JP5835721B2 - 油圧機械式作業機械を動作させる駆動制御方法及びシステム - Google Patents
油圧機械式作業機械を動作させる駆動制御方法及びシステム Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
- F16H61/421—Motor capacity control by electro-hydraulic control means, e.g. using solenoid valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/10—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of fluid gearing
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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
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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
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
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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
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
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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
- E02F9/2278—Hydraulic circuits
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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
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
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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
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/4157—Control of braking, e.g. preventing pump over-speeding when motor acts as a pump
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
- F16H61/425—Motor capacity control by electric actuators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
- F16H61/433—Pump capacity control by fluid pressure control means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/46—Automatic regulation in accordance with output requirements
- F16H61/478—Automatic regulation in accordance with output requirements for preventing overload, e.g. high pressure limitation
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/36—Inputs being a function of speed
- F16H59/46—Inputs being a function of speed dependent on a comparison between speeds
- F16H2059/465—Detecting slip, e.g. clutch slip ratio
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/46—Automatic regulation in accordance with output requirements
- F16H61/47—Automatic regulation in accordance with output requirements for achieving a target output speed
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
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- Combustion & Propulsion (AREA)
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- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Description
4 制御弁
11 油圧走行モータ
200 油圧駆動式作業機械
Claims (20)
- 可変容積を有する油圧走行モータ(11)を備え、油圧ポンプ(2)によって生成された作動液の流れが、前記走行モータ(11)に提供され、開ループクローズドセンタ負荷検出油圧システムにおいて前記油圧ポンプ(2)から前記走行モータ(11)への前記作動液の流れを制御するための制御弁(4)が提供された、油圧駆動式作業機械(200)を動作させる方法であって、前記油圧ポンプ(2)が、前記走行制御弁(4)によって生成された負荷信号(LS)に応じて油圧式に制御され、前記走行モータ(11)が、前記作業機械(200)の所望の駆動挙動にしたがって電気的に制御され、前記走行モータ(11)の前記容積が、最大容積と最小容積との間で連続的に調整可能である方法。
- 前記走行モータ(11)の前記容積が、電気的に制御された走行モータ容積制御弁(9)によって調整される、請求項1に記載の方法。
- 前記走行制御弁(4)の少なくとも1つのパイロット圧管路(4L,4R)内の前記作動液の流れが、前記作業機械(200)の選択された制御状態に応じて、独立走行フローバルブ(27)又は走行アクチュエータ(29)によって選択的に生成され、前記走行制御弁(4)の前記少なくとも1つのパイロット圧管路(4L,4R)内の前記作動液の流れが、第1の制御状態で、走行アクチュエータ(29)によって生成され、第2の制御状態で、独立走行フローバルブ(27)によって生成される、請求項1または2に記載の方法。
- 電気的制御弁(26)が、前記作業機械(200)の前記選択された制御状態に応じて、前記独立走行フローバルブ(27)によって生成された前記作動液の流れと、前記走行アクチュエータ(29)によって生成された前記作動液の流れを選択する、請求項3に記載の方法。
- 降坂駆動の走行モードで、前記走行モータ(11)の前記容積が、前記機械(200)がその最大許容速度を超えたときにより大きい容積に増やされる、請求項1乃至4のいずれかに記載の方法。
- 登坂駆動の動作モードで、前記走行モータ(11)は、走行高圧力の既定値を超えたときにより大きい容積にシフトされ、かつ/又は速度低下が、規定の最大値を超える、請求項1乃至5のいずれかに記載の方法。
- 前記走行モータ(11)に適用される前記作動液の流れを減少させるために、前記走行制御弁(4)のポンプ側と負荷側との圧力差(Δp)が減少される、請求項1乃至6のいずれかに記載の方法。
- 前記走行モータ(11)に適用される前記作動液の流れを減少させるために、走行パイロット管路(4L,4R)内のパイロット圧が減少される、請求項1乃至7のいずれかに記載の方法。
- 前記制御弁(4)のポンプ側と負荷側との圧力差(Δp)が、プリセット値(LSΔp)に調整される、請求項1乃至6、又は請求項8のいずれかに記載の方法。
- 前記機械(200)の作業モードで、前記走行モータ(11)の前記容積が、前記走行モータ(11)への前記作動液の流れの減少と平行に減少される、請求項7乃至9のいずれかに記載の方法。
- 前記機械(200)の走行モードで、原動機(1)の速度が、所定の燃料経済速度に設定され、かつ/又は前記走行モータ(11)内の圧力が、前記油圧ポンプ(2)からの前記作動液の流れを減少させることによって増大される、請求項7乃至10のいずれかに記載の方法。
- 平坦地で走行モードで駆動するとき、前記走行アクチュエータ(29)が活動化され、これより、前記走行アクチュエータ(29)の前記ストロークに応じて作動液の油圧パイロット圧が生成され、前記走行制御弁(4)の前記スプールが動かされ、これにより、前記作動液の流れが前記走行モータ(11)に送られたときに、前記走行モータ(11)の前記容積が、前記機械(200)の走行高圧力と走行速度と応じて最大容積と最小容積との間の容積に変更される、請求項7乃至10のいずれかに記載の方法。
- 開ループクローズドセンタ負荷検出油圧システムを有し、作業機械(200)が、原動機(1)によって駆動された油圧ポンプ(2)と、可変容積を有しかつ前記油圧ポンプ(2)から供給された作動油によって駆動可能な油圧走行モータ(11)とを有する、作業機械(200)を動作させるための走行システム(100)であって、
前記走行モータ(11)が、電気的に制御される走行モータ制御弁(9)を備え、前記油圧ポンプ(2)が、走行制御弁(4)によって生成された負荷信号(LS)に応じて前記油圧ポンプ(2)を制御する油圧ポンプコントローラ(3)を備え、前記走行モータ(11)の前記容積が、最大容積と最小容積との間で連続的に調整可能である、走行システム(100)。 - 前記作業機械(200)の選択された制御状態に応じて、前記走行制御弁(4)のパイロット管路(4L,4R)をパイロット圧生成走行アクチュエータ(29)又はパイロット圧生成独立走行フローバルブ(27)に交互に機能的に接続するための弁(26)が提供された、請求項13に記載のシステム。
- 前記油圧ポンプコントローラ(3)が、前記走行制御弁(4)を介した圧力損失(LS_ΔP)を減少させる減圧弁(3a)を有する、請求項13または14に記載のシステム。
- 請求項13乃至15のいずれかに記載の走行システム(100)を有する車両。
- 電気信号によって制御ユニットと通信する少なくとも1つのジョイスティック、ペダル、前記走行制御弁(4)を一部とする主制御弁を含む少なくとも1つの電気油圧式制御システムを有する、請求項16に記載の車両。
- コンピュータプログラムコードを含むコンピュータプログラムであって、前記プログラムが、プログラム可能なマイクロコンピュータ上で実行されたときに、請求項1乃至12の少なくとも一項に記載の方法を実行するか又は方法で使用するように適応されたコンピュータプログラムコードを含むコンピュータプログラム。
- インターネットに接続されたコンピュータ上で実行されたときに制御ユニット(50)又はその構成要素のうちの1つにダウンロードできるように適応された、請求項18に記載のコンピュータプログラム。
- コンピュータ可読媒体上に記憶されたコンピュータプログラム製品であって、コンピュータ上で請求項1乃至12のいずれかに記載の方法で使用されるプログラムコードを含むコンピュータプログラム製品。
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Application Number | Priority Date | Filing Date | Title |
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PCT/SE2011/000156 WO2013032370A1 (en) | 2011-08-26 | 2011-08-26 | Drive control method and system for operating a hydraulic driven work machine |
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JP2014525549A JP2014525549A (ja) | 2014-09-29 |
JP5835721B2 true JP5835721B2 (ja) | 2015-12-24 |
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US (1) | US9506222B2 (ja) |
EP (1) | EP2748490B1 (ja) |
JP (1) | JP5835721B2 (ja) |
KR (1) | KR101908547B1 (ja) |
CN (1) | CN103782069B (ja) |
WO (1) | WO2013032370A1 (ja) |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2014123253A1 (en) * | 2013-02-06 | 2014-08-14 | Volvo Construction Equipment Ab | Swing control system for construction machines |
FR3026811B1 (fr) * | 2014-10-03 | 2016-12-09 | Poclain Hydraulics Ind | Procede d'assistance hydraulique de l'entrainement d'un vehicule a basse vitesse |
DE102015210520A1 (de) * | 2015-06-09 | 2016-12-15 | Robert Bosch Gmbh | Steuerblock, hydrostatischer Antrieb mit einem Steuerblock und Verfahren für ein Fahrzeug mit einem hydrostatischen Antrieb |
KR102551749B1 (ko) * | 2016-05-19 | 2023-07-05 | 에이치디현대인프라코어 주식회사 | 건설 기계의 보조 제동 방법 및 이를 수행하기 위한 장치 |
NO343276B1 (en) * | 2016-11-30 | 2019-01-14 | Impact Solutions As | A method of controlling a prime mover and a plant for controlling the delivery of a pressurized fluid in a conduit |
US11795661B2 (en) * | 2019-05-21 | 2023-10-24 | Volvo Construction Equipment Ab | Method of controlling a rotatable load, a hydraulic system and a working machine |
FR3096698B1 (fr) * | 2019-06-03 | 2021-04-30 | Manitou Bf | Engin de manutention de charge |
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JP7149912B2 (ja) * | 2019-09-25 | 2022-10-07 | 日立建機株式会社 | 作業機械 |
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EP2748490A4 (en) | 2016-11-02 |
CN103782069A (zh) | 2014-05-07 |
JP2014525549A (ja) | 2014-09-29 |
KR20140066712A (ko) | 2014-06-02 |
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US20140190153A1 (en) | 2014-07-10 |
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