EP2913526B1 - Procédé de transport de fluide hydraulique et unité de pompe/moteur électrohydraulique associée - Google Patents

Procédé de transport de fluide hydraulique et unité de pompe/moteur électrohydraulique associée 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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Application number
EP15153042.5A
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German (de)
English (en)
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EP2913526A1 (fr
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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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.

Claims (10)

  1. Unité de pompe à moteur électro-hydraulique comprenant une pompe volumétrique (1) à refoulement discontinu conçue pour refouler du fluide hydraulique dans un système hydraulique, un moteur électrique (2) couplé à la pompe volumétrique (1) et conçu pour entraîner la pompe volumétrique (1), et un dispositif électrique de commande (3) couplé au moteur électrique (2) et conçu pour commander le moteur électrique,
    caractérisé par un détecteur (5) conçu pour saisir un paramètre de pulsation émanant d'une pulsation engendrée par un refoulement discontinu de fluide hydraulique dans le système hydraulique, et un modulateur qui fait partie du dispositif électrique de commande (3) et qui est conçu pour moduler un couple d'entraînement (M) ou une vitesse de rotation du moteur électrique (2) pour entraîner la pompe volumétrique (1) en fonction d'une fréquence de refoulement de la pompe volumétrique (1) sur la base du paramètre de pulsation saisi, cependant que l'unité de pompe à moteur comprend en tant que détecteur (5) un circuit d'évaluation conçu pour saisir le couple d'entraînement (M0) du moteur électrique (2) en tant que le paramètre de pulsation.
  2. Unité de pompe à moteur selon la revendication 1, cependant que la pompe volumétrique (1), le moteur électrique (2) et le dispositif électrique de commande (3) sont logés dans un bloc commun de boîtier ayant des raccordements hydrauliques (4) conçus pour le couplage de l'unité de pompe à moteur à un système hydraulique.
  3. Unité de pompe à moteur selon la revendication 2, cependant que le bloc de boîtier comprend en outre un réservoir à fluide hydraulique (7) pour le fluide hydraulique.
  4. Unité de pompe à moteur selon une des revendications de 1 à 3, cependant que le circuit d'évaluation est mis en œuvre dans le dispositif électrique de commande (3).
  5. Unité de pompe à moteur selon une des revendications de 1 à 4, cependant que le modulateur comprend un circuit doté d'un FPGA (Field Programmable Gate Array).
  6. Système hydraulique comprenant des conduites hydrauliques (8) et une unité de pompe à moteur selon une des revendications de 1 à 5 raccordée aux conduites hydrauliques (8).
  7. Procédé de refoulement de fluide hydraulique dans un système hydraulique au moyen d'une pompe volumétrique (1) à refoulement discontinu entraînée électriquement, comprenant l'étape du lissage d'une pulsation émanant d'une pulsation engendrée par un refoulement discontinu du fluide hydraulique dans le système hydraulique, ce qui a lieu en ce qu'un couple d'entraînement (M) ou une vitesse de rotation de l'entraînement électrique (2) est modulé(e) en fonction d'une fréquence de refoulement de la pompe volumétrique (1),
    caractérisé en ce que, lors de l'étape du lissage, une pulsation de couple (M0) mesurée à l'entraînement électrique est saisie en tant qu'un paramètre de pulsation caractérisant la pulsation et que le couple d'entraînement (M) ou la vitesse de rotation du moteur électrique (2) est modulé(e) sur la base de la pulsation de couple mesurée.
  8. Procédé selon la revendication 7, cependant que la modulation du couple d'entraînement (M) ou de la vitesse de rotation de l'entraînement électrique a lieu par l'intermédiaire d'un circuit doté d'un FPGA (Field Programmable Gate Array).
  9. Procédé selon la revendication 7 ou 8 avec utilisation d'une unité de pompe à moteur selon une des revendications de 1 à 5.
  10. Procédé selon la revendication 7 ou 8 dans un système hydraulique selon la revendication 6.
EP15153042.5A 2014-02-27 2015-01-29 Procédé de transport de fluide hydraulique et unité de pompe/moteur électrohydraulique associée Active EP2913526B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102014102591.1A DE102014102591A1 (de) 2014-02-27 2014-02-27 Verfahren zum Fördern von Hydraulikfluid und elektrohydraulische Motor-Pumpen-Einheit dafür

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Publication Number Publication Date
EP2913526A1 EP2913526A1 (fr) 2015-09-02
EP2913526B1 true EP2913526B1 (fr) 2020-04-22

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US (1) US20150240812A1 (fr)
EP (1) EP2913526B1 (fr)
DE (1) DE102014102591A1 (fr)

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EP2913526A1 (fr) 2015-09-02
US20150240812A1 (en) 2015-08-27
DE102014102591A1 (de) 2015-08-27

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