EP3467307B1 - Drucksteuerung eines hydrauliksystems mit elektromotor - Google Patents

Drucksteuerung eines hydrauliksystems mit elektromotor Download PDF

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Publication number
EP3467307B1
EP3467307B1 EP17194730.2A EP17194730A EP3467307B1 EP 3467307 B1 EP3467307 B1 EP 3467307B1 EP 17194730 A EP17194730 A EP 17194730A EP 3467307 B1 EP3467307 B1 EP 3467307B1
Authority
EP
European Patent Office
Prior art keywords
motor
hydraulic
drive unit
electric motor
torque
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP17194730.2A
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English (en)
French (fr)
Other versions
EP3467307A1 (de
Inventor
Per Sundqvist
Thomas Carlsson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Automation Press and Tooling AP&T AB
Original Assignee
Automation Press and Tooling AP&T AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Automation Press and Tooling AP&T AB filed Critical Automation Press and Tooling AP&T AB
Priority to PT171947302T priority Critical patent/PT3467307T/pt
Priority to HUE17194730A priority patent/HUE054669T2/hu
Priority to ES17194730T priority patent/ES2875355T3/es
Priority to PL17194730T priority patent/PL3467307T3/pl
Priority to EP17194730.2A priority patent/EP3467307B1/de
Priority to PCT/EP2018/076907 priority patent/WO2019068762A1/en
Publication of EP3467307A1 publication Critical patent/EP3467307A1/de
Application granted granted Critical
Publication of EP3467307B1 publication Critical patent/EP3467307B1/de
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
    • F04B17/03—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by electric motors

Definitions

  • the present disclosure relates to a hydraulic system, and especially to an arrangement of pressure control in the hydraulic system.
  • a hydraulic device such as a hydraulic cylinder
  • a hydraulic pump driven by an electric motor, in fluid connection via a pipe with a pressure chamber of the hydraulic cylinder.
  • the pump may increase the pressure in the pressure chamber, and thereby moving the cylinder piston.
  • a pressure valve is arranged on the pipe between the hydraulic pump and the hydraulic cylinder.
  • the pressure valve may be controlled to open and thereby release pressure in the pipe and the connected pressure chamber.
  • the pressure valve may for instance be controlled to open when the pressure in the pipe reaches a predetermined threshold.
  • the pressure in the pressure chamber of the hydraulic cylinder may thereby be controlled using the pressure valve.
  • Such system using a pressure valve to control the pressure is however limited in the control of the pressure.
  • EP1882534 One solution offering further controlling functions is disclosed in EP1882534 , wherein a pressure sensor is arranged to detect the pressure in the pressure chamber of the hydraulic cylinder. The detected pressure is compared to a predetermined desired pressure, and the motor/pump is controlled to increase or decrease the pressure to reach the desired pressure. Such system is however slow and complicated, which may further affect the accuracy of the pressure control. ⁇ _>
  • a hydraulic system comprising a hydraulic device, a hydraulic pump in fluid connection with the hydraulic device, an electric motor arranged to drive the hydraulic pump, and a motor drive unit configured to control the operation of the electric motor.
  • the hydraulic system further comprises a control unit configured to provide a desired motor torque value to the motor drive unit.
  • the motor drive unit is configured to control the operation of the electric motor to a desired torque based on the desired motor torque value.
  • the present invention provides a single control loop in which the control unit may provide a desired motor torque value.
  • the desired motor torque value may correspond to a desired pressure value in the hydraulic device.
  • the desired motor torque value may be used by the motor drive unit as a reference value toward which the torque of the electric motor may be controlled. This may be controlled by the motor drive unit by controlling the current, torque or other parameters to the electric motor. By controlling the torque of the electric motor, the pressure provided by the hydraulic pump may be controlled. An increased set pressure may provide an increased torque in the electric motor.
  • the motor drive unit may increase the current to the electric motor to increase the torque. This may consequently increase the pressure in the hydraulic device following an increased speed of the pump.
  • a decreased set pressure may provide a decreased torque in the servo motor.
  • the motor drive unit may decrease the current to the servo motor to decrease the torque. This may consequently decrease the pressure in the hydraulic device following a decreased speed of the pump.
  • control unit may provide instructions to the motor drive unit to indirectly control the pressure in the hydraulic device by providing a desired motor torque value.
  • the motor drive unit may get feedback of the present torque in the electric motor by the present current consumption of the electric motor. This may further provide an indirect feedback of the fluid pressure in the system.
  • the control unit may be configured to relate a desired operation of the hydraulic device to a certain motor torque of the electric motor.
  • the desired operation of the hydraulic device may be initiated by a manual operation by a user, or by an automatically controlled operation.
  • the electric motor may be a servo motor, a reluctance motor or an asynchronous motor.
  • the hydraulic device may be a hydraulic cylinder.
  • the hydraulic system may be a hydraulic press system.
  • the motor drive unit may be synchronized with the electric motor in the present hydraulic system in order to relate the driving of the electric motor to the torque control thereof.
  • the control unit may then use the torque value sent to the motor drive unit to achieve a desired pressure and operation of the hydraulic device.
  • the hydraulic system may comprise a plurality of hydraulic devices, each pressurized by a hydraulic pump driven by an electric motor, which is controlled by a motor drive unit.
  • Each motor drive unit may receive a desired motor torque value from the control unit.
  • Each motor drive unit may receive an individually set desired motor torque value from the control unit.
  • all motor drive units may receive the same desired motor torque value. In a system comprising more than one hydraulic pump, a more complex pressure control may be possible.
  • two or more hydraulic pumps may be provided to together provide an aggregated hydraulic pressure to the hydraulic device.
  • all motor drive units may receive the same desired motor torque value to provide all electric motors be operated with the same torque. If all hydraulic pumps are similar, each pump may then also provide similar portions to the total pressure. Alternatively, one hydraulic pump may be desired to provide a larger portion of the aggregated pressure.
  • the motor drive unit for that electric motor and pump may thereby receive a different desired motor torque value than the motor drive units for the other pumps.
  • the motor drive unit that receives a different desired motor torque value may further receive a desired motor rpm value for the electric motor.
  • the rpm of that electric motor may be set together with the torque in order to avoid that the electric motor reverse due to a lower torque value than for the other electric motors.
  • the motor drive unit that received the desired motor rpm value may control the electric motor to operate at the desired rpm and with the desired torque.
  • the hydraulic pump in direct connection with the electric motor may thereby operate at the same rpm as the electric motor.
  • the system may comprise two hydraulic pumps operable in opposite directions to enable a low aggregated pressure without operating a pump at low speed risking damage to the pump and electric motor.
  • the motor drive units operating the electric motors driving the pumps may thereby receive different desired motor torque values and/or motor rpm values to achieve a desired aggregated pressure to the hydraulic device.
  • a method of controlling pressure in a hydraulic device in a hydraulic system comprises the step of providing a hydraulic pump in fluid connection with the hydraulic device, wherein the hydraulic pump is driven by an electric motor, providing a desired motor torque value to a motor drive unit controlling the operation of the electric motor, and controlling the torque of the electric motor via the motor drive unit to a desired torque based on the desired motor torque value.
  • Fig. 1 illustrates a hydraulic system 1 comprising a hydraulic device in the form of a hydraulic cylinder 10.
  • the hydraulic cylinder 10 comprises a pressure chamber 12 and a piston 14.
  • the pressure in the pressure chamber 12 controls the position and movement of the piston 14.
  • the pressure of the pressure chamber 12 is provided by a hydraulic pump 20 in fluid connection with the pressure chamber 12 via a pipe 16.
  • the hydraulic pump 20 receives incoming pressure fluid from an incoming pipe 18.
  • the pressure fluid is pressurized by the hydraulic pump 20 and supplied to the pipe 16.
  • the hydraulic pump 20 is driven by an electric motor 30 via a drive shaft 32.
  • the speed of the electric motor 30 controls the speed of the hydraulic pump 20.
  • the operation of the electric motor 30 is controlled by a motor drive unit 40.
  • the drive unit 40 supplies power to the electric motor 30.
  • the drive unit 40 controls the torque of the electric motor 30 by controlling the supplied current, torque or other parameters to the electric motor 30. By monitoring and controlling the current, torque or other parameters supplied to and consumed by the electric motor 30, the torque of the electric motor 30 is controlled.
  • the drive unit 40 is communicatively connected to a control unit 50.
  • the control unit 50 transmits a desired torque value for the electric motor 30 to the drive unit 40.
  • the desired torque value corresponds to a motor torque determined to provide a desired pressure in the pressure chamber 12, and further a desired operation of the hydraulic cylinder 10.
  • the control unit 50 is configured to provide a desired torque value that is determined based on a desired operation of the hydraulic cylinder 10. The desired operation is provided either from a manual operation by a user of the hydraulic system 1, or from an automatic operation controlling the hydraulic cylinder 10.
  • the performance of the electric motor 30, hydraulic pump 20 together with the hydraulic cylinder 10 may be calibrated to provide a system in which the operation of the hydraulic cylinder 10 can be predetermined based on a specific torque of the electric motor 30.
  • the operation of the hydraulic cylinder 10 can be controlled by the control unit 50 by setting a desired torque value for the electric motor 30. No slow continuous feedback of the pressure in the pressure chamber 12 or the pipe 16 is thereby needed during operation of the hydraulic system 1.
  • a pressure valve (not shown) can be arranged between the hydraulic pump 20 and the hydraulic cylinder 10, which is configured to release pressure from the pipe 16 when the pressure therein reaches a predetermined threshold. Momentary peaks in the pressure is thereby taken care of by the pressure valve.
  • Fig. 2 illustrates a hydraulic press system 1' according to an embodiment, comprising two hydraulic pumps 20a, 20b, each driven by an electric motor 30a, 30b via a shaft 32a, 32b.
  • the electric motors 30a, 30b are controlled by a respective drive unit 40a, 40b. Both drive units 40a, 40b receives a desired motor torque value from the control unit 50.
  • Each drive unit 40a, 40b control the respective electric motor 30a, 30b based on the received desired motor torque value.
  • the received motor torque value and/or motor rpm value may be the same to both drive units 40a, 40b, or individually set by the control unit 50, as discussed above.
  • a desired aggregated pressure in the pipe 16 to the hydraulic cylinder 10 can thereby be achieved.
  • Fig. 3 illustrates a flow chart of a method 100 according an embodiment of the invention.
  • a hydraulic system 1 is provided comprising the hydraulic cylinder 10 in fluid connection with the hydraulic pump 20.
  • the hydraulic pump 20 is driven by the electric motor 30, which in turn is controlled by the motor drive unit 40.
  • a desired motor torque value is provided 104 to the motor drive unit.
  • the motor torque is controlled 106 based on the received desired motor torque value.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Positive-Displacement Pumps (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Control Of Electric Motors In General (AREA)

Claims (12)

  1. Hydrauliksystem (1), aufweisend:
    eine hydraulische Vorrichtung (10);
    eine Hydraulikpumpe (20) in Fluidverbindung mit der hydraulischen Vorrichtung;
    einen Elektromotor (30), welcher dafür eingerichtet ist, die Hydraulikpumpe anzutreiben;
    eine Motorantriebseinheit (40), welche dafür eingerichtet ist, den Betrieb des Elektromotors zu steuern;
    dadurch gekennzeichnet, dass
    das Hydrauliksystem ferner eine Steuereinheit (50) aufweist, welche dafür eingerichtet ist, der Motorantriebseinheit (40) einen gewünschten Motordrehmomentwert bereitzustellen, wobei der gewünschte Motordrehmomentwert einem gewünschten Druckwert in der hydraulischen Vorrichtung (10) entspricht,
    wobei die Motorantriebseinheit (40) dafür eingerichtet ist, basierend auf dem gewünschten Motordrehmomentwert ein Drehmoment des Elektromotors (30) auf ein gewünschtes Drehmoment zu regeln, und
    wobei die Motorantriebseinheit (40) durch den Stromverbrauch des Elektromotors (30) eine Rückmeldung hinsichtlich eines aktuellen Drehmoments im Elektromotor erhält.
  2. Hydrauliksystem nach Anspruch 1, wobei die Steuereinheit (50) dafür eingerichtet ist, basierend auf einem gewünschten Betrieb der hydraulischen Vorrichtung (10) den gewünschten Motordrehmomentwert bereitzustellen.
  3. Hydrauliksystem nach Anspruch 1 oder 2, wobei das Hydrauliksystem eine Mehrzahl von Hydraulikpumpen (20) aufweist, welche jeweils durch einen Elektromotor (30), welcher durch eine Motorantriebseinheit (40) gesteuert wird, angetrieben werden, wobei die Steuereinheit dafür eingerichtet ist, jeder der Motorantriebseinheiten einen gewünschten Motordrehmomentwert bereitzustellen.
  4. Hydrauliksystem nach Anspruch 3, wobei die Steuereinheit (50) dafür eingerichtet ist, sämtlichen Motorantriebseinheiten (40) dieselben gewünschten Motordrehmomentwerte bereitzustellen.
  5. Hydrauliksystem nach Anspruch 3, wobei die Steuereinheit (50) dafür eingerichtet ist, jeder der Motorantriebseinheiten (40) einen individuellen gewünschten Motordrehmomentwert bereitzustellen.
  6. Hydrauliksystem nach Anspruch 5, wobei die Steuereinheit (50) ferner dafür eingerichtet ist, mindestens einer Motorantriebseinheit (40) einen gewünschten Motordrehzahlwert bereitzustellen.
  7. Verfahren (100) zur Drucksteuerung in einer hydraulischen Vorrichtung (10) in einem Hydrauliksystem (1) nach einem der vorstehenden Ansprüche, das Verfahren umfassend die Schritte:
    Bereitstellen (102) einer Hydraulikpumpe (20) in Fluidverbindung mit der hydraulischen Vorrichtung, wobei die Hydraulikpumpe durch einen Elektromotor (30) angetrieben wird,
    Bereitstellen (104) eines gewünschten Motordrehmomentwerts für eine Motorantriebseinheit (40), welche den Betrieb des Elektromotors steuert,
    Regeln (106) des Drehmoments des Elektromotors (30) auf ein gewünschtes Drehmoment basierend auf dem gewünschten Motordrehmomentwert über die Motorantriebseinheit, und
    Empfangen einer Rückmeldung hinsichtlich eines aktuellen Drehmoments im Elektromotor (30) durch den Stromverbrauch des Elektromotors.
  8. Verfahren nach Anspruch 7, wobei der gewünschte Motordrehmomentwert basierend auf einem gewünschten Betrieb der hydraulischen Vorrichtung (10) bereitbestellt wird.
  9. Verfahren nach Anspruch 7 oder 8, wobei eine Mehrzahl von Hydraulikpumpen (20), welche jeweils durch einen Elektromotor (30), welcher durch eine Motorantriebseinheit gesteuert wird, angetrieben werden, bereitgestellt sind, und wobei der Schritt (104) des Bereitstellens eines gewünschten Motordrehmomentwerts das Bereitstellen eines gewünschten Motordrehmomentwerts für jede der Motorantriebseinheiten umfasst.
  10. Verfahren nach Anspruch 9, wobei sämtlichen Motorantriebseinheiten (40) dieselben gewünschten Motordrehmomentwerte bereitgestellt werden.
  11. Verfahren nach Anspruch 8, wobei jeder der Motorantriebseinheiten (40) ein individueller gewünschter Motordrehmomentwert bereitgestellt wird.
  12. Verfahren nach Anspruch 11, wobei mindestens einer Motorantriebseinheit (40) ein gewünschter Motordrehzahlwert bereitgestellt wird.
EP17194730.2A 2017-10-04 2017-10-04 Drucksteuerung eines hydrauliksystems mit elektromotor Active EP3467307B1 (de)

Priority Applications (6)

Application Number Priority Date Filing Date Title
PT171947302T PT3467307T (pt) 2017-10-04 2017-10-04 Controlo de pressão de sistema hidráulico com motor elétrico
HUE17194730A HUE054669T2 (hu) 2017-10-04 2017-10-04 Hidraulikus rendszer nyomásszabályozása villanymotorral
ES17194730T ES2875355T3 (es) 2017-10-04 2017-10-04 Control de presión de un sistema hidráulico con motor eléctrico
PL17194730T PL3467307T3 (pl) 2017-10-04 2017-10-04 Sterowanie ciśnieniem układu hydraulicznego z silnikiem elektrycznym
EP17194730.2A EP3467307B1 (de) 2017-10-04 2017-10-04 Drucksteuerung eines hydrauliksystems mit elektromotor
PCT/EP2018/076907 WO2019068762A1 (en) 2017-10-04 2018-10-03 HYDRAULIC SYSTEM PRESSURE CONTROL WITH AN ELECTRIC MOTOR

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP17194730.2A EP3467307B1 (de) 2017-10-04 2017-10-04 Drucksteuerung eines hydrauliksystems mit elektromotor

Publications (2)

Publication Number Publication Date
EP3467307A1 EP3467307A1 (de) 2019-04-10
EP3467307B1 true EP3467307B1 (de) 2021-04-21

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP17194730.2A Active EP3467307B1 (de) 2017-10-04 2017-10-04 Drucksteuerung eines hydrauliksystems mit elektromotor

Country Status (6)

Country Link
EP (1) EP3467307B1 (de)
ES (1) ES2875355T3 (de)
HU (1) HUE054669T2 (de)
PL (1) PL3467307T3 (de)
PT (1) PT3467307T (de)
WO (1) WO2019068762A1 (de)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2505644B2 (ja) * 1990-11-20 1996-06-12 三菱電機株式会社 油圧エレベ―タ駆動制御装置
JP4576639B2 (ja) 2005-05-16 2010-11-10 アイダエンジニアリング株式会社 プレス機械のダイクッション装置
DE102011104292A1 (de) * 2011-06-16 2012-12-20 Robert Bosch Gmbh Verfahren und Vorrichtung zur Steuerung eines Drehmoments eines Elektromotors eines elektrohydraulischen Systems
US10072676B2 (en) * 2014-09-23 2018-09-11 Project Phoenix, LLC System to pump fluid and control thereof

Also Published As

Publication number Publication date
PT3467307T (pt) 2021-06-04
WO2019068762A1 (en) 2019-04-11
ES2875355T3 (es) 2021-11-10
EP3467307A1 (de) 2019-04-10
PL3467307T3 (pl) 2021-10-25
HUE054669T2 (hu) 2021-09-28

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