EP4621246A1 - Computerimplementiertes verfahren zur bestimmung einer entkopplungsmatrix für ein steuerungssystem - Google Patents

Computerimplementiertes verfahren zur bestimmung einer entkopplungsmatrix für ein steuerungssystem

Info

Publication number
EP4621246A1
EP4621246A1 EP24164068.9A EP24164068A EP4621246A1 EP 4621246 A1 EP4621246 A1 EP 4621246A1 EP 24164068 A EP24164068 A EP 24164068A EP 4621246 A1 EP4621246 A1 EP 4621246A1
Authority
EP
European Patent Office
Prior art keywords
pressures
electro
computer
determining
hydraulic
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
EP24164068.9A
Other languages
English (en)
French (fr)
Inventor
Lasse Schmidt
Mikkel van Binsbergen-Galßan
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
Priority to EP24164068.9A priority Critical patent/EP4621246A1/de
Priority to PCT/EP2025/057297 priority patent/WO2025196006A1/en
Publication of EP4621246A1 publication Critical patent/EP4621246A1/de
Pending legal-status Critical Current

Links

Classifications

    • 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
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/20—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors controlling several interacting or sequentially-operating members
    • 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
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • 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
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/007—Simulation or modelling
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • 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
    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • F15B7/001—With multiple inputs, e.g. for dual 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
    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • F15B7/003—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors with multiple outputs
    • 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
    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • F15B7/005—With rotary or crank input
    • F15B7/006—Rotary pump input
    • 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
    • F15B2211/20576—Systems with pumps with multiple pumps
    • 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
    • F15B2211/27—Directional control by means of the pressure source
    • 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
    • F15B2211/6336—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
    • F15B2211/665—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
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6653—Pressure 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
    • F15B2211/665—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
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • 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
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7114—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators
    • F15B2211/7128—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators the chambers being connected in parallel

Definitions

  • the invention relates to the field of designing control systems for electro-hydraulic drive networks, especially for excavators.
  • An electro-hydraulic drive network integrates electrical and hydraulic components to facilitate various tasks, including control, actuation, and power transmission. Structurally, it consists of electrical components such as power supplies, control devices like switches, relays, PLCs, and hydraulic components like hydraulic fluid, pumps, actuators, and valves.
  • the electrical components starting with a power supply, generate control signals through devices such as relays, timers, and PLCs based on input parameters. These parameters could include sensor readings or operator commands.
  • hydraulic fluid serves as the medium for energy transmission, with pumps generating flow and pressure, while actuators, such as cylinders and motors, convert hydraulic energy into mechanical motion.
  • actuators such as cylinders and motors, convert hydraulic energy into mechanical motion.
  • valves regulate the direction, pressure, and flow rate of the fluid.
  • Control logic ranging from simple on-off control to more sophisticated proportional control systems, adaptive control systems, or non-linear control systems , governs the operation of the electro-hydraulic network. This logic processes input signals and generates output commands to control hydraulic components. Communication interfaces, such as serial protocols or Ethernet, may also be present for integration with higher-level control systems or remote monitoring.
  • an electro-hydraulic drive network combines electrical and hydraulic systems to deliver efficient, precise, and reliable control over mechanical processes, making it indispensable in numerous industrial and mobile applications.
  • Valves play a crucial role in regulating the flow, within an electro-hydraulic drive network. However, they can also be a source of various problems that affect the performance, efficiency, and reliability of the system.
  • valves in an electro-hydraulic drive network leads to inherent losses and therefore to low-energy efficiency.
  • An electro-hydraulic drive network without valves may comprise n hydraulic cylinders, wherein some chambers of the hydraulic cylinders are short-circuited with n-1 chamber short-circuiting's, and wherein the electro-hydraulic drive network contains n+1 displacement units, wherein n is equal to or greater than 2.
  • Any displacement unit may be a fixed displacement unit or a variable displacement unit.
  • the primary difference between fixed displacement units and variable displacement units lies in their methods of controlling hydraulic fluid flow and, consequently, output power.
  • Fixed displacement units operate by delivering a consistent volume of hydraulic fluid per revolution or stroke, regardless of the load or demand placed on them. This consistency in output flow rate ensures that the speed of the hydraulic cylinder or actuator it powers remains constant, assuming the load remains steady.
  • Examples of fixed displacement units include fixed displacement pumps and hydraulic motors, both of which maintain a constant output flow rate under varying conditions.
  • variable displacement units offer the flexibility to adjust the volume of hydraulic fluid delivered per revolution or stroke. This adjustment can be achieved manually, hydraulically, or electronically, depending on the specific design and application requirements. By varying the displacement, variable displacement units can dynamically adjust the output flow rate and pressure of hydraulic fluid to match changing load or demand conditions. This adaptability enables more precise control over the speed and force of hydraulic actuators, leading to improved efficiency and performance across a range of applications. Variable displacement pumps and hydraulic motors are typical examples of such units.
  • the displacement units have to be controlled individually, but not independently. Because of the short-circuiting's the pressures of the volumes connected to the displacement units is divided to all the chambers of these hydraulic cylinders that are short-circuited.
  • the problem to be solved by the invention is to provide a method for designing a control system for a highly efficient electro-hydraulic drive network having multiple hydraulic cylinders with short-circuited chambers.
  • the problem is solved by a computer-implemented method for determining a decoupling matrix D for a control system of an electro-hydraulic drive network comprising n hydraulic cylinders each having two chambers, n-1 chamber short-circuiting's between the cylinder's chambers, and n+1 displacement units.
  • the method comprises the steps of:
  • Control volume pressure refers to the pressure level within a specific volume of hydraulic fluid that is actively controlled or regulated by the system's control mechanisms. This designated volume typically encompasses the area where critical control components such as valves, actuators, and sensors are located.
  • the control system continuously monitors and adjusts the pressure within this volume to maintain desired system performance, such as precise control over the speed, force, or position of hydraulic actuators. By managing the pressure within the control volume, the control system can optimize the operation of the hydraulic system, ensuring efficient and responsive performance.
  • Load pressure refers to the pressure exerted by the hydraulic system on the load being acted upon by hydraulic actuators. This pressure level is directly related to the force required to move or manipulate the load and is influenced by factors such as the size of the load, the resistance encountered, and the hydraulic system's operating conditions. Load pressure is typically measured at the point where the hydraulic actuator interfaces with the load, such as at the cylinder piston or hydraulic motor output shaft. In applications such as lifting, pushing, or pulling heavy loads, the hydraulic system must generate sufficient load pressure to overcome resistance and perform the desired work effectively.
  • the sum pressure is a sum of all pressures of the hydraulic cylinders, or the weighted sum of all pressures of the hydraulic system.
  • the aim of this invention is to decouple the relationships between different pressures in the electro-hydraulic drive network. It is therefore particularly important for the first step to determine the relationship between the pressures in the electro-hydraulic drive network.
  • a dynamic can be expressed in particular by a change in the respective variable over time.
  • a decoupling matrix is derived from these dedicated matrices, which describes the relationship between the pressures in each chamber of each hydraulic cylinder of the given electro-hydraulic drive network.
  • the decoupling matrix D can now be used to map the desired piston speed of each hydraulic cylinder of the electro-hydraulic drive network to the required signal input into the displacement units for increasing, decreasing or maintaining the current pressure within the connected volume.
  • the provided method may be used for designing a control system for an electro-hydraulic drive network as described in the beginning.
  • the method comprises the following step prior to determining the relations between the physical pressures, the load pressures and the sum pressures:
  • the flow continuity model for the electro-hydraulic drive network may especially consist of flow continuity equations.
  • the flow losses and pressure losses within the electro-hydraulic drive network are neglected for determining the flow continuity model.
  • the step of determining the sum pressures comprises summarizing the weighted control volume pressures.
  • the decoupling matrix D determined in the end may become more precise to the need or the framework conditions of the electro-hydraulic drive network.
  • the step of determining the relations between the control volume pressures, the load pressures and the sum pressure comprises determining virtual pressures dynamics for each volume from the load pressures, the sum pressures and the control volume pressures.
  • the virtual pressure dynamics gives conditions, which may be used for deriving the decoupling matrix D.
  • the virtual pressure can be equated to a target state for which the certain conditions apply. These conditions are the same for different system states, so that the decoupling matrix D can be easily determined.
  • the load pressure dynamics and sum pressure dynamics are derived from the dynamic virtual pressures, wherein the dynamic virtual pressures are derived from the sum of a first dedicated matrix A multiplied with the piston positions and a second dedicated matrix B multiplied with the speeds of the electric motors driving the displacement units.
  • the decoupling matrix D is derived from the inverse of the second dedicated matrix B and the first dedicated matrix A.
  • the aim of the control system is to obtain a signal for the displacement units from a predefined system state, i.e., defined piston velocities z.
  • the decoupling matrix D is to be used for this purpose.
  • the invention in another aspect, relates to a method for operating an electro-hydraulic drive network comprising n hydraulic cylinders each having two chambers, n-1 chamber short-circuiting's between the cylinder's chambers, and n+1 displacement units.
  • Each cylinder comprises a piston rod which is extendable from the corresponding cylinder, wherein the rod velocity is controlled by the angular velocity of the displacement units.
  • the angular velocity ⁇ of each displacement unit is controlled by a signal to an electric motor driving the displacement units, wherein the signals to the electric motors are derived from a representation of the aimed rod velocity and a decoupling matrix, wherein the decoupling matrix D is determined by using a method as described above.
  • the invention relates to an excavator comprising an electro-hydraulic drive network, wherein the electro-hydraulic drive network is operated with a method as described above.
  • the invention relates to a computer program comprising program code, for executing a method as described above when the computer program is executed on a computer.
  • the invention relates to a computer-readable medium containing program code of a computer program to execute a method as described above when the computer program is executed on a computer.
  • the invention relates to a system for determining a decoupling matrix D for a control system of an electro-hydraulic drive network, wherein the system is configured to execute a method as described above.
  • a computer-implemented method for determining a decoupling matrix D for a control system of an electro-hydraulic drive network a method for operating an electro-hydraulic drive network, an excavator comprising said electro-hydraulic drive network, a computer program comprising program code and a computer-readable medium containing program code are presented.
  • Fig. 1 shows a schematic flow chart of the method for determining a decoupling matrix D for a control system of an electro-hydraulic drive network.
  • a first step S10 the flow continuity equations for the given electro-hydraulic drive network are determined. This includes for example determining the exact number of hydraulic cylinders, displacement units and short-circuiting's between the hydraulic cylinder's chambers.
  • step S12 the relations between the control volume pressures, the load pressures and the sum pressures are determined.
  • step S14 the load pressure dynamics and the sum pressure dynamics are represented in dedicated matrices.
  • these dedicated matrices represent the dynamic behavior of the given electro-hydraulic drive network.
  • the decoupling matrix D is derived from the dedicated matrices representing the load pressure dynamics and the sum pressure dynamics. While the dedicated matrices predict the pressures in the electro-hydraulic drive network for a given system state, the decoupling matrix D may be used for deriving a set of commands for achieving said system state and pressures within the electro-hydraulic drive network.
  • the decoupling matrix D may be used for actually controlling the displacement units of the electro-hydraulic drive network.
  • Fig. 2 shows an electro-hydraulic drive network with two hydraulic cylinders 10, 12 and three displacement units 14, 16, 18.
  • Each of the hydraulic cylinders 10, 12 comprises a first chamber 20, 22 and a second chamber 24, 26, a piston 28, 30 and a piston rod 32, 34.
  • the piston rods 32, 34 are moved by a pressure difference in the two chambers 20, 22, 24, 26 of the hydraulic cylinders 10, 12.
  • the second chamber 24 of the first hydraulic cylinder 10 is fluidically connected to the first chamber 22 of the second hydraulic cylinder 12 and thus short-circuited. These two chambers 24 and 22 together form a common volume 36.
  • the first displacement unit 14 is fluidically connected to the first chamber 20 of the first hydraulic cylinder 10 and the volume 36.
  • the piston 28 in the first hydraulic cylinder moves.
  • the pressure also changes in the second chamber 24 of the same hydraulic cylinder and thus also in the first chamber 22 of the second hydraulic cylinder 12.
  • the second displacement unit 16 is arranged between the volume 36 and the second chamber 26 of the second hydraulic cylinder 12.
  • the second displacement unit 16 When the first displacement unit 14 is activated, the second displacement unit 16 must be controlled in such a way that it compensates for the pressure increase in the first chamber 22 of the second hydraulic cylinder 12, provided that the piston 30 of the second hydraulic cylinder 12 is not to move as well.
  • the third displacement unit 18 is arranged between the second chamber 26 and a flexible fluid volume 38.
  • the entire electro-hydraulic drive network must therefore be supplied with fluid from the flexible fluid volume 38 via the third displacement unit 18. Conversely, fluid must be removed from the electro-hydraulic drive network when the pistons 28, 30 are retracted and the piston rods 32, 34 displace fluid.
  • the electro-hydraulic drive network also has various sensors.
  • the position sensors 40, 42 continuously determine the position of the pistons 28, 30 within the hydraulic cylinders 10, 12.
  • the speed of the pistons 28, 30 can be derived from the change in position over time.
  • the pressure sensors 44, 46, 48 measure the pressures that are present in the first chamber 20 of the first hydraulic cylinder 10, the volume 36 shared by both hydraulic cylinders 10, 12 and the second chamber 26 of the second hydraulic cylinder 12.
  • the pressure dynamics can be derived from the change in pressure over time.
  • the data from all sensors 40, 42, 44, 46, 48 are transmitted to hardware interfaces 50 of the control system 52.
  • the control software 54 generates control signals for the displacement units 14, 16, 18 from the sensor values and setpoint values 56, which it receives, for example, via an input from a user or from other software, etc.
  • the generated signals are sent to the control units 58, 60, 62, which each control the displacement units 14, 16, 18 assigned to them.
  • the signals for the displacement units 14, 16, 18 must be generated in a decoupled manner. This is done using the decoupling matrix D.
  • a control signal for the displacement units 14, 16, 18 is thus generated within the control software from the setpoint values 56 and the sensor values of the sensors 40, 42, 44, 46, 48, with which the pistons 28, 30 are moved into the desired position.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)
EP24164068.9A 2024-03-18 2024-03-18 Computerimplementiertes verfahren zur bestimmung einer entkopplungsmatrix für ein steuerungssystem Pending EP4621246A1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP24164068.9A EP4621246A1 (de) 2024-03-18 2024-03-18 Computerimplementiertes verfahren zur bestimmung einer entkopplungsmatrix für ein steuerungssystem
PCT/EP2025/057297 WO2025196006A1 (en) 2024-03-18 2025-03-18 Computer-implemented method for determining a decoupling matrix for a control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP24164068.9A EP4621246A1 (de) 2024-03-18 2024-03-18 Computerimplementiertes verfahren zur bestimmung einer entkopplungsmatrix für ein steuerungssystem

Publications (1)

Publication Number Publication Date
EP4621246A1 true EP4621246A1 (de) 2025-09-24

Family

ID=90366188

Family Applications (1)

Application Number Title Priority Date Filing Date
EP24164068.9A Pending EP4621246A1 (de) 2024-03-18 2024-03-18 Computerimplementiertes verfahren zur bestimmung einer entkopplungsmatrix für ein steuerungssystem

Country Status (2)

Country Link
EP (1) EP4621246A1 (de)
WO (1) WO2025196006A1 (de)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230011283A1 (en) * 2019-12-12 2023-01-12 Volvo Construction Equipment Ab A hydraulic system and a method for controlling a hydraulic system of a working machine

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230011283A1 (en) * 2019-12-12 2023-01-12 Volvo Construction Equipment Ab A hydraulic system and a method for controlling a hydraulic system of a working machine

Also Published As

Publication number Publication date
WO2025196006A1 (en) 2025-09-25

Similar Documents

Publication Publication Date Title
CN112128178B (zh) 压力补偿式液压泵、转速控制系统及控制方法和工程机械
US4510750A (en) Circuit pressure control system for hydrostatic power transmission
EP0045664B1 (de) Druckregeleinrichtung für ein hydrostatisches Getriebe
US4759183A (en) Control arrangement for at least two hydraulic loads fed by at least one pump
US6623247B2 (en) Method and apparatus for controlling a variable displacement hydraulic pump
EP1553231B1 (de) Steuervorrichtung einer Hydraulikantriebsmaschine
EP3273069B1 (de) Intelligentes lastabhängiges elektrohydrostatisches stellglied
EP1595077B1 (de) Verfahren zur steuerung eines hydrauliksystems einer mobilen arbeitsmaschine
US7007466B2 (en) System and method for controlling hydraulic flow
CN111750162B (zh) 轨迹计划单元、阀组件和方法
US7874152B2 (en) Hydraulic system with compensation for kinematic position changes of machine members
US20140060034A1 (en) Electro-Hydraulic Control Design for Pump Discharge Pressure Control
WO2002086327A1 (en) A control system and a method for controlling an actuator and for optimizing the control by means of sets of valves coupled in parallel
JPS63186001A (ja) 電気油圧式サーボシステム
CN112196856B (zh) 一种电传动设备的液压系统及其控制方法
EP4621246A1 (de) Computerimplementiertes verfahren zur bestimmung einer entkopplungsmatrix für ein steuerungssystem
JPH06221301A (ja) 油圧ポンプの吐出流量制御装置
US4864994A (en) Engine override controls
EP1419421B1 (de) Verfahren zur steuerung
WO2012154462A2 (en) Method and apparatus for controlling multiple variable displacement hydraulic pumps
WO2023016855A1 (de) Verfahren zum geräuscharmen betrieb eines elektrisch angetriebenen hydrauliksystems
Schulte Control-oriented modeling of hydrostatic transmissions using Takagi-Sugeno fuzzy systems
US6360536B1 (en) Control system for a hydraulic transformer
EP1584755B1 (de) Verfahren zur Hydraulikpumpenförderstromkompensation in Baumaschinen bei Steuerhebelneutralstellung
Wei et al. Self-tuning dead-zone compensation fuzzy logic controller for a switched-reluctance-motor direct-drive hydraulic press

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 ME 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: 20260324