EP3243965B1 - Commande d'une soupape proportionnelle électrique - Google Patents

Commande d'une soupape proportionnelle électrique Download PDF

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Publication number
EP3243965B1
EP3243965B1 EP16169558.0A EP16169558A EP3243965B1 EP 3243965 B1 EP3243965 B1 EP 3243965B1 EP 16169558 A EP16169558 A EP 16169558A EP 3243965 B1 EP3243965 B1 EP 3243965B1
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EP
European Patent Office
Prior art keywords
hydraulic
proportional valve
electric proportional
electric
pressure differential
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Application number
EP16169558.0A
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German (de)
English (en)
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EP3243965A1 (fr
Inventor
Sebastian JACOB
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Caterpillar Inc
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Caterpillar Inc
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/05—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed specially adapted to maintain constant speed, e.g. pressure-compensated, load-responsive
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3144—Directional control characterised by the positions of the valve element the positions being continuously variable, e.g. as realised by proportional valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/35—Directional control combined with flow control
    • F15B2211/351—Flow control by regulating means in feed line, i.e. meter-in control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/35—Directional control combined with flow control
    • F15B2211/353—Flow control by regulating means in return line, i.e. meter-out control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6652—Control of the pressure source, e.g. control of the swash plate angle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6654—Flow rate control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members

Definitions

  • the present disclosure generally relates to an electric proportional valve and in particular to an electric proportional valve of a hydraulic excavator attachment and to a method for controlling an electronic proportional valve of a hydraulic excavator attachment.
  • Hydraulic excavators use hydraulic pumps to provide a certain flow of hydraulic fluid to a so-called auxiliary valve.
  • the auxiliary valve controls operation of components of the hydraulic excavator such as a bucket, a grapple or other hydraulic excavator attachments.
  • the hydraulic pump and the valve are controlled electrically, the required flow to be provided to the auxiliary valve is calculated based on an expected spool position of the valve to meet a certain margin pressure across the valve.
  • the hydraulic attachment can be operated as desired.
  • US 2003/0125840 A1 refers to a method for controlling hydraulic flow through a valve in fluid communication with a pump and a hydraulic actuator.
  • the method includes monitoring load pressure of the valve, and selecting a flow limit and a pressure limit of the valve.
  • a flow-pressure relationship in the valve is determined based on the flow limit, the pressure limit, and a desired flow-pressure characteristic.
  • a hydraulic flow rate command is computed based on the determined flow pressure relationship and the monitored load pressure of the valve.
  • US 2007/0044650 A1 refers to a valve system including a controller and a valve including a valve element and a valve bare.
  • the valve element is selectively movable relative to the valve bare at least partially in response to a signal communicated from a controller.
  • the communicated signal is at least partially based on a load on the actuator and a determined pressured drop.
  • Tue determined pressure drop is at least partially based on a hysteretic filter.
  • US 2003/0115866 A1 discloses a method according to the preamble of claim 1.
  • the hydraulic flow to a hydraulic actuator in fluid communication with a pump is controlled.
  • the method includes generating a signal representative of a speed of the pump and selecting a relationship from a plurality of relationships between valve commands and an operator input. The selection is based upon the speed signal.
  • a valve is modulated to control the hydraulic flow to the hydraulic actuator based on the selected relationship and the operator input.
  • the present disclosure is directed, at least in part, to improving or overcoming one or more aspects of prior systems.
  • a method for controlling an electric proportional valve of a hydraulic excavator attachment is disclosed.
  • the electric proportional valve is controllable based on an electric input to the electric proportional valve.
  • the electric proportional valve is connected to a hydraulic actuator for actuating the hydraulic excavator attachment and to a hydraulic pump for providing a flow of hydraulic fluid to the electric proportional valve.
  • the method comprises operating the hydraulic pump at a desired flow rate depending on the hydraulic excavator attachment; setting a desired pressure differential over the electric proportional valve; determining an actual pressure differential over the electric proportional valve; determining a pressure deviation between the desired pressure differential and the actual pressure differential; and operating the electric proportional valve such that the actual pressure differential approaches the desired pressure differential.
  • a hydraulic excavator attachment of a hydraulic excavator includes a hydraulic pump configured to provide a flow of hydraulic fluid to the hydraulic excavator attachment.
  • the hydraulic excavator attachment comprises a hydraulic actuator configured to actuate the hydraulic excavator attachment; an electric proportional valve fluidly connected to the hydraulic actuator and connectable the hydraulic pump; and a control unit electrically connected to the electric proportional valve and connectable to the hydraulic pump.
  • the control unit is configured to perform the method as exemplarily disclosed herein.
  • a hydraulic excavator comprises a hydraulic pump configured to provide a flow of hydraulic fluid; and a hydraulic excavator attachment as exemplarily disclosed herein, wherein the electric proportional valve is fluidly connected to the hydraulic pump and the control unit is electrically connected to the hydraulic pump.
  • the present disclosure is based in part on the realization that electric proportional valves that are connected to a hydraulic actuator for operating a hydraulic excavator attachment are subjected to flow forces.
  • electric proportional valve refers to a high-pressure circuit electric proportional valve being controllable by an electric input provided to an electric proportional pressure reducing valve that is configured to control a pilot pressure of hydraulic fluid for moving a spool of the high-pressure circuit electric proportional between different positions.
  • the present disclosure is further based in part on the realization that these flow forces may reposition the valve spool such that a spool position different from the expected spool position occurs.
  • the present disclosure is further based in part on the realization that the repositioning of the spool is mainly caused by a return flow of hydraulic fluid from the hydraulic actuator to the tank.
  • the return flow of hydraulic fluid depends on the type of hydraulic actuator used, and as the type of hydraulic actuator used depends on the type of hydraulic excavator attachment to be controlled by the electric proportional valve, the flow forces acting on the spool vary depending on the hydraulic excavator attachment. As a result, the "correct" position of the spool is unknown.
  • the present disclosure is further based in part on the realization that a repositioned spool results in an "incorrect" pressure margin, i.e. an incorrect pressure differential across the electric proportional valve, which may have adverse effects on the operation of the hydraulic excavator attachment. For example, if the margin pressure is too low, the hydraulic excavator attachment may fail to operate.
  • an "incorrect" pressure margin i.e. an incorrect pressure differential across the electric proportional valve
  • the present disclosure is further based in part on the realization that the incorrect pressure margin can be corrected by offsetting the position of the spool until the actual pressure differential approaches the correct (desired) pressure differential. Or in other words, the electric proportional valve is recalibrated so that the actual pressure margin that is measured equals the desired pressure margin that is set independent of the type of hydraulic actuator attached.
  • the present disclosure is further based in part on the realization that for some hydraulic excavator attachments such as a grapple, the flow of hydraulic fluid needs to be sent to the hydraulic actuator within a very short time frame of some seconds or even some tenths of a second. Hence, it was realized that recalibrating the electric proportional valve - or offsetting the spool position - cannot be achieved by conventional feedback loop strategies which would exceed the very short time frame. Instead, it was realized that a feed forward command is necessary.
  • the present disclosure is further based in part on the realization that a procedure for offsetting the spool position is performed by determining an actual pressure differential over the electric proportional valve, comparing the actual pressure differential (actual margin pressure) with a desired pressure differential (desired margin pressure) and associating the determined pressure deviation with an electric input value (electric input offset value) that is necessary to reposition the spool accordingly.
  • Fig. 1 shows an exemplary hydraulic excavator 10.
  • Hydraulic excavator 10 includes an undercarriage 12 with ground engaging elements such as wheels 14 or tracks.
  • Hydraulic excavator 10 further includes an uppercarriage 16 rotatably connected to undercarriage 12.
  • Uppercarriage 16 includes an internal combustion engine 18 powering hydraulic excavator 10 and an operator cabin 20 for operating hydraulic excavator 10.
  • Uppercarriage 16 further includes an implement 22.
  • Implement 22 includes a boom 24 connected to uppercarriage 16 and a stick 26 connected to boom 24.
  • Stick 26 is further connected to a hydraulic excavator attachment 28.
  • hydraulic excavator attachment 28 is a grapple.
  • hydraulic excavator attachments 28 are, for example, a milling drum, a pulverizer etc.
  • operator cabin 20 includes one or more attachment actuation operator elements 21, such as a joystick or a slider.
  • Hydraulic excavator 10 further includes various hydraulic actuators for controlling various components of hydraulic excavator 10.
  • hydraulic excavator 10 includes as a boom actuator 30 for moving boom 24 relative to uppercarriage 16 and a stick actuator 32 for moving stick 26 relative to boom 24.
  • Hydraulic excavator 10 further includes a hydraulic excavator attachment actuator 34 (short: hydraulic actuator 34) for actuating hydraulic excavator attachment 28.
  • hydraulic actuator 34 controls, for example, an opening and closing motion of the grapple.
  • hydraulic actuator 34 may control other and more complex motions depending on the type of hydraulic excavator attachment 28 used.
  • hydraulic actuator 34 may be a cylindrical actuator including a hydraulic cylinder, or may be an electric motor.
  • Hydraulic excavator 10 further includes a hydraulic pump 36 powered by internal combustion engine 18.
  • Hydraulic pump 36 is a calibrated pump and configured to provide a desired flow rate of hydraulic fluid to the hydraulic actuators such as hydraulic actuator 34.
  • a tank (item 48 in Fig. 2 ) is connected to hydraulic pump 36. Tank 48 acts as a source of hydraulic fluid.
  • control system 40 for controlling an electric proportional valve 42 is shown.
  • control system 40 includes hydraulic pump 36, hydraulic actuator 34 connected to hydraulic pump 36 and hydraulic excavator attachment 28 (schematically illustrated by a box) connected to hydraulic actuator 34.
  • hydraulic excavator attachment 28 and hydraulic actuator 34 are connected via a rod 37.
  • hydraulic actuator 34 is a cylinder-type hydraulic actuator 34.
  • Control system 40 further includes electric proportional valve 42 interconnected between hydraulic pump 36 and hydraulic actuator 34.
  • Electric proportional valve 42 is configured to control a flow of hydraulic fluid between hydraulic pump 36 and hydraulic actuator 34 as will be explained.
  • Electric proportional valve 42 includes a spool 44 movable between different positions based on an electric input provided to electric proportional valve 42.
  • Spool 44 includes two metering orifices 46 arranged on spool 44.
  • a first metering orifice (meter-out orifice 54) is connected to a bottom side 50 of hydraulic actuator 34.
  • a second metering orifice (meter-in orifice 56) is connected to a rod side 52 of hydraulic actuator 34.
  • Both metering orifices 46 are shaped such that a cross-sectional area of metering orifices 46 changes in dependence of a position of spool 44.
  • the position of spool 44 depends on an electric input provided to electric proportional valve 42 (indicated by the "EP" box).
  • spool 44 upon applying a certain electric input value to electric proportional valve 42, a position of spool 44 changes, which in turn changes the cross-sectional area of metering orifices 46, which in turn changes a pressure differential (margin pressure) across electric proportional valve 42.
  • spool 44 may be a rod and metering orifices 46 may be circumferential notches arranged on a circumferential face of the rod.
  • Hydraulic fluid provided by tank 48 flows through hydraulic pump 36, through meter-out orifice 54 and from there to bottom side 50 of hydraulic actuator 34.
  • hydraulic fluid flows from rod side 52 of hydraulic actuator 34 through meter-in orifice 56 and from there to a discharge tank 58.
  • Discharge tank 58 and tank 48 may be the same tank or may be different tanks.
  • the flow of hydraulic fluid from hydraulic pump 36 to bottom side 50 is called supply flow.
  • the flow of hydraulic fluid from rod side 52 to discharge tank 58 is called return flow.
  • hydraulic actuator 34 may be termed a "cylinder-type hydraulic actuator" or a "rotating-type hydraulic actuator".
  • the flow rate ratio of supply flow to return flow is 1:1.
  • the flow rate ratio of supply flow to return flow has values other than 1:1, for example, 1:2 or 1:4.
  • Examples of hydraulic excavator attachments 28 that require a cylinder-type hydraulic actuator 34 are pulverizers or grapples.
  • Examples of hydraulic excavator attachments 28 that require a rotating-type hydraulic actuator 34 are compactors or milling drums.
  • Control system 40 further includes a control unit 60.
  • Control unit 60 controls electric proportional valve 42 and hydraulic pump 36 as indicated schematically in Fig. 2 by the dashed lines connecting control unit 60 to "EP" boxes of electric proportional valve 42 and hydraulic pump 36.
  • Control unit 60 controls, among other operations, for example, a position of spool 44 and/or a flow rate of hydraulic pump 36.
  • Control system 40 further includes a first pressure sensor 61 arranged downstream of hydraulic pump 36 and upstream of electric proportional valve 42.
  • Control system 40 further includes a second pressure sensor 63 arranged downstream of electric proportional valve 42 and upstream of hydraulic actuator 34.
  • First and second pressures sensors 61, 63 are both connected to control unit 60 as indicated by the dashed lines.
  • Control unit 60 may, for example, measure the pressure differential or margin pressure over electric proportional valve 42.
  • electric proportional valve 42 is a four-connection three-port electric proportional valve 42.
  • Such an electric proportional valve is also known as 4/3 electric proportional valve.
  • the electric proportional valve may be a 7/3 electric proportional valve.
  • electric proportional valve 42 includes a first position 62, a second position 64 and a third position 66.
  • first position 62 hydraulic pump 36 provides hydraulic fluid via first orifice 54 to bottom side 50.
  • second position 64 hydraulic pump 36 provides hydraulic fluid via second orifice 56 to rod side 52.
  • second position 64 hydraulic fluid flows from bottom side 50 via first orifice 54 to discharge tank 58.
  • third position 66 hydraulic pump 36 and discharge tank 58 are both disconnected from hydraulic actuator 34.
  • electric proportional valve 42 is biased towards third position 66, whereas first and second positions 62, 64 can be electrically controlled by control unit 60 (indicated by the dashed lines between "EP" boxes and control unit 60).
  • control unit 60 indicated by the dashed lines between "EP" boxes and control unit 60.
  • spool 44 is moved a certain distance from third position 66 towards first position 62 or from third position 66 towards second position 64.
  • first and second orifices 54, 56 are arranged on spool 44, changing the spool position between first and second positions 62, 64, also changes a cross-sectional area of first and second orifices 54, 56 thereby changing a pressure differential across electric proportional valve 42.
  • a shuttle valve 59 is interconnected between the line connecting bottom side 50 to electric proportional valve 42 and the line connecting rod side 52 to electric proportional valve 42.
  • Shuttle valve 59 is further connected to second pressure sensor 63.
  • second pressure sensor 63 always measures the highest pressure of the pressures present in the lines connecting bottom side 50 and rod side 52 to electric proportional valve 42.
  • the pressure measured by second pressure sensor 63 may also be called load sense pressure.
  • the procedure is applicable to any electric proportional valve, for example, electric hydraulic valves.
  • exemplary electric proportional valves suitable for the procedure are, for example, the electric proportional valves used in D-series or F-series hydraulic excavators manufactured by Caterpillar Inc.
  • One skilled in the art will, however, acknowledge that the disclosed procedure may be applied to other machines using electric proportional valves as well.
  • hydraulic pump 36 is operated at a desired flow rate depending on requirements of hydraulic excavator attachment 28.
  • the desired flow rate depends on the type of hydraulic excavator attachment 28 to be used and on a position of attachment actuation operator element 21 (joystick, slider, etc.).
  • a desired flow rate of 50% of the maximal flow rate is provided by hydraulic pump 36. Sticking to the above example of a maximal flow rate of 100 liters per minute and an attachment actuation operator element position of 50%, hydraulic pump 36 would be operated to provide a desired flow rate of 50 liters per minute.
  • Desired pressure differential ⁇ p is a system based pressure differential.
  • desired pressure differential ⁇ p is 25 bar.
  • Desired pressure differential ⁇ p is set by positioning spool 44 based on a nominal electric input value.
  • the nominal electric input value is provided by a nominal electric input map 400 (see Fig. 4 ).
  • Nominal electric input map 400 is a function of the desired flow rate and provides nominal electric input values 402 (see Fig. 4 ) for electric proportional valve 42 so that the desired pressure differential ⁇ p over electric proportional valve 42 would be achieved.
  • spool 44 is positioned based on nominal electric input map 400 from which desired pressure differential ⁇ p is expected.
  • Nominal electric input map 400 is either preset by the manufacturer of electric proportional valve 42 or is adapted to hydraulic excavator attachment 28.
  • Nominal electric input map 400 may depend, for example, on a flow rate ratio between bottom side 50 and rod side 52 of hydraulic actuator 34 or may further depend on the type of hydraulic actuator 34 such as a cylinder-type hydraulic actuator 34 or a rotating-type hydraulic excavator 34. Moreover, nominal electric input map 400 may be provided specifically for meter-out orifice 54 and meter-in orifice 56. A typical nominal electric input value provided by nominal electric input map 400 is in a range between about 200 mA and about 800 mA. Control unit 60 can readily access nominal electric input map 400 to control electric proportional valve 42.
  • an actual pressure differential ⁇ p' over electric proportional valve 42 is determined.
  • Actual pressure differential ⁇ p' is measured by control unit 60 from readings of first and second pressure sensors 61, 63.
  • the desired flow rate to be provided by hydraulic pump 36 remains constant.
  • the desired flow rate requires a certain spool position for electric proportional valve 42 to provide the desired pressure differential ⁇ p
  • the actual pressure differential ⁇ p' is only determined for a "steady" position of attachment actuation operator element 21.
  • the procedure therefore monitors the position of attachment actuation operator element 21 over a period of time, calculates a position mean and a position variation and determines the actual pressure differential ⁇ p' only, when the position variation is below a threshold value of the position mean.
  • the position is monitored over a period of time between about 0.1 s and about 0.5 s, and the desired pressure differential is set only when the position variation is below ⁇ 1% to ⁇ 5% of the position mean.
  • the position is monitored over a period of time of about 0.2 seconds and the threshold value is about ⁇ 2% of the position mean.
  • a pressure deviation ⁇ p - ⁇ p' is determined.
  • electric proportional valve 42 is controlled such that the actual pressure differential ⁇ p' approaches the desired pressure differential ⁇ p.
  • a position of spool 44 is controlled so that the determined pressure deviation ⁇ p - ⁇ p' approaches a value of about zero. Control of electric proportional valve 42 is now explained in more detail with respect to Fig. 4 .
  • Fig. 4 shows an exemplary calibration characteristic of electric proportional valve 42.
  • values of attachment actuation operator element 21 are plotted. As mentioned, these values are associated with a desired flow rate of hydraulic fluid to hydraulic actuator 34. For example, for a desired flow rate of 100 liters per minute, a value of 50% corresponds to 50 liters per minute.
  • electric input values for electric proportional valve 42 are plotted.
  • Nominal electric input map 400 is schematically illustrates as a linear function. In other examples, the nominal electric input map 400 may have other shapes as well.
  • Map 410 is a function of preset pressure deviations ⁇ p - ⁇ p' and provides the electric input values that are necessary to reposition spool 44 so that the actual pressure differential ⁇ p' approaches the desired pressure differential ⁇ p.
  • map 410 provides the electric input "offset" values 444 that are added to nominal electric input values 402 to recalibrate electric proportional valve 42.
  • electric input "offset" values 444 will constantly adapt until the actual pressure differential ⁇ p' has approached the determined pressure differential ⁇ p.
  • the final electric input "offset” values 444 thus obtained can then be stored as a so-called offset map.
  • Control unit 60 has access to the offset map and adds the final electric input offset values 444 to nominal electric input values 402 in order to obtain the final characteristic.
  • electric proportional valve 42 can be recalibrated and used with hydraulic excavator attachment 28.
  • the procedure can further store multiple offset maps, each offset map corresponding to a specific hydraulic excavator attachment 28.
  • control unit 60 reads the offset map and the nominal electric input map both corresponding to the second hydraulic excavator attachment and primes electric proportional valve 42 for use with the second hydraulic excavator attachment.
  • the procedure starts anew and obtains electric input "offset" values 444 from map 410 as explained above.
  • Map 410 includes a curve 430 that assigns electric input values to preset pressure deviations 440.
  • Curve 430 has been determined from measurements in the field.
  • the determined pressure deviation ⁇ p - ⁇ p' is compared with preset pressure deviations 440 provided in map 410.
  • the preset pressure deviation that is closest to the determined pressure deviation (marked by arrow 442) is chosen and the appropriate electric input "offset" value (marked by arrow 444) is added to nominal electric input value 402.
  • various maps 410 are provided for various preset positions 448 of attachment actuation operator element 21.
  • Fig. 4 shows a first map 450 for a position of 25% attachment actuation operator element 21, and a second map 460 for a position of 100% attachment actuation operator element 21.
  • a positive electric input value (arrow 444 in first map 450) is obtained and in the second map 460, a negative electric input value (arrow 444 in second map 460) is obtained.
  • curves 430 of first and second maps 450, 460 may not be the same.
  • curve 430 of first map 450 may constantly increase, whereas curve 430 of second map 460 may plateau for high pressure deviations.
  • the procedure compares the actual position with the preset positions 448 and selects the map 410 that corresponds to the preset position 448 closest to the actual position.
  • margins are provided around preset positions 448.
  • the map 410 is selected that corresponds to a preset position where the actual position falls within the margin of the preset position 448.
  • maps 410 may also depend on a temperature and/or a viscosity of the hydraulic fluid.
  • control unit 60 may be connected to a temperature sensor and/or may have access to a viscosity-temperature-curve.
  • repositioning of spool 44 requires a certain time for the hydraulic system to settle, i.e. reach a steady state.
  • the procedure therefore applies a waiting time before each time the actual pressure differential ⁇ p' is determined.
  • the waiting time depends on the iteration the procedure executes. For example, in the first iteration, a first waiting time is applied and in a second iteration and in further iterations, a second waiting time is applied.
  • the first waiting time is in a range between about 0.5 seconds to about 1.0 seconds, preferably about 0.8 seconds.
  • the second waiting time is in a range between about 1.5 seconds to about 3.0 seconds, preferably about 2 seconds.
  • electric proportional valves 42 can be recalibrated in a very short time frame so that hydraulic excavator attachments 28 operating in a very short time frame, such as a grapple, can be used with the recalibrated electric proportional valve 42.
  • the second, longer waiting time which can also be termed “settle time"
  • ttle time allows the hydraulic system to achieve a steady state after spool 44 has been repositioned by the procedure.
  • the herein described control procedure for an electric proportional valve allows control and recalibration of electric proportional valves in an iterative feed forward command.
  • the electric proportional valve recalibrates itself in dependence of the desired flow rate at hand.
  • the actual flow rate and the actual margin pressure are about 95% to about 105% of the desired flow rate and the desired margin pressure so that the hydraulic excavator attachments and the hydraulic excavator implements can be operated as desired.
  • the procedure allows an immediate and accurate flow sharing between the hydraulic fluid consumers.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Claims (15)

  1. Procédé de commande d'une soupape électrique proportionnelle (42) d'un accessoire d'excavateur hydraulique (28), la soupape électrique proportionnelle (42) pouvant être commandée sur la base d'une entrée électrique dans la soupape électrique proportionnelle (42), étant connectée à un actionneur hydraulique (34) pour actionner l'accessoire d'excavateur hydraulique (28) et étant connectée à une pompe hydraulique (36) pour fournir un flux de fluide électrique à la soupape électrique proportionnelle (42),
    caractérisé en ce que
    le procédé comprend :
    le fonctionnement de la pompe hydraulique (36) à un débit souhaité qui est fonction de l'accessoire d'excavateur hydraulique (28) ;
    le réglage d'un différentiel de pression souhaité (Δp) sur la soupape électrique proportionnelle (42) ;
    la détermination d'un différentiel de pression réel (Δp') sur la soupape électrique proportionnelle (42) ;
    la détermination d'un écart de pression (Δp-Δp') entre le différentiel de pression souhaité (Δp) et le différentiel de pression réel (Δp') ; et
    le fonctionnement de la soupape électrique proportionnelle (42) de sorte que le différentiel de pression réel (Δp') se rapproche du différentiel de pression souhaité (Δp).
  2. Procédé selon la revendication 1, dans lequel le fonctionnement de la soupape électrique proportionnelle (42) comprend en outre :
    la fourniture d'une carte (410) de valeurs d'entrée électriques associées à l'écart de pression déterminé (Δp-Δp') ; et
    le réglage d'une valeur d'entrée électrique pour la soupape électrique proportionnelle (42) en fonction de l'écart de pression déterminé (Δp-Δp').
  3. Procédé selon les revendications 1 ou 2, dans lequel le réglage d'une valeur d'entrée électrique comprend en outre :
    la comparaison de l'écart de pression déterminé (Δp-Δp') à des écarts de pression préétablis (440) fournis dans la carte (410) ; et
    la sélection de la valeur d'entrée électrique (444) qui correspond à l'écart de pression préétabli (442) le plus proche de l'écart de pression déterminé (Δp-Δp').
  4. Procédé selon les revendications 2 ou 3, dans lequel la carte (410) de valeurs d'entrée électriques dépend d'une température et/ou d'une viscosité du fluide hydraulique.
  5. Procédé selon l'une quelconque des revendications 2 à 4, dans lequel le débit souhaité est associé à une position d'un élément d'opérateur d'actionnement d'accessoire (21) et la carte (410) de valeurs d'entrée électriques dépend de la position de l'élément d'opérateur d'actionnement d'accessoire (21).
  6. Procédé selon la revendication 5, dans lequel la carte (410) de valeurs d'entrée électriques est fournie pour des positions préétablies (448) de l'élément d'opérateur d'actionnement d'accessoire (21) et le procédé comprend en outre :
    l'association de la position de l'élément d'opérateur d'actionnement d'accessoire (21) à une position réelle ;
    la comparaison de la position réelle aux positions préétablies (448) ; et
    la sélection de la carte (450, 460) qui correspond à la position préétablie la plus proche de la position réelle.
  7. Procédé selon l'une quelconque des revendications 1 à 6, dans lequel le fonctionnement de la pompe hydraulique (36) à un débit souhaité comprend en outre :
    l'association du débit souhaité à une position d'un élément d'opérateur d'actionnement d'accessoire (21) et le procédé comprenant en outre :
    la surveillance de la position de l'élément d'opérateur d'actionnement d'accessoire (21) sur une certaine période de temps ;
    le calcul d'un moyenne de position et d'une variation de position ; et
    la réalisation de l'étape de détermination du différentiel de pression réel (Δp') uniquement lorsque la variation de position se situe en dessous d'une valeur de seuil de la moyenne de position.
  8. Procédé selon la revendication 7, dans lequel la période de temps se situe dans une plage comprise entre environ 0,1 seconde et environ 0,5 seconde et/ou dans lequel la valeur de seuil se situe dans une plage comprise entre environ ±1 % et environ ±5 %.
  9. Procédé selon l'une quelconque des revendications 1 à 8, dans lequel le réglage d'un différentiel de pression souhaité (Δp) comprend en outre :
    la fourniture d'une carte d'entrées électriques nominale (400) incluant des valeurs d'entrées électriques nominales (402) configurées pour obtenir le différentiel de pression souhaité (Δp), la carte d'entrée électrique nominale (400) dépendant d'un rapport de débit entre un flux d'alimentation de fluide hydraulique à l'actionneur hydraulique (34) et un flux de retour de fluide hydraulique depuis l'actionneur hydraulique (34).
  10. Procédé selon la revendication 9, dans lequel la carte d'entrée électrique nominale (400) dépend d'un type d'actionneur hydraulique (34) tel qu'un actionneur hydraulique de type rotatif (34), dans lequel le rapport de débit est de 1:1, ou un actionneur hydraulique de type cylindrique (34), dans lequel le rapport de débit n'est pas égal à 1:1.
  11. Procédé selon l'une quelconque des revendications 1 à 10, dans lequel la soupape électrique proportionnelle (42) inclut une bobine (44) mobile entre différentes positions sur la base de l'entrée électrique fournie à la soupape électrique proportionnelle (42) et l'étape de fonctionnement de la soupape électrique proportionnelle (42) comprend en outre :
    le positionnement de la bobine (44) de sorte que le différentiel de pression réel (Δp') se rapproche du différentiel de pression souhaité (Δp),
    dans lequel le positionnement de la bobine (44) comprend :
    le changement d'une surface en coupe transversale d'un orifice de mesure (46) agencé sur la bobine (44).
  12. Procédé selon l'une quelconque des revendications 1 à 11, comprenant en outre :
    l'application d'un temps d'attente avant l'étape de détermination du différentiel de pression réel (Δp').
  13. Procédé selon la revendication 12, dans lequel les étapes de détermination d'un différentiel de pression réel (Δp'), de détermination d'un écart de pression (Δp-Δp') et de commande de la soupape électrique proportionnelle (42) sont effectuées pour de multiples itérations et le temps d'attente inclut un premier temps d'attente pour la première itération et un second temps d'attente plus long pour la seconde itération et les autres itérations.
  14. Accessoire d'excavateur hydraulique (28) d'un excavateur hydraulique (10), l'excavateur hydraulique (10) incluant une pompe hydraulique (36) configurée pour fournir un flux de fluide hydraulique à l'accessoire d'excavateur hydraulique (28), l'accessoire d'excavateur hydraulique (28) comprenant :
    un actionneur hydraulique (34) configuré pour actionner l'accessoire d'excavateur hydraulique (28) ;
    une soupape électrique proportionnelle (42) en communication fluidique avec l'actionneur hydraulique (34) et qui peut être raccordée à la pompe hydraulique (36) ; et
    une unité de commande (60) connectée au plan électrique avec la soupape électrique proportionnelle (42) et qui peut être connectée à la pompe hydraulique (36), dans lequel l'unité de commande (60) est configurée pour effectuer le procédé selon l'une quelconque des revendications 1 à 13.
  15. Excavateur hydraulique (10) comprenant :
    une pompe hydraulique (36) configurée pour fournir un flux de fluide hydraulique ; et
    un accessoire d'excavateur hydraulique (28) selon la revendication 14, dans lequel la soupape électrique proportionnelle (42) est en communication fluidique avec la pompe hydraulique (36) et l'unité de commande (60) est en communication électrique avec la pompe hydraulique (36).
EP16169558.0A 2016-05-13 2016-05-13 Commande d'une soupape proportionnelle électrique Active EP3243965B1 (fr)

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Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7007466B2 (en) * 2001-12-21 2006-03-07 Caterpillar Inc. System and method for controlling hydraulic flow
US6725131B2 (en) * 2001-12-28 2004-04-20 Caterpillar Inc System and method for controlling hydraulic flow
US7210396B2 (en) * 2005-08-31 2007-05-01 Caterpillar Inc Valve having a hysteretic filtered actuation command

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