung vorgesehen, die die Einrichtung zur Regelung der Druckmittelzufuhr 10, den Druckmessumformer 40, das Stellglied 31, den Messumformer 32, den Frequenzumrichter 33, den Elektromotor 14, die Welle 34 und die Verstellpumpe 13 enthält. Die Einrichtung 10 empfängt von der übergeordneten Steuerung 25 einen Sollwert für den Druck ps und einen Sollwert für den Volumenstrom Qs. Die Sollwerte ps und Qs entsprechen einem in der übergeordneten Steuerung gespeicherten Druck/Volumenstrom-Profil p(t)/Q(t).For controlling the pressure p in the line 16, a control circuit is provided, the means for controlling the pressure medium supply 10, the pressure transducer 40, the actuator 31, the transmitter 32, the frequency converter 33, the electric motor 14, the shaft 34 and the variable 13th contains. The device 10 receives from the higher-level controller 25 a setpoint for the pressure ps and a setpoint for the volume flow Qs. The setpoint values ps and Qs correspond to a pressure / volumetric flow profile p (t) / Q (t) stored in the higher-level control.

Zudem empfängt die Vorrichtung 10 ein Zyklusstartsignal yt0, das anzeigt, wann ein neuer Zyklus beginnt. Zudem empfängt die Einrichtung 10 das Signal pi von dem Druckmessumformer 40, der den Druck p in der Leitung 16 in ein entsprechendes elektrisches Signal pi umwandelt. Als Ausgangssignale gibt die Einrichtung 10 einen Sollwert für die Drehzahl ns sowie ein Ausgangssignal für das Fördervolumen yVF aus.In addition, the device 10 receives a cycle start signal yt0 indicating when a new cycle begins. In addition, the device 10 receives the signal pi from the pressure transducer 40, which converts the pressure p in the line 16 into a corresponding electrical signal pi. As output signals, the device 10 outputs a desired value for the rotational speed ns and an output signal for the delivery volume yVF.

Die übergeordnete Schaltung 25 gibt auch einen Wert nl1, der einen Kompensationswert für die Drehzahlabweichung repräsentiert, aus. Der Sollwert für die Drehzahl ns und der Kompensationswert nl1 werden mit Hilfe des Summationsglieds 35 addiert. Das Ergebnis dieser Addition wird als Signal nc1 an den Frequenzumformer 33 ausgegeben. Dieser treibt den Motor 14 an. Die Drehzahl der Welle 34 ist aufgrund des Schlupfs geringer als die Drehzahl nc1, entspricht aber möglichst dem Sollwert für die Drehzahl ns.The parent circuit 25 also outputs a value nl1 representing a compensation value for the speed deviation. The setpoint value for the speed ns and the compensation value nl1 are added by means of the summation element 35. The result of this addition is output to frequency converter 33 as signal nc1. This drives the engine 14. The rotational speed of the shaft 34 is lower than the rotational speed nc1 due to the slip, but if possible corresponds to the nominal value for the rotational speed ns.

Der Sollwert für die Drehzahl ns wird verwendet, um aus ihm das Fördervolumen zu berechnen, da dieser Wert am nächsten an der tatsächlichen Drehzahl der Welle 34 ist.The set value for the rotational speed ns is used to calculate the delivery volume from it, since this value is closest to the actual rotational speed of the shaft 34.

Das Signal nc1 empfängt der Frequenzumrichter 33, der dementsprechend den Elektromotor 14 mit einem elektrischen Signal der Frequenz f so antreibt, dass die Drehzahl n des Elektromotors 14 gleich dem Sollwert für die Drehzahl ns ist. Die Drehbewegung des Elektromotors wird über die Welle 34 an die Verstellpumpe 13 übertragen.The signal nc1 receives the frequency converter 33, which accordingly drives the electric motor 14 with an electrical signal of the frequency f so that the rotational speed n of the electric motor 14 is equal to the target value for the rotational speed ns. The rotational movement of the electric motor is transmitted via the shaft 34 to the variable displacement pump 13.

Die Drehzahl n des Elektromotors 14 wird nicht gemessen und rückgekoppelt, die Drehzahl n wird somit im offenen Kreis gesteuert.The speed n of the electric motor 14 is not measured and fed back, the speed n is thus controlled in the open circuit.

Das Stellglied 31 empfängt das Ausgangssignal yVF von der Einrichtung 10 und steuert das Fördervolumen VF der Verstellpumpe 13. Der Messwertumformer 32 gibt ein elektrisches Signal, das den Ist-Wert des Fördervolumens VFi der Verstellpumpe 13 anzeigt, aus.The actuator 31 receives the output signal yVF from the device 10 and controls the delivery volume VF of the variable displacement pump 13. The transducer 32 outputs an electrical signal indicative of the actual value of the delivery volume VFi of the variable displacement pump 13.

Die Einrichtung 10 enthält einen Pumpenregler 41, eine Motorsteuerung 42, einen Multiplizierer 44 und ein Rechenglied 45. Der Multiplizierer 44 ist als Proportionalglied mit einem steuerbaren Verstärkungsfaktor KQ ausgeführt. Das Rechenglied 45 empfängt als Eingangssignal den Sollwert für die Drehzahl ns und gibt dessen Kehrwert an seinen Ausgang als das Signal KQ aus. Der Multiplizierer empfängt an seinen Eingängen den Sollwert für den Volumenstrom Qs sowie das Signal KQ.The device 10 includes a pump controller 41, a motor controller 42, a multiplier 44, and a calculator 45. The multiplier 44 is implemented as a proportional element with a controllable gain KQ. The arithmetic unit 45 receives as an input signal the setpoint value for the speed ns and outputs its reciprocal value to its output as the signal KQ. The multiplier receives at its inputs the setpoint for the volume flow Qs and the signal KQ.

Der Multiplizierer 44 bildet folglich aus dem Sollwert Qs für den dem Zylinder zuzuführenden Volumenstrom unter Berücksichtung der Drehzahl n des Elektromotors 14 einen Sollwert VFs für das Fördervolumen der Verstellpumpe 13. Der Pumpenregler 41 empfängt als Eingangssignale den Ist-Wert für das Fördervolumen VFi, den Ist-Wert für den Druck pi, den Sollwert für das Fördervolumen VFs sowie den Sollwert für den Druck ps und gibt an seinem Ausgang das Ausgangssignal für das Fördervolumen yVF aus.The multiplier 44 thus forms from the desired value Qs for the volume flow to be supplied to the cylinder, taking into account the rotational speed n of the electric motor 14, a target value VFs for the delivery volume of the variable displacement pump 13. The pump regulator 41 receives as input the actual value for the delivery volume VFi, the actual Value for the pressure pi, the setpoint for the delivery volume VFs and the setpoint for the pressure ps and outputs at its output the output signal for the delivery volume yVF.

Figur 2 zeigt Details des Pumpenreglers 41 aus Figur 1. Der Druckregler 41 weist ein erstes Summationsglied 48, ein zweites Summationsglied 51, einen Fördervolumenregler 49, einen Druckregler 52 und ein Minimalwertauswahlglied 50 auf. Das erste Summationsglied 48 bildet aus dem Sollwert VFs und dem Ist-Wert VFi eine Regeldifferenz, die dem Fördervolumenregler 49 als Eingangssignal zugeführt wird. FIG. 2 shows details of the pump controller 41 FIG. 1 , The pressure regulator 41 has a first summation element 48, a second summation element 51, a delivery volume regulator 49, a pressure regulator 52 and a minimum value selection element 50. The first summation element 48 forms from the desired value VFs and the actual value VFi a control difference, which is supplied to the delivery volume controller 49 as an input signal.

Das mit yVF1 bezeichnete Ausgangssignal des Fördervölumenreglers 49 ist dem Minimalwertauswahlglied 50 als erstes Eingangssignal zugefügt. Das zweite Summationsglied 51 empfängt den Sollwert für den Druck ps und den Ist-Wert für den Druck pi, woraus durch Subtraktion die Regeldifferenz für den Druck gebildet und an den Druckregler 52 ausgegeben wird. Der Druckregler 52 gibt als Ausgangssignal den Wert yp an das Minimalwertauswahlglied 50, das den Wert yp an seinem zweiten Eingang empfängt. Das Minimalwertauswahlglied 50 wählt das kleinere der beiden Eingangssignale yVF1 und yp aus und leitet diesen Minimalwert als Stellgröße yVF für das Fördervolumen VF an das Stellglied 31 weiter. Sowohl die Regelung des Fördervolumens VF als auch die Regelung des Drucks p erfolgt durch Einstellen des Fördervolumens der Verstellpumpe 13.The output signal, designated yVF1, of the delivery volumetric regulator 49 is added to the minimum value selection element 50 as the first input signal. The second summation element 51 receives the desired value for the pressure ps and the actual value for the pressure pi, from which the control difference for the pressure is formed by subtraction and output to the pressure regulator 52. The pressure regulator 52 outputs as an output the value yp to the minimum value selector 50 which receives the value yp at its second input. The minimum value selector element 50 selects the smaller of the two input signals yVF1 and yp and forwards this minimum value as manipulated variable yVF for the delivery volume VF to the actuator 31. Both the regulation of the delivery volume VF and the regulation of the pressure p are effected by adjusting the delivery volume of the variable displacement pump 13.

Die Übertragungsverhalten des Förderstromreglers 49 und des Druckreglers 52 weisen jeweils einen Proportional- und einen Differentialanteil auf.The transmission characteristics of the delivery flow regulator 49 and the pressure regulator 52 each have a proportional and a differential component.

In der übergeordneten Steuerung 25 ist ein Druck/ Volumenstrom-Profil p(t)/Q(t) für die Druckmittelzufuhr des Zylinders 11 gespeichert. Ein Drehzahl-Profil n(t) für den Elektromotor wird wie in der Druckschrift EP 1 236 558 B1 erstellt. Dabei wird ein Drehzahl-Profil n(t) für den Elektromotor 14 erstellt, das den Verlauf der Drehzahl n während eines Fertigungszyklus vorgibt. Hierzu wird der Elektromotor 14 zunächst mit der konstanten Drehzahl nmax betrieben. Die Regelung des dem Zylinder 11 zugeführten Volumenstroms erfolgt dabei allein durch den Pumpenregler 41. Der Pumpenregler 41 sorgt dafür, dass die Verstellpumpe 13 dem Zylinder 11 den Volumenstrom zuführt, der erforderlich ist, um die durch das Druck/Volumenstrom-Profil p(t)/Q(t) vorgegebenen Werte einzuhalten. Dieser Volumenstrom ist im Folgenden auch als Volumenstrombedarf QA bezeichnet.In the higher-level control 25, a pressure / volume flow profile p (t) / Q (t) for the pressure medium supply of the cylinder 11 is stored. A speed profile n (t) for the electric motor is as in the publication EP 1 236 558 B1 created. In this case, a speed profile n (t) is created for the electric motor 14, which specifies the course of the rotational speed n during a production cycle. For this purpose, the electric motor 14 is first operated at the constant speed nmax. The control of the cylinder 11 supplied volume flow is carried out solely by the pump controller 41. The pump controller 41 ensures that the variable displacement pump 13 to the cylinder 11, the volume flow which is required to the by the pressure / flow profile p (t) / Q (t) specified values. This volume flow is also referred to below as the volume flow requirement QA.

Durch die Regelung von Druck p und Volumenstrom Q stellt sich ein von der Verstellpumpe 13 geförderter Volumenstrom ein, der sowohl das Kompressionsvolumen des Druckmittels als auch Leckverluste berücksichtigt, also Einflussgrößen, die einer Berechnung nur schwer zugänglich sind. Dies gilt in gleicher Weise für den Volumenstrombedarf des Zylinders 11 bei einer Druckregelung. Da sich der von der Verstellpumpe 13 geförderte Volumenstrom Q nach der Beziehung Q =nmax * VF aus der Drehzahl nmax des Elektromotors 14 und dem Fördervolumen VF der Verstellpumpe 13 ergibt, lässt sich der dem Zylinder 11 zugeführte Volumenstrom direkt aus dem Istwert VFi des Fördervolumens unter Berücksichtigung der konstanten Drehzahl nmax berechnen. Es ist vorteilhaft, als konstante Drehzahl nmax die größte Drehzahl, mit der der Elektromotor 14 in den Fertigungszyklen betrieben werden soll, zu wählen. Bei dieser Drehzahl handelt es sich in der Regel um die Nenndrehzahl des Elektromotors 14.By regulating pressure p and volume flow Q, a volumetric flow delivered by variable-displacement pump 13 sets in, which takes into account both the compression volume of the pressure medium and leakage losses, ie influencing variables which are difficult to access for calculation. This applies equally to the volumetric flow requirement of the cylinder 11 in a pressure control. Since the volumetric flow Q conveyed by the variable displacement pump 13 results from the rotational speed nmax of the electric motor 14 and the delivery volume VF of the variable displacement pump 13 according to the relationship Q = nmax * VF, the volumetric flow supplied to the cylinder 11 can be directly removed from the actual value VFi of the delivery volume Consider the constant speed nmax. It is advantageous to choose as the constant speed nmax the highest speed with which the electric motor 14 is to be operated in the production cycles. This speed is usually the rated speed of the electric motor 14th

Der Optimierungsvorgang weist eine Reihe von Lernzyklen auf, in denen die Verstellpumpe 13 mit der konstanten Drehzahl nmax angetrieben wird. In einem ersten Lernzyklus wird die Dauer eines Fertigungszyklus durch Messung der Zeitdauer zwischen zwei Zyklusstartimpulsen ermittelt. Aus der Dauer eines Fertigungszyklus und der Anzahl der in der Motorsteuerung 42 für die Speicherung von Werten zur Verfügung stehenden Speicherplätze wird der zeitliche Abstand Δt für die Erfassung der zu speichernden Werte ermittelt. In einem weiteren Lernzyklus werden im Abstand von Δt die Istwerte VFi des Fördervolumens erfasst und in der Motorsteuerung 42 gespeichert. Die dort gespeicherten Werte bilden ein Fördervolumen-Profil VFI(t).The optimization process has a series of learning cycles in which the variable displacement pump 13 is driven at the constant speed nmax. In a first learning cycle, the duration of a manufacturing cycle is determined by measuring the time between two cycle start pulses. From the duration of a production cycle and the number of memory locations available in the motor controller 42 for the storage of values, the time interval Δt for the detection of the values to be stored is determined. In a further learning cycle, the actual values VFi of the delivery volume are detected at a distance of Δt and stored in the engine control unit 42. The values stored there form a delivery volume profile VFI (t).

In gleicher Weise werden die Istwerte pi des Drucks erfasst und in der Motorsteuerung 42 gespeichert. Die gespeicherten Werte bilden ein Druckprofil pi(t). Durch Multiplikation der gespeicherten Einzelwerte des Fördervolumens mit der konstanten Drehzahl nmax erhält man ein Volumenstrombedarf- Profil QA(t). Durch Division des Volumenstrombedarfs QA durch einen konstanten Wert des Fördervolumens VF erhält man ein Drehzahl-Profil n(t). Es empfiehlt sich, den konstanten Wert so zu wählen, dass er in der Nähe des Nennwerts des Fördervolumens VF der Verstellpumpe 13 liegt. Damit eine Regelreserve zur Verfügung steht, wird der konstante Wert so gewählt, dass er ungefähr 90 % des Nennwerts des Fördervolumens VF der Verstellpumpe 13 entspricht. Dieser Wert ist im folgenden mit VFgO bezeichnet.In the same way, the actual values pi of the pressure are detected and stored in the engine controller 42. The stored values form a pressure profile pi (t). By multiplying the stored individual values of the delivery volume with the constant speed nmax, a volume flow demand profile QA (t) is obtained. By dividing the volume flow requirement QA by a constant value of the delivery volume VF, a speed profile n (t) is obtained. It is advisable to choose the constant value so that it is close to the nominal value of the delivery volume VF of the variable displacement pump 13. For a control reserve to be available, the constant value is selected such that it corresponds to approximately 90% of the nominal value of the delivery volume VF of the variable displacement pump 13. This value is denoted below by VFgO.

Um Speicherplatz einzusparen, kann nach dem Abschluss einer Division der gespeicherte Wert des Volumenstrombedarfs QA durch den aus ihm berechneten Drehzahlwert n ersetzt werden. Steuert man die Drehzahl des Elektromotors 14 gemäß dem auf diese Weise ermittelten Drehzahl- Profil n(t) an, würde sich unter idealen Bedingungen das Fördervolumen VF der Verstellpumpe 13 auf den Wert VFgO einstellen. In der Praxis ist jedoch das Fördervolumen VF der Verstellpumpe 13 während eines Zyklus nicht konstant, insbesondere da sich die Drehzahl n des Elektromotors 14 nicht so schnell ändern lässt wie das Fördervolumen VF der Verstellpumpe 13. Dazu kommt, dass insbesondere im Hinblick auf die Schmierung der Verstellpumpe 13, der Kühlung des Elektromotors 14 und das maximal zulässige Drehmoment des Elektromotors 14 seine Drehzahl n nicht beliebig verringert werden darf.To save storage space, after the completion of a division, the stored value of the volume flow demand QA can be replaced by the speed value n calculated from it. If one controls the speed of the electric motor 14 in accordance with the speed profile n (t) determined in this way, the delivery volume VF of the variable displacement pump 13 would adjust to the value VFgO under ideal conditions. In practice, however, the delivery volume VF of the variable displacement pump 13 is not constant during a cycle, in particular because the speed n of the electric motor 14 can not be changed as fast as the delivery volume VF of the variable displacement pump 13. In addition, especially with regard to the lubrication of Variable displacement pump 13, the cooling of the electric motor 14 and the maximum permissible torque of the electric motor 14 its speed n may not be arbitrarily reduced.

Anhand des Drehzahlprofils und des Fördervolumenprofils wird für möglichst viele Zeitpunkte eines Arbeitszyklus die Drehzahlabweichung berechnet. Dazu wird anhand des Drucks und der Volumeneinstellung der Verstellpumpe berechnet, wie groß die Last des Elektromotors ist, indem das Drehmoment mit Hilfe des Drehmoments, das abhängig vom Druck ist berechnet wird.On the basis of the speed profile and the delivery volume profile, the speed deviation is calculated for as many times as possible of a working cycle. For this purpose, it is calculated on the basis of the pressure and the volume setting of the variable displacement pump, how large the load of the electric motor is by the torque is calculated by means of the torque, which is dependent on the pressure.

In der übergeordneten Ansteuerung sind Simulationswerte für den Schlupf in Abhängigkeit des Drehmoments und der Statordrehzahl hinterlegt.In the higher-level control, simulation values for the slip are stored as a function of the torque and the stator speed.

Ebenso wird der Nachlauf des Elektromotors berechnet. Aus dem Drehzahlprofil ist erkennbar, wann der Rotor beschleunigt. Simulationswerte, die die Beschleunigung nachbilden, zeigen, um wieviel die Drehzahlen des Rotors von den Vorgabewerten für die Drehzahl abweichen.Likewise, the caster of the electric motor is calculated. The speed profile shows when the rotor accelerates. Simulation values that simulate the acceleration show how much the rotational speeds of the rotor deviate from the default values for the rotational speed.

Figur 3 zeigt ein weiteres Ausführungsbeispiel eines Aktors einer zyklisch arbeitenden Fertigungsmaschine mit der dazugehörigen Regelvorrichtung zur Bereitstellen von Druckmittelmengen. Elemente mit gleichen Funktionen wie in den vorhergehenden Figuren werden mit gleichen Bezugszeichen gekennzeichnet und nicht extra erläutert. FIG. 3 shows a further embodiment of an actuator of a cyclically operating production machine with the associated control device for providing quantities of pressure medium. Elements with the same functions as in the preceding figures are identified by the same reference numerals and are not explained separately.

Ein erster Unterschied ergibt sich aus der fehlenden Rückkopplung für die Fördermenge VF. Für die Fördermenge wird ein Sollwert VFs berechnet, mit dessen Hilfe die Fördermenge im offenen Kreis gesteuert wird. Eine Regelung der Fördermenge erfolgt dabei nicht. Diese Maßnahme verringert die Kosten für das Gesamtsystem zusätzlich, da der Messumformer 32 und die Rückführungen eingespart werden. Diese Einsparung könnte auch in der Ausführungsform nach Figur 1 vorgenommen werden.A first difference results from the lack of feedback for the flow rate VF. For the delivery rate, a setpoint VFs is calculated, with the aid of which the delivery rate is controlled in the open circuit. A regulation of the flow does not take place. This measure further reduces the cost of the overall system by eliminating the transmitter 32 and the recirculations. This saving could also according to the embodiment FIG. 1 be made.

Ein zweiter Unterschied von der Ausführungsform nach Figur 1 ergibt sich durch die Art, wie der Schlupf und der Nachlauf in der Steuerung berücksichtigt werden. Das Ausgabesignal der Motorsteuerung 42, der Sollwert für die Drehzahl ns, wird auf den Frequenzumformer 33 gegeben. Aufgrund des Schlupfes unterscheidet sich die Drehzahl n der Welle 34 von dem Sollwert für die Drehzahl ns. Zu weiteren Unterschieden kann es kommen, wenn der Motor nachläuft und sich deswegen die Drehzahl des Rotors von dem Sollwert für die Drehzahl ns unterscheidet.A second difference from the embodiment according to FIG. 1 is determined by the way in which the slip and the caster are taken into account in the control. The output signal of the motor controller 42, the target value for the rotational speed ns, is applied to the frequency converter 33. Due to the slip, the rotational speed n of the shaft 34 differs from the target value for the rotational speed ns. Other differences can occur when the motor is running and therefore the rotational speed of the rotor differs from the nominal value for the rotational speed ns.

Um den Schlupf bei der Drehzahl trotzdem zu berücksichtigen, ist das Summationsglied 36 vorgesehen, das an einem ersten Eingang den Sollwert für die Drehzahl ns und an einem zweiten Eingang einen Kompensationswert nl2 empfängt. Das Summationsglied 36 zieht von dem Sollwert für die Drehzahl ns den Kompensationswert nl2 ab. Der Sollwert des Fördervolumens VFs wird folglich mit einem korrigierten Drehzahlwert nc2 berechnet, der möglichst nah an der tatsächlichen Drehzahl n der Welle 34 ist. Wenn der Vorgabewert für die Drehzahl ns nicht geändert wird, so wird bei Vorliegen von Schlupf im Motor das Fördervolumen VF entsprechend erhöht, so dass ein Volumenstrom von der Verstellpumpe 13 ausgegeben wird, der dem Druck/Volumenstrom-Profil entspricht.In order nevertheless to take account of the slip at the rotational speed, the summation element 36 is provided, which receives the nominal value for the rotational speed ns at a first input and a compensation value nl2 at a second input. The summation element 36 subtracts the compensation value nl2 from the nominal value for the rotational speed ns. The desired value of the delivery volume VFs is thus calculated with a corrected speed value nc2 which is as close as possible to the actual rotational speed n of the shaft 34. If the default value for the rotational speed ns is not changed, then in the presence of slip in the engine, the delivery volume VF is increased accordingly, so that a volume flow is outputted from the variable displacement pump 13, which corresponds to the pressure / flow profile.

In einer weiteren Ausführungsform ist es auch möglich, die Kompensationen gemäß Figur 1 und Figur 3 zu kombinieren. Dabei braucht der erste Kompensationswert nl1, der gemäß Figur 1 zur Berechnung des korrigierten Drehzahlsollsignals nc1 verwendet wird, lediglich aus einer Berechnung des Motorschlupfes abgeleitet werden. Der Kompensationswert nl1 entspricht dabei einem Drehzahlvorhalt, der zur Kompensation eines Schlupfes auf die Drehzahlvorgabe ns aufaddiert wird. Der zweite Kompensationswert nl2, der gemäß Figur 3 Eingang in den Förderstromsollwert VFs findet, wird in diesem Fall aus einer Simulation des Nachlaufs des Motors 14 berechnet. Dieser Kompensationswert nl2 wird von der Drehzahlvorgabe ns abgezogen, um einen möglichst gute Abschätzung nc2 der aktuellen Motordrehzahl zu erhalten. Aus der Drehzahlabschätzung nc2 wird, wie vorangehend beschrieben, ein Sollwert des Fördervolumens VFs erhalten, um die Verstellpumpe 13 in möglichst guter Übereinstimmung mit dem Förderstromsollwert Qs anzusteuern.In a further embodiment, it is also possible to use the compensations according to FIG FIG. 1 and FIG. 3 to combine. In this case, the first compensation value nl1, which according to FIG. 1 is used to calculate the corrected speed command signal nc1, derived only from a calculation of the engine slip. The compensation value nl1 corresponds to a speed derivative, which is added to compensate for a slip on the speed specification ns. The second compensation value nl2, according to FIG. 3 Input is found in the flow rate setpoint VFs, is calculated in this case from a simulation of the caster of the motor 14. This compensation value nl2 is subtracted from the speed specification ns in order to obtain the best possible estimate nc2 of the current engine speed. From the speed estimation nc2, as described above, a desired value of the delivery volume VFs is obtained in order to actuate the variable displacement pump 13 in the best possible agreement with the delivery flow setpoint value Qs.

Ferner ist es auch möglich, den Motorschlupf bei der Berechnung des Volumenstroms Q ist während der Lernphase zu berücksichtigen, um den Sollwert Qs entsprechend zu kompensieren. Liegt beispielsweise ein Schlupf vor, so wird der Sollwert Qs entsprechend erhöht, damit der sich ergebende Volumenstrom dem des Druck/Volumenstrom-Profils entspricht.Furthermore, it is also possible to take into account the engine slip in the calculation of the volume flow Q i during the learning phase in order to compensate the set value Qs accordingly. For example, if there is a slip, the setpoint Qs is increased accordingly, so that the resulting flow corresponds to the pressure / flow profile.

BezugszeichenlisteLIST OF REFERENCE NUMBERS

1010
Einrichtung zur Regelung der DruckmittelzufuhrDevice for regulating the pressure medium supply
1111
Zylindercylinder
1313
Verstellpumpevariable
1414
Elektromotorelectric motor
1515
Tanktank
1616
Leitungmanagement
1717
VentilValve
2121
WegemessumformerWegemessumformer
2323
Leitungmanagement
2525
übergeordnete Steuerunghigher-level control
2727
Leitungmanagement
3131
Stellgliedactuator
3232
Messumformertransmitters
3333
Frequenzumrichterfrequency converter
3434
Wellewave
3535
SummationsgliedSummation member
3636
SummationsgliedSummation member
4040
DruckmessumformerPressure Transmitter
4141
Pumpenreglerpump regulator
4242
Motorsteuerungmotor control
4444
ProportionsgliedProportion link
4545
Rechengliedcomputing element
4848
erstes Summationsgliedfirst summation element
4949
FördervolumenreglerAir flow regulators
5050
MinimalwertauswahlgliedMinimum value selection element
5151
zweites Summationsgliedsecond summation element
5252
Druckreglerpressure regulator
521521
DifferenziergliedDifferentiator
522522
Proportionalgliedproportional element
523523
Verstellblockadjusting block
524524
SummationsgliedSummation member

Claims (14)

  1. Method for regulating a supply of pressure medium for a hydraulic actuator (11) of a cyclically operating machine, in which the actuator (11) is supplied with a quantity of pressure medium (Q) by an adjustment pump (13), and the adjustment pump (13) is driven by a rotational-speed-controlled electric motor (14), and wherein the pressure (p) or the quantity of pressure medium (Q) is regulated by a pump regulator (41) by actuating the setting of the volume of the adjustment pump (13), wherein the method has the following steps:
    - producing and/or providing a rotational speed profile for setting the rotational speed of the electric motor (14) during a cycle of the machine,
    - actuating the rotational speed (n) of the electric motor (14) and the setting of the volume of the adjustment pump (13), wherein within a cycle of the machine the electric motor (14) is actuated according to the rotational speed profile,
    - determining a pressure/volume flow profile for the quantity of pressure medium,
    characterized in that
    - a step of determining a rotational speed difference (nl1; nl2) is provided, wherein the rotational speed difference (nl1; nl2) arises from the difference between the rotational speed (n) of the electric motor (14) and a setpoint value for the rotational speed (ns), wherein the rotational speed difference (nl1; nl2) is determined on the basis of the determined pressure/volume flow profile,
    - and the step of actuating the rotational speed (n) of the electric motor (14) and/or setting the volume of the adjustment pump (13) is carried out as a function of the rotational speed difference (nl1; nl2).
  2. Method according to Claim 1,
    characterized in that
    in the step of actuating the electric motor (14) and setting the volume of the adjustment pump (13),
    the prespecified value (nc1) for the rotational speed is determined by adding the determined rotational speed difference (nl1) and a rotational speed setpoint value (ns).
  3. Method according to Claim 1 or 2,
    characterized in that
    in the step of actuating the electric motor (14) and setting the volume of the adjustment pump (13),
    the determined rotational speed difference (nl2) is subtracted from a rotational speed setpoint value (ns) in order to determine the actuation value (yVF) for the adjustment pump (13).
  4. Method according to one of Claims 1 to 3,
    characterized in that
    the slip is calculated during the determination of the rotational speed difference (nl1; nl2).
  5. Method according to Claim 4,
    characterized in that
    the torque of the electric motor (14) is simulated during the determination of the slip.
  6. Method according to one of Claims 1 to 5,
    characterized in that
    the run on of the electric motor is simulated during the determination of the rotational speed difference (nl2).
  7. Method according to one of Claims 1 to 6,
    characterized in that
    the electric motor (14) is embodied as an asynchronous motor, and the electric motor (14) is actuated without an encoder.
  8. Method according to one of Claims 1 to 7,
    characterized in that
    a plurality of rotational speed differences (nl1; nl2), in particular two thereof, are determined and are obtained by means of different calculations or simulations.
  9. Regulating circuit for regulating a supply of pressure medium for a hydraulic actuator (11) of a cyclically operating machine, in which the actuator (11) is supplied with a quantity of pressure medium by an adjustment pump (13) which is driven by a rotational-speed-controlled electric motor (14), wherein the regulating circuit has the following:
    - a pump regulator (41) for regulating the pressure or the quantity of pressure medium by actuating the adjustment pump (13),
    - a rotational-speed-profile-producing device for producing and/or providing a rotational speed profile for setting the rotational speed (n) of the electric motor (14) during a cycle of the machine,
    - a setting device (42, 35) for operating the electric motor in accordance with the determined rotational speed profile in a working cycle of the machine,
    - a pressure/volume flow profile, stored in a superordinate controller (25), for the supply of pressure medium,
    characterized in that
    a device is provided for determining the rotational speed difference (nl1, nl2) of the electric motor (14), wherein the rotational speed difference (nl1; nl2) arises from the difference between the rotational speed (n) of the electric motor (14) and a setpoint value for the rotational speed (ns), wherein the rotational speed difference (nl1; nl2) is determined on the basis of the pressure/volume flow profile, and
    in that the setting device (42, 35) and/or the pump regulator (41) are/is actuated as a function of the determined rotational speed difference (nl1; nl2).
  10. Regulating circuit according to Claim 9,
    characterized in that
    a summing element (35) is provided for adding the determined rotational speed difference (nl1) and a determined rotational speed setpoint value (ns), wherein the result of the addition is fed as a predefined value (nc1) to the setting device (42, 35).
  11. Regulating circuit according to Claim 9 or 10,
    characterized in that
    a subtractor element for subtracting the determined rotational speed difference (nl2) from a determined rotational speed setpoint value (ns) is provided, wherein the result of the subtraction is fed to a circuit (41, 44) for determining the actuation value (yVF) for the adjustment pump (13).
  12. Regulating circuit according to one of Claims 9 to 11,
    characterized in that
    the electric motor (14) is embodied as an asynchronous motor, and the electric motor (14) is actuated without an encoder.
  13. Regulating circuit according to one of Claims 9 to 12,
    characterized in that
    the device for determining the rotational speed difference makes available two rotational speed differences (nl1, nl2), wherein the one rotational speed difference (nl1) is fed to the setting device (42, 35) and the other rotational speed difference (nl2) is fed to the pump regulator (41).
  14. Regulating circuit according to Claim 13,
    characterized in that
    the one rotational speed difference (nl1) is based on a calculation of a slip of the motor (14), and the other rotational speed difference (nl2) is based on a simulation or a calculation of a run on of the motor (14).
EP09014791.9A 2008-11-29 2009-11-27 Method and control circuit for regulating a supply of pressure fluid for a hydraulic actuator Active EP2192309B1 (en)

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EP4253754A1 (en) 2022-03-29 2023-10-04 Robert Bosch GmbH Method for operating a variable-speed pump

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DE102018203623A1 (en) 2018-03-09 2019-09-12 Zf Friedrichshafen Ag Drive for a working machine
WO2021173940A1 (en) * 2020-02-27 2021-09-02 Cnh Industrial America Llc System and method for heating the hydraulic fluid of an electric work vehicle
DE102020213262A1 (en) * 2020-10-21 2022-04-21 Robert Bosch Gesellschaft mit beschränkter Haftung Method for operating a hydraulic drive

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DE10110398A1 (en) 2001-03-03 2002-09-26 Mannesmann Rexroth Ag Method for regulating the pressure medium supply to a hydraulically operated actuator

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3839256A1 (en) 2019-12-20 2021-06-23 Robert Bosch GmbH Method for operating a variable-speed adjustable pump
EP4253754A1 (en) 2022-03-29 2023-10-04 Robert Bosch GmbH Method for operating a variable-speed pump
DE102022203051B3 (en) 2022-03-29 2023-10-12 Robert Bosch Gesellschaft mit beschränkter Haftung Method for operating a variable speed pump

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