EP3249241B1 - Method for determining the final position of a hydraulic cylinder of working hydraulic system of a mobile working machine, in particular an industrial truck - Google Patents
Method for determining the final position of a hydraulic cylinder of working hydraulic system of a mobile working machine, in particular an industrial truck Download PDFInfo
- Publication number
- EP3249241B1 EP3249241B1 EP17169361.7A EP17169361A EP3249241B1 EP 3249241 B1 EP3249241 B1 EP 3249241B1 EP 17169361 A EP17169361 A EP 17169361A EP 3249241 B1 EP3249241 B1 EP 3249241B1
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- European Patent Office
- Prior art keywords
- hydraulic cylinder
- hydraulic
- movement
- hydraulic pump
- pump
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- 238000000034 method Methods 0.000 title claims description 20
- 230000009849 deactivation Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 description 14
- 238000010276 construction Methods 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 3
- 230000007935 neutral effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 208000003443 Unconsciousness Diseases 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Images
Classifications
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- 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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/28—Means for indicating the position, e.g. end of stroke
- F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
- F15B15/2838—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT with out using position sensors, e.g. by volume flow measurement or pump speed
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- 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
- F15B2211/20507—Type of prime mover
- F15B2211/20515—Electric motor
-
- 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
- F15B2211/20538—Type of pump constant 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
- F15B2211/60—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
-
- 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
- F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational speed
-
- 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
- F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
Definitions
- the invention relates to a method for determining the end position of a hydraulic cylinder of a working hydraulics of a mobile work machine, in particular an industrial truck, wherein the hydraulic cylinder is controlled by means of a control path valve which communicates with a hydraulic pump and a container, wherein for generating a movement of the hydraulic cylinder, the control way valve is operated in a control position and the hydraulic cylinder is supplied from the hydraulic pump via the operated in the control position control valve pressure medium.
- the movement of a hydraulic cylinder of the working hydraulics is requested and controlled by an operator by operating a control path valve in a corresponding control position, so that performs a hydraulic movement at the request of the operator and appropriate operation of the control valve in a control position of the hydraulic cylinder ,
- a valve opening is released at the control valve, so that the hydraulic cylinder can flow a certain pressure medium volume flow, which is provided by a hydraulic pump.
- the size of the pressure medium flow flowing to the hydraulic cylinder is determined and set by the size of the valve opening of the control travel valve operating in the control position.
- the pressure of the pressure medium increases when the control of the movement of the hydraulic cylinder is continued. If the pressure of the pressure medium reaches the setting pressure of a pressure limiting valve, which is provided in the working hydraulics to protect the components against overpressure, the pressure limiting valve opens and the pressure medium flow delivered by the hydraulic pump flows to a container. In the end position of the hydraulic cylinder in this case high loads occur The mechanical and hydraulic components of the working hydraulics, as the hydraulic pump provides the set pressure of the pressure relief valve, which corresponds to the maximum working pressure of the working hydraulics.
- the operating point at which a hydraulic cylinder moves against a mechanical end stop and the driving of the movement of the hydraulic cylinder is continued can not be reliably prevented without additional sensors, since the operator of the working machine is not always able to recognize that it triggers such an operating point in the control of a movement of the hydraulic cylinder, for example by environmental noise or unconscious triggering of this operating point.
- the present invention has for its object to provide a method for determining the end position of a hydraulic cylinder working hydraulics of a mobile machine, in particular an industrial truck, the type mentioned that no complex Wegmesssensorik on the hydraulic cylinder requires.
- This object is achieved in that is detected to determine the end position of the hydraulic cylinder when operated in the control position control valve in a first step, whether the hydraulic cylinder provided hydraulic power is too high for the movement of the hydraulic cylinder to be executed, and in a subsequent second Step is reduced to the hydraulic cylinder provided pressure medium volume flow, wherein it is determined during the reduction of the pressure provided to the hydraulic cylinder pressure medium volume flow, whether the hydraulic cylinder provided Asked hydraulic power is constantly too high for the movement of the hydraulic cylinder to be executed and when reaching a lower limit the hydraulic cylinder provided pressure fluid flow rate the end position of the hydraulic cylinder is detected.
- the first step forms the initial state, is determined in the actuated in the control position control valve and thus upon execution of a control of the hydraulic cylinder and detects whether the hydraulic cylinder provided hydraulic power is too high for the movement of the hydraulic cylinder to be executed. If it is detected and determined that the hydraulic power provided to the hydraulic cylinder is too high for the movement of the hydraulic cylinder to be executed, this state is interpreted as indicating that the end position of the hydraulic cylinder has been reached. In response to this, in the second step, the pressure medium volume flow provided to the hydraulic cylinder and thus the set volume flow are reduced.
- the hydraulic power provided to the hydraulic cylinder is constantly too high for the movement of the hydraulic cylinder to be performed. If that the hydraulic cylinder Provided hydraulic power during the reduction of the pressure medium flow rate is constantly too high for the movement of the hydraulic cylinder to be executed, the state "end position" is confirmed upon reaching a lower limit of the hydraulic cylinder made available pressure medium flow rate and the end position of the hydraulic cylinder detected. If in the second step, during the reduction of the pressure medium volume flow, the hydraulic power provided to the hydraulic cylinder should again assume plausible values, the state "end position" is reset to the initial state.
- the achievement of the mechanical end stop of the hydraulic cylinder and thus the end position of the hydraulic cylinder can be determined without expensive Wegmesssensorik on the hydraulic cylinder and thus with little construction effort in a control of a movement of the hydraulic cylinder.
- the hydraulic power provided to the hydraulic cylinder is calculated from the delivery pressure of the hydraulic pump and the volume flow of the hydraulic pump.
- the delivery pressure of the hydraulic pump can be determined in a simple manner by means of a corresponding pressure sensor.
- the volume flow of the hydraulic pump can be determined with low construction costs.
- the volume flow of the hydraulic pump is calculated from the displacement volume of the hydraulic pump and the rotational speed of the hydraulic pump. From the displacer volume of the hydraulic pump and the rotational speed of the hydraulic pump, the volumetric flow of the hydraulic pump and, in conjunction with the delivery pressure, the hydraulic power provided to the hydraulic cylinder can be calculated in a simple manner.
- the displacement volume of the hydraulic pump can be stored in an electronic control device performing the method. If a variable displacement pump is provided in the displacement volume, the current displacement volume can be determined by means of a corresponding sensor or determined by the electronic control device on the basis of the control signal of a displacement volume adjusting device of the variable displacement pump.
- the hydraulic pump is driven by an electric motor.
- the hydraulic power provided to the hydraulic cylinder can hereby be calculated in a simple manner from the torque or the electric current of the electric motor. If an electronic control device carrying out the method also actuates the electric motor, the hydraulic power provided to the hydraulic cylinder can be determined in a simple manner from the torque or the electric current of the electric motor in conjunction with the rotational speed of the electric motor.
- the first step it is determined whether the hydraulic power provided to the hydraulic cylinder is too high for the movement of the hydraulic cylinder to be performed.
- the hydraulic power provided to the hydraulic cylinder and thus the hydraulic power requested by the pump can be quantified as described above from the torque or electric current of the electric motor driving the hydraulic pump or by the pump speed in conjunction with a pressure sensor.
- a comparison of the hydraulic power requested by the hydraulic pump and thus the hydraulic power provided to the hydraulic cylinder with that hydraulic power which the hydraulic cylinder for the hydraulic movement to be executed requires the maximum, ie the maximum hydraulic power of the hydraulic cylinder.
- This maximum hydraulic power of the hydraulic cylinder which this requires for the hydraulic movement to be carried out, is known on the system side and can be stored, for example, as a parameter in an electronic control device carrying out the method according to the invention.
- the maximum hydraulic power of the hydraulic cylinder can be determined, for example, from the maximum working pressure of the working hydraulics, to which a working hydraulics against overloading protective pressure relief valve is set, or be provided by the structural design of the hydraulic cylinder available, as from the structural design of the hydraulic cylinder and whose movement to be executed is known, how much hydraulic power must be provided to the hydraulic cylinder maximum.
- the reduction of the hydraulic cylinder provided pressure medium volume flow is carried out according to a preferred embodiment of the invention by reducing the speed of the hydraulic pump and / or by reducing the displacer volume of the hydraulic pump and / or by reducing the valve opening of the control valve.
- an end position deactivation is performed, in which the movement of the hydraulic cylinder in the direction of movement preceding the end position is prevented.
- the operating point of the working hydraulics, on which the hydraulic cylinder moves against the mechanical end stop and the driving of the movement of the hydraulic cylinder is continued, is thus avoided, so that the wear of the components of the working hydraulics and the energy consumption of the working hydraulics and an overload of the components of the working hydraulics avoided can be.
- the detection of the end position of the hydraulic cylinder is terminated upon actuation of the control valve in a further control position which causes an opposite movement of the hydraulic cylinder.
- the state "end position" is reset to the initial state, so that the desired movement of the hydraulic cylinder in the opposite direction of movement can be performed.
- the determination of the end position of the hydraulic cylinder is stopped when not operating the control valves over a predetermined period of time. If there is no triggering of the movement of the hydraulic cylinder over the predetermined period of time, the state "end position" is reset to the initial state.
- FIGS. 1 and 2 is in each case a working hydraulics 1 a mobile machine, such as a truck, shown.
- a mobile machine such as a truck
- the same components are provided here with the same reference numerals.
- the working hydraulics 1 of FIGS. 1 and 2 has at least one consumer, which is designed as a hydraulic cylinder 2.
- the working hydraulics 1 For supplying the hydraulic cylinder 2 with pressure medium, the working hydraulics 1 to a hydraulic pump 3, which is driven by a drive motor 4.
- the drive motor 4 is formed as an electric motor 4a.
- the hydraulic pump 3 is operated in the open circuit.
- the hydraulic pump 3 sucks by means of a suction 5 pressure medium from a container 6 and conveys the pressure medium in a feed line. 7
- the hydraulic pump 3 is designed as a fixed displacement pump with a constant displacement volume.
- a control way valve 8 is provided for controlling the hydraulic cylinder 2.
- the control-way valve 8 is connected to the delivery line 7 of the hydraulic pump 3 and to a container line 9 guided to the container 6.
- the hydraulic cylinder 2 is designed as a double-acting hydraulic cylinder, which is connected by means of load lines 10a, 10b with the control-way valve 8.
- the control-way valve 8 has a neutral position 8a, in which the connection of the consumer lines 10a, 10b to the delivery line 7 and the container line 9 are shut off.
- the control-way valve 8 has a first control position 8b, in which the consumer line 10a is connected to the delivery line 7 and the consumer line 10b is connected to the container line 9.
- a movement of the hydraulic cylinder 2 is thus achieved in a first direction of movement, in the illustrated embodiment an extension movement of a piston rod 2a of the hydraulic cylinder. 2
- the control-way valve 8 has a second control position 8c, in which the consumer line 10b is connected to the delivery line 7 and the consumer line 10a to the container line 9.
- a movement of the hydraulic cylinder 2 is thus achieved in a second direction of movement, in the illustrated embodiment, a retraction movement of the piston rod 2a of the hydraulic cylinder. 2
- control-way valve 8 is designed as a proportional valve throttling in intermediate positions, which with increasing actuation in the control positions 8b or 8c releases an increasing valve opening from the delivery line 7 into the consumer line 10a or 10b.
- the control-way valve 8 is electrically actuated in the illustrated embodiment and is connected to the control with an electronic control device 15 in connection.
- the electronic control device 15 is further connected to an operator-operable control element 20, for example a joystick, by the actuation of which the operator prescribes a control of the control travel valve 8 and thus can execute a control of a movement of the hydraulic cylinder 2.
- an operator-operable control element 20 for example a joystick
- a pressure relief valve 16 is provided, which is on the input side with the delivery line 7 in communication and is set to a maximum working pressure of the working hydraulics 1.
- the electronic control device 15 is further connected to a pressure sensor 17, which detects the pressure in the delivery line 7, and a speed sensor 18, which detects the input speed of the hydraulic pump 20.
- the electronic control device 15 is further connected to a sensor device 25, with which the torque or the electric current of the electric motor 4a can be detected.
- the electronic control device 15 executes a method with which the end position of the hydraulic cylinder 2 can be detected and an end position cut-off can be performed.
- From the electronic control device 15 is in this case in a first step, which forms the initial state of the method, upon appropriate actuation of the control element 20 by the operator and as a result of the operation of the control element 20 at an actuated in the control position 8b and 8c control valve 8 and thus at detects a control of a movement of the hydraulic cylinder 2 and determines whether the hydraulic power supplied to the hydraulic cylinder 2, ie the hydraulic power requested by the hydraulic pump 3, is too high for the movement of the hydraulic cylinder 2 to be performed.
- the hydraulic power supplied to the hydraulic cylinder 2 can be provided in the FIG. 1 from the pressure of the pressure sensor 17, the rotational speed of the rotational speed sensor 18 and the displacement volume of the hydraulic pump 3 are determined. In the FIG.
- the hydraulic power supplied to the hydraulic cylinder 2 is determined by means of the sensor device 25 from the torque or the electric current of the drive motor 4.
- the maximum hydraulic power of the hydraulic cylinder 2, which this requires for the hydraulic movement to be carried out, is known on the system side and stored as a parameter in the electronic control device 15.
- this state becomes indicative of the reaching of the end position of the hydraulic cylinder 2 and thus an indication of the "end position "interpreted.
- the electronic control device 15 continuously reduces the pressure medium volume flow provided to the hydraulic cylinder 2 and thus the setpoint flow rate for the hydraulic cylinder 2.
- the reduction of the pressure medium volume flow can be up to zero.
- the reduction of the pressure medium volume flow provided to the hydraulic cylinder 2 can be done by reducing the rotational speed of the hydraulic pump 3 and / or reducing the valve opening of the pilot valve 8 by operating the pilot valve 8 in the direction of the neutral position 8a.
- the reduction in the pressure medium volume flow provided to the hydraulic cylinder 2 can take place by reducing the displacement volume of the hydraulic pump 3.
- the electronic control device 15 further determines whether the hydraulic power supplied to the hydraulic cylinder 2 is constantly too high for the movement of the hydraulic cylinder 2 to be executed and controlled 2 provided hydraulic power during the reduction of the pressure medium flow rate is constantly too high for the movement of the hydraulic cylinder 2 to be executed, is confirmed by the electronic control device 15 upon reaching a lower limit of the hydraulic cylinder 2 provided pressure medium flow rate the state "end position" and the end position of the hydraulic cylinder 2 detected.
- the lower limit value of the pressure medium volume flow provided to the hydraulic cylinder 2 in this case represents a minimum nominal volume flow and is stored in the electronic control device 15.
- the electronic control device 15 resets the state "end position" to the initial state.
- the electronic control device 15 performs an end position switch-off, for example by triggering the Control path valve 8 in the neutral position 8a and / or a shutdown of the hydraulic pump 3.
- the further control and movement of the hydraulic cylinder 2 in the direction of the actuated operating element 20 movement direction is thus prevented, so that the operating point of the working hydraulics 1, where the hydraulic cylinder 2 against a mechanical stop moves and the control of the movement of the hydraulic cylinder 2 is continued, is limited in time and avoided.
- the wear and the energy consumption of the working hydraulics 1 is thereby reduced and an overload of the working hydraulics avoided.
- the electronic control device 15 resets the state "end position" to the initial state.
- the reaching of the mechanical end stop of the hydraulic cylinder 2 and thus the end position of the hydraulic cylinder 2 can be determined and a Endlagenabscnies be carried out without complex Wegmesssensorik on the hydraulic cylinder 2 and thus with low construction costs in a control of a movement of the hydraulic cylinder 2.
- the method according to the invention there are no restrictions on the operation of the working hydraulics 1 for the operator.
- Wegmesssensorik on the hydraulic cylinder 2 eliminates in the invention, the effort for the integration of the Wegmesssensorik, the evaluation of the Wegmesssensorik, a teach function for the Wegmesssensorik to specify the mechanical limit stop of the hydraulic cylinder, and service and maintenance of the Wegmesssensorik.
- the invention is not on the in the FIGS. 1 and 2 illustrated embodiments with a single hydraulic cylinder 2 limited.
- the invention also allows for a working hydraulics 1 with multiple hydraulic cylinders and a parallel operation of a plurality of hydraulic cylinders and in a drive system in which the hydraulic pump 3 additionally supplies a hydraulic steering with pressure medium, the determination of the end position of each hydraulic cylinder.
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Description
Die Erfindung betrifft ein Verfahren zur Feststellung der Endlagenposition eines Hydraulikzylinders einer Arbeitshydraulik einer mobilen Arbeitsmaschine, insbesondere eines Flurförderzeugs, wobei der Hydraulikzylinder mittels eines Steuerwegeventils gesteuert wird, das mit einer Hydraulikpumpe und einem Behälter in Verbindung steht, wobei zur Erzeugung einer Bewegung des Hydraulikzylinders das Steuerwegeventil in eine Steuerstellung betätigt wird und dem Hydraulikzylinder von der Hydraulikpumpe über das in die Steuerstellung betätigte Steuerwegeventil Druckmittel zugeführt wird.The invention relates to a method for determining the end position of a hydraulic cylinder of a working hydraulics of a mobile work machine, in particular an industrial truck, wherein the hydraulic cylinder is controlled by means of a control path valve which communicates with a hydraulic pump and a container, wherein for generating a movement of the hydraulic cylinder, the control way valve is operated in a control position and the hydraulic cylinder is supplied from the hydraulic pump via the operated in the control position control valve pressure medium.
Bei mobilen Arbeitsmaschinen, beispielsweise Flurförderzeugen, wird die Bewegung eines Hydraulikzylinders der Arbeitshydraulik von einer Bedienperson durch eine Betätigung eines Steuerwegeventils in eine entsprechende Steuerstellung angefordert und angesteuert, so dass auf Anforderung der Bedienperson und entsprechender Betätigung des Steuerwegeventils in eine Steuerstellung der Hydraulikzylinder eine hydraulische Bewegung ausführt. Durch eine Betätigung des Steuerwegeventils in eine Steuerstellung wird an dem Steuerwegventil eine Ventilöffnung freigegeben, so dass dem Hydraulikzylinder ein bestimmter Druckmittelvolumenstrom, der von einer Hydraulikpumpe bereitgestellt wird, zuströmen kann. Die Größe des dem Hydraulikzylinder zuströmenden Druckmittelstroms wird hierbei durch die Größe der Ventilöffnung des in die Steuerstellung betätigen Steuerwegeventils bestimmt und eingestellt.In mobile machines, such as industrial trucks, the movement of a hydraulic cylinder of the working hydraulics is requested and controlled by an operator by operating a control path valve in a corresponding control position, so that performs a hydraulic movement at the request of the operator and appropriate operation of the control valve in a control position of the hydraulic cylinder , By actuating the control travel valve into a control position, a valve opening is released at the control valve, so that the hydraulic cylinder can flow a certain pressure medium volume flow, which is provided by a hydraulic pump. The size of the pressure medium flow flowing to the hydraulic cylinder is determined and set by the size of the valve opening of the control travel valve operating in the control position.
Sofern bei einer Ansteuerung einer Bewegung des Hydraulikzylinders der Hydraulikzylinder gegen einen mechanischen Endanschlag fährt und sich der Hydraulikzylinder somit in einer Endlagenposition befindet, steigt der Druck des Druckmittels an, wenn die Ansteuerung der Bewegung des Hydraulikzylinders fortgeführt wird. Erreicht der Druck des Druckmittels den Einstelldruck eines Druckbegrenzungsventils, das in der Arbeitshydraulik zur Absicherung der Komponenten gegen Überdruck vorgesehen ist, öffnet das Druckbegrenzungsventil und der von der Hydraulikpumpe gelieferte Druckmittelstrom strömt zu einem Behälter ab. In der Endlagenposition des Hydraulikzylinders treten hierbei hohe Belastungen an den mechanischen und hydraulischen Komponenten der Arbeitshydraulik auf, da die Hydraulikpumpe den Einstelldruck des Druckbegrenzungsventils liefert, der dem maximalen Arbeitsdruck der Arbeitshydraulik entspricht. Zudem wird in der Endlagenposition des Hydraulikzylinders Energie verbraucht ohne eine Bewegung des Hydraulikzylinders auszuführen und es entstehen hohe Energieverluste, da die Hydraulikpumpe einen Druckmittelstrom mit dem Einstelldruck des Druckbegrenzungsventils liefert, der an dem geöffneten Druckbegrenzungsventil zum Behälter abgedrosselt wird.
An dem Arbeitspunkt der Arbeitshydraulik, an dem ein Hydraulikzylinder gegen einen mechanischen Endanschlag fährt und die Ansteuerung der Bewegung des Hydraulikzylinders weiter fortgeführt wird, tritt somit ein erhöhter Verschleiß der Komponenten der Arbeitshydraulik, ein erhöhter Energieverbrauch und gegebenenfalls eine Überlastung der Komponenten der Arbeitshydraulik auf.
Der Arbeitspunkt, an dem ein Hydraulikzylinder gegen einen mechanischen Endanschlag fährt und die Ansteuerung der Bewegung des Hydraulikzylinders weiter fortgeführt wird, kann ohne eine zusätzliche Sensorik nicht in sicherer Weise verhindert werden, denn die Bedienperson der Arbeitsmaschine ist nicht immer in der Lage, zu erkennen, dass sie einen derartigen Arbeitspunkt bei der Ansteuerung einer Bewegung des Hydraulikzylinders auslöst, beispielsweise durch Umgebungslärm oder unbewusstes Auslösen dieses Arbeitspunktes.
Um den Arbeitspunkt der Arbeitshydraulik, an dem ein Hydraulikzylinder gegen einen mechanischen Endanschlag fährt und die Ansteuerung der Bewegung des Hydraulikzylinders weiter fortgeführt wird, zu vermeiden, ist es bereits bekannt, nach Erreichen der Endlagenposition des Hydraulikzylinders eine Endlagenabschaltung durchzuführen, in der die Ansteuerung der Bewegung des Hydraulikzylinders unterbunden und somit beendet wird. Hierzu ist es bekannt, zum Beispiel aus dem Dokument
At the operating point of the working hydraulics, where a hydraulic cylinder moves against a mechanical end stop and the control of the movement of the hydraulic cylinder is continued, thus occurs an increased wear of the components of the working hydraulics, increased energy consumption and possibly overloading of the components of the working hydraulics.
The operating point at which a hydraulic cylinder moves against a mechanical end stop and the driving of the movement of the hydraulic cylinder is continued, can not be reliably prevented without additional sensors, since the operator of the working machine is not always able to recognize that it triggers such an operating point in the control of a movement of the hydraulic cylinder, for example by environmental noise or unconscious triggering of this operating point.
In order to avoid the operating point of the working hydraulics, where a hydraulic cylinder moves against a mechanical limit stop and the control of the movement of the hydraulic cylinder is continued, it is already known to perform an end position deactivation, after reaching the end position of the hydraulic cylinder, in which the control of the movement prevented the hydraulic cylinder and thus terminated. For this it is known, for example from the
Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Verfahren zur Feststellung der Endlagenposition eines Hydraulikzylinders einer Arbeitshydraulik einer mobilen Arbeitsmaschine, insbesondere eines Flurförderzeugs, der eingangs genannten Gattung zur Verfügung zu stellen, dass keine aufwändige Wegmesssensorik an dem Hydraulikzylinder erfordert.The present invention has for its object to provide a method for determining the end position of a hydraulic cylinder working hydraulics of a mobile machine, in particular an industrial truck, the type mentioned that no complex Wegmesssensorik on the hydraulic cylinder requires.
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass zur Feststellung der Endlagenposition des Hydraulikzylinders bei in die Steuerstellung betätigtem Steuerwegeventil in einem ersten Schritt erfasst wird, ob die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders, und in einem anschließenden zweiten Schritt der dem Hydraulikzylinder zur Verfügung gestellte Druckmittelvolumenstrom verringert wird, wobei während der Verringerung des dem Hydraulikzylinder zur Verfügung gestellten Druckmittelvolumenstroms ermittelt wird, ob die die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung stetig zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders und bei Erreichen eines unteren Grenzwertes des dem Hydraulikzylinder zur Verfügung gestellten Druckmittelvolumenstroms die Endlagenposition des Hydraulikzylinders festgestellt wird. Bei dem erfindungsgemäßen Verfahren bildet der erste Schritt den Ausgangszustand, in dem bei in die Steuerstellung betätigtem Steuerwegeventil und somit beim Ausführen einer Ansteuerung des Hydraulikzylinders ermittelt und erkannt wird, ob die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders. Sofern hierbei erkannt und ermittelt wird, dass die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders wird dieser Zustand als Anzeichen des Erreichens der Endlagenposition des Hydraulikzylinders interpretiert. Als Reaktion hierauf wird in dem zweiten Schritt der dem Hydraulikzylinder zur Verfügung gestellte Druckmittelvolumenstrom und somit der Sollvolumenstrom verringert. Während der Verringerung des dem Hydraulikzylinder zur Verfügung gestellten Druckmittelvolumenstroms wird weiterhin ermittelt, ob die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung stetig zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders. Sofern die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung während der Verringerung des Druckmittelvolumenstroms stetig zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders, wird bei Erreichen eines unteren Grenzwertes des dem Hydraulikzylinder zur Verfügung gestellten Druckmittelvolumenstroms der Zustand "Endlagenposition" bestätigt und die Endlagenposition des Hydraulikzylinders festgestellt. Sofern in dem zweiten Schritt während der Verringerung des Druckmittelvolumenstroms die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung wieder plausible Werte annehmen sollte, wird der Zustand "Endlagenposition" zurückgesetzt in den Ausgangszustand. Mit dem erfindungsgemäßen Verfahren kann ohne aufwändige Wegmesssensorik an dem Hydraulikzylinder und somit mit geringem Bauaufwand bei einer Ansteuerung einer Bewegung des Hydraulikzylinders das Erreichen des mechanischen Endanschlags des Hydraulikzylinders und somit die Endlagenposition des Hydraulikzylinders ermittelt werden.This object is achieved in that is detected to determine the end position of the hydraulic cylinder when operated in the control position control valve in a first step, whether the hydraulic cylinder provided hydraulic power is too high for the movement of the hydraulic cylinder to be executed, and in a subsequent second Step is reduced to the hydraulic cylinder provided pressure medium volume flow, wherein it is determined during the reduction of the pressure provided to the hydraulic cylinder pressure medium volume flow, whether the hydraulic cylinder provided Asked hydraulic power is constantly too high for the movement of the hydraulic cylinder to be executed and when reaching a lower limit the hydraulic cylinder provided pressure fluid flow rate the end position of the hydraulic cylinder is detected. In the method according to the invention, the first step forms the initial state, is determined in the actuated in the control position control valve and thus upon execution of a control of the hydraulic cylinder and detects whether the hydraulic cylinder provided hydraulic power is too high for the movement of the hydraulic cylinder to be executed. If it is detected and determined that the hydraulic power provided to the hydraulic cylinder is too high for the movement of the hydraulic cylinder to be executed, this state is interpreted as indicating that the end position of the hydraulic cylinder has been reached. In response to this, in the second step, the pressure medium volume flow provided to the hydraulic cylinder and thus the set volume flow are reduced. During the reduction of the pressure medium volume flow provided to the hydraulic cylinder, it is further determined whether the hydraulic power provided to the hydraulic cylinder is constantly too high for the movement of the hydraulic cylinder to be performed. If that the hydraulic cylinder Provided hydraulic power during the reduction of the pressure medium flow rate is constantly too high for the movement of the hydraulic cylinder to be executed, the state "end position" is confirmed upon reaching a lower limit of the hydraulic cylinder made available pressure medium flow rate and the end position of the hydraulic cylinder detected. If in the second step, during the reduction of the pressure medium volume flow, the hydraulic power provided to the hydraulic cylinder should again assume plausible values, the state "end position" is reset to the initial state. With the method according to the invention, the achievement of the mechanical end stop of the hydraulic cylinder and thus the end position of the hydraulic cylinder can be determined without expensive Wegmesssensorik on the hydraulic cylinder and thus with little construction effort in a control of a movement of the hydraulic cylinder.
Gemäß einer vorteilhaften Ausführungsform der Erfindung wird die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung aus dem Förderdruck der Hydraulikpumpe und dem Volumenstrom der Hydraulikpumpe berechnet. Der Förderdruck der Hydraulikpumpe kann auf einfache Weise mittels eines entsprechenden Drucksensors ermittelt werden. Auch ist der Volumenstrom der Hydraulikpumpe mit geringem Bauaufwand ermittelbar.According to an advantageous embodiment of the invention, the hydraulic power provided to the hydraulic cylinder is calculated from the delivery pressure of the hydraulic pump and the volume flow of the hydraulic pump. The delivery pressure of the hydraulic pump can be determined in a simple manner by means of a corresponding pressure sensor. Also, the volume flow of the hydraulic pump can be determined with low construction costs.
Vorteilhaftweise wird der Volumenstrom der Hydraulikpumpe aus dem Verdrängervolumen der Hydraulikpumpe und der Drehzahl der Hydraulikpumpe berechnet. Aus dem Verdrängervolumen der Hydraulikpumpe und der Drehzahl der Hydraulikpumpe kann auf einfache Weise der Volumenstrom der Hydraulikpumpe und in Verbindung mit dem Förderdruck die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung berechnet werden. Bei einer als Konstantpumpe ausgebildeten Hydraulikpumpe, die ein konstantes Verdrängervolumen aufweist, kann das Verdrängervolumen der Hydraulikpumpe in einer das Verfahren durchführenden elektronischen Steuereinrichtung abgespeichert sein. Sofern eine im Verdrängervolumen verstellbare Verstellpumpe vorgesehen ist, kann das aktuelle Verdrängervolumen mittels eines entsprechenden Sensors ermittelt werden oder von der elektronischen Steuereinrichtung anhand des Ansteuersignals einer Verdrängervolumenstelleinrichtung der Verstellpumpe bestimmt werden.Advantageously, the volume flow of the hydraulic pump is calculated from the displacement volume of the hydraulic pump and the rotational speed of the hydraulic pump. From the displacer volume of the hydraulic pump and the rotational speed of the hydraulic pump, the volumetric flow of the hydraulic pump and, in conjunction with the delivery pressure, the hydraulic power provided to the hydraulic cylinder can be calculated in a simple manner. In the case of a hydraulic pump designed as a fixed-displacement pump, which has a constant displacement volume, the displacement volume of the hydraulic pump can be stored in an electronic control device performing the method. If a variable displacement pump is provided in the displacement volume, the current displacement volume can be determined by means of a corresponding sensor or determined by the electronic control device on the basis of the control signal of a displacement volume adjusting device of the variable displacement pump.
Gemäß einer vorteilhaften Ausführungsform der Erfindung ist die Hydraulikpumpe von einem Elektromotor angetrieben. Die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung kann hierbei auf einfache Weise aus dem Drehmoment oder dem elektrischen Strom des Elektromotors berechnet werden. Sofern eine das Verfahren durchführende elektronische Steuereinrichtung auch den Elektromotor ansteuert, kann die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung auf einfache Weise aus dem Drehmoment oder dem elektrischen Strom des Elektromotors in Verbindung mit der Drehzahl des Elektromotors ermittelt werden.According to an advantageous embodiment of the invention, the hydraulic pump is driven by an electric motor. The hydraulic power provided to the hydraulic cylinder can hereby be calculated in a simple manner from the torque or the electric current of the electric motor. If an electronic control device carrying out the method also actuates the electric motor, the hydraulic power provided to the hydraulic cylinder can be determined in a simple manner from the torque or the electric current of the electric motor in conjunction with the rotational speed of the electric motor.
Bei der Erfindung wird in dem ersten Schritt ermittelt, ob die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders. Die dem Hydraulikzylinder zur Verfügung gestellte Hydraulikleistung und somit die von der Pumpe angeforderten Hydraulikleistung kann wie oben beschrieben aus dem Drehmoment bzw. dem elektrischen Strom des die Hydraulikpumpe antreibenden Elektromotors oder durch die Pumpendrehzahl in Verbindung mit einem Drucksensor quantifiziert werden. Bei der Erfindung erfolgt im ersten Schritt ein Vergleich der von der Hydraulikpumpe angeforderten Hydraulikleistung und somit der dem Hydraulikzylinder zur Verfügung gestellten Hydraulikleistung mit derjenigen Hydraulikleistung, die der Hydraulikzylinder für die auszuführende hydraulische Bewegung maximal benötigt, d. h. der maximalen hydraulischen Leistung des Hydraulikzylinders. Diese maximale hydraulische Leistung des Hydraulikzylinders, die dieser für die auszuführende hydraulische Bewegung benötigt, ist systemseitig bekannt und kann beispielsweise als Parameter in einer das erfindungsgemäße Verfahren durchführenden elektronischen Steuereinrichtung abgelegt sein. Die maximale hydraulische Leistung des Hydraulikzylinders kann beispielsweise aus dem maximalen Arbeitsdruck der Arbeitshydraulik bestimmt werden, auf den ein die Arbeitshydraulik vor einer Überlastung schützendes Druckbegrenzungsventil eingestellt ist, oder durch die konstruktive Auslegung des Hydraulikzylinders zur Verfügung bereit gestellt werden, da aus der konstruktive Auslegung des Hydraulikzylinders und dessen auszuführenden Bewegung bekannt ist, wieviel hydraulische Leistung dem Hydraulikzylinder maximal zur Verfügung gestellt werden muss.In the invention, in the first step, it is determined whether the hydraulic power provided to the hydraulic cylinder is too high for the movement of the hydraulic cylinder to be performed. The hydraulic power provided to the hydraulic cylinder and thus the hydraulic power requested by the pump can be quantified as described above from the torque or electric current of the electric motor driving the hydraulic pump or by the pump speed in conjunction with a pressure sensor. In the invention, in the first step, a comparison of the hydraulic power requested by the hydraulic pump and thus the hydraulic power provided to the hydraulic cylinder with that hydraulic power which the hydraulic cylinder for the hydraulic movement to be executed requires the maximum, ie the maximum hydraulic power of the hydraulic cylinder. This maximum hydraulic power of the hydraulic cylinder, which this requires for the hydraulic movement to be carried out, is known on the system side and can be stored, for example, as a parameter in an electronic control device carrying out the method according to the invention. The maximum hydraulic power of the hydraulic cylinder can be determined, for example, from the maximum working pressure of the working hydraulics, to which a working hydraulics against overloading protective pressure relief valve is set, or be provided by the structural design of the hydraulic cylinder available, as from the structural design of the hydraulic cylinder and whose movement to be executed is known, how much hydraulic power must be provided to the hydraulic cylinder maximum.
Die Verringerung des dem Hydraulikzylinder zur Verfügung gestellten Druckmittelvolumenstroms erfolgt gemäß einer bevorzugten Ausgestaltungsform der Erfindung durch eine Verringerung der Drehzahl der Hydraulikpumpe und/oder durch eine Verringerung des Verdrängervolumens der Hydraulikpumpe und/oder durch eine Verringerung der Ventilöffnung des Steuerwegeventils.The reduction of the hydraulic cylinder provided pressure medium volume flow is carried out according to a preferred embodiment of the invention by reducing the speed of the hydraulic pump and / or by reducing the displacer volume of the hydraulic pump and / or by reducing the valve opening of the control valve.
Gemäß einer Weiterbildung der Erfindung wird bei Feststellung der Endlagenposition des Hydraulikzylinders eine Endlagenabschaltung durchgeführt, in der die Bewegung des Hydraulikzylinders in der der Endlagenposition vorausgegangene Bewegungsrichtung unterbunden wird. Der Arbeitspunkt der Arbeitshydraulik, an dem der Hydraulikzylinder gegen den mechanischen Endanschlag fährt und die Ansteuerung der Bewegung des Hydraulikzylinders weiter fortgeführt wird, wird somit vermieden, so dass der Verschleiß der Komponenten der Arbeitshydraulik und der Energieverbrauch der Arbeitshydraulik sowie eine Überlastung der Komponenten der Arbeitshydraulik vermieden werden kann.According to one embodiment of the invention, when the end position of the hydraulic cylinder is detected, an end position deactivation is performed, in which the movement of the hydraulic cylinder in the direction of movement preceding the end position is prevented. The operating point of the working hydraulics, on which the hydraulic cylinder moves against the mechanical end stop and the driving of the movement of the hydraulic cylinder is continued, is thus avoided, so that the wear of the components of the working hydraulics and the energy consumption of the working hydraulics and an overload of the components of the working hydraulics avoided can be.
Gemäß einer vorteilhaften Weiterbildung der Erfindung wird bei einer Betätigung des Steuerwegeventils in eine weitere Steuerstellung, die eine entgegengesetzte Bewegung des Hydraulikzylinders bewirkt, die Feststellung der Endlagenposition des Hydraulikzylinders beendet. Sofern von der Bedienperson der Arbeitsmaschine eine entgegengesetzte Bewegung des Hydraulikzylinders angesteuert wird, wird somit der Zustand "Endlagenposition" zurückgesetzt in den Ausgangszustand, so dass die gewünschte Bewegung des Hydraulikzylinders in die entgegengesetzte Bewegungsrichtung durchgeführt werden kann.According to an advantageous embodiment of the invention, the detection of the end position of the hydraulic cylinder is terminated upon actuation of the control valve in a further control position which causes an opposite movement of the hydraulic cylinder. Thus, if an opposite movement of the hydraulic cylinder is controlled by the operator of the work machine, the state "end position" is reset to the initial state, so that the desired movement of the hydraulic cylinder in the opposite direction of movement can be performed.
Gemäß einer vorteilhaften Weiterbildung der Erfindung wird bei Nichtbetätigen des Steuerwegeventils über eine vorgegebene Zeitspanne die Feststellung der Endlagenposition des Hydraulikzylinders beendet. Sofern über die vorgegebene Zeitspanne somit keine Ansteuerung der Bewegung des Hydraulikzylinders erfolgt, wird der Zustand "Endlagenposition" zurückgesetzt in den Ausgangszustand.According to an advantageous embodiment of the invention, the determination of the end position of the hydraulic cylinder is stopped when not operating the control valves over a predetermined period of time. If there is no triggering of the movement of the hydraulic cylinder over the predetermined period of time, the state "end position" is reset to the initial state.
Weitere Vorteile und Einzelheiten der Erfindung werden anhand des in der schematischen Figur dargestellten Ausführungsbeispiels näher erläutert. Hierbei zeigt
Figur 1- eine erste Ausführungsform der Erfindung und
Figur 2- eine zweite Ausführungsform der Erfindung.
- FIG. 1
- a first embodiment of the invention and
- FIG. 2
- a second embodiment of the invention.
In den
Die Arbeitshydraulik 1 der
Zur Versorgung des Hydraulikzylinders 2 mit Druckmittel weist die Arbeitshydraulik 1 eine Hydraulikpumpe 3 auf, die von einem Antriebsmotor 4 angetrieben ist. In den dargestellten Ausführungsbeispielen ist der Antriebsmotor 4 als Elektromotor 4a ausgebildet.For supplying the
Die Hydraulikpumpe 3 ist im offenen Kreislauf betrieben. Die Hydraulikpumpe 3 saugt mittels einer Ansaugleitung 5 Druckmittel aus einem Behälter 6 an und fördert das Druckmittel in eine Förderleitung 7.The
Im dargestellten Ausführungsbeispiel ist die Hydraulikpumpe 3 als Konstantpumpe mit einem konstanten Verdrängervolumen ausgebildet.In the illustrated embodiment, the
Zur Steuerung des Hydraulikzylinders 2 ist ein Steuerwegeventil 8 vorgesehen. Das Steuerwegeventil 8 ist an die Förderleitung 7 der Hydraulikpumpe 3 und an eine zu dem Behälter 6 geführte Behälterleitung 9 angeschlossen.For controlling the
Im dargestellten Ausführungsbeispiel ist der Hydraulikzylinder 2 als doppelt-wirkender Hydraulikzylinder ausgebildet, der mittels Verbraucherleitungen 10a, 10b mit dem Steuerwegeventil 8 verbunden ist.In the illustrated embodiment, the
Das Steuerwegeventil 8 weist eine Neutralstellung 8a auf, in der die Verbindung der Verbraucherleitungen 10a, 10b mit der Förderleitung 7 und der Behälterleitung 9 abgesperrt sind.The control-
Das Steuerwegeventil 8 weist eine erste Steuerstellung 8b auf, in der die Verbraucherleitung 10a mit der Förderleitung 7 und die Verbraucherleitung 10b mit der Behälterleitung 9 verbunden ist. Bei einer Betätigung des Steuerwegeventils 8 in Richtung der ersten Steuerstellung 8b wird somit eine Bewegung des Hydraulikzylinders 2 in einer ersten Bewegungsrichtung erzielt, im dargestellten Ausführungsbeispiel eine Ausfahrbewegung einer Kolbenstange 2a des Hydraulikzylinders 2.The control-
Das Steuerwegeventil 8 weist eine zweite Steuerstellung 8c auf, in der die Verbraucherleitung 10b mit der Förderleitung 7 und die Verbraucherleitung 10a mit der Behälterleitung 9 verbunden ist. Bei einer Betätigung des Steuerwegeventils 8 in Richtung der zweiten Steuerstellung 8c wird somit eine Bewegung des Hydraulikzylinders 2 in eine zweite Bewegungsrichtung erzielt, im dargestellten Ausführungsbeispiel eine Einfahrbewegung der Kolbenstange 2a des Hydraulikzylinders 2.The control-
Das Steuerwegeventil 8 ist im dargestellten Ausführungsbeispiel als in Zwischenstellungen drosselndes Proportionalventil ausgebildet, das mit zunehmender Betätigung in die Steuerstellungen 8b bzw. 8c eine zunehmende Ventilöffnung von der Förderleitung 7 in die Verbraucherleitung 10a bzw. 10b freigibt.In the exemplary embodiment illustrated, the control-
Das Steuerwegeventil 8 ist im dargestellten Ausführungsbeispiel elektrisch betätigbar und steht zur Ansteuerung mit einer elektronischen Steuereinrichtung 15 in Verbindung.The control-
Die elektronische Steuereinrichtung 15 steht weiterhin mit einem von der Bedienperson betätigbaren Bedienelement 20 in Verbindung, beispielsweise einem Joystick, durch dessen Betätigung die Bedienperson eine Ansteuerung des Steuerwegeventils 8 vorgeben und somit eine Ansteuerung einer Bewegung des Hydraulikzylinders 2 ausführen kann.The
Zur Absicherung der Arbeitshydraulik 1 ist ein Druckbegrenzungsventil 16 vorgesehen, das eingangsseitig mit der Förderleitung 7 in Verbindung steht und auf einen maximalen Arbeitsdruck der Arbeitshydraulik 1 eingestellt ist.To protect the working
In der
In der
Bei der Arbeitshydraulik der
Von der elektronischen Steuereinrichtung 15 wird hierbei in einem ersten Schritt, der den Ausgangszustand des Verfahrens bildet, bei entsprechender Betätigung des Bedienelements 20 durch die Bedienperson und infolge der Betätigung des Bedienelements 20 bei einem in die Steuerstellung 8b bzw. 8c betätigten Steuerwegeventil 8 und somit bei einer Ansteuerung einer Bewegung des Hydraulikzylinders 2 erfasst und ermittelt, ob die dem Hydraulikzylinder 2 zur Verfügung gestellte Hydraulikleistung, d.h. die von der Hydraulikpumpe 3 angeforderte Hydraulikleistung, zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders 2. Die dem Hydraulikzylinder 2 zur Verfügung gestellte Hydraulikleistung kann in der
Sofern in dem ersten Schritt erkannt und ermittelt wird, dass die dem Hydraulikzylinder 2 zur Verfügung gestellte Hydraulikleistung zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders 2 wird dieser Zustand als Anzeichen des Erreichens der Endlagenposition des Hydraulikzylinders 2 und somit als Anzeichen für den Zustand "Endlagenposition" interpretiert.If it is detected and determined in the first step that the hydraulic power supplied to the
Als Reaktion hierauf wird in einem zweiten Schritt von der elektronischen Steuereinrichtung 15 der dem Hydraulikzylinder 2 zur Verfügung gestellte Druckmittelvolumenstrom und somit der Sollvolumenstrom für den Hydraulikzylinder 2 kontinuierlich verringert. Die Verringerung des Druckmittelvolumenstroms kann bis zum Wert Null erfolgen. Die Verringerung des dem Hydraulikzylinder 2 zur Verfügung gestellten Druckmittelvolumenstroms kann durch eine Verringerung der Drehzahl der Hydraulikpumpe 3 und/oder durch eine Verringerung der Ventilöffnung des Steuerwegeventils 8 erfolgen, in dem das Steuerwegeventil 8 in Richtung der Neutralstellung 8a betätigt wird. Bei einer als Verstellpumpe ausgebildeten Hydraulikpumpe 3 kann die Verringerung des dem Hydraulikzylinder 2 zur Verfügung gestellten Druckmittelvolumenstroms durch eine Verringerung des Verdrängervolumens der Hydraulikpumpe 3 erfolgen.In response to this, in a second step the
Während der Verringerung des dem Hydraulikzylinder 2 zur Verfügung gestellten Druckmittelvolumenstroms im zweiten Schritt wird von der elektronischen Steuereinrichtung 15 weiterhin ermittelt, ob die dem Hydraulikzylinder 2 zur Verfügung gestellte Hydraulikleistung stetig zu hoch ist für die auszuführende und angesteuerte Bewegung des Hydraulikzylinders 2. Sofern die dem Hydraulikzylinder 2 zur Verfügung gestellte Hydraulikleistung während der Verringerung des Druckmittelvolumenstroms stetig zu hoch ist für die auszuführende Bewegung des Hydraulikzylinders 2, wird von der elektronischen Steuereinrichtung 15 bei Erreichen eines unteren Grenzwertes des dem Hydraulikzylinder 2 zur Verfügung gestellten Druckmittelvolumenstroms der Zustand "Endlagenposition" bestätigt und die Endlagenposition des Hydraulikzylinders 2 festgestellt. Der untere Grenzwert des dem Hydraulikzylinder 2 zur Verfügung gestellten Druckmittelvolumenstroms stellt hierbei einen Mindest-Sollvolumenstrom dar und ist in der elektronischen Steuereinrichtung 15 abgespeichert.During the reduction of the pressure medium volume flow provided to the
Sofern in dem zweiten Schritt während der Verringerung des Druckmittelvolumenstroms die dem Hydraulikzylinder 2 zur Verfügung gestellte Hydraulikleistung wieder plausible Werte annehmen sollte, wird von der elektronischen Steuereinrichtung 15 der Zustand "Endlagenposition" zurückgesetzt in den Ausgangszustand.If, in the second step, the hydraulic power supplied to the
Im bestätigten Zustand "Endlagenposition" führt die elektronische Steuereinrichtung 15 eine Endlagenabschaltung durch, beispielsweise durch eine Ansteuerung des Steuerwegeventils 8 in die Neutralstellung 8a und/oder einem Abschalten der Hydraulikpumpe 3. Die weitere Ansteuerung und Bewegung des Hydraulikzylinders 2 in die an dem betätigten Bedienelement 20 vorgegebene Bewegungsrichtung wird somit unterbunden, so dass der Arbeitspunkt der Arbeitshydraulik 1, an dem der Hydraulikzylinder 2 gegen einen mechanischen Endanschlag fährt und die Ansteuerung der Bewegung des Hydraulikzylinders 2 weiter fortgeführt wird, zeitlich eingeschränkt und vermieden wird. Der Verschleiß und der Energieverbrauch der Arbeitshydraulik 1 wird hierdurch verringert und eine Überlastung der Arbeitshydraulik vermieden.In the confirmed state "end position", the
Sobald von der Bedienperson das Bedienelement 20 derart betätigt wird, dass eine Bewegung des Hydraulikzylinders 2 in entgegengesetzter Bewegungsrichtung angesteuert wird, wird von der elektronischen Steuereinrichtung 15 der Zustand "Endlagenposition" zurückgesetzt in den Ausgangszustand.As soon as the operating
Gleiches gilt, wenn über eine vorgegebene Zeitspanne keine Ansteuerung der Bewegung des Hydraulikzylinders 2 erfolgt.The same applies if no control of the movement of the
Mit dem erfindungsgemäßen Verfahren kann ohne aufwändige Wegmesssensorik an dem Hydraulikzylinder 2 und somit mit geringem Bauaufwand bei einer Ansteuerung einer Bewegung des Hydraulikzylinders 2 das Erreichen des mechanischen Endanschlags des Hydraulikzylinders 2 und somit die Endlagenposition des Hydraulikzylinders 2 ermittelt werden und eine Endlagenabschaltung durchgeführt werden. Mit dem erfindungsgemäßen Verfahren ergeben sich für die Bedienperson keine Beschränkungen bei der Bedienung der Arbeitshydraulik 1.With the method according to the invention, the reaching of the mechanical end stop of the
Durch den Entfall einer Wegmesssensorik an dem Hydraulikzylinder 2 entfällt bei der Erfindung der Aufwand für die Integration der Wegmesssensorik, der Auswertung der Wegmesssensorik, einer Teach-Funktion für die Wegmesssensorik, um den mechanischen Endanschlag des Hydraulikzylinders vorzugeben, sowie Service und Wartung der Wegmesssensorik.The elimination of a Wegmesssensorik on the
Die Erfindung ist nicht auf die in den
Claims (8)
- Method for determining the final position of a hydraulic cylinder (2) of a working hydraulic system (1) of a mobile working machine, in particular an industrial truck, the hydraulic cylinder (2) being controlled by means of a directional control valve (8) which is connected to a hydraulic pump (3) and a container (6), the directional control valve (8) being actuated into a control position (8b; 8c) to generate a movement of the hydraulic cylinder (2), and pressure medium being supplied to the hydraulic cylinder (2) from the hydraulic pump (3) via the directional control valve (8) actuated into the control position (8b; 8c), characterized in that to determine the final position of the hydraulic cylinder (2) when the directional control valve (8) is actuated into the control position (8b; 8c), in a first step it is detected whether the hydraulic output provided to the hydraulic cylinder (2) is too high for the movement of the hydraulic cylinder (2) that is to be carried out and, in a subsequent second step, the pressure medium volume flow provided to the hydraulic cylinder (2) is reduced, wherein, during the reduction of the pressure medium volume flow provided to the hydraulic cylinder (2), it is determined whether the hydraulic output provided to the hydraulic cylinder (2) is continuously too high for the movement of the hydraulic cylinder (2) to be carried out, and the final position of the hydraulic cylinder (2) is determined when a lower limiting value of the pressure medium volume flow provided to the hydraulic cylinder (2) is reached.
- Method according to Claim 1, characterized in that the hydraulic output provided to the hydraulic cylinder (2) is calculated from the delivery pressure of the hydraulic pump (3) and the volume flow of the hydraulic pump (3).
- Method according to Claim 2, characterized in that the volume flow of the hydraulic pump (3) is calculated from the displacer volume of the hydraulic pump (3) and the rotational speed of the hydraulic pump (3).
- Method according to Claim 1, characterized in that the hydraulic pump (3) is driven by an electric motor (4a), wherein the hydraulic output provided to the hydraulic cylinder (2) is calculated from the torque or the electric current of the electric motor (4a).
- Method according to one of Claims 1 to 4, characterized in that the reduction of the pressure medium volume flow provided to the hydraulic cylinder (2) is carried out by means of a reduction in the rotational speed of the hydraulic pump (3) and/or by means of a reduction in the displacer volume of the hydraulic pump (3) and/or by means of a reduction in the valve opening of the directional control valve (8).
- Method according to one of Claims 1 to 5, characterized in that when determining the final position of the hydraulic cylinder (2), final-position deactivation is carried out, in which the movement of the hydraulic cylinder (2) in the direction of movement that preceded the final position is suppressed.
- Method according to one of Claims 1 to 6, characterized in that when the directional control valve (8) is actuated into a further control position (8c; 8b), which effects an opposite movement of the hydraulic cylinder (2), the determination of the final position of the hydraulic cylinder (2) is ended.
- Method according to one of Claims 1 to 7, characterized in that when the directional control valve (8) is not actuated over a predefined time interval, the determination of the final position of the hydraulic cylinder (2) is ended.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102016109801.9A DE102016109801A1 (en) | 2016-05-27 | 2016-05-27 | Method for determining the end position of a hydraulic cylinder of a working hydraulics of a mobile work machine, in particular an industrial truck |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| EP3249241A1 EP3249241A1 (en) | 2017-11-29 |
| EP3249241B1 true EP3249241B1 (en) | 2018-12-19 |
| EP3249241B9 EP3249241B9 (en) | 2019-04-17 |
Family
ID=58669686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP17169361.7A Active EP3249241B9 (en) | 2016-05-27 | 2017-05-04 | Method for determining the final position of a hydraulic cylinder of working hydraulic system of a mobile working machine, in particular an industrial truck |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP3249241B9 (en) |
| DE (1) | DE102016109801A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10947702B2 (en) * | 2018-09-05 | 2021-03-16 | Hitachi Construction Machinery Tierra Co., Ltd | Hydraulic drive system for electrically driven hydraulic work machine |
| DE102021110349A1 (en) * | 2021-04-22 | 2022-10-27 | Franz Xaver Meiller Fahrzeug- Und Maschinenfabrik - Gmbh & Co Kg | Hydraulic system for a working machine |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4578017B2 (en) * | 2001-04-26 | 2010-11-10 | 住友建機株式会社 | Hydraulic cylinder drive |
| DE102010028762A1 (en) * | 2010-05-07 | 2011-11-10 | Zf Friedrichshafen Ag | Device for determining an operating state of at least one bidirectionally actuable hydraulic adjusting device of a switching element of a transmission device |
| CN103857927B (en) * | 2011-10-11 | 2016-08-17 | 沃尔沃建造设备有限公司 | Executor's displacement measurement system in the electro-hydraulic system of building equipment |
-
2016
- 2016-05-27 DE DE102016109801.9A patent/DE102016109801A1/en not_active Withdrawn
-
2017
- 2017-05-04 EP EP17169361.7A patent/EP3249241B9/en active Active
Non-Patent Citations (1)
| Title |
|---|
| None * |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102016109801A1 (en) | 2017-11-30 |
| EP3249241B9 (en) | 2019-04-17 |
| EP3249241A1 (en) | 2017-11-29 |
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