JP4897191B2 - 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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- F15B2211/40—Flow control
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- F15B2211/41554—Flow control characterised by the connections of the flow control means in the circuit being connected to a return line and a directional control valve
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- F15B2211/426—Flow control characterised by the type of actuation electrically or electronically
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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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
- F15B2211/40—Flow control
- F15B2211/46—Control of flow in the return line, i.e. meter-out 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
- F15B2211/63—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
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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
- 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
- F15B2211/6651—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
- 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
- F15B2211/6653—Pressure 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
- F15B2211/6654—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
- F15B2211/70—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
- F15B2211/78—Control of multiple output members
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41273—Hydraulic
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41309—Hydraulic or pneumatic drive
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41318—Electro hydraulic drive, electric motor drives hydraulic actuator
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)
- バルブアセンブリによって供給源からの供給ラインと、タンクまで延設された戻りラインとに接続された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であって、
各々の前記油圧アクチュエータが、計量モードで動作し、
前記供給ライン、前記戻りライン、及び、前記油圧アクチュエータを出る液体のうち1以上を液体供給源とし、そして、
前記方法が、
(a)複数の油圧アクチュエータのうち1つの特定の油圧アクチュエータに対する所望の速度を要求する工程と、
(b) 前記液体供給源から前記油圧アクチュエータへ液体を送るかどうかを定める所定の計量モードを選択する工程と、
(c)前記特定の油圧アクチュエータに対する前記所望の速度と、前記計量モードが前記供給ラインから液体を送るように設定されているか否かに基づいて、要求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うち前記特定の油圧アクチュエータ以外の別の油圧アクチュエータに対し前記工程(a)、(b)、および、(c)を繰り返して、複数の要求流量を生成する工程、
(e)前記工程(d)の終了後、前記複数の要求流量を合計して、総要求流量を導出する工程と、
(f)前記供給源から得られる流量を決定する工程と、
(g)前記総要求流量と前記供給源から得られる流量間の関係を示す割合値を導出する工程と、
(h)前記複数の油圧アクチュエータのうち所定の1つの油圧アクチュエータに対する所望の速度と前記割合値とに基づいて、速度命令を導出する工程と、
(i)前記速度命令に応答して、前記複数の油圧アクチュエータのうち前記所定の1つ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、
前記所望の速度を前記要求流量に結び付ける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導出する工程と、
を含むことを特徴とする請求項1に記載の方法。 - 前記要求流量を導出する工程が、前記変換係数を前記所望の速度と乗算する工程を含むことを特徴とする請求項2に記載の方法。
- 前記割合値が、前記供給源から得られる流量の前記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に記載の方法。
- 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値で除算する工程を含むことを特徴とする請求項1に記載の方法。
- 前記方法が、前記速度命令が前記所望の速度を超過することを制限する工程を含むことを特徴とする請求項1に記載の方法。
- 前記複数の油圧アクチュエータのうちの前記所定の油圧アクチュエータ以外の別の油圧アクチュエータそれぞれに対して前記工程(h)及び(i)を繰り返すことをさらに含むことを特徴とする請求項1に記載の方法。
- 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って前記供給ラインと前記戻りラインとに結合された油圧アクチュエータを備えた、複数の計量モードで動作する、複数の油圧回路と、
を有し、
前記供給ライン、前記戻りライン、及び、前記油圧アクチュエータを出る液体のうち1以上を液体供給源とし、かつ
前記液体供給源から前記油圧アクチュエータへの液体の供給が、前記計量モードによって定まる油圧システムにおいて、
(a)特定の油圧アクチュエータに対する所望の速度を要求する工程と、
(b)前記特定の油圧アクチュエータに対し、前記複数の計量モードから所定の計量モードを選択する工程と、
(c)前記特定の油圧アクチュエータに対する前記所望の速度と、前記所定の計量モードの前記液体供給源とに応答して、前記特定の油圧アクチュエータと前記供給ライン間の流量レベルを示す要求供給流量を決定する工程と、
(d)前記特定の油圧アクチュエータに対する前記所望の速度と、前記所定の計量モードの前記液体供給源とに応答して、前記特定の油圧アクチュエータと前記戻りライン間の流量レベルを示す要求戻り流量を決定する工程と、
(e)前記複数の油圧アクチュエータのうち前記特定の油圧アクチュエータ以外の別の油圧アクチュエータそれぞれに対し前記工程(a)、(b)、(c)及び(d)を繰り返して、複数の要求供給流量及び複数の要求戻り流量を生成する工程と、
(f) 前記工程(e)の終了後、前記複数の要求供給流量を合計して、総要求供給流量を生成する工程と、
(g) 前記工程(e)の終了後、前記複数の要求戻り流量を合計して、総要求戻り流量を生成する工程と、
(h)前記供給ラインから得られる流量を決定する工程と、
(i)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、
(j)前記戻りラインから得られる流量を決定する工程と、
(k)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、
(l)前記第1割合値及び前記第2割合値のうちいずれか1つを、選択された割合値として選択する工程と、
(m)所定の油圧アクチュエータに対する前記所望の速度と前記選択された割合値とに基づいて速度命令を導出する工程と、
(n)前記速度命令に応答して、前記所定の油圧アクチュエータに対する流量を制御する工程と、
(o)前記複数の油圧アクチュエータのうち前記所定の油圧アクチュエータ以外の別の1以上の油圧アクチュエータに対し前記工程(m)および(n)を繰り返して、複数の速度命令を生成する工程と、
を含むことを特徴とする流量の制御方法。 - 前記要求供給流量を決定する工程が、
前記所望の速度を前記要求供給流量に結びつける前記所定の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に基づいて要求供給流量を導出する工程と、
を含むことを特徴とする請求項8に記載の方法。 - 前記要求供給流量を導出する工程が、前記変換係数と前記所望の速度を乗算する工程を含むことを特徴とする請求項9に記載の方法。
- 前記要求戻り流量を決定する工程が、
前記所望の速度を前記要求戻り流量に結びつける前記所定の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導出する工程と、
を含むことを特徴とする請求項8に記載の方法。 - 前記要求戻り流量を導出する工程が、前記変換係数と前記所望の速度を乗算する工程を含むことを特徴とする請求項11に記載の方法。
- 前記第1割合値が、前記供給ラインから得られる流量の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に記載の方法。
- 前記第2割合値が、前記戻りラインから得られる流量の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に記載の方法。
- 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値で除算する工程を含み、そして、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値で除算する工程を含むことを特徴とする請求項8に記載の方法。
- 前記選択する工程が、前記第1割合値及び前記第2割合値のうちより小さい値を選択することを特徴とする請求項8に記載の方法。
- 前記方法が、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に記載の方法。
- 前記方法が、前記総要求供給流量と前記総要求戻り流量とを合計して、合計総要求流量を生成する工程と、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、を含み、そして、
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割合値のうち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に記載の方法。 - 前記第3割合値が、前記供給ラインから得られる流量の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に記載の方法。
- 前記選択する工程が、前記第1割合値、前記第2割合値、および、前記第3割合値のうちより小さい値を選択することを特徴とする請求項18に記載の方法。
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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 true JP4897191B2 (ja) | 2012-03-14 |
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US (1) | US6779340B2 (ja) |
EP (1) | EP1403529B1 (ja) |
JP (1) | JP4897191B2 (ja) |
DE (1) | DE60324645D1 (ja) |
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2003
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JP2004270924A (ja) | 2004-09-30 |
EP1403529A2 (en) | 2004-03-31 |
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US6779340B2 (en) | 2004-08-24 |
EP1403529B1 (en) | 2008-11-12 |
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