EP2542779B1 - Dispositif de régulation et méthode de commande de couple d'un 'arbre de commande d'un moteur pour machine hydrostatique - Google Patents

Dispositif de régulation et méthode de commande de couple d'un 'arbre de commande d'un moteur pour machine hydrostatique Download PDF

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Publication number
EP2542779B1
EP2542779B1 EP11703821.6A EP11703821A EP2542779B1 EP 2542779 B1 EP2542779 B1 EP 2542779B1 EP 11703821 A EP11703821 A EP 11703821A EP 2542779 B1 EP2542779 B1 EP 2542779B1
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EP
European Patent Office
Prior art keywords
control
pressure
force
torque
high pressure
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EP11703821.6A
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German (de)
English (en)
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EP2542779A1 (fr
Inventor
Michael Brand
Karl-Heinz Vogl
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Robert Bosch GmbH
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Robert Bosch GmbH
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Publication of EP2542779A1 publication Critical patent/EP2542779A1/fr
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    • 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
    • F04B1/26—Control
    • F04B1/30—Control of machines or pumps with rotary cylinder blocks
    • F04B1/32—Control of machines or pumps with rotary cylinder blocks by varying the relative positions of a swash plate and a cylinder block
    • F04B1/328—Control of machines or pumps with rotary cylinder blocks by varying the relative positions of a swash plate and a cylinder block by changing the inclination of the axis of the cylinder barrel relative to the swash plate
    • 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
    • F04B49/08—Regulating by delivery pressure
    • 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
    • F04B49/12—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 varying the length of stroke of the working members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2201/00—Pump parameters
    • F04B2201/12—Parameters of driving or driven means
    • F04B2201/1202—Torque on the axis

Definitions

  • the invention relates to a control device and a method for controlling a torque of a drive shaft of a hydrostatic machine.
  • a variable in its stroke volume hydrostatic machine is arranged in an open circuit.
  • the hydrostatic machine can drive hydraulic fluid from a tank or a low-pressure accumulator into a high-pressure accumulator during pumping operation via a drive shaft. If energy is required in the regenerative drive system, the hydrostatic machine is operated with pressure medium from the high-pressure accumulator as a motor and the drive shaft is driven.
  • the delivery or displacement volume of the hydrostatic machine should always be adjusted so that given a pressure of the high-pressure accumulator, a predeterminable braking or acceleration torque is present on the drive shaft of the hydrostatic machine.
  • Such electro-proportional adjustment depending on a measured high pressure and the requested braking torque has the disadvantage that expensive high-pressure sensors must be used. Furthermore, if the high-pressure sensor fails, it is no longer possible to set the requested braking torque on the hydrostatic machine. Therefore, expensive and fail-safe high-pressure sensors or at least one redundant high-pressure sensor must be used.
  • the object of the invention is to eliminate the disadvantages of the prior art.
  • the object is achieved by the method according to claim 1 and by the inventive control device according to claim 11.
  • the method according to the invention regulates the torque of a drive shaft of a hydrostatic machine.
  • the hydrostatic machine has an adjusting device for adjusting the stroke volume of the hydrostatic machine.
  • the method comprises the following steps: First, a setpoint torque is specified and a set stroke volume of the hydrostatic machine is detected.
  • To regulate the torque of the drive shaft is a flow in or out of the actuator by means regulated by a control valve.
  • the volume flow is regulated on the basis of a force difference between a control force and an opposite to the control force acting on the control valve force acting.
  • the oppositely acting, acting on the control valve force is generated by the voltage applied to the high pressure side of the hydrostatic machine high pressure and counteracts the control force.
  • the size of the control force is set as a function of the detected stroke volume and the predetermined and detected setpoint torque.
  • the control device is basically suitable for controlling a torque of a drive shaft of a hydrostatic machine, wherein the stroke volume of the hydrostatic machine is adjusted by means of a pressure-medium-loaded adjusting device.
  • the control device comprises a control valve for controlling a volume flow into or out of the actuator, e.g. a control pressure chamber of the adjusting device, for adjusting the stroke volume.
  • the control device includes a target torque setting device for setting a target torque and a stroke volume detecting device for detecting a set stroke volume of the hydrostatic machine.
  • the volume flow through the control valve is adjustable with respect to the direction and preferably also the height on the basis of a force difference between a control force and a force acting in the opposite direction to the control valve force.
  • a control surface of one side of the control valve is connected to the high pressure side of the hydrostatic machine to produce the counteracting force.
  • the control device further has a control device which is suitable for specifying the magnitude of the control force as a function of the detected stroke volume and the predetermined setpoint torque.
  • An advantage of the solution according to the invention is that the stroke volume of the hydrostatic machine automatically to the High pressure, which drives the hydrostatic machine or against which promotes the hydrostatic machine, is adjusted so that the target torque of the drive shaft of the hydrostatic machine remains virtually unchanged.
  • the stroke volume is automatically adjusted to the predetermined setpoint torque by feedback of the currently set stroke volume of the hydrostatic machine.
  • the pressure of the high pressure side by the direct admission of the control valve in the scheme, without having to measure the high pressure by vulnerable sensors.
  • the target torque is given and the set stroke volume as a control variable easy to capture.
  • such a control has the advantage that, for example, existing, pressure-controlled pumps can be used by the control according to the invention for torque control.
  • control force is at least partially a hydraulic force.
  • a hydraulic force e.g. a spring force acting in the same direction with the control force on the control valve to simultaneously ensure a defined rest position of the control valve.
  • the control force then consists of an adjustable component and a fixed component, which is generated by the spring.
  • the hydraulic force is generated as an adjustable component of the control force by adjusting an opening pressure of a pressure relief valve.
  • the control force is generated as a function of the ratio of predetermined setpoint torque to the detected displacement.
  • a ratio of given Target torque and the detected stroke volume a negative feedback of desired torque to displacement is achieved.
  • the first mode of operation could be, for example, the pump mode and the second mode of operation could be the motor mode of the hydrostatic machine.
  • the control can respond to different requirements of the control for the first and second operating modes.
  • control device is suitable for specifying the control force in a first operating mode proportional to the ratio of the preset setpoint torque to the detected displacement.
  • the adjustable component of the control force in turn has two components in a second operating mode.
  • the first fraction is indirectly proportional to the absolute value of the ratio of predetermined target torque to the recorded stroke volume.
  • the second component is dependent on the difference between the setpoint torque and the actual torque of the drive shaft.
  • the second proportion is directly proportional to said difference.
  • the control device is suitable for specifying the control force in accordance with the two components.
  • the first share continues to feedback the currently set stroke volume of the hydrostatic machine.
  • the first portion allows only a qualitative adjustment of the stroke volume of the hydrostatic machine for a given stroke volume and setpoint torque in engine operation, only the second, superimposed share is controlled to the exact set stroke volume value of the hydrostatic motor.
  • the actual torque of the drive shaft of the hydrostatic machine from the displacement and the pressure prevailing on the high pressure side of the hydrostatic machine high pressure is determined. It is also advantageous to estimate the high pressure based on the control force or the adjustable component of the control force, for example, a hydraulic control pressure of the control force.
  • the control device is adapted to determine the actual torque and the high pressure as described. The actual torque can be calculated by the set stroke volume and the prevailing high pressure. Instead of directly measuring the high pressure, it is estimated with the control pressure, which counteracts the high pressure at the control valve.
  • the control pressure is directly proportional to the high pressure, since the control signal always following the high pressure is regulated.
  • the high pressure is estimated using a filtered control pressure.
  • the control device is adapted to estimate the high pressure by a filtered control pressure. By such a calculation of the control force, it is not necessary to measure the high pressure.
  • control device is suitable for monitoring the control force or the control pressure of the hydraulic part of the control force on the basis of a high pressure measured with a pressure sensor.
  • the direction of attack of the control force and the opposing force on the control valve is reversed.
  • this may e.g. be achieved by a shuttle valve.
  • the same control system for the control signal can be used in both operating modes.
  • the control signal and thus the predetermined control force is always directly proportional to the torque to be adjusted and indirectly proportional to the detected displacement or to their respective absolute amounts.
  • control valve has a first connection connected to a high-pressure side of the hydrostatic machine, a second connection connected to a low-pressure accumulator or tank, and a third connection connected to a control pressure chamber of the actuating device.
  • the Control valve is preferably continuously displaceable between a first, the first terminal connecting to the third terminal position and a second, the second terminal connected to the third terminal position.
  • a control surface of the control valve is connected to a control pressure line and this component of the control force is adjustable via the control pressure by the control device.
  • the control pressure line for adjusting the control pressure is connected to a pressure limiting valve whose opening pressure can be set by the control device. It is particularly simple and failsafe to adjust the control force at least in part, for example, in addition to the additional component of a spring force, by adjusting a control pressure at one end of the control valve. It is also advantageous that the control pressure line is connected via a throttle directly to the high pressure side of the hydrostatic machine.
  • control device comprises a control valve having a first and a second control surface and a shuttle valve, wherein in a first position of the shuttle valve, the first control surface of the control valve with the high pressure side of the hydrostatic machine and the second, oppositely acting control surface of the control valve the control pressure line is connected. In a second position of the shuttle valve, the second control surface of the control valve is connected to the high pressure side of the hydrostatic machine and the first control surface of the control valve to the control pressure line.
  • the control device is adapted to bring the shuttle valve in the first operating mode in the first position and in the second operating mode in the second position.
  • control algorithm for the control force can be maintained in the second operating mode as well as in the first operating mode.
  • control force to be provided is therefore proportional to the quotient of the setpoint torque and the set displacement.
  • the control device according to the invention is particularly advantageous for regenerative drive systems that connect the high pressure side of the hydrostatic machine with a high pressure accumulator and in which ateurschwenkbare hydrostatic machine is used.
  • the control device is also advantageous for power regulators which adapt the torque of the drive shaft of a hydrostatic machine to the load pressure.
  • Fig. 1 shows a regenerative drive system 1 according to a first embodiment.
  • the regenerative drive system 1 has an axial piston machine 5, a high-pressure accumulator 3 and a control device according to the invention for controlling a torque of a drive shaft 4 of an axial piston machine 5.
  • the axial piston machine 5 is connected in an open circuit on a low pressure side via a first working line 6 with a tank volume 7 or alternatively with a low pressure accumulator.
  • the axial piston machine 5 is connectable to the high-pressure accumulator 3 on the high-pressure side via a second working line 8.
  • the axial piston machine unit 2 has the adjustable Axial piston machine 5 as a variable in its stroke volume hydrostatic machine and an adjusting device for adjusting the pivot angle of the axial piston machine 5.
  • the adjusting device has in the first embodiment, two adjusting pistons 9 and 10, which are guided in each case in an actuating cylinder 11 and 12 in the longitudinal direction movable.
  • Fig. 2 shows in the illustrated step, only the second actuating piston 10 and the second actuating cylinder 12.
  • the two adjusting pistons 9 and 10 are coupled to the rotatably mounted in the housing of the hydrostatic machine 5 swash plate 13 of the axial piston machine 5.
  • the position of the actuating pistons 9 and 10 determines the pivot angle of the swash plate 13 and thus the set displacement.
  • the swash plate 13 is adjustable from a minimum swivel angle of -18 ° to an absolute maximum same swivel angle of + 18 ° seen.
  • the axial piston machine 5 has no stable zero position and is held by the spring force of a spring 17 in a pressureless state at maximum positive pivot angle.
  • the first actuating piston 9 and the first actuating cylinder 11 form a first actuating pressure chamber 14 and the second actuating piston 10 and the second actuating cylinder 12 form a second actuating pressure chamber 15.
  • an adjusting device with only one actuating piston, which limits two actuating pressure chambers in one actuating cylinder could be used.
  • the adjusting device could be designed so that the axial piston machine 5 is in the zero-stroke position or any other rest position in the pressureless state.
  • the first and second control pressure chambers 14 and 15 of the first embodiment are each acted upon by a first and second control pressure line 23, 16 with a pressure.
  • the second adjusting pressure chamber 15 is permanently connected via the second actuating pressure line 16 to the second working line 8. Therefore, in the second actuating pressure chamber 15 during operation of the axial piston machine 5, the pressure of the high pressure side acts.
  • the second actuating piston 10 is acted upon in addition to a hydraulic force caused by the pressure in the second actuating chamber 15 by the rectified force of the spring 17. As long as the control pressure chambers 14 and 15 are depressurized, the second actuating piston 10 is pushed out in the direction of the second actuating cylinder 12 and thus forces the swash plate 13 in a maximum adjustable positive swivel angle.
  • the cross-section of the first actuating cylinder 11 and thus the pressure-applied surface of the first actuating piston 9 in the first actuating pressure chamber 14 is greater than the cross section of the second actuating cylinder 12.
  • the area ratio is selected so that at the prevailing in operation in the second working line 8 high pressures and at the same pressure in the first actuating pressure chamber 14, the hydraulic force on the first actuating piston 9 in each actuating position is greater than the hydraulic force plus the spring force on the second actuating piston 10 and the axial piston machine 5 is pivoted in the direction of the maximum negative pivot angle.
  • the axial piston machine unit 2 is connected to a valve block 18 of the control device according to the invention.
  • the valve block 18 has a control valve 19 for controlling the volume flow in and out of the first control pressure chamber 14.
  • the control valve 19 is a 3/2-way valve.
  • a first connection of the control valve 19 is connected via a first supply line 20 to a high-pressure line 21, which is connected to the high-pressure leading second working line 8.
  • the first connection of the control valve 19 is thus with the high pressure side of the axial piston machine 5 and with the High-pressure accumulator 3 connected.
  • the second connection of the control valve 19 is connected via a tank line 22 to the tank volume 7 of the axial piston machine unit 2.
  • the third connection of the control valve 19 is connected via the first control pressure line 23 via a first throttle 24 to the first control pressure chamber 14.
  • the first throttle 24 limits the possible volume flow and thus the adjustment speed.
  • a control valve piston of the control valve 19 can be brought into two end positions.
  • the control valve 19 is continuously adjustable from the first end position to a second end position of the control piston.
  • the first port is connected to the third port of the control valve 19.
  • the first actuating pressure chamber 14 is connected to the high-pressure leading first working line 8.
  • the second port is connected to the third port.
  • the first actuating pressure chamber 14 is connected to the tank 7 and the first adjusting pressure chamber 14 is expanded into the tank volume.
  • a first hydraulic force acts on the second control surface of the control piston in the opposite direction, a second hydraulic force as the first adjustable component of the control force.
  • the first control surface is connected via a second supply line 29 to the high-pressure line 21, so that there always the high pressure of the second working line 8 acts.
  • the force of an adjustable in its bias spring 25 of the control valve 19 plus the second hydraulic force acts as an adjustable component.
  • the second hydraulic force plus the spring force form the control force acting on the second control surface of the control valve piston.
  • the bias of the spring 25 of the control valve 19 remains constant during operation, so that adjusted during operation, the control force only by the change of the second hydraulic force of the control pressure becomes. If the first hydraulic force is greater than the control force, the control valve 19 goes to the first position. If the control force is greater than the first hydraulic force, the control valve 19 goes to the second position.
  • the transmitted volume flow at given pressure ratios at the ports in the first and second positions depends on the force difference between the first hydraulic force and the control force.
  • a third supply line 26 connects to generate the second hydraulic force, the second control surface of the control valve piston of the control valve 19 with a control pressure line 27.
  • the control pressure line 27 is connected via a second throttle 28 to the high pressure line 21 and opens at its end remote from it in the tank line 22nd
  • the first and second supply lines 20 and 29 are connected to the high-pressure pilot line 21 upstream of the second throttle 28.
  • a pressure relief valve 30 is arranged. On a control surface of the pressure relief valve 30 acts on the control pressure as a first component of the control force-dependent third hydraulic force. In the opposite direction 30, the force of an adjustable in its bias spring 31 of the pressure relief valve 30 acts in the closing direction. If the control pressure in the control pressure line 27 exceeds the opening pressure set by the bias of the spring 31 of the pressure relief valve 30, the pressure limiting valve 30 opens. Thus, the control pressure in the control pressure line 27 upstream of the pressure limiting valve 30 is set as a function of the set opening pressure of the pressure limiting valve 30. This opening pressure is predetermined by the bias of the spring 31 of the pressure relief valve 30 and the opposing force of an electromagnet 32. The opening pressure and thus the set control pressure in the control pressure line 27 can be reduced by increasing the energization of the electromagnet 32.
  • the connecting line 33 has a third throttle 34.
  • a check valve 35 for separating the high pressure accumulator 3 from the high pressure line 21, the second setting pressure chamber 15 and the axial piston machine 5 is arranged to prevent leakage.
  • the check valve 35 is to open or close by energizing or non-energizing another solenoid 36 of the check valve 35.
  • the regenerative drive system 1 a further pressure relief valve 37, a Nachsaugventil 38 and a storage discharge valve 39.
  • the further pressure relief valve 37 opens when a maximum allowable pressure is exceeded by the high pressure in the second working line 8 to the tank volume 7 out.
  • About the Nachsaugventil 38 is said in the case of an empty high-pressure accumulator 3 in engine operation from the tank 7.
  • the storage discharge valve 39 empties the high-pressure accumulator 3 as a result of an electrical discharge signal.
  • the control device further comprises an electronic control unit 40 as a control device which is connected via a first control connection 41 to the electromagnet 32 of the pressure relief valve 30 and via a second control connection 42 to the further electromagnet 36 of the check valve 35 and via a third control connection 43 to the storage discharge valve 39 is. Furthermore, the control unit 40 is connected via a fourth control connection 44 to a setpoint torque setting device 45, for example an accelerator pedal or a drive lever. The Target torque setting device 45 outputs the torque to be set on the drive shaft 4 as an electrical signal to the control unit 40. The torque to be set on the drive shaft 4 is also referred to below as the setpoint torque.
  • the controller 40 is connected via a fifth control link 46 to a swing angle detector as a stroke volume detecting device.
  • the swivel angle detector detects the set swivel angle a of the swash plate 13 of the axial piston machine 5 and outputs this as an electrical signal to the control unit 40.
  • the swivel angle detector is in Fig. 2 shown and labeled there with "47".
  • the set pivoting angle a is tapped in the illustrated embodiment on the second actuating piston 10.
  • a sensor element 48 of the swivel angle detector 47 is attached to the second control piston 10, which moves with the second control piston 10 in its longitudinal direction.
  • a position detecting device 49 is fixedly attached to the housing of the axial piston machine unit 2.
  • the position detection device 49 detects contactless the position of the sensor element 48 and thus the position of the connected to the sensor element 48 second actuating piston 10.
  • the position detection device 49 converts the detected position of the second actuating piston 10 in a set the swivel angle a of the swashplate-indicating signal and sends it over the fifth control connection 46 to the control unit 40.
  • the invention is not limited to the stroke volume detection described here. Rather, any other mechanical, magnetic, electrical or optical Hubvolumener charged the axial piston machine 5 is also possible.
  • Fig. 3 shows a block diagram of the controller 50 of the control device according to the invention.
  • the controller 50 includes the swing angle detector 47, the target torque setting device 45, and the controller 40 on.
  • the controller 40 includes an operation mode detector 51 and first and second control pressure setting sections 52 and 53.
  • the operation mode detector 51 determines whether the axial piston machine 5 is in the pumping mode as the first operating mode or in the engine operating mode as the second operating mode. This can be determined in the first embodiment, for example, from the sign of the swivel angle a or if the swivel angle a is zero from the sign of the setpoint torque T to be set .
  • the operating mode detector 51 is adapted to receive via the input 54 of the control unit 40 a swivel angle ⁇ and via the input 55 a signal representing the desired torque T.
  • the operation mode detector 51 is connected to both control pressure command sections 52 and 53 and to a check valve control 62.
  • the operation mode detector 51 is adapted to apply the target torque T and the swivel angle a to the first control pressure command section 52 when the axial piston engine 5 is in pumping operation or to the second control pressure commanding section 53 when the axial piston engine 5 is in engine operation. Further, the operation mode detector 51 is adapted to notify the particular operation mode of the lock valve controller 62, that is, to drive the solenoid 36.
  • the first or second control pressure setting section 52 and 53 calculates a control pressure and converts the calculated control pressure into a control pressure signal that adjusts the calculated control pressure by adjusting the opening pressure at the pressure limiting valve 30.
  • the control pressure signal is applied to the output 56 of the controller 40 from either the first or the second control pressure setting section 52 or 53 and applied to the solenoid 32 via the first control connection 41.
  • the control pressure signal (or the calculated, underlying control pressure) takes into account the proportion of the spring 25 to the control force. For simplicity, the force of the spring 25 is neglected below and only the adjustable component of the control force, so considered the control pressure.
  • the first pilot pressure setting portion 52 is active in the determination of the first operating mode by the mode detector 51, and calculates a control pressure p, which is directly proportional to the ratio of the target torque T to pivot angle a.
  • the second control pressure setting step 53 is active in the second operation mode and in Fig. 4 described in more detail.
  • the output control signal is calculated from a first pressure component p 1 and a second pressure component p 2 .
  • the first component p 1 is directly proportional to the absolute value of the ratio of the swivel angle ⁇ to the setpoint torque T. If the torque T of the drive shaft is to be negative for motor operation and positive for the pumping operation, the absolute value can also be dispensed with in motor operation the swing angle is also negative.
  • the second component p 2 regulates the first component p 1 .
  • a difference between the setpoint torque T and actual torque T ist is determined in a differential element 58, amplified in an amplifier 59 and added to the first component p 1 .
  • the correction device 61 can furthermore or alternatively contain a logic which correctly evaluates the control pressure p in the limiting cases, eg when the setting device is at the stop.
  • the first component p 1 of the control pressure p can also be readjusted by more complex controllers, such as a PI controller.
  • the control unit 40 further comprises the check valve control 62, which energizes the electromagnet 36 of the check valve 35 via the second control connection 42 during operation of the drive system 1 for filling or emptying the high-pressure accumulator 3 in order to connect the high-pressure accumulator 3 to the second work line 8. Furthermore, the check valve control 62 is adapted to close the check valve 35 when the operation mode detector 51 detects neither a pump nor a motor operation and the axial piston machine 5 is set to zero displacement.
  • the control unit 40 also includes an emptying signal transmitter 63, which, for example in the case of maintenance or repair via the third control connection 43, can give a signal to the accumulator discharge valve 39 in order to empty the high-pressure accumulator 3.
  • FIGS. 5A, 5B and 5C show an exemplary time course of essential quantities of Control method of the regenerative drive system 1.
  • Fig. 5A shows the time course of the target torque T as a solid curve as it is for example given by a driver and the actual torque T is as a dashed curve.
  • Fig. 5B shows the pressure-time diagram of the control pressure p as a solid line and the high pressure in the high-pressure accumulator 3 and with open check valve 35 in the second working pressure line 8 as a dashed line.
  • Fig. 5C shows the time course of the set and detected pivot angle ⁇ of the axial piston machine. 5
  • the axial piston machine 5 is set to the pivoting angle 0 °. This is done, for example, by closing the check valve 35 and by controlling the actuator by a in Fig. 1 realized state machine not shown. Since the check valve 35 is closed, there is no high pressure in the second working line 8.
  • the high-pressure accumulator 3, however, is biased for example to 100 bar.
  • the target torque setting device 45 predefines a brake torque of the drive shaft 4 in a first step S1, ie, a positive target torque.
  • step S2 the pivot angle of the swash plate 13, which is at about 0 °, is detected.
  • the detected swing angle ⁇ and the detected target torque T are supplied to the operation mode detector 51.
  • the operation mode detector 51 detects the operation mode in a third step S3. Since the swivel angle is almost 0 °, the operating mode from the future operating mode, ie from the sign of Target torque T determined. Since the target torque T is positive here in the example, the axial piston machine 5 is to be operated in pumping mode, ie in the first operating mode.
  • a fourth step S4 the check valve 35 is energized to connect the high-pressure accumulator 3 now with the second working line 8 when a pump or engine operation is detected. Otherwise, in an idle state, when the axial piston machine 5 is at zero displacement or should be adjusted, the energization of the electromagnet 36 of the check valve 35 is interrupted.
  • the operation mode detector 51 outputs the target torque T and the pivot angle a to the first control pressure setting section 52 when the operation mode detector 51 detects the first operation mode.
  • the first control pressure setting section 52 outputs, in a step S5, a control pressure p which is proportional to the ratio of the target torque T and the swing angle ⁇ .
  • the control pressure p is initially almost infinitely large due to the finite setpoint torque and almost vanishing pivot angle ⁇ in the denominator.
  • the control pressure p is therefore limited and set to a predefined maximum value.
  • the calculated control pressure p is converted into a control pressure signal and given to the output 56 of the controller 40.
  • step S7 the control pressure signal is transmitted via the first control connection 41 to the electromagnet 32 of the pressure limiting valve 30, whereby the opening pressure of the pressure limiting valve 30 is set to the calculated maximum control pressure.
  • step S8 the volume flow in or out of the first control pressure chamber 14 is adapted to the pressure conditions and thus the force difference on both sides of the control valve piston of the control valve 19.
  • By the opening of the check valve 35 is applied to the first side of the control valve piston to the high pressure of the high-pressure accumulator 3.
  • a maximum control pressure is applied to the second side of the control piston. Then, the control valve piston is moved from the neutral position in the direction of the second position.
  • the first actuating pressure chamber 14 is connected to the tank volume 7 and hydraulic fluid flows from the first actuating pressure chamber 14 into the tank 7. Therefore, the first actuating piston 9 is pressed into the first actuating cylinder 11 and the axial piston machine 5 is adjusted in the direction of larger positive pivoting angle, ie in the direction of larger delivery volume.
  • the control steps S1 to S5 or S6 are repeated as long as the control is in operation.
  • a loop duration is significantly shorter than the adjustment time of the swash plate 13 of the axial piston machine 5.
  • the displacement of the axial piston machine 5 is e.g. 100 milliseconds and the loop duration 5 milliseconds.
  • the loop is traversed 20 times within the adjustment time of the axial piston machine 5 from a minimum swivel angle to a maximum swivel angle.
  • the loop duration is an order of magnitude below the adjustment time of the axial piston machine 5.
  • steps S7 and S8 the volume flow in or out of the first control pressure chamber 14 is adapted to the high pressure and the control pressure.
  • the setpoint torque T is set constant with about 120 Nm until time t 3 .
  • the high pressure continues to increase during pumping. Due to the increasing high pressure in the high pressure line 21, the control valve 19 is moved in the direction of the first position and by a pressure medium flow into the first control pressure chamber 14 into the pivot angle ⁇ is reduced. Due to the constant adaptation of the swivel angle ⁇ to the increasing high pressure and the feedback of the changed swivel angle ⁇ , it decreases steadily. By the feedback of the pivot angle ⁇ in the calculation of the control pressure p to the control pressure p stabilized below the growing high pressure.
  • the setpoint torque T is started to increase steadily again.
  • the swivel angle ⁇ of the axial piston machine 5 also increases steadily and the control pressure p is regulated above the high pressure.
  • the axial piston machine 5 moves at the maximum pivot angle ⁇ against a stop.
  • the control pressure p increases due to the further increasing setpoint torque T on. Due to the constant maximum pivot angle ⁇ , the control pressure p increases in direct proportion to the target torque T and is no longer adapted to the high pressure. Therefore, the control valve piston of the control valve 19 is moved in the direction of the second position and the first actuating pressure chamber 14 connected to the tank 7.
  • the high pressure in the high-pressure accumulator 3 increases now by the constant pumping action on and slowly follows the increasing control pressure p .
  • the setpoint torque T is kept constant at about 330 Nm until the time t 7 .
  • the control pressure p stabilizes at about 280 bar and the high pressure continues to increase until the time t 6 until it reaches the control pressure p .
  • the high pressure line 21 in the high pressure line 21 presses the control valve 19 in the direction of the first position and causes a volume flow in the first control pressure chamber 14.
  • the pivot angle ⁇ is smaller, causing the in Dependence of the swivel angle ⁇ regulated control pressure p rises again and so follows the high pressure.
  • the target torque T is again steadily reduced.
  • the control pressure p decreases and the swivel angle ⁇ reduces further.
  • the control pressure p is controlled below the high pressure.
  • the high pressure reaches the opening pressure of the pressure limiting valve 37, which is why the high pressure does not rise further despite the further pumping operation.
  • the target torque is reduced more slowly.
  • the swivel angle ⁇ also travels slower towards 0 °.
  • the target torque T reaches a minimum target torque, below which no control of the torque of the drive shaft 4 takes place more and the target torque T is jumped to zero.
  • the control is to absolute target torques T greater than one to limiting the minimum nominal torque. Such a minimum nominal torque could also be used to detect a rest position of the axial piston machine 5.
  • the rest position is detected and the check valve 35 is closed.
  • the swivel angle ⁇ is held at 0 ° by a state machine.
  • an acceleration torque ie a negative setpoint torque T
  • steps S1 to S4 the swivel angle ⁇ are detected, the setpoint torque T is read in, the operating mode is established and the check valve 35 is opened.
  • the state machine is turned off when a motor or pump operation is detected.
  • the axial piston machine 5 should now be operated in engine operation. Accordingly, the operation mode detector 51 outputs the target torque T and the swivel angle ⁇ to the second control pressure commanding section 53, which in conjunction with FIG Fig. 4 has been described.
  • the second control pressure generation 53 calculates the control pressure p, and outputs a signal adjusting this control pressure p to the solenoid 32 of the pressure relief valve 30.
  • the first portion p 1 of the control pressure is zero, since the pivot angle ⁇ is still at zero and a second portion of the control pressure greater than zero, since the actual torque is still at zero and a target torque smaller Zero is specified.
  • the control pressure p decreases and the axial piston machine 5 is swung out in the direction of the negative swivel angle ⁇ until the actual torque T has been adjusted by the setpoint torque T.
  • the control pressure p is set below the high pressure and drives the pivot angle ⁇ further in the direction of a larger displacement volume.
  • the target torque T is set constant until about the time t 13 at about -150 Nm. Due to the slowly falling high pressure, the control valve 19 is displaced in the direction of the second position and the first actuating pressure chamber 14 is connected to the tank 7. As a result, the swivel angle ⁇ changes in the direction of a smaller absorption volume, although the swivel angle ⁇ would have to be adjusted in the direction of the maximum absorption volume. By the readjustment of the control pressure p over the second portion p 2 , this is corrected and the pivoting angle ⁇ is changed in the direction of the maximum absorption volume.
  • the control pressure p increases through the larger first portion p 1 and the axial piston machine 5 pivots in the direction of smaller displacement volume, ie in the direction of the neutral position. Due to the smaller swivel angle ⁇ , the control pressure p is reduced, so that the control pressure p is set below the high pressure.
  • the deviation between the control pressure p and the high pressure is greater in the engine operation than in the pumping mode, since at the negative adjustment angles the spring 17 is compressed more and thus generates a greater counterforce on the adjusting device.
  • the amount of the desired torque T is increased again and the proportion p 1 of the control cam and thus the control pressure p decreases.
  • the available high pressure is no longer sufficient to apply the setpoint torque T and the axial piston machine 5 does not adjust the swing angle ⁇ fast enough to maximum displacement due to the first throttle 24 and the low high pressure.
  • the amount of the swivel angle ⁇ is increased until the axial piston machine 5 reaches the stop at maximum absorption volume at the time t 15 .
  • the target torque T is slowly reduced back to zero and the first portion of the control pressure p 1 increases due to the decreasing absolute target torque T and the second portion of the control pressure p 2 increases due to the decreasing difference between the target - and actual torque T, T is .
  • the control pressure p increases, thus retracting the swivel angle a in the direction of zero.
  • the high-pressure accumulator 3 is emptied and the pressure in the second working line 8 drops suddenly.
  • the volume flow control of the control valve 19 no longer works and the axial piston machine 5 is held by the already mentioned state machine to a pivot angle a of 0 °.
  • the axial piston machine 5 pivots via the spring force 17 via neutral into pumping operation.
  • the then rebuilt pressure allows the use of the state machine.
  • the invention is not limited to the embodiment described.
  • the first and the second operating mode could alternatively be realized by the exchange of the attack side of the control force and the first hydraulic force to the control valve 19 by a shuttle valve.
  • the method and the control device according to the invention are not limited to use in regenerative drive systems. Rather, in principle any hydrostatic machine whose torque is to be preset, according to the invention controllable.
  • the invention is also applicable to power regulators, which are torque regulators per se, when a torque is to be specified.
  • the pressure in the high-pressure accumulator the pressure caused by a hydraulic resistance can then occur, such as the load pressure in the case of a load moved by a hydraulic cylinder or a pressure determined by a connected pressure limiting valve.
  • the invention can provide only one mode of operation or more than two modes of operation.
  • the first mode of operation could also involve engine operation in the reverse direction of rotation of the shaft 4 when, for example, the hydrostatic machine is arranged in a closed circuit.
  • the high-pressure line 21 must be connected to the corresponding high-pressure working line, so that within the first operating mode still an operating mode case distinction would have to take place, the control of the control pressure p would remain the same.
  • the change between the working lines could be done by a shuttle valve that automatically connects a high pressure side working line with the first side of the control valve 19. Possibly.
  • the second mode of operation could also be the Pumping operation in the reverse direction of the drive shaft 4 include.
  • Such an embodiment would have a total of four operating modes, but basically retain the described control.
  • the invention finds in a start / stop system a particularly advantageous application.
  • a starting torque can be given to the control device according to the invention and the setting angle of the axial piston machine 5 is automatically set to the correct position for generating the starting torque.
  • a regenerative hydraulic starter can be realized with the invention particularly simple.
  • a fan could be driven by an inventively controlled hydraulic motor, which is supplied from a pressure line with pressure medium.
  • the pressure line is supplied by a constant motor and so a certain pressure, which can vary, maintained. At the pressure line could still be connected to a hydraulic accumulator.
  • the invention is applicable to all hydrostatic machines.
  • the control of the control pressure can be adjusted to each rest position of the actuator in the unpressurized state, such as a central rest position at a Nullhubvolumen.
  • the first change in the regenerative drive system 1 is a change in the hydraulic pressure in the second working line 8.
  • the hydraulic balance is changed at the control valve 19 and the axial piston machine 5 begins to pivot.
  • This process is recorded electronically and compensated as described.
  • the occurrence of the disturbance variable can also be further processed and transmitted at an early point in time as information for a diesel engine as the drive motor of the regenerative drive system 1. This can happen, for example, via a bus connection.
  • the diesel drive can adjust to the disturbance and it does not have to wait for the dead time to the occurrence of a speed deviation due to the disturbance.
  • This time advantage is particularly advantageous in diesel engine adjustments, which can not react as dynamically due to narrower exhaust limits.
  • a disturbance is, for example, a change in the load torque by changing a gradient to be managed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)

Claims (18)

  1. Procédé de réglage d'un couple de rotation d'un arbre d'impulsion (4) d'une machine hydrostatique (5), la machine hydrostatique (5) comportant un dispositif de placement servant à régler son volume de course, le procédé comportant les étapes suivantes :
    - détection d'un couple de rotation théorique prédéfini (S1, S11) ;
    - détection d'un volume de course réglé de la machine hydrostatique (5) (S2, S12) ;
    - réglage d'un débit volumique passant dans le dispositif de placement en provenance et à destination du dispositif de placement à l'aide d'une soupape de réglage (19) servant à régler le volume de course sur la base d'une différence de force entre une force de commande et une force s'exerçant dans la direction opposée au niveau de la soupape de réglage (19) (S9, S20) ;
    caractérisé en ce que :
    la force s'exerçant dans la direction opposée à la force de commande au niveau de la soupape de réglage (19) est une force hydraulique produite par une pression régnant sur le côté de haute pression de la machine hydrostatique (5) et agit à l'opposé de la force de commande, l'ordre de grandeur de la force de commande étant réglé en fonction du volume de course détecté et du couple de rotation théorique détecté (S5, S6 ; S17).
  2. Procédé selon la revendication 1, caractérisé en ce que la force de commande est au moins en partie une force hydraulique.
  3. Procédé selon la revendication 2, caractérisé en ce que la force hydraulique prend la forme d'une composante réglable de la force de commande à travers laquelle une pression d'ouverture d'une soupape de limitation de pression (30) est réglée à partir de la pression régnant du côté de haute pression (S7, S18).
  4. Procédé selon l'une quelconque des revendications 1 à 3, caractérisé en ce que la force de commande est produite en fonction du rapport du couple de rotation théorique prédéfini détecté sur le volume de course détecté.
  5. Procédé selon la revendication 4, caractérisé en ce que la force de commande est, dans un premier mode de fonctionnement, proportionnelle au rapport du couple de rotation théorique détecté sur le volume de course détecté (S5, S17).
  6. Procédé selon l'une quelconque des revendications 1 à 5, caractérisé en ce que la composante réglable de la force de commande dans un deuxième mode de fonctionnement comporte au moins deux quotités (S6), la première quotité étant indirectement proportionnelle à la somme absolue du rapport du couple de rotation théorique détecté sur le volume de course détecté et la deuxième quotité dépendant d'une différence du couple de rotation théorique prédéfini détecté et d'un couple de rotation réel de l'arbre d'impulsion (4) de la machine hydrostatique (5).
  7. Procédé selon la revendication 6, caractérisé en ce que le couple de rotation réel de l'arbre d'impulsion (4) de la machine hydrostatique (5) est calculé à partir d'une haute pression régnant sur le côté de haute pression de la machine hydrostatique (5) et à partir du volume de course détecté.
  8. Procédé selon la revendication 7, caractérisé en ce que la hauteur de la pression régnant sur le côté de haute pression est estimée sur la base de la force de commande .
  9. Procédé selon la revendication 8, caractérisé en ce que la force de commande est filtrée ou lissée pour estimer la haute pression.
  10. Procédé selon l'une quelconque des revendications 1 à 9, caractérisé en ce que dans un premier mode de fonctionnement et dans un deuxième mode de fonctionnement, la direction d'action de la force de commande et de la force opposée sont échangées.
  11. Dispositif de réglage servant à régler un couple de rotation d'un arbre d'impulsion (4) d'une machine hydrostatique (5), comportant un dispositif de placement servant à régler le volume de course de la machine hydrostatique (5), ledit dispositif de réglage comportant une soupape de réglage (19) servant à régler un débit volumique passant dans le dispositif de placement en provenance et à destination du dispositif de placement servant à régler le volume de course sur la base d'une différence de force entre une force de commande et une force s'exerçant dans la direction opposée au niveau de la soupape de réglage (19), un dispositif de prévision de couple de rotation (45) prévoyant un couple de rotation théorique de l'arbre d'impulsion (4) et un dispositif de détection de volume de course (46) détectant un volume de course réglé de la machine hydrostatique (5), caractérisé en ce que pour produire la force s'exerçant dans la direction opposée au niveau de la soupape de réglage (19), un côté de la soupape de réglage (19) est relié à un côté de haute pression de la machine hydraulique (5) et que le dispositif de réglage comporte un dispositif de commande (40, 66) adapté pour prévoir l'ordre de grandeur de la force de commande en fonction du volume de course détecté et du couple de rotation théorique détecté.
  12. Dispositif de réglage selon la revendication 11, caractérisé en ce que la soupape de réglage (19) comporte un premier raccord relié à un côté de haute pression de la machine hydrostatique (5), un deuxième raccord relié à un accumulateur ou réservoir de basse pression (7) et un troisième raccord relié à une chambre de pression de placement (14) du dispositif de placement et que la soupape de réglage (19) peut être réglée entre une première position reliant le premier raccord au troisième raccord et une deuxième position reliant le deuxième raccord au troisième raccord.
  13. Dispositif de réglage selon la revendication 11 ou 12, caractérisé en ce que pour régler la force de commande, une surface de commande de la soupape de réglage (19) est reliée ou peut être reliée à une conduite de pression de commande (27) et que la force de commande peut être réglée à l'aide de la hauteur de la pression de commande agissant à cet endroit.
  14. Dispositif de réglage selon la revendication 13, caractérisé en ce que la conduite de pression de commande (27) servant à régler la pression de commande à partir de la pression du côté de haute pression comporte une soupape de limitation de pression (30) dont la pression d'ouverture est réglable.
  15. Dispositif de réglage selon l'une quelconque des revendications 11 à 14, caractérisé en ce qu'une soupape de commutation (64) est prévue, dans une première position de la soupape de commutation (64) une surface de commande de la soupape de réglage (19) étant reliée à un côté de haute pression de la machine hydrostatique (5) et une deuxième surface de commande, agissant de façon opposée, de la soupape de réglage (19) étant reliée à la conduite de pression de commande (27) et dans une deuxième position de la soupape de commutation (64), la deuxième surface de commande de la soupape de réglage (19) étant reliée au côté de haute pression de la machine hydrostatique (5) et la première surface de commande de la soupape de réglage (19) étant reliée à la conduite de pression de commande (27), le dispositif de commande (66) étant adapté pour prévoir la pression de commande de la conduite de pression de commande (27).
  16. Dispositif de réglage selon l'une quelconque des revendications 11 à 15, caractérisé en ce que le dispositif de commande (40, 66) est conçu pour calculer la force de commande selon l'une quelconque des revendications 4 à 9.
  17. Dispositif de réglage selon l'une quelconque des revendications 11 à 16, caractérisé en ce que le côté de haute pression de la machine hydrostatique (5) est relié à un accumulateur de haute pression (3) et que la machine hydrostatique (5) peut être réglée dans deux directions opposées à partir d'une position neutre.
  18. Dispositif de réglage selon l'une quelconque des revendications 11 à 17, caractérisé en ce qu'un capteur de pression est prévu pour détecter la haute pression afin de surveiller le réglage du dispositif de réglage.
EP11703821.6A 2010-03-05 2011-01-26 Dispositif de régulation et méthode de commande de couple d'un 'arbre de commande d'un moteur pour machine hydrostatique Not-in-force EP2542779B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102010010350 2010-03-05
DE102010020004A DE102010020004A1 (de) 2010-03-05 2010-05-10 Regelungsvorrichtung und Verfahren zur Regelung eines Drehmoments einer Triebwelle einer hydrostatischen Maschine
PCT/EP2011/000339 WO2011107190A1 (fr) 2010-03-05 2011-01-26 Dispositif de réglage et procédé pour régler un couple d'un arbre moteur d'une machine hydrostatique

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EP2542779A1 EP2542779A1 (fr) 2013-01-09
EP2542779B1 true EP2542779B1 (fr) 2014-10-29

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CN (1) CN102782321B (fr)
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JP2015140763A (ja) * 2014-01-30 2015-08-03 キャタピラー エス エー アール エル エンジン・ポンプ制御装置および作業機械
US11644027B2 (en) 2014-03-20 2023-05-09 Danfoss Power Solutions Inc. Electronic torque and pressure control for load sensing pumps
WO2015140622A1 (fr) * 2014-03-20 2015-09-24 Danfoss Power Solutions Inc. Commande de couple et de pression électronique pour pompes à détection de charge
DE102014212205A1 (de) * 2014-06-25 2015-12-31 Robert Bosch Gmbh Verfahren zum Betreiben einer hydrostatischen Maschine
DE102014224337B4 (de) 2014-11-28 2023-05-04 Robert Bosch Gmbh Verfahren zur Steuerung eines hydrostatischen Antriebs
DE102017208988A1 (de) 2017-05-29 2018-11-29 Robert Bosch Gmbh Verfahren zur Steuerung eines hydrostatischen Antriebs
DE102018207158A1 (de) 2018-05-08 2019-11-14 Robert Bosch Gmbh Hydraulische Steueranordnung für eine Anordnung mobiler Arbeitsmaschinen und Anordnung mobiler Arbeitsmaschinen
DE102019206315A1 (de) * 2019-05-03 2020-11-05 Robert Bosch Gmbh Verfahren und Regelschaltung zur Regelung einer Druckmittelzufuhr für einen hydraulischen Aktor
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DE102010020004A1 (de) 2011-09-08
WO2011107190A1 (fr) 2011-09-09
CN102782321B (zh) 2015-08-19
CN102782321A (zh) 2012-11-14
EP2542779A1 (fr) 2013-01-09

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