EP3770431B1 - Agencement et procédé d'alimentation en moyen de pression hydraulique - Google Patents

Agencement et procédé d'alimentation en moyen de pression hydraulique Download PDF

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Publication number
EP3770431B1
EP3770431B1 EP20186948.4A EP20186948A EP3770431B1 EP 3770431 B1 EP3770431 B1 EP 3770431B1 EP 20186948 A EP20186948 A EP 20186948A EP 3770431 B1 EP3770431 B1 EP 3770431B1
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European Patent Office
Prior art keywords
variable
actual
controller
control variable
control
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EP20186948.4A
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German (de)
English (en)
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EP3770431A1 (fr
Inventor
Ximing Wang
Minha An
Salih Tetik
Michael Brand
Florian Muehlbauer
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Robert Bosch GmbH
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Robert Bosch GmbH
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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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
    • F03C1/00—Reciprocating-piston liquid engines
    • F03C1/02—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders
    • F03C1/06—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinder axes generally coaxial with, or parallel or inclined to, main shaft axis
    • F03C1/0678—Control
    • F03C1/0686—Control by changing the inclination of the swash plate
    • 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
    • F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
    • F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
    • F04B1/26—Control
    • F04B1/28—Control of machines or pumps with stationary cylinders
    • F04B1/29—Control of machines or pumps with stationary cylinders by varying the relative positions of a swash plate and a cylinder block
    • F04B1/295—Control of machines or pumps with stationary cylinders by varying the relative positions of a swash plate and a cylinder block by changing the inclination of the swash plate
    • 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
    • F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
    • F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
    • F04B1/26—Control
    • F04B1/30—Control of machines or pumps with rotary cylinder blocks
    • F04B1/32—Control of machines or pumps with rotary cylinder blocks by varying the relative positions of a swash plate and a cylinder block
    • F04B1/324—Control of machines or pumps with rotary cylinder blocks by varying the relative positions of a swash plate and a cylinder block by changing the inclination of the swash plate
    • 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
    • F04B49/08—Regulating by delivery pressure
    • 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
    • F04B49/22—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 by means of 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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • 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
    • F04B2201/00—Pump parameters
    • F04B2201/12—Parameters of driving or driven means
    • F04B2201/1201—Rotational speed of the axis
    • 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
    • F04B2201/00—Pump parameters
    • F04B2201/12—Parameters of driving or driven means
    • F04B2201/1205—Position of a non-rotating inclined plate
    • F04B2201/12051—Angular position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00—Motor parameters
    • F04B2203/06—Motor parameters of internal combustion engines
    • F04B2203/0603—Torque
    • 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
    • F04B2205/00—Fluid parameters
    • F04B2205/05—Pressure after the pump outlet
    • 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
    • F04B2205/00—Fluid parameters
    • F04B2205/09—Flow through the pump
    • 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
    • F04B49/002—Hydraulic systems to change the pump delivery
    • 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

Definitions

  • the invention relates to a hydraulic pressure medium supply arrangement for a hydraulic circuit, for example for mobile working machines, according to the preamble of claim 1.
  • the invention also relates to a method for a hydraulic pressure medium supply arrangement.
  • a pressure and flow control system is known from the document RE 30630/04.13 from Rexroth. This is used for the electro-hydraulic control of a swivel angle, a pressure and an output of an axial piston variable displacement pump.
  • the control system has an axial piston variable displacement pump with an electrically controlled proportional valve. This can be used to control an actuating piston. This is used to adjust a swash plate of the variable displacement pump.
  • a displacement sensor is provided for the actuating piston, via which a pivoting angle of the swash plate can be determined on the basis of the displacement path of the actuating piston.
  • a swivel angle of the swash plate can also be picked up on the swivel axis using a Hall sensor.
  • the volume flow of the variable displacement pump can in turn be determined from the swivel angle of the swash plate.
  • the variable displacement pump is driven by a motor. If the variable displacement pump is not driven and the actuating system is depressurized, then the variable displacement pump pivots to a maximum delivery volume by the spring force of a spring. On the other hand, when the variable displacement pump is in the driven state and the pilot valve is de-energized and the pump outlet is closed, the variable displacement pump pivots to a zero stroke pressure.
  • a controller for the pilot valve has a target pressure, a target swivel angle and optionally a target power value as input variables.
  • An actual pressure on the outlet side of the variable displacement pump is detected by a pressure sensor.
  • an actual swivel angle is determined via the displacement pickup.
  • the recorded actual values are processed in an amplifier and compared with the specified target values.
  • a minimum value generator then ensures that only the controller assigned to the desired operating point is automatically active.
  • An output signal from the minimum value generator is then a desired value for a proportional magnet on the pilot valve.
  • a displacement path of a valve spool of the pilot valve is detected by a displacement pickup and reported to the controller.
  • RE 30242/03.10 external control electronics for the described adjustment of the axial piston adjustment machine are disclosed.
  • electro-hydraulic control system is disclosed in the document RD 92 088/08.04 from Rexroth.
  • a pivotable hydraulic axial piston adjustment machine is provided, which is connected to another hydraulic machine via a drive shaft. Furthermore, a control circuit for a drive torque of the adjusting machine is provided. An actual drive torque and a setpoint drive torque are supplied to the control circuit, from which a manipulated variable for an actuating device of the adjusting machine is determined.
  • the setpoint drive torque is an output variable from a minimum value generator. This selects an output variable of a pressure control and a volume flow control.
  • the volume flow of the hydraulic machine connected to the adjustment machine is provided as the actual volume flow. Furthermore, a high pressure of this hydraulic machine is provided as the actual pressure.
  • EP 2 851 565 B1 , U.S. 4,801,247 , U.S. 5,182,908 , EP 034 9092 B1 , US5267441 , US5967756 and US5170625 each disclosed a hydraulic machine with a swivel angle sensor and a pressure sensor.
  • DE 102016 222139 also discloses the regulation of the control valve in the adjusting device of an axial piston machine.
  • the invention is based on the object of creating a hydraulic pressure medium supply arrangement which can be controlled in a simple manner and/or in which vibrations during operation are reduced or even prevented. Furthermore, the invention is based on the object of creating a simple method for the hydraulic pressure medium supply arrangement which leads to an improvement in the adjustment behavior.
  • a hydraulic pressure medium supply arrangement for an open hydraulic circuit, which is used in particular for mobile work machines.
  • the pressure medium supply arrangement can have a hydraulic machine whose delivery volume or stroke volume can be adjusted via an adjustment mechanism.
  • the hydraulic machine is an axial piston machine with a pivoting cradle or an adjustable swash plate, or an axial piston machine with a bent-axis design.
  • the adjusting mechanism preferably has an adjusting cylinder with an adjusting piston for adjusting the delivery volume or stroke volume of the hydraulic machine.
  • the adjustment mechanism preferably has an electrically proportionally controllable pilot valve. This can be used to control an inflow and/or an outflow into a control chamber of the actuating cylinder that is delimited by the actuating piston.
  • the pressure medium supply arrangement can have an electronic controller for the pilot valve.
  • This preferably has a controller with an output variable in the form of a manipulated variable for the pilot valve, in particular for an actuator of the pilot valve. Provision can be made for the valve slide of the pilot valve to assume a middle position when there is a specific neutral current, in particular for its actuator, or when there is a specific control signal. In the middle position is advantageously provided that the actuating piston does not move, so that a stationary state of the hydraulic machine or the pressure medium supply arrangement may be present.
  • a precontrol variable for the neutral current is preferably linked to the manipulated variable on the output side or at the output of the controller. This serves to pre-control the neutral current.
  • a precontrol variable for the neutral current is linked to the manipulated variable of the controller on the output side of the controller in order to set the manipulated variable for the pilot valve.
  • This solution has the advantage that the controller only has to output the "net signal" for adjusting the swivel angle or delivery volume for the hydraulic machine.
  • a control signal or the neutral current for the middle position of the valve spool is specified and therefore the control output does not have to undergo any changes without this having an effect on the controlled system. It has also been shown that this significantly improves the vibration behavior of the pressure medium supply arrangement. In regular operation, no or comparatively small vibrations occur in the pressure medium supply arrangement. An exact pilot control of the neutral current is also advantageous in order to achieve the required dynamics of the pressure medium supply arrangement.
  • the controller for the pilot variable has a control element that determines the pilot variable using a characteristic map.
  • the pilot control variable can then be determined via the characteristic map as a function of an operating state of the pressure medium supply arrangement. It is then conceivable that at least one state variable or actual variable of the pressure medium supply arrangement is provided as the input variable for the control element.
  • the characteristics map and/or the pilot control variable can be adapted or corrected.
  • positions of the valve slide, for example the middle position, of the pilot valve can change with the same energization, in particular over the period of use after the pressure medium supply arrangement has been put into operation. The change is usually dependent on various parameters, including age and wear.
  • the neutral current be adapted to changing conditions. For example, it is conceivable that the neutral current is first measured when the pressure medium supply is started up and can then be adapted or corrected if necessary.
  • the adaptation of the characteristic map and/or the pilot control variable is advantageous since the neutral current varies depending on the operating state of the pressure medium supply arrangement (actual outlet pressure, actual temperature, actual speed) and is subject to scatter, in particular due to aging and manufacturing tolerances of the valve slide of the pilot valve , the magnet and the spring.
  • a one-dimensional or multi-dimensional characteristic map is provided as the characteristic diagram, for example.
  • the map can be designed as a neutral current curve.
  • An actual output pressure and/or an actual speed and/or an actual swivel angle of the hydraulic machine and/or an actual temperature of a pressure medium in the hydraulic machine is conceivable as dimension(s) for the characteristic map. If, for example, the actual outlet pressure is provided as the dimension, the neutral current can then be taken from the characteristics map as a function of this pressure.
  • the controller is provided for controlling an actual delivery volume adjustment speed or for controlling an actual swivel angle adjustment speed of the hydraulic machine.
  • the actual delivery volume adjustment speed or actual swivel angle adjustment speed in particular as a derivation of the actual delivery volume or the actual swivel angle, and a setpoint delivery volume adjustment speed or setpoint swivel angle adjustment speed of the hydraulic machine can be provided as input variables.
  • the manipulated variable for the pilot valve can serve as the output variable.
  • the controller which controls the displacement volume adjustment speed or swivel angle displacement speed, can use the precontrol variable to precontrol the neutral current at the output so that the controller only has to output the net signal for the adjustment of the swivel angle or displacement volume of the hydraulic machine.
  • the controller for the actual delivery volume adjustment speed or actual swivel angle adjustment speed of the hydraulic machine is designed, for example, as a PI controller. If the map were not adapted, a deviation of the map or neutral current map from the actual neutral current would be compensated for by the I component in the controller or in the inner swivel angle control circuit. However such an increased I component leads to overshoots in the control. Thus, an exact pre-control of the neutral current can advantageously be carried out by the adaptation with the smallest possible I component, which leads to an extremely advantageous dynamic reaction of the hydraulic machine and to few overshoots. The reason is that the I component is no longer suitable when the operating point changes, for example the actual swivel angle or the actual outlet pressure, and this would result in a dead path/dead time in the controller output until the I component is adjusted .
  • This solution has the advantage that automatic updating or adaptation of the characteristics map for the neutral current is made possible.
  • the I component can be kept small and the control behavior of the hydraulic machine can be improved. All scatter and tolerances can then be automatically compensated.
  • the pilot control variable and/or the characteristic diagram are preferably adapted in such a way that, in the stationary operating state, the manipulated variable is zero or essentially zero in a middle position of the valve slide of the pilot valve.
  • the manipulated variable deviates from zero in the stationary operating state and is therefore controlled as an error value for the neutral current
  • the manipulated variable as an error value with the pilot control variable and/or the map is offset.
  • the pilot control variable and/or the characteristics map can thus be adapted in a simple manner by considering the manipulated variable as an error value in the stationary operating state. For example, a subtraction of the manipulated variable as an error value from the pilot control variable and/or the characteristics map is provided as a calculation.
  • the manipulated variable can be subtracted as an error value from a support point in the characteristics map, in particular in the form of the neutral current curve. For example, that point of the characteristics map that has the smallest distance from the stationary operating state is selected as the reference point. It would also be conceivable to weight the nearest support points depending on their distance from the operating state.
  • a stationary operating point can be determined and then its position in the map.
  • a neutral current is then determined from the nominal map or previously applicable map.
  • a new map or a new value can then be transferred to the pilot control.
  • An evaluation of the machine status can thus initially be provided, in that operating points or stationary points are determined.
  • An assignment of the operating point or the operating points to a base point or to a plurality of base points in the characteristic map can then be provided.
  • the map is first updated and then a new map is output.
  • the adaptation takes place when a stationary operating state is present, for example when the actual swivel angle and actual outlet pressure of the hydraulic machine are constant.
  • a stationary operating state can be identified in which the derivation of the swivel angle is zero or less than a defined value.
  • the signal component then controlled by the controller or the PI control element as an error in relation to the neutral current is then subtracted as an error from the neutral current curve or from the map.
  • the error is subtracted from the base point of the neutral current curve that corresponds to the stationary operating state. In this way, the characteristics map can be shifted, for example.
  • a characteristic curve of a pump is adapted, which has a hydromechanical EP controller.
  • a specific valve control signal then results in a specific swivel angle. This can be pre-controlled in an electronic control unit using a characteristic curve. This characteristic curve is repeatedly adapted here during ongoing operation.
  • a hydraulic pressure medium supply arrangement with a hydraulic machine that has an adjustable swash plate is disclosed.
  • An angle of the swash plate is adjustable via a pilot valve.
  • the pilot valve can be controlled via a controller. If the pilot valve is controlled with a neutral current, a valve slide of the pilot valve assumes a middle position in which the swash plate does not move.
  • the controller In order to control the pilot valve, the controller outputs a manipulated variable.
  • the manipulated variable is linked and adapted on the output side of the controller with a precontrol variable for the neutral current in order to precontrol the neutral current.
  • a hydraulic pressure medium supply arrangement 1 which has a hydraulic machine in the form of an axial piston machine 2 .
  • This has a pivoting cradle for adjusting a delivery volume.
  • the axial piston machine 2 can be used both as a pump and as a motor.
  • the axial piston machine 2 is driven via a drive unit 4, which can be, for example, an internal combustion engine, such as a diesel unit, or an electric motor.
  • the axial piston machine 2 is connected to the drive unit 4 via a drive shaft 6 .
  • a rotational speed 8 of the drive shaft 6 can be picked up via means that are not shown, for example via a rotational speed sensor, and can be fed to a controller of the pressure medium supply arrangement 1 .
  • An adjusting mechanism 12 is provided for the axial piston machine 2 .
  • This has a pilot valve 14. Its valve slide can be controlled electrically proportionally via an actuator 16.
  • the actuator 16 is supplied with a manipulated variable 18 by a controller 20 .
  • the valve slide of the pilot valve 14 is acted upon by a spring force of a valve spring 22 in the direction of a basic position. The spring force acts against the actuator force of the actuator 16.
  • the axial piston machine 2 is connected on the output side to a pressure line 24, which in turn is connected to a main control valve 26 or valve block. This can be used to control the pressure medium supply between the axial piston machine 2 and one or more consumers.
  • a control line 28 branches off from the pressure line 24 and is connected to a pressure port P of the pilot valve 14 .
  • the control line 28 is formed in a housing of the axial piston machine 2, for example.
  • the pilot valve 14 has a tank connection T, which is connected to a tank via a tank line 30 .
  • the pilot valve 14 has a working connection A, which is connected to a control chamber 32 of an actuating cylinder 34 .
  • the control chamber 32 is delimited by an actuating piston 36 of the actuating cylinder.
  • a swash plate of the axial piston machine 2 can then be adjusted via the actuating piston 36 .
  • a displacement path of the actuating piston 36 is detected by a displacement sensor 38 .
  • a pivoting angle of the pivoting cradle of the axial piston machine 2 is picked up by a rotary, magnetic sensor from a pivoting axis of the pivoting cradle.
  • the actual delivery volume or the actual displacement volume of the axial piston machine 2 can then be determined via the recorded path.
  • the actual delivery volume 40 is then reported to the controller 20 .
  • the pressure port P is connected to the working port A and the tank port T is shut off.
  • the valve spool When impacted of the valve spool with the actuator force of the actuator 16, the valve spool is moved, starting from its basic position, in the direction of switching positions in which the pressure port P is blocked and the working port A is connected to the tank port T.
  • the actuating piston 36 is acted upon by pressure medium from the pressure line 24 .
  • a cylinder 42 is provided in the adjusting mechanism 12 .
  • This has an actuating piston 44 which acts on the swash plate of the axial piston machine 2 .
  • the actuating piston 44 delimits a control chamber 46 which is connected to the pressure line 24 .
  • the actuating piston 44 is acted upon by the pressure medium of the control chamber 46 and by the spring force of a spring 48 in such a way that it loads the swash plate in the direction of increasing the delivery volume.
  • a pressure sensor 50 is provided, via which the pressure in the pressure line 24 is tapped and reported to the controller 20 , the pressure being an actual outlet pressure 52 .
  • a pressure sensor 54 is also provided, which detects the highest actual load pressure (actual LS pressure) 56 which is transmitted to the controller 20 .
  • a controller 57 is connected to the controller 20 via a CAN interface 58, in particular to determine the actual speed and one or more control setpoints, such as the setpoint output pressure, the setpoint delivery volume or the setpoint swivel angle, setpoint power or the target torque to the controller 20 to transmit. It is also conceivable to feed the actual speed 8 directly to the controller 20 .
  • the position of the swash plate of the axial piston machine 2 is controlled via the pilot valve 14 and the actuating piston 36 .
  • a volume flow delivered by the axial piston machine 2 is proportional to the position of the swash plate.
  • the adjusting piston 44 or counter-piston, which is pretensioned by the spring 48, is constantly subjected to the actual outlet pressure or pump pressure.
  • the swash plate is held in a +100 percent position by the spring 48 .
  • the swash plate pivots to a zero stroke pressure, since the actuating piston 36 is acted upon by pressure medium from the pressure line 24 .
  • a balance between an actual output pressure at the actuating piston 36 and the spring force of the spring 48 occurs at a predetermined pressure or pressure range, for example between 8 and 12 bar.
  • This zero stroke operation is assumed, for example, when the electronics or controller 20 are de-energized.
  • the pilot valve 14 is controlled via the controller 20, which is, for example, preferably digital electronics, alternatively analog electronics.
  • the controller 20 processes the required control signals, which is explained in more detail below.
  • the second shows a schematic of how the controller 20 works. It has a first control circuit 60 and a second control circuit 62.
  • the first control circuit 60 has a controller 64 for a pivoting angle of the swash plate of the axial piston machine 2 1 , a regulator 66 for the outlet pressure of the axial piston machine 2 and a regulator 68 for a torque of the axial piston machine 2 .
  • the controller 64 has a setpoint delivery volume 70 and the actual delivery volume 40 as input variables.
  • a manipulated variable 72 is provided as the output variable.
  • the controller 66 has a setpoint outlet pressure 74 and the actual outlet pressure 52 as input variables.
  • a manipulated variable 75 is provided as the output variable.
  • the controller 68 has an actual torque 76 or a setpoint torque as input variables.
  • the actual torque is provided as a further input variable, which in turn can be determined, for example, using a characteristic map via the actual speed 8 and/or via the actual outlet pressure and/or via the actual swivel angle or actual delivery volume.
  • a manipulated variable 78 is provided as the output variable for the controller 68 .
  • the input variables are each supplied to a control element in the form of a PID controller.
  • the manipulated variables 72, 75 and 78 are supplied to a minimum value generator 80. This ensures that only the controller 72, 75 or 78 assigned to the desired operating point is automatically active. In this case, either the output pressure, the torque or the delivery volume is then precisely adjusted, with the other two variables being below a specified setpoint.
  • An output signal of the minimum value generator 80 is then a target value in the form of a delivery volume adjustment speed or setpoint delivery volume adjustment speed 82 or setpoint swivel angle adjustment speed. This is then an input variable for the second subordinate control loop 62.
  • Another input variable of the second control loop 62 is the derivation of the actual delivery volume 40, which is then an actual delivery volume adjustment speed 84.
  • the input variables 82 and 84 for the second control circuit 62 are then fed to a control element in the form of a PID element 86 . This then outputs the manipulated variable 18 for the pilot valve 14 1 out of.
  • FIG 1 Another embodiment for the controller 20 is shown in FIG 1 shown.
  • This has a controller 88 for the delivery volume of the axial piston machine 2, see also 1 .
  • a controller 90 for the outlet pressure of the axial piston machine 2 and a controller 92 for the torque of the axial piston machine 2 are provided. This is part of a first control loop 94.
  • a second control loop 96 which is subordinate to the first control loop, is provided for the displacement volume adjustment speed or swivel angle adjustment speed of the axial piston machine 2.
  • the controller 88 has a control element 98 in the form of a P element.
  • Target delivery volume 70 and actual delivery volume 40 are provided as input variables.
  • the actual delivery volume 40 is supplied with the control element 98 via a filter in the form of a PT1 filter.
  • the manipulated variable 72 is provided as an output variable on the output side of the controller 88 and is supplied to the minimum value generator 80 .
  • the controller 90 has the actual outlet pressure 52, the actual LS pressure 56, a setpoint pressure difference 100 and a setpoint pressure gradient 102 as input variables.
  • the actual LS pressure 56 and the setpoint pressure difference 100 are combined via a summing element 104 to form a setpoint outlet pressure.
  • the target outlet pressure is then fed to a control element 106 in the form of an inverted PT1 element, which estimates a probable signal course.
  • the target outlet pressure is then fed to a control element 108, which has the target pressure gradient 102 as a further input variable.
  • Target pressure gradient 102 specifies the maximum possible gradient that should be provided.
  • the target output pressure is then influenced by the specified target pressure gradient 102 via the control element 108 in such a way that the dynamics of the pressure medium supply arrangement 1 are adjusted with the target pressure gradient 102 1 is controllable.
  • the influence can be such that the higher the setpoint pressure gradient 102, the faster the swash plate of the axial piston machine 2 can be adjusted. Conversely, the smaller the setpoint pressure gradient, the slower the swash plate of the axial piston machine 2 is adjusted.
  • the setpoint outlet pressure is then supplied to a control element 110 in the form of a PID element.
  • the actual outlet pressure 52 is provided.
  • the output variable of the control element 110 is the manipulated variable 75 which is fed to the minimum value generator 80 .
  • the actual LS pressure 56 from the regulator 90 is fed before the summer 104 to a filter 112 which is a variable PT1 filter.
  • the filters 112 and 114 have variable, in particular pressure-dependent, filter coefficients.
  • the controller 92 has the actual speed 8, the actual delivery volume 40, the actual outlet pressure 52 and a target torque 116 as input variables.
  • the input variables are supplied to a control element 118 in the form of a P element.
  • the manipulated variable 78 which is fed to the minimum value generator 80 , is provided as the output variable for the control element 118 .
  • a control element 120 is provided for the manipulated variable 78, which, like the control element 106, is an inverted PT1 filter.
  • the actual speed, the actual delivery volume 40 and the actual outlet pressure 8 are fed to a control element 122 before being fed to the control element 118 . This is used to calculate an actual torque 124 based on the actual speed 8, the actual delivery volume 40 and the actual outlet pressure 8.
  • the calculation is carried out using a map of the control element 122.
  • the map is dependent on the actual outlet pressure 52 , which is supplied to the control element 122.
  • the control element 122 is supplied with the actual delivery volume 40 .
  • the characteristics map can then depend on the actual delivery volume 40 as an alternative or in addition.
  • actual torque 124 is formed from actual speed 8 and from actual outlet pressure 52 and/or from actual delivery volume 40 .
  • the actual torque 124 is then fed to a filter 126 in the form of a PT1 element before it reaches the control element 118 .
  • the actual delivery volume 40 is fed to a filter 99 in the form of a PT1 element before it is fed to the control element 98 .
  • the minimum value generator 80 forms the setpoint delivery volume adjustment speed 82 or setpoint swivel angle adjustment speed. This is fed to a control element 128 . With this, the dynamics of the pressure medium supply arrangement 1 can be influenced. For this is as Another input variable for the control element 128 is a setpoint delivery volume adjustment speed 130 or setpoint swivel angle adjustment speed, which is adjustable.
  • the setpoint delivery volume adjustment speed 130 or setpoint swivel angle adjustment speed, the setpoint delivery volume adjustment speed 82 or setpoint swivel angle adjustment speed output from the minimum value generator 80 can be limited and/or influenced in such a way that the higher variable 130 is , the faster the swash plate of the axial piston machine 2 can be pivoted and vice versa.
  • the dynamics of the pressure medium supply arrangement 1 can be influenced by adjusting the setpoint delivery volume adjustment speed 130 and/or by adjusting the setpoint pressure gradient 102 . For example, this allows the pressure medium supply arrangement 1 to be adapted to different work machines and/or to different conditions of use and/or to different purposes in a simple and cost-effective manner.
  • the target delivery volume adjustment speed 132 or the target swivel angle adjustment speed is fed to the second control loop 96 as an input variable.
  • This has a control element 134 in the form of a PI element.
  • Actual delivery volume adjustment speed 84 or actual swivel angle adjustment speed is provided as a further input variable for control element 134 .
  • This is based on the actual delivery volume 40 which is derived in a control element 136 .
  • the derivation, ie the actual delivery volume adjustment speed is then fed to a filter 138 in the form of a PT1 filter.
  • a control element 140 in the form of an inverted PT1 filter is then provided before the actual variable 84 is fed to the control element 134 .
  • the control element 134 of the second control loop 96 indicates the manipulated variable 18 for the pilot valve 14 as the output variable 1 on. This is fed to a summing element 142 .
  • a pre-control value 144 is provided as a further input variable for summing element 142 .
  • This is an output variable of a control element 150, which has the actual output pressure 52 as an input variable.
  • the pilot control value 144 is then determined on the basis of the actual outlet pressure 52 .
  • the summing element 142 then links the manipulated variable 18 and the precontrol value 144, with which a neutral current is precontrolled in the stationary operating state of the pilot valve. A pressure-dependent specification of a neutral signal value for the pilot valve 14 thus takes place 1 . This has the advantage that the controller 20 with regard to this control task is relieved.
  • a final manipulated variable 146 for the pilot valve 14 is then provided as the output variable of the summing element 142 .
  • pilot control value 144 can be determined, preferably on a model basis, taking into account flow forces in pilot valve 14 and/or a magnet characteristic of actuator 16 and/or a control edge characteristic of the valve slide of pilot valve 14 and/or a spring stiffness of valve spring 22.
  • control element 168 This can alternatively to the control element 150 3 be provided for the second control loop 96 .
  • the pre-control value or the pre-control variable 144 is provided as the output variable.
  • the control element 168 can be activated and deactivated via a switch 170 .
  • the control element 168 has an input block 172, a characteristic diagram block 174 and an output block 176.
  • a setpoint current 178 (see 146 3 ) can be provided if required.
  • a target outlet pressure 180 (see 74 2 ) be provided. This is, for example, according to the statements in accordance with 3 determined or the target outlet pressure is additionally to the control element 110, s. 3 , the input block 172 fed.
  • the actual outlet pressure 52 is a further input variable for the inlet block 172, see also 3 , intended.
  • Target delivery volume 70 or the target swivel angle can be provided as a further input variable.
  • the actual delivery volume 40 or the actual swivel angle can be provided as an input variable.
  • the actual delivery volume adjustment speed 84 or the actual swivel angle adjustment speed can be provided as an input variable.
  • the temperature 154 can also be used as an input variable.
  • the stationary operating state is identified in characteristic map block 174, in which the actual delivery volume adjustment speed 84 or actual -Swivel angle adjustment speed is zero. Furthermore, a current characteristic map and/or an initial characteristic map is stored in characteristic map block 174 . It is determined whether the stationary operating state or working point is on the map. If the operating point is not on the map, a point on the map is selected which comes closest to the operating point, this point then being a support point. If the operating point is on the map, then the working point is the support point. If the working point is at a distance from the characteristic map, then the characteristic map is updated accordingly, so that the working point is again on the characteristic map. The pilot control value 144 is determined in the output block 176 on the basis of the updated characteristics map.
  • the adaptation can take place in such a way that in a step 182, as explained above, the stationary operating state of the pressure medium supply arrangement via the controller 20, s. 3 , is determined. The determination is made in such a way that the actual delivery volume adjustment speed 84 or the actual swivel angle adjustment speed is zero.
  • the signal component controlled by the control element 134 as an error in relation to the neutral current 144 or precontrol value 144 is then subtracted as an error from the characteristic map or the neutral current curve in step 184 corresponds to or is closest to the operating condition.
  • the map can be one-dimensional, for example an actual outlet pressure neutral current map.
  • a multi-dimensional characteristic map is also conceivable, for example with the actual outlet pressure, the actual temperature and the actual speed.
  • the neutral current I is dependent on the actual outlet pressure p.
  • the neutral current I increases with increasing actual outlet pressure p and vice versa. It would also be conceivable that the neutral current I decreases with an increasing actual outlet pressure p and vice versa.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Combustion & Propulsion (AREA)
  • Reciprocating Pumps (AREA)
  • Control Of Positive-Displacement Pumps (AREA)
  • Fluid-Pressure Circuits (AREA)

Claims (12)

  1. Agencement d'alimentation en fluide sous pression hydraulique pour un circuit hydraulique ouvert, comprenant une machine hydraulique (2), comprenant un mécanisme d'ajustement (12) qui présente un cylindre de réglage (34) doté d'un piston de réglage (36) pour ajuster le volume refoulé de la machine hydraulique (2) et qui présente une soupape pilote (14) à pilotage proportionnel électrique, la soupape pilote (14) permettant de commander une arrivée et/ou une évacuation dans une chambre de commande (32) du cylindre de réglage (34), délimitée par le piston de réglage (36), afin de solliciter le piston de réglage (36) pour le pilotage à l'aide d'un fluide sous pression, et dans lequel une commande électronique (20) est prévue pour la soupape pilote (14) qui présente un régulateur (60, 62; 94, 96) avec une grandeur de sortie sous la forme d'une grandeur de réglage (146) pour la soupape pilote (14), un tiroir de soupape de la soupape pilote (14) occupant pour un certain courant neutre une position dans laquelle il est prévu que le piston de réglage (36) n'effectue aucun mouvement,
    caractérisé en ce que du côté sortie du régulateur (60, 62; 94, 96), une grandeur de commande pilote (144) pour le courant neutre est associée à la grandeur de réglage (146) du régulateur (60, 62 ; 94, 96) afin de régler la grandeur de réglage (146) pour la soupape pilote (14).
  2. Agencement d'alimentation en fluide sous pression selon la revendication 1, dans lequel la commande (20) dispose pour la grandeur de commande pilote (144) d'un élément de régulation (150, 168) qui détermine la grandeur de commande pilote (144) à l'aide d'un champ caractéristique.
  3. Agencement d'alimentation en fluide sous pression selon la revendication 2, dans lequel au moins une grandeur de fonctionnement (40, 52, 70, 84, 154, 178, 180) de l'agencement d'alimentation en fluide sous pression (1) est prévue comme grandeur d'entrée pour l'élément de régulation (150, 168).
  4. Agencement d'alimentation en fluide sous pression selon l'une quelconque des revendications précédentes, dans lequel le champ caractéristique et/ou la grandeur de commande pilote (144) est/sont adaptable(s).
  5. Agencement d'alimentation en fluide sous pression selon la revendication 3 ou 4, dans lequel une pression de sortie réelle de la machine hydraulique (2) et/ou une vitesse de rotation réelle (8) de la machine hydraulique (2) et/ou une température réelle (154) d'un fluide sous pression et/ou un volume refoulé réel (40) de la machine hydraulique (2) sont prévus comme grandeur de fonctionnement.
  6. Agencement d'alimentation en fluide sous pression selon l'une quelconque des revendications précédentes, dans lequel le régulateur (134) est prévu pour réguler une vitesse d'ajustement d'angle de pivotement réelle (84) de la machine hydraulique (2), qui présente comme grandeur d'entrée une vitesse d'ajustement d'angle de pivotement réelle (84) et une vitesse d'ajustement d'angle de pivotement théorique (132) de la machine hydraulique (2), et qui présente comme grandeur de sortie la grandeur de réglage (18) du régulateur (60, 62 ; 94, 96) pour la soupape pilote (14).
  7. Procédé permettant de faire fonctionner un agencement d'alimentation en fluide sous pression hydraulique selon l'une quelconque des revendications précédentes, comprenant l'étape consistant à :
    - associer la grandeur de commande pilote (144) pour le courant neutre à la grandeur de réglage (18) du régulateur (60, 62 ; 94, 96) afin de régler la grandeur de réglage (146) pour la soupape pilote (14).
  8. Procédé selon la revendication 7, dans lequel les étapes suivantes sont prévues, consistant à :
    - déterminer un état de fonctionnement stationnaire de l'agencement d'alimentation en fluide sous pression par l'intermédiaire de la commande (20),
    - adapter la grandeur de commande pilote (144) et/ou le champ caractéristique sur la base de l'état de fonctionnement stationnaire.
  9. Procédé selon la revendication 8, dans lequel l'adaptation de la grandeur de commande pilote (144) et/ou du champ caractéristique est effectuée de telle sorte qu'à l'état de fonctionnement stationnaire, la grandeur de réglage (18) du régulateur (60, 62 ; 94, 96) dans une position intermédiaire du tiroir de soupape de la soupape pilote (14) est zéro.
  10. Procédé selon la revendication 8 ou 9, dans lequel à l'état de fonctionnement stationnaire, la vitesse d'ajustement d'angle de pivotement réelle (84) de la machine hydraulique (2) est zéro.
  11. Procédé selon l'une quelconque des revendications 8 à 10, dans lequel, si la grandeur de réglage (18) du régulateur (60, 62 ; 94, 96) à l'état de fonctionnement stationnaire est différente de zéro et est donc ajoutée au courant neutre comme une valeur d'erreur, la grandeur de réglage (18) est compensée comme une valeur d'erreur avec la grandeur de commande pilote (144) et/ou avec le champ caractéristique de façon à adapter ou mettre à jour ainsi la grandeur de commande pilote (144) et/ou le champ caractéristique.
  12. Procédé selon la revendication 11, dans lequel une soustraction de la grandeur de réglage en tant que valeur d'erreur de la grandeur de commande pilote (144) et/ou du champ caractéristique est prévue comme compensation.
EP20186948.4A 2019-07-26 2020-07-21 Agencement et procédé d'alimentation en moyen de pression hydraulique Active EP3770431B1 (fr)

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DE102019212845.9A DE102019212845A1 (de) 2019-07-26 2019-08-27 Hydraulische Druckmittelversorgungsanordnung und Verfahren

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EP3770431A1 (fr) 2021-01-27
JP2021021393A (ja) 2021-02-18
DE102019212845A1 (de) 2021-01-28
CN112303066A (zh) 2021-02-02

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