EP4033036B1 - Verfahren und steuersystem eines aktuators eines arms eines landwirtschafts- oder arbeitsfahrzeugs - Google Patents

Verfahren und steuersystem eines aktuators eines arms eines landwirtschafts- oder arbeitsfahrzeugs Download PDF

Info

Publication number
EP4033036B1
EP4033036B1 EP22152571.0A EP22152571A EP4033036B1 EP 4033036 B1 EP4033036 B1 EP 4033036B1 EP 22152571 A EP22152571 A EP 22152571A EP 4033036 B1 EP4033036 B1 EP 4033036B1
Authority
EP
European Patent Office
Prior art keywords
arm
lowering
chamber
actuator
hydraulic oil
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
EP22152571.0A
Other languages
English (en)
French (fr)
Other versions
EP4033036A1 (de
Inventor
Adriano GARRAMONE
Andrea Gravili
Stefano Liberti
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.)
CNH Industrial Italia SpA
Original Assignee
CNH Industrial Italia SpA
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 CNH Industrial Italia SpA filed Critical CNH Industrial Italia SpA
Publication of EP4033036A1 publication Critical patent/EP4033036A1/de
Application granted granted Critical
Publication of EP4033036B1 publication Critical patent/EP4033036B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2282—Systems using center bypass type changeover 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/044—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the return line, i.e. "meter out"
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3105—Neutral or centre positions
    • F15B2211/3116—Neutral or centre positions the pump port being open in the centre position, e.g. so-called open centre
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3144—Directional control characterised by the positions of the valve element the positions being continuously variable, e.g. as realised by proportional valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/35—Directional control combined with flow control
    • F15B2211/353—Flow control by regulating means in return line, i.e. meter-out control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6654—Flow rate control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/76—Control of force or torque of the output member
    • F15B2211/761—Control of a negative load, i.e. of a load generating hydraulic energy
    • 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/8609—Control during or prevention of abnormal conditions the abnormal condition being cavitation

Definitions

  • the present invention relates to the field of control methods and systems for an actuator of an arm of an agricultural or work vehicle.
  • the actuator normally implemented is of the double-acting type, ie it includes two opposing chambers:
  • the other When one of the chambers is powered by the hydraulic oil source, the other is connected to a hydraulic oil recovery tank, where the hydraulic oil is collected.
  • the problem of the dragged load is a condition in which a double-acting hydraulic actuator, during the lowering of the arm, sees the chamber responsible for lifting the arm, discharging more oil than the oil filling the chamber responsible for lowering the arm.
  • the oil filling is carried out by means of a hydraulic pump driven in rotation by a prime mover, generally of the internal combustion type.
  • a throttle valve prevents a flow of hydraulic oil greater than that required by the control valve and which would cause a lowering with a speed greater than that required and cavitation in the lowering chamber.
  • valves have been widely used but represent a cost and a complication of the hydraulic circuit. However, they are the reference standard in the hydraulic control circuits of articulated arms of agricultural and work vehicles.
  • the arm control lever In modern vehicles, the arm control lever generates a first electrical signal, which is processed by a processing unit. The latter generates a second control signal, which controls the spool of the electro-hydraulic directional control valve, in proportion to the first electrical signal.
  • the purpose of the present invention is to identify an at least alternative solution with respect to the use of a valve to limit the flow of oil.
  • the basic idea of the present invention is to consider that there is a proportion between the oil entering one chamber and the oil that is discharged from the other chamber of the same double-acting actuator.
  • the idea is to exploit the presence of a control unit to manipulate the signal generated by the actuator control lever, in order to limit the second control signal, so that, during the arm lowering, the oil flow actually discharged into the recovery tank from the actuator lifting chamber is never greater than the corresponding proportional oil flow entering the lowering chamber.
  • control signal of the directional control valve of the actuator implies that the relative movable spool progressively throttles the ports of the lowering chamber and simultaneously of the lifting chamber, moving towards the stop condition.
  • the control signal actually sent to the directional control valve is limited taking into account the effect of the uncontrolled load, without implementing any valve to limit the flow discharged from the actuator lift chamber.
  • the present strategy does not require the use of auxiliary valves such as overcenter or counterbalance valves of the known art.
  • the flow generated by the hydraulic pump is a function of the rotation speed of the prime mover, which drives the hydraulic pump into rotation. While the flow of oil sent to the lowering chamber depends on the flow generated by the pump and the position of the spool of the actuator directional control valve.
  • the directional control valve simultaneously controls the oil sent to the lowering chamber and the flow of the oil discharged from the lifting chamber into the recovery tank, therefore, the position of the movable spool of the valve is controlled in such a way as to ensure, independently of the first signal generated by the arm control lever, that the flow of oil discharged from the lifting chamber is never greater than the proportional flow of oil reaching the lowering chamber.
  • the directional valve is adjusted so that the oil that flows from an actuator never exceeds the oil discharged by the actuator when it is under "not dragged" load conditions.
  • a check valve arranged so as to allow a flow of oil from the recovery tank to the lowering chamber.
  • control is "tracking" control, in the sense that the limitation intervenes as soon as there is an excessive discharge of oil from the lifting chamber, and therefore, even a minimal lack of oil in the lowering chamber is immediately compensated by means of the check valve.
  • the flow of oil discharged is "detected", in dynamic conditions of the arm, by means of a position sensor associated with the hydraulic actuator.
  • a position sensor associated with the hydraulic actuator In particular, by detecting the change in the position of the actuator over time, it is possible to calculate the flow of oil discharged into the recovery tank since the characteristics of the actuator are known.
  • the "expected" flow of oil discharged from the lifting chamber is proportional to the oil sent to the lowering chamber and can be calculated, being known the construction characteristics of the actuator and pump, as a function of the rotation speed of the prime mover (and therefore of the pump) and the position of the spool which depends on the signal generated by the control lever of the arm.
  • the flow of oil discharged is "estimated", in static conditions of the arm, by means of a pressure sensor associated with the lifting chamber of the hydraulic actuator.
  • a pressure sensor associated with the lifting chamber of the hydraulic actuator.
  • the "expected" flow of oil discharged is calculated, given the construction characteristics of the actuator and pump, as a function of the rotation speed of the prime mover (and therefore of the pump) and the position of the spool from the signal generated by the arm control lever.
  • the present invention relates to the control of an actuator of an arm of an agricultural or work vehicle subjected to a load as exemplified in figure 1 .
  • the arm B comprises at least one element AR directly and/or a tool T indirectly hinged to a vehicular frame F and a double action actuator A1, A2 comprising a lifting chamber CH1 and a lowering chamber CH2 opposite the lifting chamber.
  • the electro-hydraulic control circuit of at least one of the components AR and/or TL is exemplified in Figure 2 .
  • a directional valve V1, V2 is arranged to connect
  • the directional valve is represented as a proportional valve with a central rest spool corresponding to the aforementioned third operating condition, a left spool corresponding to the second operating condition for lifting the arm, and a right spool corresponding to the first operating condition for lowering the arm.
  • each spool simultaneously controls both ports of the actuator, ie both the port of the first chamber CH1 and the second chamber CH2, providing for the aforementioned connections or disconnections in the event of the arm stop.
  • the source of hydraulic oil is defined by a hydraulic pump P driven in rotation by a prime mover, typically an internal combustion engine.
  • the flow directed to the lowering chamber CH2 is functional
  • the oil flow generated by the hydraulic pump P is a function of the rotation speed of the prime mover.
  • the measured hydraulic oil flow is calculated by associating a position sensor S1 with the hydraulic actuator A1, A2, so that, once the geometry of the actuator and in particular of the lifting chamber is known, the oil can be calculated, actually relieved as the actuator stem moves.
  • the position of the movable shuttle of the directional valve depends at least on the position of a control lever of the arm located in the passenger compartment of the vehicle. Generally, this lever is in the form of a joystick.
  • the electrical signal generated by the activation of the lever is sent to a processing unit, generally the vehicle control unit (Control Unit) which conditions this signal to control the operation of the directional valve.
  • the processing unit is configured to manipulate and adapt this signal not only on the basis of the position of the joystick lever, but also on the basis of the detection of an uncontrolled/dragged load.
  • the rotation speed of the pump can be obtained by means of the so-called phonic wheel associated with the drive shaft of the prime mover.
  • control variables and operating parameters of the vehicle devices are published on a CAN data network.
  • an estimate of the load associated with arm B is made when it is still in static conditions.
  • a check valve AC arranged so as to allow a flow of oil from the tank to the lowering chamber.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)
  • Guiding Agricultural Machines (AREA)

Claims (13)

  1. Steuerverfahren für eine Betätigungseinrichtung eines Arms eines Landwirtschafts- oder Nutzfahrzeugs, der einer Last ausgesetzt ist, bei dem der Arm (B) mindestens ein Element (AR, TL), das direkt oder indirekt an einem Fahrzeuggestell (F) angelenkt ist, und eine doppeltwirkende Betätigungseinrichtung (A1, A2) umfasst, die eine Hubkammer (CH1) und eine Senkkammer (CH2) gegenüber der Hubkammer sowie ein Wegeventil (V1, V2) umfasst, das dazu eingerichtet ist, Folgendes miteinander zu verbinden
    - die Hubkammer mit einem Rückgewinnungstank (T) für Hydrauliköl
    - die Senkkammer mit einer Quelle von Hydrauliköl (P),
    in einer ersten Betriebskonfiguration zum Absenken des Arms und umgekehrt in einer zweiten Betriebskonfiguration zum Heben des Arms sowie in einer dritten Stoppkonfiguration des Arms, bei der beide Kammern geschlossen werden und von dem Tank und der Quelle von Hydrauliköl getrennt werden,
    wobei das Verfahren in dynamischen Zuständen des Absenkens des Armes umfasst
    - einen ersten Schritt (ST1) des Berechnens eines Durchflusswerts von Hydrauliköl, das von dem Wegeventil zu der Senkkammer (CH2) geleitet wird, und eines entsprechenden ersten Durchflusswerts (F1) von Hydrauliköl, das dazu bestimmt ist, aus der Hubkammer (CH1) abgeführt zu werden,
    - einen zweiten Schritt (ST2) des Erfassens eines zweiten Durchflusswertes (F2) von Hydrauliköl, das aufgrund der Last tatsächlich aus der Hubkammer abgeführt wird und
    - einen dritten Schritt (ST3) des Einstellens des Wegeventils (V1, V2), um den zweiten Wert dazu zu zwingen, den ersten Durchflusswert zu erreichen, wenn der zweite Wert den ersten überschreitet (CK = Yes).
  2. Verfahren nach Anspruch 1, derart durchgeführt, dass während des Absenkens des Armes in Echtzeit eine Drosselung des Öffnens des Wegeventils (V1, V2) erreicht wird.
  3. Verfahren nach einem der Ansprüche 1 oder 2, wobei der erste Durchfluss (F1) in Abhängigkeit eines von der Hydraulikquelle (P) erzeugten dritten Durchflusses und einer Öffnungsposition einer bewegbaren Spule des Wegeventils (V1, V2) berechnet wird.
  4. Verfahren nach Anspruch 3, wobei die Position der bewegbaren Verschiebeeinrichtung abhängt von einer Position eines Armsteuerungshebels.
  5. Verfahren nach einem der vorhergehenden Ansprüche, wobei das Erfassen des zweiten Durchflusswerts (F2) mittels Überwachen der Änderung einer Betätigungseinrichtungsauslenkung (A1, A2) über die Zeit erfolgt.
  6. Verfahren nach einem der vorhergehenden Ansprüche, wobei der dritte Einstellschritt eine Begrenzung eines Steuersignals umfasst, das von einer Mensch-Maschine-Schnittstellen-Einrichtung erzeugt wird.
  7. Verfahren nach Anspruch 6, wobei die Mensch-Maschine-Schnittstellen-Einrichtung mit dem Steuerungshebel nach Anspruch 4 übereinstimmt.
  8. Verfahren nach einem der vorhergehenden Ansprüche, wobei der Arm das erste Element (AR), das ein erstes Ende aufweist, das direkt an dem Fahrzeuggestell (F) angelenkt ist, und ein Werkzeug (TL) umfasst, das an einem zweiten Ende des ersten Elements gegenüber dem ersten Ende angelenkt ist, und wobei das Werkzeug eine Betätigungseinrichtung (A2) umfasst, gemäß der Betätigungseinrichtung (A1) des ersten Elements gesteuert wird.
  9. Verfahren nach einem der vorhergehenden Ansprüche, einen vorbereitenden Schritt umfassend, der in einem statischen Zustand des Arms ausgeführt wird, der das Schätzen des zweiten Durchflusses durch Messen eines Drucks in der Hubkammer (CH1) umfasst.
  10. Computerprogramm mit Programm-Kodierungsmitteln, die, wenn das Programm von einem Computer ausgeführt wird, den Computer veranlassen, alle Schritte (ST1 - ST3) nach einem der Ansprüche 1 bis 9 auszuführen.
  11. Computerlesbare Mittel mit einem aufgezeichneten Programm, wobei die computerlesbaren Mittel Programm-Kodierungsmittel umfassen, die den Computer veranlassen, alle Schritte (ST1 - ST3) nach einem der Ansprüche 1 bis 9 auszuführen, wenn das Programm auf einem Computer ausgeführt wird.
  12. Steuerungssystem für eine Betätigungseinrichtung eines Arms eines Landwirtschafts- oder Nutzfahrzeugs, der einer Last ausgesetzt ist, bei dem der Arm (B) mindestens ein Element (AR, TL), das direkt oder indirekt an einem Fahrzeuggestell (F) angelenkt ist, und eine doppeltwirkende Betätigungseinrichtung (A1, A2) umfasst, die eine Hubkammer (CH1) und eine Senkkammer (CH2) gegenüber der Hubkammer sowie ein Wegeventil (V1, V2) umfasst, das dazu eingerichtet ist, Folgendes miteinander zu verbinden
    - die Hubkammer mit einem Rückgewinnungstank (T) für Hydrauliköl
    - die Senkkammer mit einer Quelle von Hydrauliköl (P),
    in einer ersten Betriebskonfiguration zum Absenken des Arms und umgekehrt in einer zweiten Betriebskonfiguration zum Heben des Arms sowie in einer dritten Stoppkonfiguration des Arms, bei der beide Kammern geschlossen werden und von dem Tank und der Quelle von Hydrauliköl getrennt werden,
    wobei das System Verarbeitungseinrichtungen umfasst, die dazu eingerichtet sind, während eines dynamischen Armabsenkzustands einen Durchflusswert von Hydrauliköl, das von dem Wegeventil an die Senkkammer (CH2) gerichtet ist, und einen entsprechenden ersten Durchflusswert von Hydrauliköl zu berechnen (ST1), das dazu bestimmt ist, aus der Hubkammer (CH1) abgeführt zu werden, um einen zweiten Durchflusswert von Hydrauliköl zu erfassen (ST2), das aufgrund der Last tatsächlich aus der Hubkammer abgeführt wird, und folglich das Wegeventil (V1, V2) derart zu regeln (ST3), dass der zweite Wert gezwungen wird, den ersten Durchflusswert zu erreichen, wenn der zweite Wert den Ersten überschreitet (CK = Yes).
  13. System nach Anspruch 12, des Weiteren ein Rückschlagventil (AC) umfassend, das das dazu eingerichtet ist, der Senkkammer das Ansaugen eines Ölflusses aus dem Sammeltank zu ermöglichen.
EP22152571.0A 2021-01-26 2022-01-20 Verfahren und steuersystem eines aktuators eines arms eines landwirtschafts- oder arbeitsfahrzeugs Active EP4033036B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102021000001508A IT202100001508A1 (it) 2021-01-26 2021-01-26 Metodo e sistema di controllo di un attuatore di un braccio di un veicolo agricolo o da lavoro

Publications (2)

Publication Number Publication Date
EP4033036A1 EP4033036A1 (de) 2022-07-27
EP4033036B1 true EP4033036B1 (de) 2024-04-10

Family

ID=75340154

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22152571.0A Active EP4033036B1 (de) 2021-01-26 2022-01-20 Verfahren und steuersystem eines aktuators eines arms eines landwirtschafts- oder arbeitsfahrzeugs

Country Status (2)

Country Link
EP (1) EP4033036B1 (de)
IT (1) IT202100001508A1 (de)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030141132A1 (en) 2002-01-31 2003-07-31 Kowalyk Vladimir M. Integral over-running load control valve on tractor remote valve section for agricultural loader boom circuit
JP5764968B2 (ja) * 2011-02-24 2015-08-19 コベルコ建機株式会社 建設機械の油圧制御装置
WO2013081213A1 (ko) 2011-11-30 2013-06-06 볼보 컨스트럭션 이큅먼트 에이비 레귤레이터에 의해 제어되는 미터 아웃 유압 제어시스템
JP6474718B2 (ja) * 2015-12-25 2019-02-27 日立建機株式会社 建設機械の油圧制御装置
US10968604B2 (en) * 2017-05-09 2021-04-06 Hitachi Construction Machinery Co., Ltd. Work machine

Also Published As

Publication number Publication date
EP4033036A1 (de) 2022-07-27
IT202100001508A1 (it) 2022-07-26

Similar Documents

Publication Publication Date Title
US7178333B2 (en) Hydraulic control system for hydraulic excavator
US6691603B2 (en) Implement pressure control for hydraulic circuit
US10947699B2 (en) Construction machine
KR101127086B1 (ko) 건설 기계의 모터 제어 장치 및 건설 기계
EP3165683B1 (de) Schaufel und verfahren zur steuerung der schaufel
EP2933386B1 (de) Baumaschine
KR102389687B1 (ko) 건설기계의 제어 시스템
US20160245311A1 (en) Hydraulic Pressure Circuit and Working Machine
KR20150022883A (ko) 건설 기계의 붐 구동 장치
US20190024677A1 (en) Load-dependent hydraulic fluid flow control system
US9533661B1 (en) Simulated EH braking system and safety protection
WO2019220954A1 (ja) 油圧ショベル駆動システム
US20170107694A1 (en) Hydraulic excavator drive system
WO2007116896A1 (ja) 作業機械及び負荷の急速ドロップ方法
CN107735530B (zh) 用于工程机械的负荷感测液压系统及控制负荷感测液压系统的方法
EP3312436A1 (de) Anti-rohrbruch apparatus
EP4033036B1 (de) Verfahren und steuersystem eines aktuators eines arms eines landwirtschafts- oder arbeitsfahrzeugs
JP6915042B2 (ja) ショベル
JP6615137B2 (ja) 建設機械の油圧駆動装置
JP5622243B2 (ja) 流体圧制御回路および作業機械
US11162242B2 (en) Slewing-type work machine
KR20210038957A (ko) 작업 기계
US9568119B2 (en) System and method for calibrating electrohydraulic valve
US20170108015A1 (en) Independent Metering Valves with Flow Sharing
CN110382786B (zh) 工程机械的控制系统及工程机械的控制方法

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20230127

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

RAP3 Party data changed (applicant data changed or rights of an application transferred)

Owner name: CNH INDUSTRIAL ITALIA S.P.A.

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20231108

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602022002735

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D