JP2011515631A - 複数のアクチュエータを備える油圧システム及び関連の制御方法 - Google Patents
複数のアクチュエータを備える油圧システム及び関連の制御方法 Download PDFInfo
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- 239000012530 fluid Substances 0.000 claims abstract description 57
- 230000004044 response Effects 0.000 claims abstract description 24
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 5
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Abstract
【選択図】図1
Description
本願は、2008年3月10日付けで出願された米国仮特許出願第61/035,183号の出願日の利益を主張し、該出願の開示は参照により本明細書に援用される。
式中、vcomは命令速度、HLLは油圧ライン損失、αは加速度である。加速度項を無視する、すなわち、定常状態の場合を考慮して油圧ライン損失(HLL)を無視すると、命令速度、弁サイズ、及び流量係数に関して圧力要求を表す式は、以下の通りである。
Claims (19)
- 油圧システムであって
オペレータ入力装置と、
作動油流源と、
複数のアクチュエータと、
前記アクチュエータに出入りする流体の流れを制御するように各アクチュエータに少なくとも1つが関連付けられる、複数の弁と、
前記オペレータ入力装置からの信号に応じて、前記アクチュエータのそれぞれに供給すべき油圧を計算し、前記アクチュエータを前記計算された油圧で駆動するように前記作動油流源及び前記弁を制御し、前記アクチュエータを前記計算された油圧で駆動できるか否かを判定するように感知パラメータを監視し、且つ前記アクチュエータを前記計算された油圧で駆動できないという判定に応じて、ずれ比を計算して該ずれ比を用いて前記アクチュエータの作動を変更する、コントローラと、
を備える、油圧システム。 - 前記コントローラは、各アクチュエータの命令速度に前記ずれ比を乗算して前記アクチュエータに関する変更作動速度を求め、前記アクチュエータを前記変更作動速度で駆動するように前記アクチュエータに供給すべき変更油圧を計算し、且つ前記アクチュエータを前記変更油圧で駆動するように前記作動油流源及び前記弁を制御することによって、前記ずれ比を用いて前記アクチュエータの作動を変更する、請求項1に記載の油圧システム。
- 前記アクチュエータに対する負荷を判定して前記コントローラに負荷信号を供給するように各アクチュエータに少なくとも1つが関連付けられる、複数の負荷監視センサをさらに含み、前記コントローラは、前記負荷信号を用いて前記アクチュエータに供給すべき油圧を計算する、請求項1に記載の油圧システム。
- 前記負荷監視センサは、前記アクチュエータのロッドに取り付けられるロードセルである、請求項3に記載の油圧システム。
- 前記油圧システムは圧力センサをさらに含み、該圧力センサは、前記作動油流源と前記弁との間の実際の圧力を感知して前記コントローラに圧力信号を供給し、該圧力信号は、前記アクチュエータを前記計算された油圧で駆動できるか否かを判定するための前記感知パラメータである、請求項1に記載の油圧システム。
- 前記コントローラは、前記圧力センサからの前記圧力信号を前記アクチュエータのそれぞれに供給すべき油圧で除算することによって、前記ずれ比を計算し、最小値が前記ずれ比である、請求項5に記載の油圧システム。
- 各アクチュエータに1つの弁のみが関連付けられ、該弁は、前記作動油流源から前記アクチュエータへの流体の流れ及び該アクチュエータからタンクへの流体の流れを制御するように可動であるスプールを有する比例弁である、請求項1に記載の油圧システム。
- 前記作動油流源は、固定容量油圧ポンプである、請求項7に記載の油圧システム。
- 各アクチュエータに4つの弁が関連付けられ、該4つの弁は、前記アクチュエータのヘッド側チャンバに入る流れを制御する第1のメータイン弁と、前記アクチュエータのロッド側チャンバに入る流れを制御する第2のメータイン弁と、前記アクチュエータの前記ヘッド側チャンバから出る流れを制御する第1のメータアウト弁と、前記アクチュエータの前記ロッド側チャンバから出る流れを制御する第2のメータアウト弁とを備える、請求項1に記載の油圧システム。
- 前記第1のメータイン弁及び前記第2のメータイン弁は、比例弁である、請求項9に記載の油圧システム。
- 前記作動油流源は、可変容量油圧ポンプである、請求項10に記載の油圧システム。
- 前記第1のメータイン弁及び前記第2のメータイン弁は、圧力補償弁である、請求項9に記載の油圧システム。
- 前記圧力補償弁のそれぞれは、パイロット部及び補償部を含み、圧力降下を設定するように前記コントローラによって制御される、請求項12に記載の油圧システム。
- 前記油圧システムは、前記圧力補償弁の各補償部に関連する補償器位置インジケータをさらに含み、該補償器位置インジケータは、その補償器部のスプールの位置を感知して該感知されたスプール位置を示す信号を出力し、前記感知されたスプール位置は、前記アクチュエータを前記計算された油圧で駆動できるか否かを判定するための前記感知パラメータである、請求項13に記載の油圧システム。
- 前記感知されたスプール位置は、関連の弁にわたる実際の圧力降下を示し、前記コントローラは、前記関連の弁にわたる前記実際の圧力降下を前記設定された圧力降下で除算することによって前記ずれ比を計算する、請求項14に記載の油圧システム。
- オペレータ入力装置、作動油流源、複数のアクチュエータ、複数の弁、及びコントローラを備え、少なくとも1つの弁が前記アクチュエータに出入りする流体の流れを制御するように各アクチュエータに関連付けられる、油圧システムを制御する方法であって、
前記オペレータ入力装置からの信号に応じて、前記アクチュエータのそれぞれに供給すべき油圧を計算するステップと、
前記アクチュエータを前記計算された油圧で駆動するように前記作動油流源及び前記弁を制御するステップと、
前記アクチュエータを前記計算された油圧で駆動できるか否かを判定するように感知パラメータを監視するステップと、
前記アクチュエータを前記計算された油圧で駆動できないという判定に応じて、ずれ比を計算するステップと、
前記ずれ比を用いて前記アクチュエータの作動を変更するステップと、
を含む、油圧システムを制御する方法。 - 各アクチュエータの感知を行うステップと、感知された負荷を用いるステップであって前記アクチュエータに供給すべき油圧を計算する、用いるステップとをさらに含む、請求項16に記載の方法。
- 前記感知パラメータを監視するステップは、前記作動油流源と前記弁との間の実際の圧力を感知するステップを含み、前記ずれ比を計算するステップは、前記感知された実際の圧力を各アクチュエータに供給すべき前記計算された油圧で除算するステップと、最小値を前記ずれ比として用いるステップとを含む、請求項16に記載の方法。
- 前記ずれ比を用いて前記アクチュエータの作動を変更するステップは、各アクチュエータの命令速度に前記ずれ比を乗算して変更作動速度を求め、前記アクチュエータを前記変更作動速度で駆動するように前記アクチュエータのそれぞれに供給すべき変更油圧を計算し、且つ前記アクチュエータを前記変更油圧で駆動するように前記作動油流源及び前記弁を制御するステップを含む、請求項16に記載の方法。
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PCT/US2009/036294 WO2009114407A1 (en) | 2008-03-10 | 2009-03-06 | Hydraulic system having multiple actuators and an associated control method |
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US8726646B2 (en) | 2014-05-20 |
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KR20100127751A (ko) | 2010-12-06 |
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