JP4827789B2 - 油圧アクチュエータ速度制御装置 - Google Patents
油圧アクチュエータ速度制御装置 Download PDFInfo
- Publication number
- JP4827789B2 JP4827789B2 JP2007109417A JP2007109417A JP4827789B2 JP 4827789 B2 JP4827789 B2 JP 4827789B2 JP 2007109417 A JP2007109417 A JP 2007109417A JP 2007109417 A JP2007109417 A JP 2007109417A JP 4827789 B2 JP4827789 B2 JP 4827789B2
- Authority
- JP
- Japan
- Prior art keywords
- hydraulic actuator
- hydraulic
- flow rate
- speed
- speed command
- 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.)
- Expired - Fee Related
Links
- 239000010720 hydraulic oil Substances 0.000 claims description 24
- 230000008602 contraction Effects 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 11
- 239000003921 oil Substances 0.000 description 10
- 238000000034 method Methods 0.000 description 6
- 238000009412 basement excavation Methods 0.000 description 3
- 239000004576 sand Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
-
- 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
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
-
- 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
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
-
- 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
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
-
- 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
-
- 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
-
- 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)
-
- 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
-
- 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
- F15B2211/60—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
- F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. 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
- F15B2211/6654—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
- F15B2211/75—Control of speed of the output member
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
- Operation Control Of Excavators (AREA)
Description
アーム4を駆動するアーム用油圧アクチュエータ(油圧シリンダ)8は、ブーム3の背部に配置される。アーム用油圧アクチュエータ8は図示しないピストンに受ける油圧によってシリンダチューブ31に対してピストンロッド32が移動して伸縮作動する。シリンダチューブ31の基端部が支持軸33を介してブーム3に回動可能に連結され、ピストンロッド32の先端部が支持軸34を介してアーム4に回動可能に連結される。アーム用油圧アクチュエータ8はコントロールバルブ35を介して作動油が給排され、この作動油圧によって伸縮作動し、アーム4を駆動する。
4 アーム
5 バケット
7 バケット用油圧アクチュエータ
8 アーム用油圧アクチュエータ
9 ブーム用油圧アクチュエータ
15 ブーム用コントロールバルブ
35 アーム用コントロールバルブ
45 バケット用コントロールバルブ
50 コントローラ
Claims (4)
- 油圧ポンプから吐出される作動油を複数の油圧アクチュエータにそれぞれ分配する各コントロールバルブを備え、
各油圧アクチュエータに対する速度コマンドに基づいて各コントロールバルブの開度をそれぞれ制御する油圧アクチュエータ速度制御装置であって、
前記各油圧アクチュエータの作動が略停止する油圧アクチュエータ作動停止時を検出する油圧アクチュエータ作動停止時検出手段と、
その作動が略停止した前記油圧アクチュエータに対する速度コマンドを小さく補正する油圧アクチュエータ作動停止時速度コマンド補正手段と、
前記油圧ポンプの供給可能流量Qaを計算する供給可能流量計算手段と、
前記各油圧アクチュエータに対する速度コマンドに基づいて前記各油圧アクチュエータに対する必要流量Qbを計算する必要流量計算手段と、
前記供給可能流量Qaと前記必要流量Qbに基づいて流量分配率Qrを計算する流量分配率計算手段と、
前記流量分配率Qrに基づいて前記各油圧アクチュエータに対する速度コマンドを補正する供給流量不足時速度コマンド補正手段とを備えたことを特徴とする油圧アクチュエータ速度制御装置。 - 前記油圧アクチュエータ作動停止時速度コマンド補正手段は、その伸縮作動が略停止した前記油圧アクチュエータに対する速度コマンドを0より大きい微少な値にすることを特徴とする請求項1に記載の油圧アクチュエータ速度制御装置。
- 前記油圧アクチュエータ作動停止時検出手段は、前記各油圧アクチュエータに導かれる負荷圧をそれぞれ検出する各圧力センサを備え、各圧力センサの検出信号に基づいてこの負荷圧が所定値を超えて上昇する重負荷時を前記油圧アクチュエータ作動停止時として検出することを特徴とする請求項1または2に記載の油圧アクチュエータ速度制御装置。
- 前記油圧アクチュエータ作動停止時検出手段は、各油圧アクチュエータの作動ストロークをそれぞれ検出するストロークセンサを備え、各ストロークセンサの検出信号に基づいて各油圧アクチュエータが所定のストロークエンド域に達する状態を前記油圧アクチュエータ作動停止時として検出する請求項1または2に記載の油圧アクチュエータ速度制御装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007109417A JP4827789B2 (ja) | 2007-04-18 | 2007-04-18 | 油圧アクチュエータ速度制御装置 |
GB0917136A GB2460782B (en) | 2007-04-18 | 2008-04-16 | Speed control device for hydraulic actuator |
KR1020097023889A KR101086117B1 (ko) | 2007-04-18 | 2008-04-16 | 유압 액추에이터의 속도 제어 장치 및 속도 제어 방법 |
CN2008800123945A CN101657646B (zh) | 2007-04-18 | 2008-04-16 | 油压传动装置的速度控制装置 |
US12/450,887 US20100115938A1 (en) | 2007-04-18 | 2008-04-16 | Speed control device for hydraulic actuator |
PCT/JP2008/057795 WO2008130052A1 (ja) | 2007-04-18 | 2008-04-16 | 油圧アクチュエータの速度制御装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007109417A JP4827789B2 (ja) | 2007-04-18 | 2007-04-18 | 油圧アクチュエータ速度制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008267460A JP2008267460A (ja) | 2008-11-06 |
JP4827789B2 true JP4827789B2 (ja) | 2011-11-30 |
Family
ID=39875571
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007109417A Expired - Fee Related JP4827789B2 (ja) | 2007-04-18 | 2007-04-18 | 油圧アクチュエータ速度制御装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20100115938A1 (ja) |
JP (1) | JP4827789B2 (ja) |
KR (1) | KR101086117B1 (ja) |
CN (1) | CN101657646B (ja) |
GB (1) | GB2460782B (ja) |
WO (1) | WO2008130052A1 (ja) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5298069B2 (ja) | 2010-05-20 | 2013-09-25 | 株式会社小松製作所 | 電動アクチュエータの制御装置 |
US8813486B2 (en) * | 2011-02-28 | 2014-08-26 | Caterpillar Inc. | Hydraulic control system having cylinder stall strategy |
EP2725151B1 (en) * | 2011-06-27 | 2016-08-03 | Sumitomo Heavy Industries, Ltd. | Hybrid work machine and method for controlling same |
US9989042B2 (en) | 2012-01-09 | 2018-06-05 | Eaton Intelligent Power Limited | Propel circuit and work circuit combinations for a work machine |
JP6635947B2 (ja) | 2014-05-06 | 2020-01-29 | イートン コーポレーションEaton Corporation | 静圧付加仕様を備える油圧式ハイブリッド推進回路及び運転方法 |
CN107000564B (zh) | 2014-10-27 | 2019-12-24 | 伊顿智能动力有限公司 | 具有静流体选择的液压混合推进回路以及操作方法 |
JP6396867B2 (ja) * | 2015-08-25 | 2018-09-26 | 日立建機株式会社 | ハイブリッド建設機械 |
CN105275044B (zh) * | 2015-09-28 | 2017-11-07 | 北华航天工业学院 | 一种挖掘机液压节能控制系统及方法 |
DE102018206271A1 (de) | 2018-04-24 | 2019-10-24 | Putzmeister Engineering Gmbh | Verfahren zur Bewegungssteuerung eines Masts und Arbeitsmaschine |
JP7246297B2 (ja) * | 2019-12-16 | 2023-03-27 | 日立建機株式会社 | 建設機械 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN2176562Y (zh) * | 1993-03-05 | 1994-09-07 | 建设部长沙建筑机械研究院 | 速度控制装置 |
KR0152300B1 (ko) * | 1993-07-02 | 1998-10-15 | 김연수 | 유압펌프의 토출유량 제어방법 |
JP3552735B2 (ja) * | 1993-08-23 | 2004-08-11 | カヤバ工業株式会社 | 建設機械の油圧回路 |
JPH08219106A (ja) * | 1995-02-15 | 1996-08-27 | Hitachi Constr Mach Co Ltd | 油圧駆動回路 |
JP3609182B2 (ja) * | 1996-01-08 | 2005-01-12 | 日立建機株式会社 | 建設機械の油圧駆動装置 |
JP3822646B2 (ja) * | 1997-02-17 | 2006-09-20 | 日立建機株式会社 | 3関節型掘削機の操作制御装置 |
JPH11230109A (ja) * | 1998-02-06 | 1999-08-27 | Komatsu Ltd | 油圧駆動機械の制御装置 |
US6321152B1 (en) * | 1999-12-16 | 2001-11-20 | Caterpillar Inc. | System and method for inhibiting saturation of a hydraulic valve assembly |
JP4493175B2 (ja) * | 2000-07-28 | 2010-06-30 | 株式会社小松製作所 | 油圧式掘削車輌 |
US6498973B2 (en) * | 2000-12-28 | 2002-12-24 | Case Corporation | Flow control for electro-hydraulic systems |
US6467264B1 (en) * | 2001-05-02 | 2002-10-22 | Husco International, Inc. | Hydraulic circuit with a return line metering valve and method of operation |
JP4410512B2 (ja) * | 2003-08-08 | 2010-02-03 | 日立建機株式会社 | 油圧駆動装置 |
JP4271194B2 (ja) * | 2003-08-20 | 2009-06-03 | 株式会社小松製作所 | 油圧駆動制御装置 |
CN100451353C (zh) * | 2003-11-14 | 2009-01-14 | 株式会社小松制作所 | 建设机械的油压控制装置 |
US7146808B2 (en) * | 2004-10-29 | 2006-12-12 | Caterpillar Inc | Hydraulic system having priority based flow control |
JP2006194273A (ja) * | 2005-01-11 | 2006-07-27 | Shin Caterpillar Mitsubishi Ltd | 流体圧制御装置 |
US7260931B2 (en) * | 2005-11-28 | 2007-08-28 | Caterpillar Inc. | Multi-actuator pressure-based flow control system |
-
2007
- 2007-04-18 JP JP2007109417A patent/JP4827789B2/ja not_active Expired - Fee Related
-
2008
- 2008-04-16 CN CN2008800123945A patent/CN101657646B/zh not_active Expired - Fee Related
- 2008-04-16 KR KR1020097023889A patent/KR101086117B1/ko active IP Right Grant
- 2008-04-16 GB GB0917136A patent/GB2460782B/en not_active Expired - Fee Related
- 2008-04-16 US US12/450,887 patent/US20100115938A1/en not_active Abandoned
- 2008-04-16 WO PCT/JP2008/057795 patent/WO2008130052A1/ja active Application Filing
Also Published As
Publication number | Publication date |
---|---|
KR20090130139A (ko) | 2009-12-17 |
CN101657646A (zh) | 2010-02-24 |
CN101657646B (zh) | 2012-11-14 |
GB0917136D0 (en) | 2009-11-11 |
WO2008130052A1 (ja) | 2008-10-30 |
GB2460782A (en) | 2009-12-16 |
JP2008267460A (ja) | 2008-11-06 |
US20100115938A1 (en) | 2010-05-13 |
KR101086117B1 (ko) | 2011-11-25 |
GB2460782B (en) | 2011-09-21 |
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