JP2004270924A - 速度に基づく制御システムの複数の油圧機能部間で流量を配分する方法 - Google Patents
速度に基づく制御システムの複数の油圧機能部間で流量を配分する方法 Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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- F15B11/163—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for sharing the pump output equally amongst users or groups of users, e.g. using anti-saturation, pressure compensation
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F15B2211/40—Flow control
- F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/45—Control of bleed-off flow, e.g. control of bypass flow to the return line
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- F15B2211/00—Circuits for servomotor systems
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- F15B2211/46—Control of flow in the return line, i.e. meter-out control
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- 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
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- 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
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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
- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
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- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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- F15B2211/00—Circuits for servomotor systems
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Abstract
【解決手段】 複数の油圧アクチュエータは供給ラインとタンク戻りライン間に接続される。個別の所望速度が各油圧アクチュエータのために要求される。各計量モードと各油圧アクチュエータの速度に応答して、各油圧アクチュエータが供給および戻りラインから得られる流量条件が導出される。要求された流量のどの部分が供給および戻りラインから得られる流量レベルにより提供されるかに関して判定がされる。これらの流量部分は任意の油圧アクチュエータの所望の速度を得られる流量で達成される任意の油圧アクチュエータの速度を指示する速度命令に変換するために使用される。各速度命令が各油圧アクチュエータに対する流量を制御するために使用される。
【選択図】 図1
Description
12 容積式ポンプ
14 供給ライン
15 タンク
16 シリンダ
17 アンローダバルブ
18 タンク戻りライン
19 タンク制御バルブ
20 機能部
21、22、23、24 電磁油圧比例バルブ
25 バルブアセンブリ
26 ヘッド室
27 ロッド室
30 第1油圧導管
36、38、40、42、49、51、53 圧力センサー
44,46,48 制御装置
45 ピストンロッド
47 ジョイスティック
50 マッピングルーチン
52 流量配分ルーチン
54 計量モード選択ルーチン
55 通信ネットワーク
56 バルブ開口ルーチン
58 バルブドライバ
60 処理区画
62 ブロック
64、66 乗算器
78 サブルーチン
80 割算器
Claims (20)
- 供給源から、各々が計量モードで動作する複数の油圧アクチュエータに流れる流量を配分する方法において、
(a)複数の油圧アクチュエータの一つの所望の速度を要求する工程と;
(b)前記計量モードと前記複数の油圧アクチュエータの1つの所望の速度に基づいて要求された流量を決定する工程と;
(c)前記複数の油圧アクチュエータの他のアクチュエータのために工程(a)と(b)を繰り返し、複数の要求された流量を発生する工程と;
(d)総要求流量を導出するため前記複数の要求された流量を合計する工程と;
(e)前記供給源から得られる流量を決定する工程と;
(f)前記総要求流量と前記供給源から得られる流量の間の関係を示す割合値を導出する工程と;
(g)前記複数の油圧アクチュエータの任意の1つの所望の速度と前記割合値に基づいて速度命令を導出する工程と;
(h)前記速度命令に基づいて前記複数の油圧アクチュエータの任意の油圧アクチュエータに対する流量を制御する工程と;
を含むことを特徴とする方法。 - 前記要求流量を決定する工程が、
前記計量モードの変換係数を選択する工程と;
前記変換係数と前記所望の速度から前記要求流量を算術的に導出する工程と;
を含むことを特徴とする請求項1記載の方法。 - 前記要求流量を算術的に導出する工程が前記変換係数を前記所望の速度と乗算する工程であることを特徴とする請求項2記載の方法。
- 前記割合値は前記供給源から得られる流量が総要求流量に対する割合を示すことを特徴とする請求項1記載の方法。
- 前記割合値を導出する工程が前記供給源から得られる流量に相当する第1値を前記総要求流量に相当する第2値で除算する工程からなることを特徴とする請求項1記載の方法。
- 前記速度命令が前記所望速度を超過するのを制限する工程をさらに含むことを特徴とする請求項1記載の方法。
- 前記複数の油圧アクチュエータの他のアクチュエータの各々のため前記工程(g)と(h)を繰り返す工程をさらに含むことを特徴とする請求項1記載の方法。
- ポンプから流体を運ぶ供給ラインと、流体をタンクに運ぶ戻りラインと、各々がバルブアセンブリにより前記供給ラインと前記戻りラインに結合されたアクチュエータを有する複数の油圧回路を有し、各油圧回路は複数の計量モードの1つで動作される油圧システムにおいて、
(a)特有の油圧アクチュエータの所望の速度を要求する工程と;
(b)計量モードと前記特有の油圧アクチュエータの前記所望速度に応答して、前記特有の油圧アクチュエータと前記供給ライン間の流量を示す要求供給流量を決定する工程と;
(c)前記計量モードと前記任意の油圧アクチュエータの所望速度に応答して、前記任意の油圧アクチュエータと前記戻りライン間の流量のレベルを示す要求戻り流量を決定する工程と;
(d)前記複数の油圧アクチュエータの他のアクチュエータのために工程(a)、(b)および(c)を繰り返し、複数の要求供給流量と複数の要求戻り流量を発生する工程と;
(e)総要求供給流量を発生するため前記複数の要求供給流量を合計する工程と;
(f)前記総要求流量を発生するため前記複数の要求戻り流量を合計する工程と;
(g)前記供給ラインから得られる流量を決定する工程と;
(h)前記総要求供給流量と前記供給ラインから得られる流量間の第1の関係を示す第1割合値を導出する工程と;
(i)前記戻りラインから得られる流量を決定する工程と;
(j)前記総要求戻り流量と前記戻りラインから得られる流量間の第2の関係を示す第2割合値を導出する工程と;
(k)前記第1割合値と前記第2割合値の1つを選択された割合値として選択する工程と;
(l)任意の油圧アクチュエータの前記所望速度と前記選択された割合値から速度命令を導出する工程と;
(m)前記速度命令に応答して前記任意の油圧アクチュエータに対する流量を制御する工程と;
(n)前記複数の油圧アクチュエータの少なくとも1つの他のアクチュエータのために工程(l)および(m)を繰り返し、前記複数の速度命令を発生する工程と;
備えることを特徴とする方法。 - 要求供給流量を決定する工程が、
前記計量モードの変換係数を選択する工程と;
前記変換係数と前記所望の速度から要求供給流量を算術的に導出する工程と;
を含むことを特徴とする請求項8記載の方法。 - 前記要求供給流量を算術的に導出する工程が前記変換係数と前記所望速度を乗算する工程からなることを特徴とする請求項9記載の方法。
- 要求戻り流量を決定する工程が、
前記計量モードの変換係数を選択する工程と;
前記変換係数と前記所望の速度から前記要求戻り流量を算術的に導出する工程と;
を含むことを特徴とする請求項8記載の方法。 - 前記要求戻り流量を算術的に導出する工程が前記変換係数と前記所望の速度を乗算する工程からなることを特徴とする請求項11記載の方法。
- 前記第1割合値は前記供給ラインから得られる流量が前記総要求供給流量に対する割合を示すことを特徴とする請求項8記載の方法。
- 前記第2割合値は前記戻りラインから得られる流量が前記総要求戻り流量に対する割合を示すことを特徴とする請求項8記載の方法。
- 前記第1割合値を導出する工程が前記供給ラインから得られる流量に相当する第1値を前記総要求供給流量に相当する第2値で除算する工程からなり;前記第2割合値を導出する工程が前記戻りラインから得られる流量に相当する第3値を前記総要求戻り流量に相当する第4値で除算する工程からなることを特徴とする請求項8記載の方法。
- 選択する工程が前記第1割合値と前記第2割合値の小さい値を選択することを特徴とする請求項8記載の方法。
- 前記速度命令が前記所望速度を超過するのを制限する工程をさらに含むことを特徴とする請求項8記載の方法。
- 合計総要求流量を発生するため前記総要求供給流量と前記総要求戻り流量を合計する工程と;
前記合計総要求流量と前記供給ラインから得られる流量間の第3関係を示す第3割合値を導出する工程と;
をさらに含み、前記選択された割合値が前記第1割合値、前記第2割合値、および前記第3割合値の1つを選択することにより得られることを特徴とする請求項8記載の方法。 - 前記第3割合値は前記供給ラインから得られる流量が前記合計総要求流量に対する割合を示すことを特徴とする請求項18記載の方法。
- 前記選択工程は前記第1割合値、前記第2割合値および前記第3割合値からより小さい値を選択することを特徴とする請求項18記載の方法。
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US10/254466 | 2002-09-25 | ||
US10/254,466 US6779340B2 (en) | 2002-09-25 | 2002-09-25 | Method of sharing flow of fluid among multiple hydraulic functions in a velocity based control system |
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JP4897191B2 JP4897191B2 (ja) | 2012-03-14 |
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US (1) | US6779340B2 (ja) |
EP (1) | EP1403529B1 (ja) |
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Also Published As
Publication number | Publication date |
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EP1403529A2 (en) | 2004-03-31 |
DE60324645D1 (de) | 2008-12-24 |
US6779340B2 (en) | 2004-08-24 |
EP1403529B1 (en) | 2008-11-12 |
EP1403529A3 (en) | 2004-12-01 |
US20040055289A1 (en) | 2004-03-25 |
JP4897191B2 (ja) | 2012-03-14 |
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