JP2014508253A - ポンプトルク制限を実施する油圧制御システム - Google Patents
ポンプトルク制限を実施する油圧制御システム Download PDFInfo
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- JP2014508253A JP2014508253A JP2013556785A JP2013556785A JP2014508253A JP 2014508253 A JP2014508253 A JP 2014508253A JP 2013556785 A JP2013556785 A JP 2013556785A JP 2013556785 A JP2013556785 A JP 2013556785A JP 2014508253 A JP2014508253 A JP 2014508253A
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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
- 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
- F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
- F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
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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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
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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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
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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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
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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
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20523—Internal combustion engine
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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
- F15B2211/20—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
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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
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
- F15B2211/3053—In combination with a pressure compensating valve
- F15B2211/30535—In combination with a pressure compensating valve the pressure compensating valve is arranged between pressure source and directional control valve
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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
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
- F15B2211/30575—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve in a Wheatstone Bridge arrangement (also half bridges)
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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
- F15B2211/6306—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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- 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
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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
- F15B2211/6346—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
-
- 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
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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
- F15B2211/665—Methods of control using electronic components
- F15B2211/6654—Flow rate control
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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
- F15B2211/665—Methods of control using electronic components
- F15B2211/6655—Power control, e.g. combined pressure and flow rate control
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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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
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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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/75—Control of speed of the output member
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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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/76—Control of force or torque of the output member
- F15B2211/761—Control of a negative load, i.e. of a load generating hydraulic energy
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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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/78—Control of multiple output members
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T137/00—Fluid handling
- Y10T137/0318—Processes
- Y10T137/0396—Involving pressure control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T137/00—Fluid handling
- Y10T137/8593—Systems
- Y10T137/85978—With pump
- Y10T137/85986—Pumped fluid control
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
Claims (10)
- 流体を加圧するように構成されたポンプ(52)と、
加圧流体を受け取るように構成された複数のアクチュエータ(20、26)と、
ポンプから複数のアクチュエータに加圧流体を計量供給するように構成された複数の弁機構(54、56)と、
複数のアクチュエータの所望の速度を示す信号を発生するように構成された少なくとも1つの操作者入力デバイス(98)と、
複数の弁および少なくとも1つの操作者入力デバイスと通信する制御装置(58)とを備える油圧制御システム(48)であって、制御装置(58)が、
ポンプトルク制限量を受信し、
最大ポンプ流量容量を決定し、
少なくとも1つの操作者入力デバイスからの信号に基づいて、複数の弁機構それぞれに関する所望の流量を決定し、
最大ポンプ流量容量に基づいて、所望の流量の第1の減少を行い、
ポンプトルク制限量に基づいて、所望の流量の第2の減少を行い、
第2の減少後の所望の流量を計量供給するように複数の弁機構に指令する
ように構成される油圧制御システム(48)。 - 制御装置が、ポンプトルク制限量に基づいてポンプ制限流量を決定し、ポンプ応答遅延のモデルに基づいてポンプ制限流量を補正するようにさらに構成され、
第2の減少が、補正後のポンプ制限流量に基づく
請求項1に記載の油圧制御システム。 - 第2の減少が、第1の減少後の所望の流量の和に対する、補正後のポンプ制限流量の比に基づく請求項2に記載の油圧制御システム。
- 制御装置が、
複数のアクチュエータのサブセットが停滞状態であると判断し、
判断に基づいて、複数のアクチュエータのうちの残りのアクチュエータに、サブセットに関する流体の所望の流量を割り振りし直す
ようにさらに構成される請求項2に記載の油圧制御システム。 - 制御装置が、サブセットの速度および圧力に基づいて判断を行うように構成される請求項4に記載の油圧制御システム。
- 制御装置が、流体の割り振りし直された所望の流量を、第1の減少後および第2の減少前の所望の流量に制限するようにさらに構成される請求項4に記載の油圧制御システム。
- 制御装置が、
補正後のポンプ制限流量と、割り振りし直された所望の流量との差を計算し、
複数のアクチュエータのうちの停滞していないすべてのアクチュエータに差を案分する
ようにさらに構成される請求項4に記載の油圧制御システム。 - 制御装置が、複数のアクチュエータが重力補助されているかどうか、または加圧流体の再生された流れを受け取っているかどうか判断するようにさらに構成され、
制御装置が、複数のアクチュエータが重力補助されていないとき、または加圧流体の再生された流れを受け取っているときにのみ第2の減少を行うように構成される
請求項1に記載の油圧制御システム。 - 機械(10)を動作させる方法であって、
流体を加圧するステップと、
加圧に関連付けられるトルク制限量を受信するステップと、
加圧に関連付けられる最大流量容量を決定するステップと、
複数の油圧式アクチュエータに関する所望の速度を示す操作者入力を受信するステップと、
所望の速度に基づいて、複数の油圧式アクチュエータ(20、26)それぞれに関して、流体の所望の流量を決定するステップと、
最大流量容量に基づいて、所望の流量の第1の減少を行うステップと、
トルク制限量に基づいて、所望の流量の第2の減少を行うステップと、
第2の減少後に、複数の油圧式アクチュエータに加圧流体を計量供給するステップと
を含む方法。 - ポンプトルク制限量に基づいてポンプ制限流量を求めるステップと、
ポンプ応答モデルに基づいてポンプ制限流量を補正するステップと
をさらに含み、
第2の減少が、補正後のポンプ制限流量に基づく
請求項9に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/037,084 | 2011-02-28 | ||
US13/037,084 US8483916B2 (en) | 2011-02-28 | 2011-02-28 | Hydraulic control system implementing pump torque limiting |
PCT/US2012/026841 WO2012118773A2 (en) | 2011-02-28 | 2012-02-28 | Hydraulic control system implementing pump torque limiting |
Publications (2)
Publication Number | Publication Date |
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JP2014508253A true JP2014508253A (ja) | 2014-04-03 |
JP6001569B2 JP6001569B2 (ja) | 2016-10-05 |
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Application Number | Title | Priority Date | Filing Date |
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JP2013556785A Active JP6001569B2 (ja) | 2011-02-28 | 2012-02-28 | ポンプトルク制限を実施する油圧制御システム |
Country Status (5)
Country | Link |
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US (1) | US8483916B2 (ja) |
JP (1) | JP6001569B2 (ja) |
CN (1) | CN103403365B (ja) |
DE (1) | DE112012001028T5 (ja) |
WO (1) | WO2012118773A2 (ja) |
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US20140305012A1 (en) * | 2013-04-10 | 2014-10-16 | Caterpillar Inc. | Single boom system having dual arm linkage |
US9890799B2 (en) | 2013-04-19 | 2018-02-13 | Parker-Hannifin Corporation | Method to detect hydraulic valve failure in hydraulic system |
KR102154663B1 (ko) | 2013-04-22 | 2020-09-11 | 파커-한니핀 코포레이션 | 전기 정유압 액추에이터 피스톤 속도 증가 방법 |
US11111646B2 (en) | 2017-02-24 | 2021-09-07 | Cnh Industrial America Llc | System and method for controlling an arm of a work vehicle |
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FI128622B (fi) * | 2017-10-09 | 2020-08-31 | Norrhydro Oy | Hydraulijärjestelmä ja sen ohjausjärjestelmä |
DE102018106846B3 (de) * | 2018-03-22 | 2019-07-04 | HAWE Altenstadt Holding GmbH | Human-Exoskelett |
CN112673136B (zh) * | 2018-09-10 | 2023-06-09 | 阿尔特弥斯智能动力有限公司 | 带有液压机控制器的设备 |
WO2021062523A1 (en) * | 2019-10-04 | 2021-04-08 | Husky Injection Molding Systems Ltd. | Stabilized adaptive hydraulic system pressure in an injection molding system |
US20230167629A1 (en) * | 2020-05-01 | 2023-06-01 | Danfoss A/S | Control architecture for prime mover stall prevention |
CN111720389B (zh) * | 2020-07-06 | 2022-09-06 | 长沙理工大学 | 一种组合式液压势能再生系统 |
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- 2012-02-28 JP JP2013556785A patent/JP6001569B2/ja active Active
- 2012-02-28 CN CN201280010880.XA patent/CN103403365B/zh active Active
- 2012-02-28 WO PCT/US2012/026841 patent/WO2012118773A2/en active Application Filing
- 2012-02-28 DE DE201211001028 patent/DE112012001028T5/de active Pending
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US20120221212A1 (en) | 2012-08-30 |
CN103403365A (zh) | 2013-11-20 |
CN103403365B (zh) | 2015-09-23 |
WO2012118773A3 (en) | 2012-11-22 |
WO2012118773A2 (en) | 2012-09-07 |
DE112012001028T5 (de) | 2013-12-05 |
US8483916B2 (en) | 2013-07-09 |
JP6001569B2 (ja) | 2016-10-05 |
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