JP6867551B2 - 電動式油圧作業機械の油圧駆動装置 - Google Patents
電動式油圧作業機械の油圧駆動装置 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
- 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
- F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
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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
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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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/207—Control of propulsion units of the type electric propulsion units, e.g. electric motors or generators
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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
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps 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
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
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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
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2271—Actuators and supports therefor and protection therefor
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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
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
- F04B17/03—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by electric motors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
- F04B49/065—Control using electricity and making use of computers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/20—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by changing the driving 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
-
- 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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2203/00—Motor parameters
- F04B2203/02—Motor parameters of rotating electric motors
- F04B2203/0208—Power
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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
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20515—Electric motor
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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
- F15B2211/20—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
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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
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/25—Pressure control functions
- F15B2211/251—High pressure 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
- F15B2211/665—Methods of control using electronic components
- F15B2211/6651—Control of the prime mover, e.g. control of the output 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
- F15B2211/6655—Power control, e.g. combined pressure and flow rate control
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Description
図1は、本発明の一実施の形態による電動式油圧作業機械の油圧駆動装置を示す図である。
テーブル50a,50b,50c,50f,50h,50s、差分器50d,50e、遅れ要素50m、加算器50l、制限器50o、ゲイン50p,50r、乗算器50q及び除算器50uは電動機回転数制御部50Aを構成し、コントローラ50は、この電動機回転数制御部50Aにおいて、メインポンプ2(油圧ポンプ)の吐出流量の過不足に応じたメインポンプ2の必要仮想容量変化量Δqを演算する。
以上のように構成した本実施の形態の油圧駆動装置の作動を説明する。
全ての操作レバー装置の操作レバーが中立の場合には、これら操作レバー装置に内蔵されている全てのパイロットバルブが中立であり、方向切換弁6a,6b,6c・・・も全て中立に保たれている。
複数のアクチュエータ3a,3b,3c,3d,3f,3g,3hのうち、例えば操作レバー装置124Aの操作レバーをブーム上げ方向に操作した場合には、操作レバー装置124Aの対応するパイロットバルブが操作され、ブームシリンダ3aを駆動するための方向切換弁6aがブーム上げ方向に切り替わる。方向切換弁6aが切り替わると、ブームシリンダ3aの負荷圧がシャトル弁9a,9b,9c・・・を介して最高負荷圧Pplmaxとして検出され、最高負荷圧Pplmaxがアンロード弁15および圧力センサ41に導かれる。
以上のように本実施の形態によれば、電動機1の回転数を制御することで、可変容量型メインポンプ2をロードセンシング制御するので、必要流量が小さい場合には、一定の電動機回転数で可変容量型メインポンプ2の傾転を制御してロードセンシング制御を行う場合に比べ、可変容量型メインポンプ2を、撹拌抵抗や摩擦抵抗が小さく、効率の良いより低回転数の領域で使用することができ、バッテリ70、又は商用電源92の消費電力を低く抑えることができる。
〜その他〜
以上説明した実施の形態は本発明の範囲内で種々の変形が可能である。
2 可変容量型メインポンプ(油圧ポンプ)
3a〜3h アクチュエータ
4 制御弁ブロック(制御弁装置)
5 圧油供給路
6a〜6c 方向切換弁
7a〜7c 圧力補償弁
9a〜9c シャトル弁
17 レギュレータピストン
18 バネ
14 リリーフ弁
15 アンロード弁
15a,15c 受圧部
15b バネ
30 パイロットポンプ
31,31a パイロットポンプの圧油供給路
24 ゲートロックレバー
32 パイロットリリーフ弁
40,41 圧力センサ
60a〜60h パイロットバルブ
50 コントローラ
50A 電動機回転数制御部
50B 最大角加速度制限部
50y ポンプ流量推定部
50j レート制限部(最大角加速度制限部)
50n 許容レート算出部(最大角加速度制限部)
50na 最大角加速度演算部
50nb 最大レート算出部
50nc 油圧動力算出部
50nd 変換パラメータ算出部
50ne 減算器
50nf 乗算器
50ng 最大許容動力設定部
51 基準回転数指示ダイヤル
60 インバータ
65 直流電力供給路
70 バッテリ
80 モニタ
81 入力装置
90 AC/DC変換器
91 コネクタ
92 商用電源
Claims (5)
- 電動機と、
この電動機によって駆動される油圧ポンプと、
この油圧ポンプから吐出された圧油により駆動される複数のアクチュエータと、
前記油圧ポンプから吐出された圧油を前記複数のアクチュエータに分配供給する制御弁装置と、
前記電動機の回転数を制御することにより前記油圧ポンプの吐出流量を制御するコントローラとを備えた電動式作業機械の油圧駆動装置において、
前記コントローラは、
前記油圧ポンプが消費している油圧動力を算出し、この油圧動力の大きさと予め設定した前記電動機が消費可能な最大許容動力とに基づいて前記電動機に許容される最大角加速度を算出し、前記最大角加速度を超えないように前記電動機の角加速度を制限させて、前記電動機の回転数を制御することを特徴とする電動式作業機械の油圧駆動装置。 - 請求項1記載の電動式作業機械の油圧駆動装置において、
前記コントローラは、前記最大許容動力から前記油圧ポンプが消費している前記油圧動力を減ずることで、前記電動機が加速に消費可能な許容加速動力を算出し、この許容加速動力に基づいて前記最大角加速度を算出することを特徴とする電動式作業機械の油圧駆動装置。 - 請求項1記載の電動式作業機械の油圧駆動装置において、
前記コントローラは、
前記油圧ポンプの吐出流量の過不足に応じた前記油圧ポンプの必要仮想容量変化量を演算し、
前記電動機に許容される前記最大角加速度から前記油圧ポンプに許容される最大仮想容量変化量を算出し、前記最大仮想容量変化量を超えないように前記油圧ポンプの必要仮想容量変化量を制限することによって、前記最大角加速度を超えないように前記電動機の角加速度を制限させて、前記電動機の回転数を制御することを特徴とする電動式作業機械の油圧駆動装置。 - 請求項3記載の電動式作業機械の油圧駆動装置において、
前記コントローラは、
前記油圧ポンプの吐出圧と前記複数のアクチュエータの最高負荷圧との差圧と、ロードセンシング制御の目標差圧との差圧偏差を演算し、この差圧偏差に基づいて前記油圧ポンプの必要仮想容量変化量を演算し、前記油圧ポンプの吐出圧が前記最高負荷圧よりも前記目標差圧だけ高くなるようにロードセンシング制御を行い、
前記差圧偏差に基づいて演算された前記油圧ポンプの必要仮想容量変化量が前記最大仮想容量変化量を超えないように制限することを特徴とする電動式作業機械の油圧駆動装置。 - 請求項1記載の電動式作業機械の油圧駆動装置において、
前記電動機が消費可能な前記最大許容動力を入力し前記コントローラに設定する入力装置を更に備えることを特徴とする電動式作業機械の油圧駆動装置。
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Application Number | Priority Date | Filing Date | Title |
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PCT/JP2018/032936 WO2020049668A1 (ja) | 2018-09-05 | 2018-09-05 | 電動式油圧作業機械の油圧駆動装置 |
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JP2021065942A Division JP7058783B2 (ja) | 2018-09-05 | 2021-04-08 | 電動式油圧作業機械の油圧駆動装置 |
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FR3071240B1 (fr) * | 2017-09-21 | 2019-09-06 | Manitowoc Crane Group France | Optimisation dynamique d’une courbe de charge de grue |
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KR20220009430A (ko) * | 2019-09-24 | 2022-01-24 | 가부시키가이샤 히다치 겡키 티에라 | 전동식 유압 작업 기계 |
CN115485438A (zh) * | 2020-05-01 | 2022-12-16 | 丹佛斯有限公司 | 用于防止原动机停机的方法 |
GB2604608A (en) * | 2021-03-08 | 2022-09-14 | Bamford Excavators Ltd | Hydraulic system |
US11927207B2 (en) * | 2021-07-29 | 2024-03-12 | Takeuchi Mfg. Co., Ltd. | Working control device in working vehicle |
JP7350120B1 (ja) * | 2022-03-22 | 2023-09-25 | 日立建機株式会社 | 電動式作業機械 |
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CN111148905A (zh) | 2020-05-12 |
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