EP4253754A1 - Procédé de fonctionnement d'une pompe à vitesse variable - Google Patents

Procédé de fonctionnement d'une pompe à vitesse variable Download PDF

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Publication number
EP4253754A1
EP4253754A1 EP23164373.5A EP23164373A EP4253754A1 EP 4253754 A1 EP4253754 A1 EP 4253754A1 EP 23164373 A EP23164373 A EP 23164373A EP 4253754 A1 EP4253754 A1 EP 4253754A1
Authority
EP
European Patent Office
Prior art keywords
drive
variable
torque
speed
peak
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
EP23164373.5A
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German (de)
English (en)
Inventor
Arnold Engber
Ralf Bonefeld
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP4253754A1 publication Critical patent/EP4253754A1/fr
Pending legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • 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
    • 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
    • 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
    • F04B1/34—Control not provided for in groups F04B1/02, F04B1/03, F04B1/06 or F04B1/26
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
    • F04B17/03—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by electric motors
    • 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
    • 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
    • F04B49/065—Control using electricity and making use of computers
    • 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
    • F04B49/20—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 changing the driving speed

Definitions

  • the present invention relates to a method for operating a variable-speed variable pump, in which a conveyor mechanism that can be adjusted in a displacement volume per working cycle is driven by means of a variable-speed drive, and to an electro-hydraulic system.
  • Pumps on which the invention is based have a conveyor mechanism with a variable displacement volume per working cycle (so-called hydraulic displacement machine, e.g. axial piston machine), which is driven by a variable speed drive.
  • hydraulic displacement machine e.g. axial piston machine
  • the volume flow and/or the delivery pressure are usually regulated by appropriately adjusting the displacement volume of the conveyor and the speed, i.e. such pumps have two degrees of freedom in the control.
  • the invention is concerned with the operation of a variable-speed variable pump, in particular an axial piston pump with, for example, proportional adjustment, in which a conveyor mechanism that can be adjusted in a displacement volume per working cycle is driven by means of a variable-speed drive, such as an electric motor.
  • a so-called swivel plate can be provided in such a variable pump.
  • load torque in particular load pressure or differential pressure
  • an appropriate setpoint for the displacement volume is generated to limit the drive torque.
  • the invention thus creates a decoupling of the drive torque of the drive from the load pressure of the driven conveyor by adjusting the displacement volume with the aim of optimal engine utilization.
  • the current or drive torque of electric drives is usually thermally limited and depends on the duration of the load.
  • hydrostatic motor-pump units often have to provide high load pressures over a relatively long period of time.
  • a suitable adjustment of the displacement volume decouples pressure and drive torque.
  • the invention prevents the drive from being overloaded.
  • the displacement volume is specified so that it can always be applied by the electric drive.
  • the invention is particularly applicable to pumps that are equipped with an adjusting device for specifically influencing their displacement volume based on control specifications. In particular, two operating states, static and dynamic, with different displacement volume specifications can be distinguished
  • the dependence on the operating state is expediently taken into account by a dependence on a temporal change in the load torque on the variable-speed variable pump. This is an easy-to-implement option for characterizing the operating state.
  • the load torque and the peak drive torque of the drive become a first manipulated variable in accordance with a first filter function with a time delay, in particular a PDT1 function, and the load torque and the continuous drive torque of the drive in accordance with a second filter function with a time delay, in particular a PDT1 function, a second manipulated variable is determined, the setpoint for the parameter determining the displacement volume per working cycle being specified based on the smaller of the first and second manipulated variables.
  • the first filter function preferably has a smaller time delay than the second filter function, preferably zero.
  • the setpoint for the parameter determining the displacement volume per working cycle is specified such that the drive torque of the variable-speed drive is greater than the continuous drive torque and corresponds at most to the peak drive torque of the drive.
  • the displacement volume is controlled or regulated in such a way that dynamic operating states are realized using the corner power or peak power of the electric drive.
  • the setpoint for the parameter determining the displacement volume per working cycle is specified such that the drive torque of the variable-speed drive corresponds at most to the peak drive torque of the drive for a permissible overload time. This means that peak performance can be maintained for as long as possible. It can additionally be provided to adapt the overload time using a determined (in particular measured (e.g. using a temperature sensor) or estimated) thermal drive utilization. This means that thermal damage to the drive can be avoided.
  • the setpoint for the parameter determining the displacement volume per working cycle is specified so that the drive torque of the variable-speed drive corresponds at most to the continuous drive torque of the drive. This ensures long-term or continuous operation; Stationary operating states are achieved using the nominal power of the electric drive.
  • a computing unit for example a control and/or regulating unit for a variable-speed variable pump with a variable-speed drive, is set up, in particular in terms of programming, to carry out a method according to the invention.
  • the invention furthermore relates to an electro-hydraulic drive system such as an electro-hydraulic axle comprising a variable-speed variable pump with a variable-speed drive and a computing unit according to the invention.
  • an electro-hydraulic drive system such as an electro-hydraulic axle comprising a variable-speed variable pump with a variable-speed drive and a computing unit according to the invention.
  • Suitable data carriers for providing the computer program are, in particular, magnetic, optical and electrical memories, such as hard drives, flash memories, EEPROMs, DVDs, etc. It is also possible to download a program via computer networks (Internet, intranet, etc.).
  • FIG. 1 an electro-hydraulic system 100, as may be the basis for the invention, is shown schematically.
  • the electrohydraulic system 100 has an actuator designed as a hydraulic cylinder 110 with a piston 111 movable along an x-axis, which is actuated by a variable-speed variable pump 120.
  • a hydraulic circuit 130 with, for example, oil as a medium or operating medium is arranged between the variable-speed variable pump 120 and the hydraulic cylinder 110.
  • the variable-speed variable pump 120 has a variable-speed drive designed as an electric motor 121 and a conveyor mechanism 122 and is designed, for example, as an axial piston pump in a swashplate design.
  • a variable-speed drive designed as an electric motor 121 and a conveyor mechanism 122 and is designed, for example, as an axial piston pump in a swashplate design.
  • a control and/or regulating unit 140 is set up in terms of programming to carry out a preferred embodiment of a method according to the invention.
  • it has several modules 141, 142, 143, here a control module 141, a speed control module 142 and a displacement volume control module 143.
  • a control module 141 a control module 141
  • a speed control module 142 a speed control module 142
  • a displacement volume control module 143 is often designed, for example, as an analog swivel angle controller.
  • a speed setpoint n target and an actual speed value n ist are supplied to the speed control module 142, from which a setpoint M An for a drive torque is determined according to conventional regulation or control methods, for example using P and/or I and/or D transfer functions.
  • the speed setpoint can, for example, be a controlled specification from a user or control value of a higher-level pressure/force/position/speed controller for the hydraulic circuit or the output machine (e.g. cylinder or hydraulic motor).
  • the displacement volume control module 143 is supplied with a displacement volume setpoint V PU,soll and an actual displacement volume value V PU,ist , from which a manipulated variable for the conveyor system is determined using conventional methods.
  • the control module 141 receives the pressure values p 1 , p 2 and the (setpoint or actual) value M An (in electrical machines, the time constant is significantly shorter compared to hydraulics, so that the setpoint and actual value are always viewed as the same when viewed in this way can be supplied for the drive torque, from which the setpoint for the displacement volume is determined.
  • the drive torque can preferably be used here in order to take into account a portion of the friction in the total torque (which is present in addition to the external load, which is not negligible). As shown below, it is particularly taken into account in the form of additional load pressure.
  • Hydrostatic pumps provide a volume flow that is essentially proportional to the product of the speed and the pump size characterized by the displacement volume. The flow occurs from one work connection to the other depending on the direction of rotation. If different pressures p 1 , p 2 prevail at the working connections, a drive machine must provide a corresponding torque. The required torque is proportional to the product of the pressure difference and the pump size characterized by the displacement volume.
  • the area of application of the motor-pump unit can be significantly expanded compared to a system with a constant pump, in that a high volume flow can be provided at low load pressures, while the drive motor cannot be used at high load pressures is overloaded.
  • the present invention takes into account both the limitation of the continuous torque M 0 and the peak torque M max and allows the time-limited utilization of the maximum power of the drive motor/converter.
  • a speed approximately generates (minus leakage volume flows) a volume flow according to:
  • Q Pu v Pu , Is ⁇ n
  • J MoPu ⁇ ⁇ ⁇ M at ⁇ M L , p ⁇ M R , total
  • J MoPu is the moment of inertia of the unit
  • ⁇ is the rotational angular acceleration
  • M R,ges is the total frictional moment on the engine.
  • Equation 5a An alternative form can be given for Equation 5a if the relative quantity ⁇ is introduced for the relative displacement volume. This results in the requirement: ⁇ Should , Great ⁇ 2 ⁇ ⁇ v Pu , Max ⁇ M at , Max p 1 ⁇ p 2 + p ⁇ R , total , s c H ä tz which, depending on the load pressure, adjusts the pump in such a way that the peak torque of the motor is not exceeded by the output torque.
  • a setpoint for the (relative) displacement volume can be derived, which ensures compliance with the (lower) continuous torque M an,0 of the drive motor: ⁇ Should , Length of time ⁇ 2 ⁇ ⁇ v Pu , Max ⁇ M at , 0 p 1 ⁇ p 2 + p ⁇ R , total , s c H ä tz
  • the values from Eq. 5b and 6 resulting setpoint values for the swivel angle are advantageously filtered in order to influence them over time in such a way that the engine utilization is suitably optimized.
  • the correction values designated K redM ⁇ take into account the fact that the torque limit values in a real drive system can deviate from the nominal values.
  • a filter or a filter function g ( M an,max , ⁇ p , ⁇ ) can be designed in such a way that a dynamic delay of the adjusting device is compensated for in order to implement the limitation to the maximum torque without delay and thus the functionality even in the event of dynamic load changes to guarantee.
  • a PDT1 transfer function can advantageously be used as a filter function.
  • a filter or a filter function f (M an,0 , ⁇ p, ⁇ ) can be technically advantageously designed in such a way that as the load increases, the reduction in the displacement volume is delayed in a defined time in order to be able to optimally use the peak power of the drive. However, when the load drops, the displacement volume is adjusted back with as little delay as possible in order to be able to achieve a high volume flow for load reduction.
  • a PDT1 transfer function can advantageously be used as a filter function.
  • a change in the displacement volume is expediently taken into account in the speed specification n target.
  • the product of speed and displacement is proportional to the requested or necessary volume flow.
  • the difference between the pressure values p 1 and p 2 is first formed and fed to an amount formation 201.
  • the amount 202 of the estimated additional pressure difference p ⁇ p ⁇ R,tot,estimate is added to form the total relevant differential pressure ⁇ p.
  • This is offset in a division element 203 or 204 with the maximum drive torque M an,max or the continuous drive torque M an,0 and then in a Elements 205, 206 are offset against the mentioned correction values and the maximum volume in order to obtain the relational volume control values.
  • the resulting output values or manipulated variables ⁇ S, peak and ⁇ S, duration are fed to a minimum value element 209, which selects the respective smaller displacement volume as the actual manipulated variable ⁇ target .
  • T Stell corresponds to the parameter of a simplified model of the dynamics of the pump adjustment.
  • T maximum torque is the time for which the drive should be able to generate its peak torque. This is to be seen as an essential operating parameter of the adjustment strategy presented and must be smaller than the actual time after which the drive reaches its thermal overload. Furthermore, e is Euler's number.
  • the estimate of the frictional torque can be adapted to the current operating conditions using a suitable estimator.
  • a possible device would be an integral controller for the static engine torque or other estimating devices that are common in control technology, such as observers.
  • the effective limit value for the continuous torque can be adapted to the existing operating conditions using the measured or estimated thermal drive utilization by adapting the correction factor K redM0 .
  • the permitted overload time T Maxmoment which is used in the signal filter, can be adapted to the existing operating conditions.
  • the pressure difference 301 on the conveyor and a drive torque 302 on the electric drive are plotted in exemplary units against the time t, also in exemplary units.
  • the pressure difference and thus the load is increased from 0 to approximately 100%.
  • the displacement volume in percent is plotted against time t for different control variables. These include ⁇ should, duration, stat 303, ⁇ should , peak, dyn 304, ⁇ should, duration, dyn 305, ⁇ should , peak, stat 306. Furthermore, the actual swivel angle ⁇ lst 307 resulting from an exemplary actuating dynamic is plotted .
  • the two conditions for the limitation to the maximum torque or the continuous torque result in the two static swivel angle setpoints ⁇ target, duration, stat 303 and ⁇ target, peak, stat 306 with the increasing pressure difference shown.
  • the minimum value element 209 supplies the control device 143 for the swivel angle with the smaller value of ⁇ target, duration, dyn 305 and ⁇ target, peak, dyn 304 at the respective time as the valid target value.
  • the filter 207 for the peak torque limitation compensates for the actuating dynamics of the control device 143 so that the actual value ⁇ is 307 exactly follows the static setpoint ⁇ setpoint, peak, stat 306, so that the peak torque is not exceeded despite the limited control dynamics of the swivel angle controller.
  • the filter 208 for the permanent torque limitation is designed with a direction-dependent signal component, so that when the load torque increases, the effective setpoint ⁇ target, duration, dyn 305 lags behind the filter input ⁇ target , duration, stat 303 by the desired time-limited maximum load of the electric drive machine to be able to use it, while when the load torque is reduced, the effective setpoint ⁇ target, duration, dyn 305 leads the filter input ⁇ target, duration, stat 303.
  • the filter 208 for the continuous torque limitation compensates for the control dynamics of the control device 143 so that the actual value ⁇ lst 307 exactly follows the static setpoint ⁇ target, duration, stat 303, so that when the load decreases
  • the full performance of the motor-pump unit is available without delay and in compliance with the torque limitation despite the limited control dynamics of the swivel angle controller.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Control Of Positive-Displacement Pumps (AREA)
  • Fluid-Pressure Circuits (AREA)
EP23164373.5A 2022-03-29 2023-03-27 Procédé de fonctionnement d'une pompe à vitesse variable Pending EP4253754A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102022203051.6A DE102022203051B3 (de) 2022-03-29 2022-03-29 Verfahren zum Betreiben einer drehzahlvariablen Pumpe

Publications (1)

Publication Number Publication Date
EP4253754A1 true EP4253754A1 (fr) 2023-10-04

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Family Applications (1)

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EP23164373.5A Pending EP4253754A1 (fr) 2022-03-29 2023-03-27 Procédé de fonctionnement d'une pompe à vitesse variable

Country Status (3)

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EP (1) EP4253754A1 (fr)
CN (1) CN116892502A (fr)
DE (1) DE102022203051B3 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6020651A (en) * 1997-06-12 2000-02-01 Hitachi Construction Machinery Co., Ltd. Engine control system for construction machine
US8668465B2 (en) * 2007-11-01 2014-03-11 Sauer-Danfoss Aps Hydraulic system with supplement pump
US20140371915A1 (en) * 2012-01-05 2014-12-18 Hitachi Construction Machinery Co., Ltd. Device for controlling construction machinery
EP2192309B1 (fr) 2008-11-29 2017-04-05 Robert Bosch GmbH Procédé et circuit de réglage destinés au réglage d'une alimentation en fluide sous pression pour un actionneur hydraulique
US20210025414A1 (en) * 2019-07-26 2021-01-28 Robert Bosch Gmbh Hydraulic Pressurizing Medium Supply Assembly, Method, and Mobile Work Machine
US20210025138A1 (en) * 2019-07-26 2021-01-28 Robert Bosch Gmbh Hydraulic Pressurizing Medium Supply Assembly for a Mobile Work Machine, and Method

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0457365B1 (fr) 1986-08-15 1994-10-19 Kabushiki Kaisha Komatsu Seisakusho Appareil pour le contrôle d'une pompe hydraulique
DE19930648A1 (de) 1999-07-02 2001-01-11 Daimler Chrysler Ag Elektrohydraulische Druckversorgung mit verstellbarer Pumpe und regelbarem elektrischem Antrieb
DE102007007005B4 (de) 2007-02-08 2021-12-02 Robert Bosch Gmbh Elektrohydraulische Steueranordnung
DE102012016780B4 (de) 2012-06-01 2021-07-22 Robert Bosch Gmbh Verfahren zum Betreiben einer Fluidpumpe
DE102013006137B4 (de) 2013-04-10 2024-04-18 Robert Bosch Gmbh Regelung drehzahlvariabler Verstellpumpen mittels modellbasierter Optimierung
DE102019220322A1 (de) 2019-12-20 2021-06-24 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Betreiben einer drehzahlvariablen Verstellpumpe

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6020651A (en) * 1997-06-12 2000-02-01 Hitachi Construction Machinery Co., Ltd. Engine control system for construction machine
US8668465B2 (en) * 2007-11-01 2014-03-11 Sauer-Danfoss Aps Hydraulic system with supplement pump
EP2192309B1 (fr) 2008-11-29 2017-04-05 Robert Bosch GmbH Procédé et circuit de réglage destinés au réglage d'une alimentation en fluide sous pression pour un actionneur hydraulique
US20140371915A1 (en) * 2012-01-05 2014-12-18 Hitachi Construction Machinery Co., Ltd. Device for controlling construction machinery
US20210025414A1 (en) * 2019-07-26 2021-01-28 Robert Bosch Gmbh Hydraulic Pressurizing Medium Supply Assembly, Method, and Mobile Work Machine
US20210025138A1 (en) * 2019-07-26 2021-01-28 Robert Bosch Gmbh Hydraulic Pressurizing Medium Supply Assembly for a Mobile Work Machine, and Method

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Publication number Publication date
DE102022203051B3 (de) 2023-10-12
CN116892502A (zh) 2023-10-17

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