EP2246565A1 - Verfahren zum Betreiben einer Fluidarbeitsmaschine - Google Patents

Verfahren zum Betreiben einer Fluidarbeitsmaschine Download PDF

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Publication number
EP2246565A1
EP2246565A1 EP09158933A EP09158933A EP2246565A1 EP 2246565 A1 EP2246565 A1 EP 2246565A1 EP 09158933 A EP09158933 A EP 09158933A EP 09158933 A EP09158933 A EP 09158933A EP 2246565 A1 EP2246565 A1 EP 2246565A1
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EP
European Patent Office
Prior art keywords
pulses
actuation
fluid
stroke
stroke pulses
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Granted
Application number
EP09158933A
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English (en)
French (fr)
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EP2246565B1 (de
Inventor
Sven Fink
Ken Kin-Ho Lai
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Danfoss Power Solutions GmbH and Co OHG
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Sauer Danfoss GmbH and Co OHG
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Priority to EP09158933.3A priority Critical patent/EP2246565B1/de
Publication of EP2246565A1 publication Critical patent/EP2246565A1/de
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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
    • F04B7/00—Piston machines or pumps characterised by having positively-driven valving
    • F04B7/0076—Piston machines or pumps characterised by having positively-driven valving the members being actuated by electro-magnetic means
    • 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
    • F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
    • F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
    • F04B1/14—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis having stationary cylinders
    • 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
    • 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
    • F04B49/22—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 means of valves
    • F04B49/225—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 means of valves with throttling valves or valves varying the pump inlet opening or the outlet opening
    • 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
    • F04B53/00—Component parts, details or accessories not provided for in, or of interest apart from, groups F04B1/00 - F04B23/00 or F04B39/00 - F04B47/00
    • F04B53/10—Valves; Arrangement of valves
    • F04B53/108—Valves characterised by the material
    • F04B53/1082—Valves characterised by the material magnetic
    • 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
    • F04B2201/08—Cylinder or housing parameters
    • F04B2201/0807—Number of working cylinders

Definitions

  • the invention relates to a method of operating a fluid working machine, comprising at least one working chamber of cyclically changing volume, a high pressure fluid connection, a low pressure fluid connection and at least one electrically actuated valve, connecting said working chamber to said high-pressure fluid connection and/or said low pressure fluid connection, wherein the actuation of said electrically actuated valve is varied depending on the fluid flow demand and/or on the mechanical power demand. Additionally, the invention relates to an electronic controlling unit for the actuation of a fluid working machine, comprising at least one actuated valve.
  • the invention relates to a fluid working machine, comprising at least one working chamber of cyclically changing volume, a high pressure fluid connection, a low pressure fluid connection and at least one electrically actuated valve, connecting said working chamber to said high pressure fluid connection and/or said low pressure fluid connection and at least one electronic controller unit.
  • Fluid working machines are generally used, when fluids are to be pumped or fluids are used to drive the fluid working machine in a motoring mode.
  • the word “fluid” can relates to both gases and liquids. Of course, “fluid” can even relate to a mixture of a gas and a liquid and furthermore to a supercritical fluid, where no distinction between gas and liquid can be made anymore.
  • such fluid working machines are used, if the pressure level of a fluid has to be increased.
  • a fluid working machine could be an air compressor, a hydraulic pump, a pneumatic motor or a hydraulic motor.
  • fluid working machines comprise one or more working chambers of a cyclically changing volume.
  • a fluid inlet valve and the fluid outlet valve is provided for each cyclically changing volume.
  • the fluid inlet valves and the fluid outlet valves which are used for fluid working machines, are passive valves, particularly when pumps are considered.
  • its fluid inlet valve opens, while its fluid outlet valve closes under the pressure differences, caused by the volume increase of the working chamber.
  • the fluid inlet valve closes, while the fluid outlet valve opens under the changed pressure differences.
  • synthetically commutated hydraulic machines also known as digital displacement pumps.
  • synthetically commutated hydraulic machines are a unique subset of variable displacement machines.
  • Such synthetically commutated hydraulic machines are known as such, for example from EP 0 494 236 B1 or WO 91/05163 A1 .
  • the passive inlet valves are replaced by electrically actuated inlet valves.
  • the passive fluid outlet valves are also replaced by electrically actuated outlet valves.
  • a full stroke pumping mode By appropriately controlling the valves, a full stroke pumping mode, an empty cycle pumping mode (idle mode) and a part stroke pumping mode can be achieved. Furthermore, if both inlet valves and outlet valves are electrically actuated, the pump can be used as a hydraulic motor as well. If the pump is run as a hydraulic motor, a full stroke motoring mode, a part stroke motoring mode and an idle motoring mode are possible as well.
  • a major advantage of such synthetically commutated hydraulic machines is their higher efficiency, as compared to traditional hydraulic pumps. Furthermore, since the valves are electrically actuated, the output characteristics of synthetically commutated hydraulic machines can be changed very quickly. In particular, it is possible to completely change the output characteristics of the synthetically commutated hydraulic machine from one working cycle to another (for example from zero fluid output flow to full fluid output flow).
  • the perhaps simplest possibility is to switch the synthetically commutated hydraulic pump to full stroke pumping mode for a certain time.
  • a high-pressure fluid reservoir is filled with pressurised fluid.
  • the synthetically commutated hydraulic pump is switched to an idle mode and the fluid flow demands is supplied by the high pressure fluid reservoir.
  • the synthetically commutated hydraulic pump is switched on again.
  • the different modes are distributed among several chambers and/or among several successive cycles in a way that the time averaged effective fluid flow rate of the machine satisfies the requested demand.
  • the decision, on what kind of stroke has to be triggered is made by the use of a so-called accumulator variable.
  • the accumulator variable is increased in certain time intervals by a value, which is representative of the fluid flow demand.
  • an idle mode, a part stroke mode or a full stroke mode is performed. Consequently, the accumulator is deducted by a value, which is representative of the volume, pumped by the pumping mode performed.
  • This controlling method performs the necessary calculations "online", i.e. during the actual use of the fluid working machine. Furthermore, the decision on whether to perform a pumping stroke or not, as well as the decision on whether a part stroke pumping mode or a full stroke pumping mode has to be performed, is made on a cycle-by-cycle basis and only for the very next cycle could be performed in line. In other words, the respective decision is only made for the very next possible actuation. Other (future) actuations of the actuated valve(s) are not taken into consideration.
  • a method of operating a fluid working machine comprising at least one working chamber of cyclically changing volume, a high pressure fluid connection, a low pressure fluid connection and at least one electrically actuated valve, connecting said working chamber to said high pressure fluid connection and/or said low pressure fluid connection, is suggested, wherein the actuation of said electrically actuated valve is varied depending on the fluid flow demand and/or on the mechanical power demand, and wherein for said electrically actuated valve at least in part and/or at least at times an actuation sequence, covering a plurality of working cycles of said cyclically changing volume, is calculated.
  • the number of actuation sequences, which have to be pre-calculated and stored can increase exponentially, thus requiring a huge memory and extensive calculation efforts.
  • the pressure, the speed and/or the temperature of the hydraulic fluid can be parameters, which can influence the operation of the fluid working machine quite significantly, and hence should be considered.
  • the suggested method is still relatively easy to implement, and can be adapted to changing situations and/or to different fluid working machines easily. It is possible to calculate the next actuation sequence shortly before the end of the active actuation sequence is reached. This way, sufficient time can be provided for calculating the next actuation sequence.
  • Timing for the start of the calculation of the next actuation sequence can depend on the available calculation means (for example the speed of an electronic controller on which the algorithm is run) and/or the method in which the algorithm is implemented. Generally, the timing should be chosen in a way that even under disadvantageous situations (i.e. the calculation of the actuation sequence takes very long) the calculation is finished before the actual actuation sequence is completed. With nowadays available computer hardware, the necessary time margin can usually be kept quite short. Another possibility is to calculate a new actuation sequence, as soon as the current fluid flow demand changes (if applicable, after filtering). The newly calculated actuation sequence will be applied, as soon as possible. This will usually happen, when the currently actuated actuation sequence is finished.
  • the "old" actuation sequence can simply be reapplied. Of course, it is even possible to generally reapply the current ("old") actuation sequence over and over again, if the fluid flow demand does not change (if applicable, after filtering).
  • the suggested method will usually yield an actuation sequence, covering a plurality of working cycles of the at least one cyclically changing volume (for example two, three, four, five, six, seven, eight, nine and/or ten working cycles) it is possible that under certain conditions, particularly at certain fluid flow demands and/or mechanical power demands, a preferred (or even the optimum) actuation sequence will be reached with an actuation sequence, having a length of only one working cycle.
  • the suggested method will yield an optimum actuation sequence of a single actuation with a zero pumping mode to be performed.
  • the fluid flow demand and/or the mechanical power demand can be calculated, at least in part and/or at least at times, from the fluid pressure (in particular from the fluid pressure in the high-pressure manifold), from the speed of the fluid working machine and/or from the torque of the fluid working machine.
  • the actuation sequence should be set up in a way that it's time averaged fluid output flow will correspond to the actual fluid flow demand.
  • the length of said actuation sequence is minimised. This way it is possible that the calculated actuation sequence can be finished without causing any undue delays, even if the fluid flow demand and/or the mechanical power demand changes.
  • the actuation sequence should be as short as possible, without increasing the number and/or the amount of the pressure pulsations at all, noticeably and/or significantly.
  • the method can be performed in a way that a balance between short actuation sequences and low pressure pulsations will be reached. In other words, if the length of the actuation sequence would become too long, a certain deterioration of the quality and/or the accuracy of the generated fluid output flow will be tolerated, to limit the length of the actuation sequence.
  • the "allowed" regions could be expanded in such a case (see the following description). It is even possible to make the length of the actuation sequence (in units of working cycles) dependent on the speed of the fluid working machine. This way, a certain limit for the maximum delay (in units of time) between a change in the fluid flow demand and a change in the fluid flow output can be set. Furthermore, the limitation and/or avoidance of excessive "gear-shifting" behaviour of the synthetically commutated hydraulic pump might be another operational consideration, which can influence the choice of the actuation sequence length.
  • actuation sequences are only available for a very limited region of the fluid flow demand, it may be desirable to keep using a preferably slightly longer actuation sequence, which conforms to the lengths of the actuation sequences of the rest of the region of fluid flow demand. Hence, the amount of transition between different actuation sequences and/or different lengths of actuation sequences can be reduced.
  • a preferred embodiment of the suggested method can be achieved, if at least one filtering function for said fluid flow demand and/or said mechanical power demand is applied at least in part and/or at least at times.
  • a hysteresis function, a peak filtering function and/or a derivative consideration function can be used. This way, unnecessary transitions between different actuation sequences can be largely avoided. This way, particularly numerical artefacts in the output behaviour of the fluid working machine can be avoided.
  • the fluid flow demand is increased from 35% to 36%, the fluid output flow will consequently be increased to 36% as well (the given numbers indicate the fraction of the maximum pumping capability of the respective working chamber and/or of the fluid working machine).
  • the fluid output flow will be kept on 36%, by virtue of the hysteresis function. Only when the fluid flow demand will drop to 34% (or even lower), the actuation sequence will be changed according to the changing fluid flow demand.
  • the peak filtering function can be set up in a way that not only "positive” peaks are filtered out (i.e. a sudden and very short increase in fluid flow demand), but also "negative” peaks are filtered out.
  • said derivative consideration function can take into account the "size" of the change in fluid flow demand. For example, if an operator quickly increases and/or decreases the speed of a hydraulic consumer, said derivative consideration function can stress this increase and/or a decrease even more.
  • an actuation of said electrically actuated valve is at least in part and/or at least at times limited to at least one allowed actuation range, preferably to a plurality of allowed actuation ranges. It has been found that for part stroke pulses at or around 50%, the speed of the fluid leaving the working chamber of the fluid working machine can be very high, because of the usually sinusoidal shape of the volume change of the working chamber. If the electrically actuated inlet valve is closed in this region (to initiate a part stroke pumping cycle of approximately 50% pumping fraction, for example), the actuation of the actuated valve can result in the generation of noise and/or in a higher wear of the valve. Therefore, it is preferred to exclude such fractional values.
  • the "forbidden” interval can start at 16.7%, 20%, 25%, 30%, 33.3%, 40% and/or 45% and can end at 55%, 60%, 65%, 66.7%, 70%, 75%, 80% and/or 86.1%.
  • the limits of the "forbidden” interval can be changed in dependence of external parameters, in particular in dependence of the speed of the fluid working machine. This way, the "forbidden” interval can at least in part and/or at least at times be defined using the speed of the fluid flowing through the respective actuated valve.
  • At least one of said allowed actuation ranges is taken from the group, comprising zero stroke pulses, small part stroke pulses, large part stroke pulses and/or full stroke pulses.
  • zero stroke pulses have a pumping fraction of zero.
  • Small part stroke passes are usually chosen from an interval with the lower end at 0%, 1%, 2%, 3%, 4% and/or 5% and the upper end at the already mentioned 16.7%, 20%, 25%, 30%, 33.3%, 40% and/or 45% (presumably taking into account external parameters).
  • the lower limit of the small part stroke pulses - if present - can come from compressability effects of the fluid used.
  • the exact numbers can depend on the nature and condition of the fluid. The indicated values are typical for liquids, in particular hydraulic oil.
  • Large part stroke pulses can be chosen from an interval starting at the already mentioned 55%, 60%, 65%, 66.7%, 70%, 75%, 80% and/or 86.1% (presumably varying with external parameters) and can go up to 100% (or almost 100%). Full stroke pulses are usually chosen from the 100% range.
  • said allowed actuation ranges, in particular said small part stroke pulses and/or said large part stroke pulses depend at least in part and/or at least at times on at least one working condition of said fluid working machine, in particular on the viscosity of the fluid and/or on the pressure of the fluid and/or on the temperature of the fluid and/or on the speed of said fluid working machine.
  • a high speed of the fluid, flowing through the actuated valve can lead to the generation of unnecessary noise and/or to an increased wear of the actuated valve.
  • the same can apply to highly viscous fluids, because such fluids can generate high frictional forces. This, of course, is not desired.
  • the method is performed in a way that at least in part and/or at least at times said actuation sequence comprises zero stroke pulses, full stroke pulses and part stroke pulses.
  • said actuation sequence comprises zero stroke pulses, full stroke pulses and part stroke pulses.
  • the part stroke pulses can be small part stroke pulses and/or large part stroke pulses.
  • pulses of a larger size in particular large part stroke pulses and/or full stroke pulses are preferred.
  • these pulses instead of performing several zero stroke pulses and/or small part stroke pulses, these pulses (or at least some of them) should be combined to one or a few large stroke pulses and/or full stroke pulses, whenever this is possible.
  • Pulses of a larger size are usually defined as pulses having a pumping fraction of at least 40%, 45%, 50%, 55% and/or 60%. Of course, it is also possible that said pulses of a larger size are large part stroke pulses and/or full stroke pulses.
  • pulses of a smaller size in particular zero stroke pulses and/or a small part stroke pulses, are used for replacing at least one pulse of a larger size.
  • pulses of a smaller size in particular zero stroke pulses and/or a small part stroke pulses
  • This "splitting up" of pulses of a larger size can preferably be performed, if otherwise the length of the actuation sequence would become too long and/or an actuation sequence, generating the demanded fluid output flow would not be possible at all.
  • a particularly smooth fluid flow output characteristics can be achieved if the actuations within said actuation sequence are arranged at least in part and/or at least at times in a way that pulses of a smaller size, in particular zero stroke pulses and/or small part stroke pulses, precede pulses of larger size, in particular large part stroke pulses and/or full stroke pulses.
  • Pulses of a smaller size are usually pulses with a pumping fraction of up to 40%, 45%, 50%, 55%, 55% and/or 60% (and can have a lower end as well, if necessary).
  • Yet another embodiment can be achieved if the actuations within said actuation sequence are at least in part and/or at least at times arranged in a way that within subgroups of pulses of a larger size, in particular within subgroups of large part stroke pulses and/or full stroke pulses, pulses with a larger size precede pulses with a smaller size.
  • this way of arranging the actuation sequence can lead to a particularly smooth fluid output flow characteristics as well.
  • the actuations within said actuation sequence are at least in part and/or at least at times arranged in a way that within subgroups of pulses of smaller size, in particular within subgroups of zero stroke pulses and/or small part stroke pulses, pulses with a larger size precede pulses with a smaller size.
  • Another preferred embodiment can be achieved if the actuations within said actuation sequence are arranged at least in part and/or at least at times in a way that pulses of a smaller size, in particular zero stroke pulses and/or small part stroke pulses, and pulses of a larger size, in particular large part stroke pulses and/or full stroke pulses, are distributed over said actuation sequence.
  • pulses of a smaller size can be placed in the leading "gaps" of the pulses of a larger size and/or between two pulses of a larger size, which are spaced apart from each other.
  • an electronic controller unit for the actuation of a fluid working machine comprising at least one actuated valve, wherein said electronic controller unit is designed and arranged in a way that said electronic controller unit actuates said at least one electrically actuated valve at least in part and/or at least at times according to the previously suggested method.
  • This way fluid working machines, comprising such an electronic controller unit, can show the previously described features and advantages in analogy.
  • a fluid working machine comprising at least one working chamber of cyclically changing volume, a high-pressure fluid connection, a low pressure fluid connection, at least one electrically actuated valve, connecting said working chamber to said high pressure fluid connection and/or said low pressure fluid connection and at least one electronic controller unit, wherein said electronic controller unit is designed and arranged in a way that said electronic controller unit actuates at least one of said electrically actuated valves at least in part and/or at least at times according to the previously described method.
  • said electronic controller unit is designed and arranged in a way that said electronic controller unit actuates at least one of said electrically actuated valves at least in part and/or at least at times according to the previously described method.
  • an actuation sequence (A-B-C-D) is usually equivalent to an actuation sequence (B-C-D-A), to an actuation sequence (C-D-A-B), and to an actuation sequence (D-A-B-C).
  • A-B-C-D is usually equivalent to an actuation sequence (B-C-D-A), to an actuation sequence (C-D-A-B), and to an actuation sequence (D-A-B-C).
  • the actuations usually refer to the phase, in which the respective actuation cycle performs an "active" fluid flow, leaving the working chamber towards the high-pressure side of the fluid working machine (in case of a pump) and/or performs useful work (in the case of a hydraulic motor).
  • the actuation could correspond to the beginning of the contraction phase of the respective working chamber.
  • FIG. 1 an example of a synthetically commutated hydraulic pump 1, with one bank 2, having six cylinders 3 is shown.
  • Each cylinder has a working space 4 of a cyclically changing volume.
  • the working spaces 4 are essentially defined by a cylinder part 5 and a piston 6.
  • a spring 7 pushes the cylinder part 5 and the piston 6 apart from each other.
  • the pistons 6 are supported by the eccentrics 8, which are attached off-centre of the rotating axis of the same rotatable shaft 9.
  • multiple pistons 6 can also share the same eccentric 8.
  • the orbiting movement of the eccentrics 8 causes the pistons 6 to reciprocally move in and out of their respective cylinder parts 5. By this movement of the pistons 6 within their respective cylinder parts 5, the volume of the working spaces 4 is cyclically changing.
  • the synthetically commutated hydraulic pump 1 is of a type with electrically actuated inlet valves 10 and electrically actuated outlet valves 11. Both inlet valves 10 and outlet valves 11 are fluidly connected to the working chambers 4 of the cylinders 3 on one side. On their other side, the valves are fluidly connected to a low pressure fluid manifold 18 and a high pressure fluid manifold 19, respectively.
  • the actuations of the inlet valves 10 are controlled by an electronic controller 16, for example by a printed circuit board computer.
  • the electronic controller 16 receives input signals from one or several sensors 17.
  • the synthetically commutated hydraulic pump 1 comprises electrically actuated outlet valves 11, it can also be used as a hydraulic motor.
  • the valves which are inlet valves during the pumping mode, will become outlet valves during the motoring mode and vice-versa.
  • the design could be different from the example shown in Fig. 1 , as well.
  • several banks of cylinders could be provided for.
  • one or several banks 2 show a different number of cylinders, for example four, five, seven and eight cylinders.
  • the cylinders 3 are equally spaced within a full revolution of the rotatable shaft 9, i. e. 60° out of phase from each other, the cylinders 3 could be spaced unevenly, as well.
  • Another possible modification is achieved, if the number of cylinders in different banks 2 of the synthetically commutated hydraulic pump 1 differ from each other.
  • one bank 2 might comprise six cylinders 3, while a second bank 2 of the synthetically commutated hydraulic pump 1 comprises just three cylinders 3.
  • different cylinders can show different displacements.
  • the cylinders of one bank could show a higher displacement, as compared to the displacement of the cylinders of another bank.
  • piston and cylinder pumps are possible. Instead, other types of pumps can take advantage of the invention as well.
  • Fig. 2 the fluid output flow 12 of a single cylinder 3 is illustrated.
  • a tick on the abscissa indicates a turning angle of 30° of the rotatable shaft 9.
  • the working chamber 4 of the respective cylinder 3 starts to decrease in volume.
  • the electrically actuated inlet valve 10 remains in its open position. Therefore, the fluid, being forced outwards of the working chamber 4 will leave the cylinder 3 through the still open inlet valve 10 towards the low pressure fluid manifold. Therefore, in time interval I, a "passive pumping" is done, i.e.
  • the firing angle 13 is chosen to be at 120° rotation angle of the rotable shaft 9 (and likewise 480°, 840°, etc.).
  • the electrically commutated valve 10 is closed by an appropriate signal. Therefore, the remaining fluid in working chamber 4 cannot leave the cylinder 3 via the inlet valve 10 anymore. Therefore, pressure builds up, which will eventually open the outlet valve 11 and push the fluid towards the high pressure manifold.
  • time interval II can be expressed as an "active pumping" interval, i.e., the hydraulic fluid leaving the working chamber 4 will leave the cylinder 3 towards the high pressure fluid manifold.
  • effective pumping is performed by the hydraulic pump 1.
  • outlet valve 11 will close automatically under the force of the closing spring, and inlet valve 10 will be opened by the underpressure, created in the working chamber 4, when the piston 6 moves downwards.
  • the expanding working chamber 4 will suck in hydraulic fluid via inlet valve 10.
  • an effective pumping of 25 % of the available volume of working chamber 4 is performed.
  • Fig. 3 illustrates how a series of single pulses 15 of different volume fractions (including full stroke cycles and idle stroke cycles) can be combined to generate a certain total output flow 14.
  • an actuation sequence wherein the number of pumping cycles as well as the pumping volume fraction of each individual pumping stroke 15 can be varied, an unlimited number of output fluid flow rates can be achieved on the time average.
  • the total fluid output flow 14 of Fig. 3 is not necessarily of a shape that is likely to be used as an actuation sequence for real applications. However, it is a good example, on how the fluid output flow 15 of individual cylinders sums up to the total fluid output flow of the hydraulic pump.
  • a flowchart 32 is shown, illustrating an embodiment of the algorithm for generating an actuation sequence for actuating the fluid inlet valves 10 (and the fluid outlet valves 11 as well, if applicable) of the synthetically commutated hydraulic pump 1.
  • the algorithm can be implemented as a software program in an electronic controller 16 of the synthetically commutated hydraulic pump 1.
  • the electronic controller 16 can be a printed circuit board computer or the like.
  • the algorithm shown in the flowchart 32 of Fig. 4 starts at the starting point 30.
  • the algorithm is initiated as soon as in starting step 30 it is noticed that a change in fluid flow demand has occurred.
  • the information about the actual fluid flow demand comes from an input unit 34.
  • the input unit 34 can be, for example, a sensor, which is connected to a control lever or the like.
  • the (unmodified) input value from the input unit 34 is first modified by a filtering unit 33, which applies a hysteresis function, as well as a short peak filtering function on the incoming data. This modified data is used in starting step 30 for checking, whether a change in fluid flow demand has occurred.
  • the accumulator variable is updated 35, i.e. the previous value of the accumulator variable is increased by the current fluid flow demand.
  • the fluid flow demand is interrogated from the same source as described above, i.e. from an input unit 34, whose data is modified by a filtering unit 33.
  • this minimum decision value is the lower limit of pumping strokes of a larger size and/or the lower limit of the large part stroke pulses. In other words, the minimum decision value can be the upper value of the "forbidden" interval.
  • a variable, indicating the number of pulses of a larger size within the actuation pattern to be calculated is incremented in step 21. Furthermore, the accumulator value is decreased by the minimum decision value in step 21.
  • a variable, indicating the number of pulses of smaller size is incremented in step 22, while the accumulator remains unmodified.
  • step 23 a check is performed, whether there exists an actuation sequence, having the actual provisional sequence length, and which satisfies the accumulator totally. For this, it is checked whether the accumulator can be satisfied by one or several of the following modifications to the previously determined provisional actuation sequence: a) one or several of the zero stroke pulses are expanded to pulses of a smaller size (e.g. small part stroke pulses); b) pulses of a larger size (e.g. large part stroke pulses) are expanded by increasing the respective pumping fraction and c) pulses of a larger size (e.g. large part stroke pulses) are reduced in size (without reducing them into the "forbidden" interval; however a reduction to a pulse of a smaller size is possible) and steps a) and/or b) are performed additionally.
  • a) and/or b) are performed additionally.
  • step 26 the algorithm jumps directly 25 to step 26, where the length of the provisional actuation sequence is incremented.
  • a rearrangement sequence 24 is performed.
  • pulses of a smaller size are arranged in front of pulses of a larger size.
  • the respective pulses are arranged in order of decreasing value.
  • step 27 a check is performed, whether the accumulator indeed has a value of zero. If this is not the case, the algorithm jumps back 28 to step 35, where the accumulator value 35 is updated by the current fluid flow demand.
  • the previously calculated actuation sequence that has been commanded 29 to the electronic controller 16 will be stored in a buffer within the electronic controller 16. Therefore, the actuation sequence will be repeated over and over again, until a new (modified) actuation sequence is commanded 29 to the electronic controller 16. In case the fluid flow demand has changed and the calculation of the new actuation sequence is underway, but not yet finished when the actually performed actuation sequence (as stored in the buffer) is completed, the actual actuation sequence (as stored in the buffer) is repeated once again.
  • the "forbidden" interval is chosen to be 5% to 95%. In other words, only pumping strokes with a pumping fraction between 0% and 5% and between 95% and 100% are allowed.
  • the fluid flow demand is chosen to be 74% in this example.
  • the accumulator is updated to 74%. This value is smaller than the minimum decision value of 95% (in this example). Hence, the number of pulses with a smaller size is incremented and reads "1". The accumulator remains to be 74% and the provisional sequence reads "0". Hence, another iteration will be performed.
  • the provisional sequence now reads (0;95). This provisional sequence cannot be modified by backward correction so that the remaining accumulator will be 0. Hence, another iteration will be performed.
  • the provisional sequence now reads (0;95;95). Again, this provisional sequence cannot be modified by backward correction so that the remaining accumulator will be 0. Hence, another iteration will be performed.
  • the provisional actuation pattern now reads (0;95;95;95). Finally, backward correction is possible. In other words, the remaining accumulator value of 11 % can be dispensed with by updating actuation pulses within the (previous) provisional actuation sequence.
  • the rule for getting the best values is to place the pulses with a smaller size (i.e. the zero stroke pulse) in front of the pulses with a larger size (i.e. the pulses with more than 95%).
  • the pulses are preferably arranged in decreasing order. Furthermore, it is preferred to modify (enlarge) pulses of a larger size instead of pulses with a smaller size. Therefore, the final sequence will eventually read (0;100;100;96).
  • the actuation sequences (100;100;96;0), (100;96;0;100) and(96;0;100;100) are equivalent to the actuation sequence (0;100;100;96).
  • the accumulator is updated to 67%. This value is smaller than the minimum decision value of 80% (according to this example). Hence, the number of pulses with a smaller size is incremented and reads "1". The accumulator remains to be 67% and the provisional sequence reads "0".
  • the provisional sequence now reads (0;80). This provisional sequence cannot be modified by backward correction so that the remaining accumulator will be 0. Hence, another iteration will be performed.
  • the provisional sequence now reads (0;80;80). Now the provisional sequence can already be modified by backward correction in a way that the remaining accumulator will be 0.
  • the final sequence will eventually read (20;100;81).
  • the actuation sequences (100;81; 20) and (81; 20;100) are equivalent to the actuation sequence (20;100;81).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Fluid-Pressure Circuits (AREA)
EP09158933.3A 2009-04-28 2009-04-28 Verfahren zum Betreiben einer Fluidarbeitsmaschine Active EP2246565B1 (de)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012109074A1 (de) 2012-09-26 2014-03-27 Sauer-Danfoss Gmbh & Co. Ohg Verfahren und Vorrichtung zur Ansteuerung einer elektrisch kommutierten Fluidarbeitsmaschine
US10598195B2 (en) 2014-11-20 2020-03-24 Hydroline Oy Rotary actuator, converting actuator and method for producing rotation
CN114261077A (zh) * 2021-11-01 2022-04-01 苏州研鹏亮智能设备有限公司 一种自动提膜机构

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Publication number Priority date Publication date Assignee Title
EP0361927A1 (de) * 1988-09-29 1990-04-04 Artemis Intelligent Power Ltd. Pumperegelungsverfahren und Tellerventil dafür
WO1991005163A1 (en) 1988-09-29 1991-04-18 The University Of Edinburgh Improved fluid-working machine
EP1537333B1 (de) 2002-09-12 2006-06-14 Artemis Intelligent Power Ltd. Fluidarbeitsmaschine und betriebsverfahren

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
EP0361927A1 (de) * 1988-09-29 1990-04-04 Artemis Intelligent Power Ltd. Pumperegelungsverfahren und Tellerventil dafür
WO1991005163A1 (en) 1988-09-29 1991-04-18 The University Of Edinburgh Improved fluid-working machine
EP0494236B1 (de) 1988-09-29 1995-12-13 Artemis Intelligent Power Ltd. Fluidmaschine
EP1537333B1 (de) 2002-09-12 2006-06-14 Artemis Intelligent Power Ltd. Fluidarbeitsmaschine und betriebsverfahren

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012109074A1 (de) 2012-09-26 2014-03-27 Sauer-Danfoss Gmbh & Co. Ohg Verfahren und Vorrichtung zur Ansteuerung einer elektrisch kommutierten Fluidarbeitsmaschine
WO2014048418A1 (de) 2012-09-26 2014-04-03 Danfoss Power Solutions Gmbh & Co. Ohg Verfahren und vorrichtung zur ansteuerung einer elektrisch kommutierten fluidarbeitsmaschine
CN104854346A (zh) * 2012-09-26 2015-08-19 丹佛斯动力系统有限责任两合公司 用于致动电子换向的流体工作机器的方法和装置
CN104854346B (zh) * 2012-09-26 2018-03-23 丹佛斯动力系统有限责任两合公司 用于致动电子换向的流体工作机器的方法和装置
US10364807B2 (en) 2012-09-26 2019-07-30 Danfoss Power Solutions Gmbh & Co. Ohg Method and device for actuating an electrically commutated fluid working machine
US10598195B2 (en) 2014-11-20 2020-03-24 Hydroline Oy Rotary actuator, converting actuator and method for producing rotation
CN114261077A (zh) * 2021-11-01 2022-04-01 苏州研鹏亮智能设备有限公司 一种自动提膜机构
CN114261077B (zh) * 2021-11-01 2024-01-26 苏州研鹏亮智能设备有限公司 一种自动提膜机构

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