EP4130494A1 - Circuit électrique-hydraulique pour l'actionnement d'un actionneur hydraulique pour un véhicule de travail électrifié - Google Patents

Circuit électrique-hydraulique pour l'actionnement d'un actionneur hydraulique pour un véhicule de travail électrifié Download PDF

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Publication number
EP4130494A1
EP4130494A1 EP22185770.9A EP22185770A EP4130494A1 EP 4130494 A1 EP4130494 A1 EP 4130494A1 EP 22185770 A EP22185770 A EP 22185770A EP 4130494 A1 EP4130494 A1 EP 4130494A1
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EP
European Patent Office
Prior art keywords
motor
hydraulic
torque
hydraulic pump
actuator
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.)
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Application number
EP22185770.9A
Other languages
German (de)
English (en)
Other versions
EP4130494B1 (fr
Inventor
Adriano GARRAMONE
Andrea Gravili
Stefano Liberti
Antonio Venezia
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CNH Industrial Italia SpA
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CNH Industrial Italia SpA
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Publication of EP4130494A1 publication Critical patent/EP4130494A1/fr
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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
    • 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
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2062—Control of propulsion units
    • E02F9/207—Control of propulsion units of the type electric propulsion units, e.g. electric motors or generators
    • 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
    • E02F9/26—Indicating devices
    • 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
    • F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
    • F15B11/0423—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in" by controlling pump output or bypass, other than to maintain constant speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20538—Type of pump constant capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—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
    • F15B2211/32—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
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50536—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using unloading valves controlling the supply pressure by diverting fluid to the return line
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
    • 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
    • F15B2211/6651—Control of the prime mover, e.g. control of the output torque or rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/88—Control measures for saving energy

Definitions

  • the present invention relates to the field of work vehicles, including electrified agricultural vehicles, and in particular of the type comprising an electro-hydraulic circuit for actuating at least one hydraulic member, including an arm and/or a bucket.
  • the hydraulic circuit is powered by a hydraulic pump driven in rotation by a prime mover, very often an internal combustion engine.
  • work hydraulic unit it is meant one of those components distinct and separate from those inherent to the movement of the work vehicle, such as for example transmissions, braking systems, etc.
  • hydraulic member meaning a “working hydraulic member”.
  • the electrification of a work vehicle involves the elimination of the internal combustion engine in favour of at least one electric motor.
  • a first electric motor used exclusively to drive the hydraulic pump for feeding at least one hydraulic working member in rotation.
  • a second electric motor can be provided for moving the vehicle.
  • a minimum rotation speed of the electric motor implies a consumption of electricity not necessary for the intrinsic operation of the same.
  • the purpose of the present invention is to propose a method and system for saving electricity in an electrified work vehicle. In particular, for those work vehicles completely without an internal combustion engine.
  • the object of the present invention is to provide a hydraulic circuit for moving a hydraulic work member comprising a fixed displacement hydraulic pump and an open center directional control solenoid valve controlled by the user by means of a joystick or other control device, preferably lever, wherein the solenoid valve and the motor are controlled to save energy, in particular energy stored in the batteries, in a hydraulic stall condition or when a hydraulic actuator reaches its end-of-stroke.
  • the basic idea is to provide that, in the hydraulic circuit indicated above, the torque generated by the motor is monitored and, when a torque limit value is reached, the processing unit commands an operation to reduce the power generated by the motor (M) by reducing the number of revolutions of the motor (M) and/or by activating the solenoid valve in the neutral position with open center.
  • the pump flow rate is either reduced and/or the pump delivery pressure is reduced and this reduces the electric power consumption of the motor.
  • the limit value of the torque generated by the motor which is proportional to the pump delivery pressure, is always less than the torque generated by the motor when the pump delivery pressure is equal to the calibration value of a pressure relief valve of the hydraulic system, this allows to work at a pressure, and therefore at a torque generated by the engine, which is always less than the maximum of the system, thus reducing the electric energy consumption of the engine.
  • the circuit comprises a selector for a motor load limiting mode during an actuation operation and the limit value of the torque generated by the motor is calculated based on a position of the joystick and/or based on the mode selected by the user using the selector.
  • the selector can be either analogic, e.g. a knob, push button or lever, or digital, e.g. the user can select the desired threshold via a touch screen programmed to present one or more thresholds that can be selected by the user.
  • FIG 1 shows an example of an electro-hydraulic circuit comprising hydraulic actuators of hydraulic working parts and are indicated with "BOOM”, BUCKET “and” AUX “, i.e. labels taken from the Anglo-Saxon terminology that indicates a" Boom “arm of work or agriculture vehicle and a relative bucket “Bucket”.
  • AUX refers to any other hydraulic actuator for controlling vehicle implements but not for propulsion, such as an angle sweeper.
  • the electro-hydraulic circuit also includes a fixed displacement pump P and an electric motor M.
  • Figure 1 shows three proportional directional control solenoid valves with open center V1, V2 and V3 which have in the rest position a corresponding center closed towards the actuator and open towards pump P to connect the latter to a storage tank T for oil collection.
  • the circuit also comprises a pressure relief valve LP arranged along a supply branch FB arranged in parallel to the open center branch OB with respect to the pump P.
  • the valves V1, V2, V3 are in the rest/neutral position, the pump P is connected to the collection tank T via branch OB and the supply branch FB is closed by the limiting valve LP.
  • the actuator corresponding to the actuated valve is connected to the pump P via the power supply branch FB.
  • the maximum pressure on this branch is controlled by the pressure relief valve LP and is equal to the calibration value of the latter.
  • the electro-hydraulic circuit also comprises a processing unit STK configured to receive the electrical signals of a joystick or other preferably lever control device and generate electrical control signals for the valves V1, V2, V3 and for the motor M (Rev, Pair).
  • a processing unit STK configured to receive the electrical signals of a joystick or other preferably lever control device and generate electrical control signals for the valves V1, V2, V3 and for the motor M (Rev, Pair).
  • a manual selector SEL is also connected to the processing unit, for example a knob or other user interface, including electronic, arranged in the passenger compartment, so that the user can select a mode for limiting the engine load during actuation of hydraulic tools, for example identified in at least two load thresholds one lower and one higher, preferably three i.e. low (LOW), medium (MEDIUM), high (HIGH).
  • LOW low
  • MEDIUM medium
  • HGH high
  • Figure 2 shows a work vehicle WL, a mechanical shovel, with an arm B with the hydraulic actuator A1 corresponding to the label “BOOM” in figure 1 and a shovel or bucket T with the relative actuator A2 corresponding to the label "BUCKET” of figure 1 .
  • the vehicle WL is equipped with a battery pack BAT and an electric motor M with at least one hydraulic circuit similar to that of figure 1 , fixed to a relative frame F.
  • Each of the illustrated actuators is of the double-acting type, i.e. it has two opposing chambers which serve for example to raise and lower an arm.
  • Each chamber includes a port through which the hydraulic oil is forced to enter or exit.
  • the hydraulic oil is forced out of the port of a first chamber when the hydraulic oil is pumped into the second chamber, opposite the first, of the same actuator.
  • the open center directional solenoid valve is configured to keep the port of both opposing chambers closed when the joystick is in the rest (neutral) position, in order to keep said hydraulic member still.
  • the movable spool is in a central position in the valve body, inhibiting the passage of oil towards both chambers of the actuator and directing all the oil to the collection tank T.
  • Each valve is represented with three drawers, in a per se known manner. Recalling that it is a proportional valve, that is able to reach intermediate positions between the position of complete closure and complete opening towards one or the other chamber of the actuator.
  • the circuit comprises a selector for a motor load limiting mode during an actuator operation and the limit value of the torque generated by the motor is calculated based on a position of the joystick and/or based on the mode selected by the user using the selector.
  • a stall condition e.g. defined by a load that the hydraulic circuit is not designed to lift, or a stroke end condition of the actuators causes the opening of the pressure relief valve LP and the maximum pressurization of the actuator without the stem moving.
  • the STK processing unit is programmed to detect the load conditions of the motor M and, when the torque generated by the motor exceeds a predefined limit value based on the threshold, it commands the execution of at least one power reduction operation by reducing the number of revolutions of the engine M and/or bringing the corresponding solenoid valve to the rest position.
  • the predefined limit value of the torque generated by the motor is variable on the basis of input parameters and chosen in such a way that it is always less than the maximum torque generated by the motor, corresponding to the calibration value of the pressure relief valve LP, i.e. the maximum pressure of the system, this involves a further energy saving because when the power reduction is commanded:
  • the limit value of the torque generated by the motor M is preferably defined by means of a mathematical function based on the position of the joystick and/or of the mode selected by the selector SEL as indicated in figure 3 , which refers to the X axis of the joystick (Joystick X axis) which operates valve V2.
  • the torque limit value (Torque limit) increases with the increase of a distance of the joystick from a neutral position of the joystick itself, while for the same joystick position the torque limit value increases or decreases according to the selected mode.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
EP22185770.9A 2021-07-29 2022-07-19 Circuit électrique-hydraulique pour l'actionnement d'un actionneur hydraulique pour un véhicule de travail électrifié Active EP4130494B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT202100020372 2021-07-29

Publications (2)

Publication Number Publication Date
EP4130494A1 true EP4130494A1 (fr) 2023-02-08
EP4130494B1 EP4130494B1 (fr) 2024-09-11

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EP22185770.9A Active EP4130494B1 (fr) 2021-07-29 2022-07-19 Circuit électrique-hydraulique pour l'actionnement d'un actionneur hydraulique pour un véhicule de travail électrifié

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1291467A1 (fr) * 2000-05-23 2003-03-12 Kobelco Construction Machinery Co., Ltd. Engin de construction
US8793023B2 (en) * 2008-09-11 2014-07-29 Parker Hannifin Corporation Method of controlling an electro-hydraulic actuator system having multiple actuators
EP3339239A1 (fr) * 2015-08-19 2018-06-27 Kabushiki Kaisha Toyota Jidoshokki Dispositif d'entraînement hydraulique pour véhicule de manipulation de cargaison

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1291467A1 (fr) * 2000-05-23 2003-03-12 Kobelco Construction Machinery Co., Ltd. Engin de construction
US8793023B2 (en) * 2008-09-11 2014-07-29 Parker Hannifin Corporation Method of controlling an electro-hydraulic actuator system having multiple actuators
EP3339239A1 (fr) * 2015-08-19 2018-06-27 Kabushiki Kaisha Toyota Jidoshokki Dispositif d'entraînement hydraulique pour véhicule de manipulation de cargaison

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EP4130494B1 (fr) 2024-09-11

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