JP2021148161A - 制御装置、及びそれを備える液圧システム - Google Patents
制御装置、及びそれを備える液圧システム 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
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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
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D7/00—Control of flow
- G05D7/06—Control of flow characterised by the use of electric means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D7/00—Control of flow
- G05D7/06—Control of flow characterised by the use of electric means
- G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
- G05D7/0629—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means
- G05D7/0635—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on throttling means
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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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
- F15B13/043—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves
- F15B13/0433—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves the pilot valves being pressure control valves
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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
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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
- F15B2211/31—Directional control characterised by the positions of the valve element
- F15B2211/3144—Directional control characterised by the positions of the valve element the positions being continuously variable, e.g. as realised by proportional valves
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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
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
-
- 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
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/329—Directional control characterised by the type of actuation actuated by fluid 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
- F15B2211/30—Directional control
- F15B2211/35—Directional control combined with flow control
- F15B2211/351—Flow control by regulating means in feed line, i.e. meter-in 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
- F15B2211/63—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
- F15B2211/6306—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
- F15B2211/6346—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
- F15B2211/6656—Closed loop control, i.e. control using feedback
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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
- F15B2211/6657—Open loop control, i.e. control without feedback
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D7/00—Control of flow
- G05D7/06—Control of flow characterised by the use of electric means
- G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
- G05D7/0623—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the set value given to the control element
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- 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)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Fluid-Pressure Circuits (AREA)
- Flow Control (AREA)
Abstract
Description
本実施形態の液圧システム1は、建設機械に適用されているが、フォークリフト等の産業車両やプレス機械等の産業機械に適用されてもよい。また、本実施形態の液圧システム1では、液圧ポンプ11に対して1つの方向制御弁21だけが接続されているが、複数の方向制御弁21が並列的又は直列的に接続されていてもよい。また、方向制御弁21に接続される液圧アクチュエータもまた液圧シリンダ2に限定されず、液圧モータであってもよい。
12 弁装置
17 制御装置
21 方向制御弁(スプール弁)
21a スプール
22L 第1電磁比例制御弁
22R 第2電磁比例制御弁
31 開口指令演算部
32 流量推定演算部(流量取得部)
34 弁体制御部
35 開口推定演算部(開度取得部)
36 流れ状態判定部
55 開口指令制限部分
56 圧力指令演算部分(指令演算部分)
Claims (8)
- 弁装置の弁体の動きを制御する制御装置であって、
前記弁装置の流量を取得する流量取得部と、
入力される流量目標値と前記流量取得部で推定される流量推定値とに基づいて、前記弁装置における作動液の流れが過渡流れ状態か否かを判定する流れ状態判定部と、
前記流量目標値及び前記弁装置の前後の差圧に基づいて開口指令を演算する開口指令演算部と、
前記弁体の動きを制御する弁体制御部と、を有し、
前記弁体制御部は、前記流れ状態判定部が過渡流れ状態でないと判定すると前記開口指令に基づいて前記弁体の動きを制御し、前記流れ状態判定部が過渡流れ状態であると判定すると前記流量目標値に基づいて前記弁体の動きを制御する、制御装置。 - 前記弁装置の開度を取得する開度取得部を更に有し、
前記流量取得部は、前記開度取得部によって取得される前記開度と前記差圧とに基づいて、前記流量推定値を推定する、請求項1に記載の制御装置。 - 前記弁体制御部は、前記流れ状態判定部が過渡流れ状態でないと判定する場合における前記弁体の動きの制御に関して前記開口指令に基づくフィードバック制御を実行し、前記流れ状態判定部が過渡流れ状態であると判定する場合における前記弁体の動きに関して前記流量目標値に基づくオープンループ制御を実行する、請求項1又は2に記載の制御装置。
- 前記弁体制御部は、前記弁体の動きを制御する動作指令を演算し、前記動作指令を前記弁装置に出力することによって前記弁体の動きを制御し、
前記弁体制御部は、前記流れ状態判定部が過渡流れ状態でないと判定すると前記開口指令に基づいて前記動作指令である第1動作指令を演算し、前記流れ状態判定部が過渡流れ状態であると判定すると前記流量目標値に基づいて前記動作指令である第2動作指令を演算する、請求項1乃至3の何れか1つに記載の制御装置。 - 前記弁体制御部は、開口指令制限部分と、指令演算部分とを有し、
前記開口指令制限部分は、前記流れ状態判定部が過渡流れ状態であると判定すると前記流量目標値に応じて設定される制限値に前記開口指令を制限し、
前記指令演算部分は、前記開口指令制限部分によって制限される前記開口指令に基づいて前記第2動作指令を演算する、請求項4に記載の制御装置。 - 前記弁体制御部は、前記動作指令が前記第1動作指令から前記第2動作指令に切替わる際、所定の制限変化率以下の変化率にて前記動作指令を推移させる、請求項4又は5に記載の制御装置。
- 前記流れ状態判定部は、前記流量目標値と前記流量推定値とを差分を演算し、差分が所定範囲外である場合において前記弁装置における作動液の流れが過渡流れ状態であると判定する、請求項1乃至6の何れか1つに記載の制御装置。
- 請求項1乃至7の何れか1つに記載の制御装置と、
前記弁装置は、少なくとも1つの電磁比例弁と、スプール弁とを備え、
前記スプール弁は、前記弁体であるスプールを有し、
前記スプールは、前記スプールに作用するパイロット圧に応じてストロークし、
前記電磁比例弁は、前記スプールに作用するパイロット圧を出力し、
前記弁体制御部は、前記流れ状態判定部が過渡流れ状態でないと判定すると開口指令に応じたパイロット圧を前記電磁比例弁から出力させて前記弁体の動きを制御し、前記流れ状態判定部が過渡流れ状態であると判定すると流量目標値に応じたパイロット圧を前記電磁比例弁から出力させて前記弁体の動きを制御する、液圧システム。
Priority Applications (5)
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JP2020046638A JP7337012B2 (ja) | 2020-03-17 | 2020-03-17 | 制御装置、及びそれを備える液圧システム |
CN202180017994.6A CN115151735A (zh) | 2020-03-17 | 2021-03-04 | 控制装置、及具备该控制装置的液压系统 |
PCT/JP2021/008420 WO2021187132A1 (ja) | 2020-03-17 | 2021-03-04 | 制御装置、及びそれを備える液圧システム |
US17/906,409 US11933331B2 (en) | 2020-03-17 | 2021-03-04 | Control device and hydraulic system including the same |
GB2215095.7A GB2609777B (en) | 2020-03-17 | 2021-03-04 | Control device and hydraulic system including the same |
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JP2014156828A (ja) * | 2013-02-18 | 2014-08-28 | Mikuni Corp | バルブ制御装置及びバルブ制御方法 |
JP2017082814A (ja) * | 2015-10-22 | 2017-05-18 | 富士通テン株式会社 | ソレノイドバルブ装置およびソレノイドバルブの制御方法 |
JP2018097759A (ja) * | 2016-12-15 | 2018-06-21 | 株式会社堀場エステック | 流量制御装置、及び、流量制御装置用プログラム |
JP2018147218A (ja) * | 2017-03-06 | 2018-09-20 | 株式会社堀場エステック | 流体制御装置及び流体制御装置用プログラム |
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GB202215095D0 (en) | 2022-11-30 |
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US11933331B2 (en) | 2024-03-19 |
WO2021187132A1 (ja) | 2021-09-23 |
CN115151735A (zh) | 2022-10-04 |
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US20230175536A1 (en) | 2023-06-08 |
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