EP2913526B1 - Method for conveying hydraulic fluid and electrohydraulic motor-pump unit for same - Google Patents

Method for conveying hydraulic fluid and electrohydraulic motor-pump unit for same Download PDF

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Publication number
EP2913526B1
EP2913526B1 EP15153042.5A EP15153042A EP2913526B1 EP 2913526 B1 EP2913526 B1 EP 2913526B1 EP 15153042 A EP15153042 A EP 15153042A EP 2913526 B1 EP2913526 B1 EP 2913526B1
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EP
European Patent Office
Prior art keywords
motor
pulsation
hydraulic
electric motor
pump unit
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EP15153042.5A
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German (de)
French (fr)
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EP2913526A1 (en
Inventor
Rocco Kemnitz
Julius Hudec
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Rapa Automotive GmbH and Co KG
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Rapa Automotive GmbH and Co KG
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Publication of EP2913526A1 publication Critical patent/EP2913526A1/en
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C14/00—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations
    • F04C14/08—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations characterised by varying the rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B11/00—Equalisation of pulses, e.g. by use of air vessels; Counteracting cavitation
    • 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
    • F04B11/00—Equalisation of pulses, e.g. by use of air vessels; Counteracting cavitation
    • F04B11/0041—Equalisation of pulses, e.g. by use of air vessels; Counteracting cavitation by piston speed control
    • 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
    • F04B15/00—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts
    • F04B15/02—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts the fluids being viscous or non-homogeneous
    • 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
    • F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
    • F04B17/03—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by electric motors
    • 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
    • F04B3/00—Machines or pumps with pistons coacting within one cylinder, e.g. multi-stage
    • 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
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C13/00—Adaptations of machines or pumps for special use, e.g. for extremely high pressures
    • F04C13/001—Pumps for particular liquids
    • F04C13/002—Pumps for particular liquids for homogeneous viscous liquids
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C15/00—Component parts, details or accessories of machines, pumps or pumping installations, not provided for in groups F04C2/00 - F04C14/00
    • F04C15/0042—Systems for the equilibration of forces acting on the machines or pump
    • F04C15/0049—Equalization of pressure pulses
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C15/00—Component parts, details or accessories of machines, pumps or pumping installations, not provided for in groups F04C2/00 - F04C14/00
    • F04C15/0057—Driving elements, brakes, couplings, transmission specially adapted for machines or pumps
    • F04C15/008—Prime movers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C2/00—Rotary-piston machines or pumps
    • F04C2/08—Rotary-piston machines or pumps of intermeshing-engagement type, i.e. with engagement of co-operating members similar to that of toothed gearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00—Motor parameters
    • F04B2203/02—Motor parameters of rotating electric motors
    • F04B2203/0207—Torque
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C11/00—Combinations of two or more machines or pumps, each being of rotary-piston or oscillating-piston type; Pumping installations
    • F04C11/008—Enclosed motor pump units
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C2270/00—Control; Monitoring or safety arrangements
    • F04C2270/03—Torque
    • F04C2270/035—Controlled or regulated
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C2270/00—Control; Monitoring or safety arrangements
    • F04C2270/05—Speed
    • F04C2270/052—Speed angular
    • F04C2270/0525—Controlled or regulated

Definitions

  • the present invention relates to a method for conveying hydraulic fluid in a hydraulic system by means of an electrically driven, continuously conveying positive displacement pump or, more precisely, to a method for smoothing a pulsation of the hydraulic fluid in the hydraulic system which arises due to the irregular conveyance.
  • the invention further relates to an electrohydraulic motor-pump unit for use in the method according to the invention.
  • motor-pump units Systems which consist of a hydraulic displacement unit, an electric motor and an associated electrical control device are referred to as electrohydraulic motor-pump units.
  • motor-pump units are often referred to colloquially as a "power pack”. They are used to convert electrical energy into hydraulic energy and are used in numerous areas of application, such as in the automotive sector, in mobile machines or in general in the industrial sector.
  • the discontinuity of the hydraulic fluid delivery is due to the fact that, depending on the design, the positive displacement pumps have one or more pumping chambers, which first gradually absorb hydraulic fluid from the suction side and then discharge it on the pressure side.
  • a pressure pulse is generated in the hydraulic system with each piston stroke.
  • gear pumps with each revolution of the pump wheel a number of pressure pulses corresponding to the number of pump wheel teeth is generated in the hydraulic system.
  • the pulsation frequency thus depends on the speed at which the positive displacement pump is operated, that is to say on its “delivery frequency”, namely on the frequency per unit of time with which the positive displacement pump picks up or ejects hydraulic fluid by means of its pumping chamber or pumping chambers.
  • the funding frequency is usually regular, but this is by no means mandatory.
  • the pressure pulsation in the hydraulic fluid that occurs as a result of the unsteady delivery volume leads to disadvantageous phenomena in the hydraulic system, in particular frequently to disturbing noises as a result of excited vibrations.
  • DE 10 2009 023 278 A1 discloses a device and a method for controlling a piston pump for use in vertical drilling technology, the angular velocity of the piston pump depending on either the crankshaft angle or the piston position, or depending on the volume flow generated by the pump or the pressure generated by the Pump is generated can be changed in such a way that a predetermined target volume flow or target pressure is obtained at the outlet of the pump. This is done by applying a compensation signal to control an electric motor that drives the pump.
  • the object of the present invention is to provide an alternative to smoothing the pressure pulsation in a hydraulic system, which occurs due to the inconsistent delivery by means of displacement pumps.
  • a method according to the invention for conveying hydraulic fluid in a hydraulic system by means of an electrically driven, non-continuously displacing positive displacement pump provides for smoothing the pulsation of the hydraulic fluid in the hydraulic system which arises due to the irregular conveying in that the drive torque or the rotational speed of the electric drive corresponds to the conveying frequency of the Displacement pump is suitably modulated.
  • a pulsation parameter characterizing the pulsation is recorded and used for the purposes of this modulation, for example the pressure pulsation in the hydraulic system, and the drive torque of the electric drive for driving the positive displacement pump is corresponding to this detected pulsation parameter modulated.
  • the rotational speed of the electric drive can alternatively be modulated directly. Because the modulation of the drive torque ultimately leads to nothing other than a corresponding change, i. H. Modulation, the speed of rotation and therefore, in each case, to a temporal modulation of the delivery by the displacement pump.
  • the detected pulsation parameter serves as an input variable for the control device of the electric motor for regulating the pulsation after the detected pulsation parameter has been resolved into a signal that can be processed by the control device. Since this input variable reacts back to the input variable via the control device of the electric motor and via the displacement pump driven by the electric motor, a controlled system results overall.
  • a pulsation or oscillation of the drive torque of the electric motor itself is used as the pulsation parameter instead of the pressure pulsation or the volume flow pulsation. Because, as already mentioned, the pulsation caused by the discontinuously pumping displacement pump generates an associated torque pulsation on the drive shaft of the displacement pump. By means of a circuit implemented in the electrical control device for determining the torque of the electric motor, this torque pulsation of the drive shaft can be detected and used to modulate the drive torque of the electric motor to drive the positive displacement pump.
  • a correspondingly responsive electrical control device of the electric motor For the necessary modulation of the drive torque based on such a pulsation parameter, a correspondingly responsive electrical control device of the electric motor is required. Circuits with so-called field programmable gate arrays (FPGAs) are suitable for such extremely fast cycle times in electronics. Furthermore, when choosing the electric motor, a model with sufficient dynamics must be taken into account.
  • FPGAs field programmable gate arrays
  • the housing block can also advantageously comprise a hydraulic fluid tank for the hydraulic system.
  • the electrohydraulic motor-pump unit additionally has, as part of the electrical control device, a modulator for modulating the drive torque of the electric motor in accordance with the delivery frequency of the positive displacement pump, a detector also being provided for detecting one of the above-described pulsation parameters and the modulator being set up that To modulate the drive torque of the electric motor based on the detected pulsation parameter.
  • the detection of a pulsation parameter and modulation of the drive torque on the basis of the detected pulsation parameter is in no way imperative in order to smooth the pulsation. Smoothing is already achieved when the modulation of the drive torque is preset according to the delivery frequency of the positive displacement pump based on empirical values.
  • the pulsation also depends on properties of the hydraulic system, in particular the elasticity of the hydraulic system, so that a fully controlled system is advantageous, taking current pulsation parameters into account.
  • a fixed presetting of a modulation of the drive torque which is dependent on the delivery frequency of the displacement pump can already lead to satisfactory results. It is also possible to use this fixed default setting for optimization purposes to adjust later or to adjust only when the motor-pump unit is connected to the hydraulic system for which it is intended.
  • the advantages achieved by the invention are that the pressure pulsation at the hydraulic connections can be minimized or almost completely eliminated. As a result, secondary measures for reducing the pulsation in the hydraulic system can be dispensed with, so that, for example, assembly effort and / or costs can be reduced.
  • Figure 1 shows a first embodiment of an electro-hydraulic motor-pump unit, in which a positive displacement pump 1, an electric motor 2 and an electrical control device 3 are housed in a common housing block.
  • the positive displacement pump 1 has two hydraulic connections 4 for connecting the motor-pump unit to the suction side and the pressure side of a hydraulic system. Further hydraulic connections can be provided.
  • a wide variety of discontinuously conveying hydraulic displacement units can be considered as displacement pumps, such as, for example, the internal gear pumps, external gear pumps, piston pumps or other pumps with successively feeding pump chambers.
  • the type of electric motor is essentially not critical to the invention. It is crucial that the drive torque provided by the electric motor for the electric motor 1 or the rotational speed of the electric motor 1 can be set, because the drive torque and the rotational speed are directly related to one another.
  • the electrical control device 3 is used to adjust or modulate the drive torque or the rotational speed of the electric motor 2.
  • a pressure sensor 5 is arranged on the hydraulic pump 1 such that the pressure at the hydraulic connection 4 on the pressure side can thus be measured.
  • the sensor signal provided by the pressure sensor 5 is fed to the electronic control device 3 via a return line 6.
  • the sensor signal is processed in the electronic control device 3 and used to determine the drive torque of the electric motor according to the delivery frequency of the positive displacement pump so that it is as constant as possible. As a result, this also leads to the rotational speed of the electric motor being modulated.
  • the pressure conditions in the hydraulic system can be changed by suitable modulation of the drive torque or the rotational speed of the electric motor, and pressure fluctuations can be compensated for by suitable change. Since the pressure sensor 5 detects pressure fluctuations directly at the hydraulic connection 4 and since the pressure fluctuations occurring at the hydraulic connection essentially originate exclusively from the inconsistent delivery of the hydraulic fluid by means of the displacement pump, the motor-pump unit described can be constructed in accordance with Figure 1 Smooth out pressure pulsations in the hydraulic system by suitable modulation of the drive torque or the speed of rotation of the electric motor.
  • Figure 2 shows schematically over time t the course of the pressure p in the hydraulic system and the course of the drive torque M on the drive shaft of the electric drive compared to the course of the rotational speed (rpm) of the electric drive.
  • the course without pressure compensation control is shown in dashed lines with p 0 , M 0 and U 0 / min, while the course with compensation control is shown as a solid line.
  • This idealized representation shows that when operating without compensation control, the pressure p 0 in the hydraulic system and the drive torque of the electric drive each fluctuate by an average value p M or M M , while the engine speed remains constant at an average speed U M / min. In reality, this value U M / min actually fluctuates around the average value U M / min, but only slightly, because the motor alternates due to the unsteady delivery and the resulting volume flow pulsation against slightly higher and lower pressures in the hydraulic system.
  • FIG. 3 shows a second embodiment of an electro-hydraulic motor-pump unit.
  • another pulsation parameter is used for modulating the drive torque or the rotational speed of the electric motor 2, namely instead of the hydraulic pressure p 0 in the hydraulic system, the drive torque M 0 of the electric motor 2 is used as the basis for the modulation. That is, it is monitored by means of an evaluation circuit of the electrical control device 3 to what extent the drive torque Mo of the electric motor 2 is due of the displaceable displacement pump 1 pulsates, and this pulsation parameter is used in the electrical control device 3 to regulate the drive torque or the rotational speed of the electric motor 2 so that any drive torque fluctuations are compensated for as far as possible.
  • This technical solution is structurally least complex and leads in a simple manner to a smoothing of the pressure pulsation in the hydraulic system, because any pressure pulsation in the hydraulic system affects the torque Mo applied to the electric motor 2.
  • Figure 4 shows a motor-pump unit with a hydraulic displacement unit 1, an electric motor 2 and an integrated hydraulic tank 7, as is preferably used in a hydraulic system.
  • the hydraulic lines are marked with 8.
  • the electrical control device 3 is not clearly visible here, but part of the electric motor 2.

Description

Die vorliegende Erfindung betrifft ein Verfahren zum Fördern von Hydraulikfluid in einem Hydrauliksystem mittels einer elektrisch angetriebenen, unstet fördernden Verdrängerpumpe oder, genauer gesagt, ein Verfahren zum Glätten einer aufgrund der unsteten Förderung entstehenden Pulsation des Hydraulikfluids im Hydrauliksystem. Die Erfindung betrifft desweiteren eine elektrohydraulische Motor-Pumpen-Einheit zur Verwendung in dem erfindungsgemäßen Verfahren.The present invention relates to a method for conveying hydraulic fluid in a hydraulic system by means of an electrically driven, continuously conveying positive displacement pump or, more precisely, to a method for smoothing a pulsation of the hydraulic fluid in the hydraulic system which arises due to the irregular conveyance. The invention further relates to an electrohydraulic motor-pump unit for use in the method according to the invention.

Als elektrohydraulische Motor-Pumpen-Einheiten werden Systeme bezeichnet, welche aus einer hydraulischen Verdrängereinheit, einem Elektromotor und einer zugehörigen elektrischen Ansteuereinrichtung bestehen. Solche Motor-Pumpen-Einheiten werden umgangssprachlich häufig als "Power-Pack" bezeichnet. Sie dienen dazu, elektrische Energie in hydraulische Energie umzuwandeln und finden Einsatz in zahlreichen Anwendungsgebieten, wie im Automobilbereich, bei mobilen Arbeitsmaschinen oder auch ganz allgemein im Industriesektor.Systems which consist of a hydraulic displacement unit, an electric motor and an associated electrical control device are referred to as electrohydraulic motor-pump units. Such motor-pump units are often referred to colloquially as a "power pack". They are used to convert electrical energy into hydraulic energy and are used in numerous areas of application, such as in the automotive sector, in mobile machines or in general in the industrial sector.

Unterschiedliche hydraulische Verdrängereinheiten, Elektromotoren und elektrische Ansteuerungen für die Elektromotoren sind im Zusammenhang mit solchen Motor-Pumpen-Einheiten bekannt. Dabei kommen verschiedenste Verdrängerprinzipien zum Einsatz, wie beispielsweise Innenzahnradpumpen, Außenzahnradpumpen, Kolbenpumpen und dergleichen. Dabei ist allen diesen Verdrängerprinzipien gemein, dass sich die Verdrängerpumpen trotz eines stetigen Antriebs mittels des Elektromotors durch eine unstete Förderung des Hydraulikfluids auszeichnen, was eine mehr oder minder ausgeprägte Pulsation des Drucks in den hydraulischen Anschlüssen zur Folge hat, sowohl auf der Saugseite als auch - insbesondere - auf der Druckseite.Different hydraulic displacement units, electric motors and electrical controls for the electric motors are known in connection with such motor-pump units. A wide variety of displacement principles are used, such as internal gear pumps, external gear pumps, piston pumps and the like. It is All of these displacement principles have in common that the displacement pumps are characterized by an inconsistent delivery of the hydraulic fluid despite a constant drive by means of the electric motor, which results in a more or less pronounced pulsation of the pressure in the hydraulic connections, both on the suction side and - in particular - on the print page.

Die Unstetigkeit der Hydraulikfluidförderung ist dadurch bedingt, dass die Verdrängerpumpen je nach Bauart ein oder mehrere Pumpkammern aufweisen, die sukzessive zunächst Hydraulikfluid von der Saugseite aufnehmen und anschließend auf der Druckseite ausstoßen. So wird zum Beispiel bei Kolbenpumpen mit jedem Kolbenhub ein Druckpuls im Hydrauliksystem generiert. Im Falle von Zahnradpumpen werden mit jeder Umdrehung des Pumpenrads eine der Anzahl der Pumpenradzähne entsprechende Zahl von Druckpulsen im Hydrauliksystem erzeugt. Die Pulsationsfrequenz hängt somit von der Geschwindigkeit ab, mit der die Verdrängerpumpe betrieben wird, das heißt von ihrer "Förderfrequenz", nämlich von der Häufigkeit pro Zeiteinheit, mit der die Verdrängerpumpe mittels ihrer Pumpkammer oder Pumpkammern Hydraulikfluid aufnimmt bzw. ausstößt. Die Förderfrequenz ist in aller Regel regelmäßig, aber das ist keineswegs zwingend.The discontinuity of the hydraulic fluid delivery is due to the fact that, depending on the design, the positive displacement pumps have one or more pumping chambers, which first gradually absorb hydraulic fluid from the suction side and then discharge it on the pressure side. For example, with piston pumps, a pressure pulse is generated in the hydraulic system with each piston stroke. In the case of gear pumps, with each revolution of the pump wheel a number of pressure pulses corresponding to the number of pump wheel teeth is generated in the hydraulic system. The pulsation frequency thus depends on the speed at which the positive displacement pump is operated, that is to say on its “delivery frequency”, namely on the frequency per unit of time with which the positive displacement pump picks up or ejects hydraulic fluid by means of its pumping chamber or pumping chambers. The funding frequency is usually regular, but this is by no means mandatory.

Die in Folge des unsteten Fördervolumens auftretende Druckpulsation im Hydraulikfluid führt zu nachteiligen Erscheinungen im Hydrauliksystem, insbesondere häufig zu störenden Geräuschen infolge von angeregten Schwingungen.The pressure pulsation in the hydraulic fluid that occurs as a result of the unsteady delivery volume leads to disadvantageous phenomena in the hydraulic system, in particular frequently to disturbing noises as a result of excited vibrations.

Um zu vermeiden, dass die Druckpulsation in das Hydrauliksystem übertragen wird, werden in bekannten Hydrauliksystemen Sekundärmaßnahmen getroffen und beispielsweise hydraulische Speicher, sogenannte Pulsationsdämpfer, oder auch Blenden in den Leitungen integriert, oder die Leitungen werden zumindest teilweise durch Schläuche mit definierter Nachgiebigkeit, sogenannte Dehnschläuche, gebildet.In order to avoid that the pressure pulsation is transmitted to the hydraulic system, secondary measures are taken in known hydraulic systems and, for example, hydraulic accumulators, so-called pulsation dampers, or also screens integrated in the lines, or the lines are at least partially formed by hoses with a defined resilience, so-called expansion hoses.

Je nach den jeweiligen Glättungsmaßnahmen entstehen Aufwand und/oder Kosten bei der Auswahl, Abstimmung, Anordnung und/oder Montage.Depending on the respective smoothing measures, effort and / or costs arise in the selection, coordination, arrangement and / or assembly.

DE 10 2009 023 278 A1 offenbart eine Vorrichtung und ein Verfahren zur Ansteuerung einer Kolbenpumpe zum Einsatz in der Vertikalbohrtechnik, wobei die Winkelgeschwindigkeit der Kolbenpumpe in Abhängigkeit entweder vom Kurbelwellenwinkel oder der Kolbenposition, oder in Abhängigkeit vom Volumenstrom, der durch die Pumpe erzeugt wird, oder vom Druck, der durch die Pumpe erzeugt wird, in einer solchen Weise geändert werden, dass ein vorbestimmter Sollvolumenstrom bzw. Solldruck am Ausgang der Pumpe erhalten wird. Dies geschieht durch die Aufschaltung eines Kompensationssignals zur Ansteuerung eines Elektromotors, der die Pumpe antreibt. DE 10 2009 023 278 A1 discloses a device and a method for controlling a piston pump for use in vertical drilling technology, the angular velocity of the piston pump depending on either the crankshaft angle or the piston position, or depending on the volume flow generated by the pump or the pressure generated by the Pump is generated can be changed in such a way that a predetermined target volume flow or target pressure is obtained at the outlet of the pump. This is done by applying a compensation signal to control an electric motor that drives the pump.

Aufgabe der vorliegenden Erfindung ist es, eine Alternative zum Glätten der Druckpulsation in einem Hydrauliksystem anzugeben, welche aufgrund der unsteten Förderung mittels Verdrängerpumpen auftritt. In diesem Zusammenhang ist es eine weitere Aufgabe der vorliegenden Erfindung, eine dazu geeignete elektrohydraulische Motor-Pumpen-Einheit vorzuschlagen.The object of the present invention is to provide an alternative to smoothing the pressure pulsation in a hydraulic system, which occurs due to the inconsistent delivery by means of displacement pumps. In this context, it is a further object of the present invention to propose a suitable electro-hydraulic motor-pump unit.

Dementsprechend sieht ein erfindungsgemäßes Verfahren zum Fördern von Hydraulikfluid in einem Hydrauliksystem mittels einer elektrisch angetriebenen, unstet fördernden Verdrängerpumpe vor, die aufgrund der unsteten Förderung entstehende Pulsation des Hydraulikfluids im Hydrauliksystem dadurch zu glätten, dass das Antriebsdrehmoment oder die Drehgeschwindigkeit des elektrischen Antriebs entsprechend der Förderfrequenz der Verdrängerpumpe geeignet moduliert wird.Accordingly, a method according to the invention for conveying hydraulic fluid in a hydraulic system by means of an electrically driven, non-continuously displacing positive displacement pump provides for smoothing the pulsation of the hydraulic fluid in the hydraulic system which arises due to the irregular conveying in that the drive torque or the rotational speed of the electric drive corresponds to the conveying frequency of the Displacement pump is suitably modulated.

Da die Pulsation im Hydrauliksystem unmittelbar abhängt von der Förderfrequenz der Verdrängerpumpe, wird für die Zwecke dieser Modulation ein die Pulsation charakterisierender Pulsationsparameter erfasst und genutzt, beispielsweise also die Druckpulsation im Hydrauliksystem, und das Antriebsdrehmoment des elektrischen Antriebs zum Antreiben der Verdrängerpumpe wird entsprechend dieses erfassten Pulsationsparameters moduliert.Since the pulsation in the hydraulic system is directly dependent on the delivery frequency of the positive displacement pump, a pulsation parameter characterizing the pulsation is recorded and used for the purposes of this modulation, for example the pressure pulsation in the hydraulic system, and the drive torque of the electric drive for driving the positive displacement pump is corresponding to this detected pulsation parameter modulated.

Denn die von den Pumpkammern der Verdrängerpumpe verursachte Pulsation im Hydrauliksystem erzeugt eine zugeordnete Drehmomentpulsation an der Antriebswelle der Verdrängerpumpe. Über die entsprechende Modulation des Antriebsdrehmoments des elektrischen Antriebs auf Basis des erfassten Pulsationsparameters, also beispielsweise auf Basis der im Hydrauliksystem erfassten Druckpulsation, ist es möglich, die Momentenunstetigkeit an der Antriebswelle der Verdrängerpumpe auszugleichen und somit die Pulsation schon an den hydraulischen Anschlüssen zu glätten, das heißt zu eliminieren oder zumindest zu minimieren.This is because the pulsation in the hydraulic system caused by the pumping chambers of the positive displacement pump generates an associated torque pulsation on the drive shaft of the positive displacement pump. Using the appropriate modulation of the drive torque of the electric drive on the basis of the detected pulsation parameter, i.e. for example on the basis of the pressure pulsation recorded in the hydraulic system, it is possible to compensate for the discontinuity in torque on the drive shaft of the positive displacement pump and thus to smooth the pulsation already at the hydraulic connections means to eliminate or at least to minimize.

Anstatt das Antriebsdrehmoment des elektrischen Antriebs zu modulieren, kann alternativ auch unmittelbar die Drehgeschwindigkeit des elektrischen Antriebs moduliert werden. Denn auch die Modulation des Antriebsmoments führt letztlich zu nichts anderem als einer entsprechenden Änderung, d. h. Modulation, der Drehgeschwindigkeit und daher im Ergebnis jeweils zu einer zeitlichen Modulation der Förderung durch die Verdrängerpumpe.Instead of modulating the drive torque of the electric drive, the rotational speed of the electric drive can alternatively be modulated directly. Because the modulation of the drive torque ultimately leads to nothing other than a corresponding change, i. H. Modulation, the speed of rotation and therefore, in each case, to a temporal modulation of the delivery by the displacement pump.

Der erfasste Pulsationsparameter, sei es die Pulsation des Hydraulikdrucks oder die Pulsation des geförderten Volumenstroms, dient dann als Eingangsgröße für die Ansteuereinrichtung des Elektromotors zur Ausregelung der Pulsation, nachdem der erfasste Pulsationsparameter in ein von der Ansteuereinrichtung verarbeitbares Signal aufgelöst worden ist. Da diese Eingangsgröße über die Ansteuereinrichtung des Elektromotors und über die mittels des Elektromotors angetriebene Verdrängerpumpe wieder auf die Eingangsgröße zurückwirkt, ergibt sich insgesamt ein geregeltes System.The detected pulsation parameter, be it the pulsation of the hydraulic pressure or the pulsation of the delivered volume flow, then serves as an input variable for the control device of the electric motor for regulating the pulsation after the detected pulsation parameter has been resolved into a signal that can be processed by the control device. Since this input variable reacts back to the input variable via the control device of the electric motor and via the displacement pump driven by the electric motor, a controlled system results overall.

Gemäß einer bevorzugten Ausführungsvariante wird als Pulsationsparameter anstelle der Druckpulsation oder der Volumenstrompulsation eine Pulsation bzw. Schwingung des Antriebsdrehmoments des Elektromotors selbst herangezogen. Denn wie bereits erwähnt, erzeugt die von der unstet fördernden Verdrängerpumpe hervorgerufene Pulsation eine zugeordnete Drehmomentpulsation an der Antriebswelle der Verdrängerpumpe. Durch eine in der elektrischen Ansteuereinrichtung implementierte Schaltung zur Ermittlung des Drehmoments des Elektromotors kann diese Drehmomentpulsation der Antriebswelle erfasst und zur Modulierung des Antriebsdrehmoments des Elektromotors zum Antreiben der Verdrängerpumpe herangezogen werden.According to a preferred embodiment variant, a pulsation or oscillation of the drive torque of the electric motor itself is used as the pulsation parameter instead of the pressure pulsation or the volume flow pulsation. Because, as already mentioned, the pulsation caused by the discontinuously pumping displacement pump generates an associated torque pulsation on the drive shaft of the displacement pump. By means of a circuit implemented in the electrical control device for determining the torque of the electric motor, this torque pulsation of the drive shaft can be detected and used to modulate the drive torque of the electric motor to drive the positive displacement pump.

Für die notwendige Modulierung des Antriebsdrehmoments auf Basis eines solchen Pulsationsparameters ist eine entsprechend reaktionsschnelle elektrische Ansteuereinrichtung des Elektromotors erforderlich. Für solche extrem schnellen Zykluszeiten in der Elektronik eignen sich zum Beispiel Schaltungen mit sogenannten Field Programmable Gate Arrays (FPGAs). Ferner ist bei der Auswahl des Elektromotors auf ein Modell mit ausreichender Dynamik zu achten.For the necessary modulation of the drive torque based on such a pulsation parameter, a correspondingly responsive electrical control device of the electric motor is required. Circuits with so-called field programmable gate arrays (FPGAs) are suitable for such extremely fast cycle times in electronics. Furthermore, when choosing the electric motor, a model with sufficient dynamics must be taken into account.

Eine für das vorbeschriebene Verfahren geeignete elektrohydraulische Motor-Pumpen-Einheit umfasst dementsprechend eine unstet fördernde Verdrängerpumpe zum Fördern von Hydraulikfluid in einem Hydrauliksystem, einen mit der Verdrängerpumpe gekoppelten Elektromotor zum Antreiben der Verdrängerpumpe und eine mit dem Elektromotor gekoppelte elektrische Ansteuereinrichtung zum Steuern des Elektromotors, wobei die Verdrängerpumpe, der Elektromotor und die Antriebseinrichtung in einem gemeinsamen Gehäuseblock mit Hydraulikanschlüssen, die zur Kopplung der Motor-Pumpen-Einheit an ein Hydrauliksystem eingerichtet sind, untergebracht sind. Der Gehäuseblock kann desweiteren vorteilhaft einen Hydraulikfluidtank für das Hydrauliksystem umfassen. In jedem Falle weist die elektrohydraulische Motor-Pumpen-Einheit zusätzlich als Teil der elektrischen Ansteuereinrichtung einen Modulator zum Modulieren des Antriebsdrehmoments des Elektromotors entsprechend der Förderfrequenz der Verdrängerpumpe auf, wobei desweiteren ein Detektor zum Erfassen eines der vorbeschriebenen Pulsationsparameter vorgesehen und der Modulator eingerichtet ist, das Antriebsdrehmoment des Elektromotors auf Basis des erfassten Pulsationsparameters zu modulieren.Accordingly, an electrohydraulic motor-pump unit suitable for the above-described method comprises a displaceable displacement pump for conveying hydraulic fluid in a hydraulic system, an electric motor coupled to the displacement pump for driving the displacement pump, and an electrical control device coupled to the electric motor for controlling the electric motor, wherein the displacement pump, the electric motor and the drive device in a common housing block with hydraulic connections which are set up for coupling the motor-pump unit to a hydraulic system, are accommodated. The housing block can also advantageously comprise a hydraulic fluid tank for the hydraulic system. In any case, the electrohydraulic motor-pump unit additionally has, as part of the electrical control device, a modulator for modulating the drive torque of the electric motor in accordance with the delivery frequency of the positive displacement pump, a detector also being provided for detecting one of the above-described pulsation parameters and the modulator being set up that To modulate the drive torque of the electric motor based on the detected pulsation parameter.

Das Erfassen eines Pulsationsparameters und Modulieren des Antriebsdrehmoments auf Basis des erfassten Pulsationsparameters, das heißt die Einrichtung eines vollständigen Regelsystems, ist aber keineswegs zwingend, um die Pulsation zu glätten. Eine Glättung wird bereits dann erreicht, wenn die Modulation des Antriebsdrehmoments entsprechend der Förderfrequenz der Verdrängerpumpe aufgrund von Erfahrungswerten fest voreingestellt wird. Zwar hängt die Pulsation auch von Eigenschaften des Hydrauliksystems ab, insbesondere der Elastizität des Hydrauliksystems, so dass ein vollständig geregeltes System unter Berücksichtigung aktueller Pulsationsparameter vorteilhaft ist. Aber eine feste Voreinstellung einer von der Förderfrequenz der Verdrängerpumpe abhängenden Modulierung des Antriebsdrehmoments kann bereits zu zufriedenstellenden Ergebnissen führen. Zu Optimierungszwecken ist es auch möglich, diese feste Voreinstellung nachträglich anzupassen oder erst dann einzustellen, wenn die Motor-Pumpen-Einheit an dem Hydrauliksystem, für das es bestimmt ist, angeschlossen ist.The detection of a pulsation parameter and modulation of the drive torque on the basis of the detected pulsation parameter, that is to say the establishment of a complete control system, is in no way imperative in order to smooth the pulsation. Smoothing is already achieved when the modulation of the drive torque is preset according to the delivery frequency of the positive displacement pump based on empirical values. The pulsation also depends on properties of the hydraulic system, in particular the elasticity of the hydraulic system, so that a fully controlled system is advantageous, taking current pulsation parameters into account. However, a fixed presetting of a modulation of the drive torque which is dependent on the delivery frequency of the displacement pump can already lead to satisfactory results. It is also possible to use this fixed default setting for optimization purposes to adjust later or to adjust only when the motor-pump unit is connected to the hydraulic system for which it is intended.

Die mit der Erfindung erzielten Vorteile bestehen darin, dass die Druckpulsation an den hydraulischen Anschlüssen minimiert bis nahezu vollständig eliminiert werden kann. Auf sekundäre Maßnahmen zur Pulsationsreduzierung im Hydrauliksystem kann dadurch gegebenenfalls verzichtet werden, so dass beispielsweise Montageaufwand und/oder Kosten reduziert werden können.The advantages achieved by the invention are that the pressure pulsation at the hydraulic connections can be minimized or almost completely eliminated. As a result, secondary measures for reducing the pulsation in the hydraulic system can be dispensed with, so that, for example, assembly effort and / or costs can be reduced.

Nachfolgend wird die Erfindung beispielhaft anhand der begleitenden Zeichnungen beschrieben. Darin zeigen:

Figur 1
eine realistische Darstellung einer elektrohydraulischen MotorPumpen-Einheit gemäß einem ersten Ausführungsbeispiel der Erfindung im Maßstab 1:1,
Figur 2
schematisch und idealisiert den zeitlichen Verlauf des Hydraulikdrucks des Antriebsdrehmoments und der Motordrehzahl in einem Hydrauliksystem mit und ohne Pulsationskompensation,
Figur 3
eine realistische Darstellung einer elektrohydraulischen MotorPumpen-Einheit gemäß einem zweiten Ausführungsbeispiel der Erfindung im Maßstab 1:1, und
Figur 4
eine realistische Darstellung einer elektrohydraulischen MotorPumpen-Einheit mit integriertem Hydrauliktank im Maßstab 1:2.
The invention is described below by way of example with reference to the accompanying drawings. In it show:
Figure 1
1 shows a realistic illustration of an electrohydraulic motor-pump unit according to a first exemplary embodiment of the invention, on a scale of 1: 1,
Figure 2
schematic and idealized the time course of the hydraulic pressure of the drive torque and the engine speed in a hydraulic system with and without pulsation compensation,
Figure 3
a realistic representation of an electro-hydraulic motor-pump unit according to a second embodiment of the invention on a scale of 1: 1, and
Figure 4
a realistic representation of an electro-hydraulic motor-pump unit with an integrated hydraulic tank on a scale of 1: 2.

Figur 1 zeigt ein erstes Ausführungsbeispiel einer elektrohydraulischen Motor-Pumpen-Einheit, bei welchem eine Verdrängerpumpe 1, ein Elektromotor 2 und eine elektrische Ansteuereinrichtung 3 in einem gemeinsamen Gehäuseblock untergebracht sind. Die Verdrängerpumpe 1 besitzt zwei Hydraulikanschlüsse 4 zum Anschließen der Motor-Pumpen-Einheit an die Saugseite und die Druckseite eines Hydrauliksystems. Es können weitere Hydraulikanschlüsse vorgesehen sein. Figure 1 shows a first embodiment of an electro-hydraulic motor-pump unit, in which a positive displacement pump 1, an electric motor 2 and an electrical control device 3 are housed in a common housing block. The positive displacement pump 1 has two hydraulic connections 4 for connecting the motor-pump unit to the suction side and the pressure side of a hydraulic system. Further hydraulic connections can be provided.

Als Verdrängerpumpen kommen unterschiedlichste unstetig fördernde hydraulische Verdrängereinheiten in Betracht, wie beispielsweise die eingangs genannten Innenzahnradpumpen, Außenzahnradpumpen, Kolbenpumpen oder andere Pumpen mit sukzessiv fördernden Pumpkammern. Die Art des Elektromotors ist für die Erfindung im wesentlichen unkritisch. Entscheidend ist, dass das von dem Elektromotor bereitgestellte Antriebsdrehmoment für den Elektromotor 1 oder die Drehgeschwindigkeit des Elektromotors 1 einstellbar sind, denn Antriebsdrehmoment und Drehgeschwindigkeit hängen unmittelbar miteinander zusammen. Zur Einstellung bzw. Modulierung des Antriebsdrehmoments bzw. der Drehgeschwindigkeit des Elektromotors 2 dient die elektrische Steuerungseinrichtung 3.A wide variety of discontinuously conveying hydraulic displacement units can be considered as displacement pumps, such as, for example, the internal gear pumps, external gear pumps, piston pumps or other pumps with successively feeding pump chambers. The type of electric motor is essentially not critical to the invention. It is crucial that the drive torque provided by the electric motor for the electric motor 1 or the rotational speed of the electric motor 1 can be set, because the drive torque and the rotational speed are directly related to one another. The electrical control device 3 is used to adjust or modulate the drive torque or the rotational speed of the electric motor 2.

Ein Drucksensor 5 ist an der Hydraulikpumpe 1 so angeordnet, dass der Druck am druckseitigen Hydraulikanschluss 4 damit gemessen werden kann. Bei reversierenden Motor-Pumpen-Einheiten kann es zweckmäßig sein, am zweiten Hydraulikanschluss 4 einen weiteren Drucksensor in entsprechender Weise vorzusehen. Über eine Rückführleitung 6 wird das von dem Drucksensor 5 zur Verfügung gestellte Sensorsignal der elektronischen Ansteuereinrichtung 3 zugeführt. Das Sensorsignal wird in der elektronischen Ansteuereinrichtung 3 verarbeitet und dazu verwendet, das Antriebsdrehmoment des Elektromotors entsprechend der Förderfrequenz der Verdrängerpumpe so zu modulieren, dass es möglichst konstant ist. Im Ergebnis führt dies auch dazu, dass die Drehgeschwindigkeit des Elektromotors moduliert wird. Durch geeignete Modulierung des Antriebsdrehmoments bzw. der Drehgeschwindigkeit des Elektromotors lassen sich die Druckverhältnisse im Hydrauliksystem verändern und durch geeignete Veränderung Druckschwankungen ausgleichen. Da der Drucksensor 5 Druckschwankungen unmittelbar am Hydraulikanschluss 4 erfasst und da die am Hydraulikanschluss auftretenden Druckschwankungen im wesentlichen ausschließlich von der unsteten Förderung des Hydraulikfluids mittels der Verdrängerpumpe herrühren, lassen sich mit dem beschriebenen Aufbau der Motor-Pumpen-Einheit gemäß Figur 1 Druckpulsationen im Hydrauliksystem durch geeignete Modulierung des Antriebsdrehmoments oder der Drehgeschwindigkeit des Elektromotors glätten.A pressure sensor 5 is arranged on the hydraulic pump 1 such that the pressure at the hydraulic connection 4 on the pressure side can thus be measured. In the case of reversing motor-pump units, it may be expedient to provide a further pressure sensor in a corresponding manner on the second hydraulic connection 4. The sensor signal provided by the pressure sensor 5 is fed to the electronic control device 3 via a return line 6. The sensor signal is processed in the electronic control device 3 and used to determine the drive torque of the electric motor according to the delivery frequency of the positive displacement pump so that it is as constant as possible. As a result, this also leads to the rotational speed of the electric motor being modulated. The pressure conditions in the hydraulic system can be changed by suitable modulation of the drive torque or the rotational speed of the electric motor, and pressure fluctuations can be compensated for by suitable change. Since the pressure sensor 5 detects pressure fluctuations directly at the hydraulic connection 4 and since the pressure fluctuations occurring at the hydraulic connection essentially originate exclusively from the inconsistent delivery of the hydraulic fluid by means of the displacement pump, the motor-pump unit described can be constructed in accordance with Figure 1 Smooth out pressure pulsations in the hydraulic system by suitable modulation of the drive torque or the speed of rotation of the electric motor.

Figur 2 zeigt schematisch über der Zeit t den Verlauf des Drucks p im Hydrauliksystem und den Verlauf des Antriebsdrehmoments M an der Antriebswelle des elektrischen Antriebs im Vergleich zum Verlauf der Drehgeschwindigkeit (U/min) des elektrischen Antriebs. Darin sind mit p0, M0 und U0/min der Verlauf ohne Druckkompensationssteuerung in Strichlinien dargestellt, während der Verlauf mit Kompensationssteuerung jeweils als durchgezogene Linie dargestellt ist. Bei dieser idealisierten Darstellung wird erkennbar, dass bei Betrieb ohne Kompensationssteuerung der Druck p0 im Hydrauliksystem und das Antriebsdrehmoment des elektrischen Antriebs jeweils um einen Mittelwert pM bzw. MM schwanken, während die Motordrehzahl konstant bei einer mittleren Drehzahl UM/min verharrt. In der Realität schwankt dieser Wert UM/min zwar tatsächlich auch um den Mittelwert UM/min, jedoch nur geringfügig, weil der Motor aufgrund der unsteten Förderung und der dadurch bedingten Volumenstrompulsation abwechselnd gegen geringfügig höhere und niedrigere Drücke im Hydrauliksystem fördert. Figure 2 shows schematically over time t the course of the pressure p in the hydraulic system and the course of the drive torque M on the drive shaft of the electric drive compared to the course of the rotational speed (rpm) of the electric drive. The course without pressure compensation control is shown in dashed lines with p 0 , M 0 and U 0 / min, while the course with compensation control is shown as a solid line. This idealized representation shows that when operating without compensation control, the pressure p 0 in the hydraulic system and the drive torque of the electric drive each fluctuate by an average value p M or M M , while the engine speed remains constant at an average speed U M / min. In reality, this value U M / min actually fluctuates around the average value U M / min, but only slightly, because the motor alternates due to the unsteady delivery and the resulting volume flow pulsation against slightly higher and lower pressures in the hydraulic system.

Indem nun das Antriebsdrehmoment M0 des elektrischen Antriebs entsprechend dem am Hydraulikanschluss 4 gemessenen Hydraulikdruck moduliert wird, wird eine Veränderung der Drehgeschwindigkeit po des Elektromotors erreicht, mit der Folge, dass der zeitliche Verlauf des von der Verdrängerpumpe geförderten Hydraulikfluidvolumens eine entsprechende Änderung erfährt, so dass sich letztlich auch der im Hydrauliksystem und an den Hydraulikanschlüssen 4 anliegende Hydraulikdruck p und das am Elektromotor anliegende Antriebsdrehmoment M entsprechend ändern. Die Modulation des Antriebsdrehmoments des Elektromotors bzw. der Drehgeschwindigkeit des Elektromotors wird dabei so eingestellt, dass die Druckpulsation am Hydraulikanschluss 4 idealerweise vollständig ausgeglichen wird. Das heißt bei idealisierter Betrachtung, dass zu Zeiten, an denen der Druck po im System aufgrund der Druckpulsation sinkt, das Antriebsdrehmoment M bzw. die Drehgeschwindigkeit des Elektromotors so moduliert wird, dass der Elektromotor mehr Volumen pro Zeiteinheit fördert, um den niedrigeren Systemdruck po auf den mittleren Druck pM zu bringen, und bei einem höheren Systemdruck po entsprechend umgekehrt.By modulating the drive torque M 0 of the electric drive in accordance with the hydraulic pressure measured at the hydraulic connection 4, a change in the rotational speed po of the electric motor is achieved, with the result that the time course of the hydraulic fluid volume conveyed by the displacement pump experiences a corresponding change, so that ultimately, the hydraulic pressure p present in the hydraulic system and at the hydraulic connections 4 and the drive torque M applied to the electric motor change accordingly. The modulation of the drive torque of the electric motor or the speed of rotation of the electric motor is set so that the pressure pulsation at the hydraulic connection 4 is ideally completely compensated. In an idealized view, this means that at times when the pressure po in the system drops due to the pressure pulsation, the drive torque M or the rotational speed of the electric motor is modulated so that the electric motor delivers more volume per unit of time by the lower system pressure po to bring the mean pressure p M , and vice versa at a higher system pressure po.

Figur 3 zeigt ein zweites Ausführungsbeispiel einer elektrohydraulischen Motor-Pumpen-Einheit. Bei diesem Ausführungsbeispiel wird ein anderer Pulsationsparameter zur Modulation des Antriebsdrehmoments bzw. der Drehgeschwindigkeit des Elektromotors 2 herangezogen, nämlich anstelle des Hydraulikdrucks p0 im Hydrauliksystem wird das Antriebsdrehmoment M0 des Elektromotors 2 als Basis für die Modulation genutzt. Das heißt, es wird mittels einer Auswerteschaltung der elektrischen Steuereinrichtung 3 überwacht, inwieweit das Antriebsdrehmoment Mo des Elektromotors 2 aufgrund der unstetig fördernden Verdrängerpumpe 1 pulsiert, und dieser Pulsationsparameter dient in der elektrischen Ansteuereinrichtung 3 dazu, das Antriebsdrehmoment bzw. die Drehgeschwindigkeit des Elektromotors 2 so zu regeln, dass jegliche Antriebsdrehmomentschwankungen möglichst ausgeglichen werden. Diese technische Lösung ist konstruktiv am wenigsten aufwändig und führt in einfacher Weise zu einer Glättung der Druckpulsation im Hydrauliksystem, weil jegliche Druckpulsation im Hydrauliksystem auf das am Elektromotor 2 anliegende Drehmoment Mo zurückwirkt. Figure 3 shows a second embodiment of an electro-hydraulic motor-pump unit. In this exemplary embodiment, another pulsation parameter is used for modulating the drive torque or the rotational speed of the electric motor 2, namely instead of the hydraulic pressure p 0 in the hydraulic system, the drive torque M 0 of the electric motor 2 is used as the basis for the modulation. That is, it is monitored by means of an evaluation circuit of the electrical control device 3 to what extent the drive torque Mo of the electric motor 2 is due of the displaceable displacement pump 1 pulsates, and this pulsation parameter is used in the electrical control device 3 to regulate the drive torque or the rotational speed of the electric motor 2 so that any drive torque fluctuations are compensated for as far as possible. This technical solution is structurally least complex and leads in a simple manner to a smoothing of the pressure pulsation in the hydraulic system, because any pressure pulsation in the hydraulic system affects the torque Mo applied to the electric motor 2.

Figur 4 zeigt eine Motor-Pumpen-Einheit mit hydraulischer Verdrängereinheit 1, Elektromotor 2 und integriertem Hydrauliktank 7, so wie sie bevorzugt in einem Hydrauliksystem zum Einsatz kommt. Mit 8 sind die Hydraulikleitungen gekennzeichnet. Die elektrische Steuerungseinrichtung 3 ist hier nicht deutlich erkennbar sondern Teil des Elektromotors 2. Figure 4 shows a motor-pump unit with a hydraulic displacement unit 1, an electric motor 2 and an integrated hydraulic tank 7, as is preferably used in a hydraulic system. The hydraulic lines are marked with 8. The electrical control device 3 is not clearly visible here, but part of the electric motor 2.

Bei den zuvor beschriebenen Pulsationskompensationsschaltungen ist eine entsprechend schnelle elektrische Ansteuerung des Elektromotors 1 wegen der extrem schnellen Zykluszeiten erforderlich. Dazu eignen sich vorteilhaft Schaltungen mit Field Programmable Gate Arrays (FPGAs), wobei natürlich auch bei der Auswahl des Elektromotors 1 auf ein Modell mit ausreichender Dynamik zu achten ist.In the pulsation compensation circuits described above, a correspondingly fast electrical control of the electric motor 1 is required because of the extremely fast cycle times. Circuits with field programmable gate arrays (FPGAs) are advantageously suitable for this purpose, whereby, of course, a model with sufficient dynamics must also be taken into account when selecting the electric motor 1.

Claims (10)

  1. An electrohydraulic motor-pump unit, comprising an unsteadily conveying displacement pump (1) which is arranged for conveying hydraulic fluid in a hydraulic system, an electric motor (2) coupled with the displacement pump (1) and arranged for driving the displacement pump (1), and an electrical control device (3) coupled with the electric motor (2) and arranged for controlling the electric motor,
    characterized by a detector (5) which is arranged for capturing a pulsation parameter which originates from a pulsation arising due to unsteady conveyance of hydraulic fluid in a hydraulic system and a modulator as part of the electrical control device (3), which is arranged for modulating a drive torque (M) or a rotating speed of the electric motor (2) for driving the displacement pump (1) in accordance with a conveying frequency of the displacement pump (1) on the basis of the captured pulsation parameter, wherein the motor-pump unit comprises as a detector an evaluation circuit which is arranged for capturing as the pulsation parameter the drive torque (M0) of the electric motor (2).
  2. The motor-pump unit according to claim 1, wherein the displacement pump (1), the electric motor (2) and the electrical control device (3) are housed in a common housing block having hydraulic connections (4) which are arranged for coupling the motor-pump unit to a hydraulic system.
  3. The motor-pump unit according to claim 2, wherein the housing block furthermore comprises a hydraulic fluid tank (7) for hydraulic fluid.
  4. The motor-pump unit according to any of claims 1 to 3, wherein the evaluation circuit is implemented in the electrical control device (3).
  5. The motor-pump unit according to any of claims 1 to 4, wherein the modulator comprises a circuit with an FPGA (field programmable gate array).
  6. A hydraulic system, comprising hydraulic lines (8) and a motor-pump unit according to any of claims 1 to 5 connected to said hydraulic lines (8).
  7. A method for conveying hydraulic fluid in a hydraulic system by means of an electrically driven, unsteadily conveying displacement pump (1), comprising the step of smoothing a pulsation of the hydraulic fluid in the hydraulic system, arising on due to the unsteady conveyance, by modulating a drive torque (M) or a rotating speed of the electrical drive (2) in accordance with a conveying frequency of the displacement pump (1)
    characterized in that in the smoothing step a torque pulsation (M0) measured on the electrical drive as a pulsation parameter characterizing the pulsation is captured and the drive torque (M) or the rotational speed of the electrical drive (2) is modulated on the basis of the measured electrical drive.
  8. The method according to claim 7, wherein the modulating of the drive torque (M) or of the rotating speed of the electrical drive is effected via a circuit with an FPGA (field programmable gate array).
  9. The method according to any of claims 7 or 8 employing a motor-pump unit according to any of claims 1 to 5.
  10. The method according to any of claims 7 or 8 in a hydraulic system according to claim 6.
EP15153042.5A 2014-02-27 2015-01-29 Method for conveying hydraulic fluid and electrohydraulic motor-pump unit for same Active EP2913526B1 (en)

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