EP4141265A1 - Unité électrohydraulique pour l'alimentation en fluide sous pression et procédé de commande d'une unité électrohydraulique - Google Patents

Unité électrohydraulique pour l'alimentation en fluide sous pression et procédé de commande d'une unité électrohydraulique Download PDF

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Publication number
EP4141265A1
EP4141265A1 EP22192294.1A EP22192294A EP4141265A1 EP 4141265 A1 EP4141265 A1 EP 4141265A1 EP 22192294 A EP22192294 A EP 22192294A EP 4141265 A1 EP4141265 A1 EP 4141265A1
Authority
EP
European Patent Office
Prior art keywords
speed
control unit
pressure medium
consumer
qsoll
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.)
Pending
Application number
EP22192294.1A
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German (de)
English (en)
Inventor
Gerold Liebler
Steffen Kruse
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Robert Bosch GmbH
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Robert Bosch GmbH
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Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP4141265A1 publication Critical patent/EP4141265A1/fr
Pending legal-status Critical Current

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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
    • F15B21/14—Energy-recuperation means
    • 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
    • F15B2211/20546—Type of pump variable 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20561—Type of pump reversible
    • 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
    • F15B2211/20569—Type of pump capable of working as pump and 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
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6333—Electronic controllers using input signals representing a state of the pressure source, e.g. swash plate angle
    • 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
    • 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
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6652—Control of the pressure source, e.g. control of the swash plate angle
    • 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 invention relates to an electrohydraulic unit according to the preamble of patent claim 1 and a method for controlling an electrohydraulic unit according to patent claim 10.
  • a generic electrohydraulic unit has an electric machine that can be controlled with variable speed and a hydraulic machine driven by it, via whose pressure medium volume flow at least one hydrostatic consumer can be supplied with pressure medium.
  • An electronic control unit is provided to control the unit. This works together with a frequency converter or an inverter to influence the speed and the torque of the electric machine depending on the given voltage source and with an associated hydraulic machine controller to influence the pressure and the displacement volume of the hydraulic machine.
  • the hydraulic machine is designed with an adjustable displacement volume for an energy-efficient pressure medium supply that is tailored to the demand of the consumer, which, in combination with the variably controllable speed, allows a very dynamic influencing of the pressure medium volume flow and the torque.
  • the drive speed can be set using the frequency converter so that the unit works as energy-efficiently as possible.
  • the hydraulic machine is designed with a displacement volume that can be adjusted through zero, in particular for the recuperation of pressure medium energy, for example when pressure medium flows out under load pressure from the consumer to the hydraulic machine when a negative pressure medium volume flow is requested.
  • the direction of the pressure medium flow between the hydraulic machine and consumers Switch maintaining the pressure sides of the hydraulic machine. If the request is positive, the hydraulic machine - driven by the electric machine - works in pump mode, if the request is negative, the hydraulic machine can work in motor mode and drive the electric machine, which can then be operated as a generator, for example.
  • the pressure medium energy converted into rotational kinetic energy is thus converted into electrical energy via the electric machine.
  • this is conducted to its intermediate circuit capacitor and leads there to an increase in the voltage or intermediate circuit voltage.
  • the document going back to the applicant DE 197 01 671 A1 shows a solution for storing pressure medium energy using a flywheel coupled to the rotor of the hydraulic machine and making it available again at a later point in time.
  • the electrical power consumption of the electric machine is reduced or increased depending on a predetermined speed of the flywheel and the query as to whether its detected speed is higher or lower.
  • this solution entails material, assembly and maintenance costs for the flywheel and for other components to be provided, such as a clutch or the like. Furthermore, with this solution it is not possible to set an energy-optimal operating point from the speed and swivel angle.
  • the invention is based on the object of creating an electrohydraulic unit for supplying pressure medium to a hydrostatic consumer with the possibility of recuperating pressure medium energy, which has a simpler design in terms of device technology.
  • a further object is to provide a method for controlling an electrohydraulic unit for supplying pressure medium to a hydrostatic consumer with the option of recuperating pressure medium energy.
  • the first task is solved by an electrohydraulic unit with the features of patent claim 1, the second by a method with the features of patent claim 10.
  • An electrohydraulic unit for supplying pressure medium to at least one hydrostatic consumer.
  • the pressure medium supply is based on a detectable, in particular detected requirement, for example on a target speed of the consumer.
  • the unit has an operating interface for detecting the request, for example a joystick or an accelerator pedal or the like.
  • the unit has a drive machine that can be operated at variable speeds and is preferably designed as an electric machine.
  • a rotor of the drive machine is coupled to a rotor of a hydraulic machine of the unit, which is designed with a displacement volume that can be adjusted to zero and on both sides thereof.
  • This coupling or rotational connection can be designed to be rigid, detachable or switchable. It can be speed-fixed or geared, for example via a rigid or shiftable transmission.
  • pressure medium can be pumped to the consumer.
  • pressure medium energy of the pressure medium flowing from the consumer to the hydraulic machine can be converted into rotational kinetic energy.
  • a mass moment of inertia is provided for their storage and retrieval, which can be accelerated by means of the conversion mentioned for the purpose of storage and delayed for the purpose of retrieval.
  • An electronic control unit is provided for the control, which is preferably set up in such a way that the displacement volume, the speed or both can be adjusted via it as a function of a requirement assigned to the at least one consumer.
  • the requirement can be a positive specification, ie a supply of pressure medium to the consumer, a negative specification, ie a discharge of pressure medium from the consumer to the hydraulic machine, or a zero specification.
  • the mass moment of inertia is formed solely by the rotors of the electric machine and the hydraulic machine and their rotational connection, or it can at least be formed solely by these.
  • the solution according to the invention means that the unit is designed to store pressure medium energy solely by accelerating rotating components that are necessary and present anyway—that is, the two rotors and their rotational connection, which is formed, for example, by drive shafts and the connecting clutch.
  • Effort to install braking resistors, capacitors or separate mass moments of inertia, such as a separate flywheel and a coupling device to be provided for this purpose, as shown in the prior art, is thus avoided or at least reduced if such additional measures are nevertheless to be provided, for example for energy peaks.
  • the unit according to the invention can also be used to recuperate deformation energy that occurs when elastic masses, such as liquid plastic, springs or machine frames, are relaxed.
  • the discharge of pressure medium can occur, for example, in the feedback phases of the consumer. Examples are a decompression of a working cylinder Injection molding machine or a towing or braking operation of a hydraulic motor of a travel drive called. It can be seen from these two examples that the unit according to the invention lends itself to a variety of electrohydraulic drives, regardless of whether the hydrostatic consumers supplied by it are of a translatory or rotary nature. Areas of application are in particular machine tools, injection molding machines or presses, as well as vehicles, in particular mobile work machines.
  • the unit has a frequency converter, which is signal-connected to the control unit for adjusting the speed and can be controlled by it according to the requirement.
  • the unit has an inverter, which is signal-connected to the control unit for adjusting the rotational speed and can be controlled by it according to the requirement.
  • the solution according to the invention has a particular advantage if the pressure medium energy converted into electrical energy cannot be absorbed quickly enough by the accumulator. This excess that cannot be absorbed can then be used as rotational-kinetic energy of the rotors for subsequent travel movements, or the rotors are slowed down slowly in order to release the excess that cannot be absorbed directly over a longer period of time, in particular with a time delay, to the accumulator.
  • the unit has a number of inverters that can be connected or are connected to a network, so that energy from a number of consumers can be stored by accelerating the mass moment of inertia.
  • control unit is set up so that it can be used to determine a setpoint speed as a function of the request for a supply of pressure medium from the hydraulic machine to the consumer and a torque of the hydraulic machine.
  • control unit is set up so that, depending on the requirement for pressure medium discharge from the consumer to the hydraulic machine, Speed increase, in particular a speed increase of the mass moment of inertia, can be determined, which can be added to the target speed.
  • Speed increase in particular a speed increase of the mass moment of inertia
  • the frequency converter can in turn be controlled with this now changed setpoint speed.
  • the resulting pressure medium energy for example decompression energy of the pressure medium flowing out from the consumer under load, leads to an increase in the speed of the electric machine, whereby the pressure medium energy can be stored as rotational energy of the mass moment of inertia (of the rotors).
  • the unit is even more flexible with regard to recuperation if, in a development, the control unit is set up to predict or predict a change in the requirement, for example from a supply of pressure medium to a discharge of pressure medium, or vice versa.
  • control unit is set up to predict the change as a function of a work cycle of the consumer or consumers stored in it for execution.
  • An injection molding cycle, a press cycle or a working cycle of a mobile working machine can be mentioned here as an example.
  • control unit is set up to predict a change—that is, an increase and/or a decrease—in the requirement for the supply of pressure medium from the hydraulic machine to the consumer and/or the discharge of pressure medium from the consumer to the hydraulic machine. This can also be done in particular as a function of the work cycle of the consumer.
  • control unit is set up to determine an increase in speed as a function of the predicted increase and thus to adjust the target speed.
  • the drive energy required to increase the speed can be covered at least in part from recuperable pressure medium energy during the pressure medium discharge from the consumer to the hydraulic machine. Alternatively or in addition, it can be provided via the frequency converter.
  • the predicted increase in the pressure medium supply requirement occurs, it can then be partially or completely covered by reducing the speed.
  • the energy released from the speed reduction of the rotor is added to the energy provided by the frequency converter. In this way, the stored pressure medium energy can be used to relieve the frequency converter in the event of a predicted, short-term high power requirement. As a result, it can be made smaller.
  • At least one additional mass moment of inertia that can be coupled to at least one of the rotors via the control unit is provided in order to be able to absorb peak pressure medium energy to be recuperated and to keep the mass moment of inertia of the rotors within limits.
  • the unit for selectively switching the additional mass moment of inertia on or off has a coupling device that can be actuated by the control unit.
  • the additional mass moment of inertia and the coupling device are preferably arranged outside of a torque flow occurring between the two rotors, ie not between the two.
  • At least one braking resistor or capacitor can be provided in order to further increase the storage capacity provided by the rotors and their mass moment of inertia. Although this does not completely eliminate the costs and energy losses of these components, these components can be designed to be smaller due to the design of the mass moment of inertia according to the invention, and the costs and energy losses mentioned are therefore reduced.
  • a method is used to control an electrohydraulic unit, which is designed in particular in accordance with at least one aspect of the preceding description.
  • the method serves to control the supply of pressure medium to at least one hydrostatic consumer, or to control the recuperation of pressure medium energy from the consumer.
  • the pressure medium is supplied via a hydraulic machine of the unit with a displacement volume that can be adjusted to zero and on both sides, which is driven by a drive machine of the unit with an adjustable speed.
  • Rotors of the electric machine and the hydraulic machine can be or are coupled for the purpose of torque transmission, in particular can be or are rotationally connected.
  • the coupling/rotational connection can be formed, for example, by drive shafts connected in a torque-proof manner to the rotors and a fixed or detachable coupling of the drive shafts. Alternatively, it can be formed by the drive shafts and a fixed or shiftable transmission, with the drive shafts forming the input and output shafts of the transmission.
  • the rotors and the rotational connection have a mass moment of inertia.
  • An electronic control unit is provided for the control, via which the displacement volume, the speed or both is or are adjusted depending on a requirement assigned to the consumer, for example a desired speed of the consumer and/or a load acting on him.
  • the method preferably has a step “determining a setpoint speed from the requirement and a torque of the hydraulic machine” in order to efficiently supply the consumer with a pressure medium volume flow corresponding to the requirement.
  • the method preferably has a step “determining an increase in the speed of the setpoint speed at least as a function of the demand for pressure medium discharge from the consumer to the hydraulic machine”.
  • the speed increase is determined as a function of the pressure medium energy to be recuperated and a mass moment of inertia affected by the speed increase. According to the invention, only that of the rotors and the rotational connection can be used as the mass moment of inertia.
  • the method has a step “determining the speed change required for recuperation of the pressure medium energy as a function of the mass moment of inertia alone of the rotors and their rotational connection”.
  • the method makes it possible to store the pressure medium energy as kinetic rotational energy by increasing the speed of the already existing rotors and their rotational connection alone, and vice versa, to release the stored kinetic rotational energy again by reducing the speed of the rotors and their rotational connection alone.
  • the method has a step of "querying whether the pressure medium energy to be stored is below a predetermined threshold". If this query is positive, the moment of inertia of the rotors and the rotational connection alone can be used, as described above, to determine the speed change/increase.
  • At least one additional mass moment of inertia can be provided for recuperation, which can be coupled in, for example, from or above the threshold.
  • a Speed increase of several mass moments of inertia instead of just that of the rotors and their rotational connection. In this way, the capacity for recuperation can be increased if necessary.
  • both variants - in the second variant at least below the threshold - the method is less complex, since the power consumption/output of braking resistors, capacitors or separate mass moments of inertia does not have to be taken into account to determine the speed increase. This goes hand in hand with the already described device-related advantages of the unit according to the preceding description.
  • the method has a step “determining a setpoint speed from the requirement and a current torque of the hydraulic machine” in order to efficiently supply the consumer with a pressure medium volume flow corresponding to the requirement.
  • an additional mass moment of inertia can optionally be included in the determination if this is provided as a switchable device in the unit.
  • the steps “detecting a quantity specified by the consumer”, “determining the requirement for supplying or removing pressure medium from it”, and “setting the displacement volume to a value assigned to the requirement” are provided.
  • a step “controlling a torque controller of the electric machine with a setpoint braking torque of zero or close to zero” is provided via the control unit. This can increase the speed of the rotors and the rotary connection and thus the mass moment of inertia, so that the pressure medium energy occurring in the course of the pressure medium discharge is at least partially stored in the form of kinetic rotational energy of the rotors and rotary connection.
  • the current rotational speed is preferably detected continuously via a rotational speed detection unit.
  • the method has a step “actuating a torque controller of the electric machine with a setpoint drive torque that is less than the setpoint torque of the hydraulic machine”.
  • the speed decreases due to energy consumption and part of the necessary drive energy of the hydraulic machine is obtained from this.
  • the electrical power or connected load of the electric machine can be designed to be smaller than the hydraulic peak power.
  • the method according to at least one aspect of the preceding description is preferably stored in the control unit of the electrohydraulic unit described above for execution.
  • an electrohydraulic unit 1 has an electric machine 2 that can be operated at variable speeds and a hydraulic machine 4 that can be driven by it.
  • the latter is operated in an open hydraulic circuit, with its suction connection/suction side 6 being connected to a low-pressure reservoir, in particular a tank T, and its pressure connection/pressure side 8 being connected via a control valve device 10 to a hydrostatic consumer 12, in the exemplary embodiment a double-acting differential cylinder. is fluidly connected.
  • the electric machine 2 is connected via a frequency converter 14 to a network 16 via which a speed n and a torque M of the electric machine 2, in particular a positive (drive) torque Ma in its motor and a negative (braking) torque Mb in the generator Operation, are adjustable.
  • a braking resistor 18 is assigned to the frequency converter 14 to reduce overload, for example overvoltage or excess braking energy.
  • the hydraulic machine 4 is designed with a displacement volume Vg that can be adjusted from zero on both sides, wherein it has an adjustment unit 20 with a hydrostatic actuating cylinder for the hydraulic adjustment of the displacement volume Vg, which can be connected to actuating pressure or to low pressure by a control valve, depending on the requirement for displacement volume Vg (not shown).
  • the hydraulic machine 4 is designed as an axial piston pump with a swash plate design, with the swash plate being articulated by the actuating cylinder.
  • a control unit 22 with a large number of signal inputs which are figure 1 are indicated schematically provided.
  • the control unit 22 is optionally provided with at least pressure detection units 24, 26, 32 for detecting a respective pressure of the working lines of the consumer 12 and the pressure side 8 of the hydraulic machine 4
  • Speed detection unit 28 for detecting the speed n of the electric machine 2 and (due to their rigid coupling) of the hydraulic machine 4, as well as with a swivel angle detection unit (not shown), via which the swivel angle of the swash plate can be detected as a measure of the displacement volume Vg, signal-connected.
  • control unit 22 has at least signal outputs which are signal-connected to the frequency converter 14, the adjustment unit 20 and the valve device 10 for the inventive control of the pressure medium supply and the recuperation of pressure medium energy of the consumer 12.
  • control unit 22 can be designed to be integrated with the frequency converter 14 or the adjustment unit 20 .
  • control unit 22 determines, preferably taking into account an efficiency criterion, speed nsoll required to cover the requirement.
  • a torque M of the hydraulic machine 4 can be determined on the basis of a detected swivel angle of the swash plate of the hydraulic machine 4 and the detected working pressure p.
  • pressure medium energy is dissipated by consumer 12 and is available for storage by accelerating the mass moment of inertia of the rotors of electric machine 2 and hydraulic machine 4 .
  • the required acceleration of the mass moment of inertia, or the speed increase ⁇ n+ of the rotors and their rotational connection, which would be necessary for complete storage of the pressure medium energy, can be calculated from a braking power and the mass moment of inertia.
  • the speed increase ⁇ n+ can be determined using a detected actual value of the electrical intermediate circuit voltage or an actual value of the torque of the electric machine.
  • the torque controller of the electric machine 2 is controlled via the control unit 22 in accordance with a setpoint braking torque Mbsoll of zero or at least close to zero. In this way, the pressure medium energy of consumer 12, which is converted into wave energy at hydraulic machine 4, can flow into said acceleration with little loss.
  • the actual speed n of the electric machine 2 is continuously detected by the speed detection unit 28 .
  • control unit 22 determines a peak of the time profile of the speed n or if a gradient of the speed n falls below a predetermined value, this is evaluated by the control unit 22 as the end of the recuperation and thus of the acceleration.
  • the actual speed n recorded in the process is then set as the new desired speed nsoll of the electric machine 2 via the control unit 22 and the frequency converter 14 is controlled accordingly.
  • the drive torque Ma required to obtain the new setpoint speed nsoll is relatively low, which means that the recuperated pressure medium energy can be kept in the system with little effort.
  • the control unit 22 determines a requirement for the consumer 12 which is equivalent to a supply of pressure medium +Qsoll to it, then the rotational energy of the rotors and their rotational connection can be used to drive the hydraulic machine 4 .
  • the control unit 22 of Torque controller of the electric machine 2 is controlled according to a target drive torque Masoll, which is smaller than the determined target torque Msoll of the hydraulic machine 4. Only part of the drive power is thus provided by the frequency converter 14, the other part is provided by the deceleration of the rotors and the rotational connection transmitted through the hydraulic machine 4.
  • an electrohydraulic unit with an electric machine that can be controlled with variable speed, a hydraulic machine that can be driven by it with a displacement volume that can be adjusted through zero and a control unit for controlling the electric machine with regard to speed, drive torque and braking torque and the hydraulic machine with regard to its displacement volume, with a mass moment of inertia for storing pressure medium energy of the consumer alone is formed by rotors of the electric machine and the hydraulic machine.
  • a method for controlling such a unit is also disclosed, with a necessary speed change of the electric machine depending on a requested pressure medium volume flow from the hydraulic machine to the consumer, and from the consumer to the hydraulic machine, depending on a mass moment of inertia alone of rotors of the electric machine and the hydraulic machine is determined.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
EP22192294.1A 2021-08-30 2022-08-26 Unité électrohydraulique pour l'alimentation en fluide sous pression et procédé de commande d'une unité électrohydraulique Pending EP4141265A1 (fr)

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DE102021209477.5A DE102021209477B4 (de) 2021-08-30 2021-08-30 Elektrohydraulische Einheit zur Druckmittelversorgung und Verfahren zur Steuerung einer elektrohydraulischen Einheit

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19701671A1 (de) 1997-01-18 1998-07-23 Mannesmann Rexroth Ag Antriebsvorrichtung für eine Hydropumpe und Verfahren zur Versorgung mindestens eines einen veränderlichen Leistungsbedarf aufweisenden Verbrauchers mit hydraulischer Energie
WO2014035984A2 (fr) * 2012-08-27 2014-03-06 Ekso Bionics, Inc. Système d'actionneur hydraulique
EP3514378A1 (fr) * 2018-01-19 2019-07-24 Artemis Intelligent Power Limited Déplacement d'un objet avec des actionneurs hydrauliques

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4309641A1 (de) 1992-03-27 1993-09-30 Rexroth Mannesmann Gmbh Hydraulischer Antrieb für eine Presse, insbesondere für eine Blechformpresse
DE102009018071B4 (de) 2009-04-20 2011-12-29 Robert Bosch Gmbh Verfahren und Regelvorrichtung zur Regelung einer Druckmittelzufuhr für einen hydraulischen Aktor
DE102013006137B4 (de) 2013-04-10 2024-04-18 Robert Bosch Gmbh Regelung drehzahlvariabler Verstellpumpen mittels modellbasierter Optimierung
DE102015002668A1 (de) 2015-03-02 2016-09-08 Liebherr-Werk Bischofshofen Gmbh Fahrantrieb

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19701671A1 (de) 1997-01-18 1998-07-23 Mannesmann Rexroth Ag Antriebsvorrichtung für eine Hydropumpe und Verfahren zur Versorgung mindestens eines einen veränderlichen Leistungsbedarf aufweisenden Verbrauchers mit hydraulischer Energie
WO2014035984A2 (fr) * 2012-08-27 2014-03-06 Ekso Bionics, Inc. Système d'actionneur hydraulique
EP3514378A1 (fr) * 2018-01-19 2019-07-24 Artemis Intelligent Power Limited Déplacement d'un objet avec des actionneurs hydrauliques

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DE102021209477A1 (de) 2023-03-02
DE102021209477B4 (de) 2023-04-20

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