JP5508293B2 - 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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- 238000000034 method Methods 0.000 title claims description 31
- 239000012530 fluid Substances 0.000 claims description 60
- 230000004044 response Effects 0.000 claims description 22
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 8
- 239000010720 hydraulic oil Substances 0.000 claims description 4
- 230000006870 function Effects 0.000 description 13
- 230000001133 acceleration Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
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- 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
- F15B11/163—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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- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
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- 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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- F15B2211/00—Circuits for servomotor systems
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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
- F15B2211/30—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
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- F15B2211/00—Circuits for servomotor systems
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- F15B2211/405—Flow control characterised by the type of flow control means or valve
- F15B2211/40553—Flow control characterised by the type of flow control means or valve with pressure compensating valves
- F15B2211/40569—Flow control characterised by the type of flow control means or valve with pressure compensating valves the pressure compensating valve arranged downstream of the flow control means
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- F15B2211/42—Flow control characterised by the type of actuation
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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
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
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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
- F15B2211/60—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
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- 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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- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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- 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
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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
- F15B2211/60—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
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- 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
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
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- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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- 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
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- 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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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 (16)
- 油圧システムであって
作動命令を示す信号を供給する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、
前記作動油流源と前記弁との間の実際の圧力を感知し圧力信号を生成する圧力センサと、
前記オペレータ入力装置からの信号に応じて、
(i)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、命令されたように前記アクチュエータを動かし、
(ii)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、
(iii)その後前記圧力センサにより生成される前記圧力信号を監視し、前記作動油流源が前記計算された油圧を供給可能か否かを判定し、
(iv)前記作動油流源が前記計算された油圧を供給できないという判定に応じて、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るべき前記油圧で除算することにより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し、命令されたように前記アクチュエータを動かす、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。
- 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5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7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8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7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、各圧力補償弁の該パイロット部にわたる所望の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10に記載の油圧システム。
- 前記圧力センサは前記圧力補償弁の各補償部に関連付けられる補償器位置インジケータにより供給され、該補償器位置インジケータは、その補償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する、請求項11に記載の油圧システム。
- 指示信号又はオペレータ命令を供給する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、該作動油流源と該弁との間の実際の圧力を感知し圧力信号を生成する圧力センサ、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、該方法は、
前記オペレータ入力装置からの信号に応じて、命令されたように前記アクチュエータを動かすために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、
その後前記作動油流源が前記計算された油圧を供給可能か否かを判定するために前記圧力センサにより生成される前記圧力信号を監視するステップと、
前記作動油流源が前記計算された油圧を供給できないという判定に応じて、前記圧力センサからの前記圧力信号を各アクチュエータに供給すべき前記油圧で除算することにより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。 - 各アクチュエータに作用する負荷の感知を行うステップと、該感知された負荷を用いるステップであって命令されたように前記アクチュエータを動かすために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含む、請求項13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を含む、請求項13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13に記載の方法。
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US3518308P | 2008-03-10 | 2008-03-10 | |
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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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KR20100127751A (ko) | 2010-12-06 |
WO2009114407A1 (en) | 2009-09-17 |
JP2011515631A (ja) | 2011-05-19 |
KR101595116B1 (ko) | 2016-02-18 |
EP2250379A1 (en) | 2010-11-17 |
EP2250379B1 (en) | 2013-03-20 |
US20110000203A1 (en) | 2011-01-06 |
US8726646B2 (en) | 2014-05-20 |
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