SE544986C2 - Method and system for controlling operation of a hydraulic system of a drilling rig - Google Patents

Method and system for controlling operation of a hydraulic system of a drilling rig

Info

Publication number
SE544986C2
SE544986C2 SE1950428A SE1950428A SE544986C2 SE 544986 C2 SE544986 C2 SE 544986C2 SE 1950428 A SE1950428 A SE 1950428A SE 1950428 A SE1950428 A SE 1950428A SE 544986 C2 SE544986 C2 SE 544986C2
Authority
SE
Sweden
Prior art keywords
electric motor
configuration
hydraulic system
displacement pump
variable displacement
Prior art date
Application number
SE1950428A
Other languages
Swedish (sv)
Other versions
SE1950428A1 (en
Inventor
Markus Bagge
Robert Lejonberg
Original Assignee
Epiroc Rock Drills Ab
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Epiroc Rock Drills Ab filed Critical Epiroc Rock Drills Ab
Priority to SE1950428A priority Critical patent/SE544986C2/en
Priority to AU2020254232A priority patent/AU2020254232A1/en
Priority to EP20718850.9A priority patent/EP3949107A1/en
Priority to CN202080016422.1A priority patent/CN113491061A/en
Priority to CA3127562A priority patent/CA3127562A1/en
Priority to PCT/SE2020/050348 priority patent/WO2020204803A1/en
Publication of SE1950428A1 publication Critical patent/SE1950428A1/en
Publication of SE544986C2 publication Critical patent/SE544986C2/en

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
    • 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
    • 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
    • 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
    • E02F9/2075—Control of propulsion units of the hybrid type
    • 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
    • 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
    • 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
    • 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"
    • F15B11/0423—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" by controlling pump output or bypass, other than to maintain constant speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • 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
    • 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
    • F15B21/04—Special measures taken in connection with the properties of the fluid
    • F15B21/042—Controlling the temperature of the fluid
    • F15B21/0423—Cooling
    • 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
    • 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
    • F15B2211/20538—Type of pump constant 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
    • F15B2211/20—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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • 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
    • F15B2211/6333—Electronic controllers using input signals representing a state of the pressure source, e.g. 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
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6343—Electronic controllers using input signals representing a temperature
    • 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
    • F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
    • 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
    • F15B2211/6654—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
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Power Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Earth Drilling (AREA)

Abstract

The invention pertains to a system for controlling operation of a hydraulic system of a drilling rig a method for controlling operation of such a hydraulic system, a computer program product comprising program code (P) for a computer (210; 220) for implementing the method and a drilling rig (100) comprising such a hydraulic system. The hydraulic system comprises an electric motor configuration (230, 231,232), a variable displacement pump configuration (240) configured to power at least one hydraulic consumer unit (CU1-CU6) and a sensor arrangement (241) arranged at said variable displacement pump configuration (240). The electric motor configuration (230, 231, 232) comprising an electric motor (230), an inverter (231), and a power source (232). The electric motor (230) is arranged to power the variable displacement pump configuration (240). The controlling operation comprises controlling the motor speed (RPM) of the electric motor configuration (230, 231,232) so that said motor speed (RPM) is minimized while meeting a current power demand of said at least one hydraulic consumer unit (CU1-CU6).

Description

TECHNICAL FIELD The present invention relates to a method for controlling operation of a hydraulic system of a drilling rig. The invention also relates to a computer program product comprising program code for a computer for implementing a method according to the invention. The invention also relates to a system for controlling operation of a hydraulic system of a drilling rig and a drilling rig being equipped with such a system.
BACKGROUND Heavy duty vehicles, such as mining machines, are often provided with hydraulic systems for operating various functions/systems of the vehicle. Such functions/systems may relate to loading/tipping or operating certain devices, such as drilling devices, on-board the vehicle. The hydraulic systems may be powered by a diesel engine. Alternatively the hydraulic systems may be powered by an electrical motor. ln case a diesel engine is used for powering the hydraulic system exhaust gas emissions may be problematic, in particular if the vehicle is operated in a closed space, such as in a mine.
One way of controlling operation of a hydraulic system by means of an electrical motor involves to estimate a power demand of hydraulic consumer units of the hydraulic system, determine a required motor speed for operating a hydraulic pump unit and provide and operate said motor at a motor speed higher than the determined required motor speed for avoiding malfunctioning/stalling. Hereby efficiency losses are at hand. Naturally this solution is not cost-effective due to said operation at relatively high motor speeds of said electrical motor.
SUMMARY OF THE INVENTION One object of the present invention is to provide a new and advantageous method for controlling operation of a hydraulic system of a dri||ing rig.
Another object of the invention is to provide a novel and advantageous system for controlling operation of a hydraulic system of a dri||ing rig and a new and advantageous computer program for controlling operation of a hydraulic system of a dri||ing rig.
Yet another object of the invention is to provide an alternative method, an alternative system and an alternative computer program for controlling operation of a hydraulic system of a dri||ing rig.
Yet another object of the invention is to provide a robust, cost-effective and reliable method for controlling operation of a hydraulic system of a dri||ing rig.
Yet another object of the invention is to provide a method, a system and a computer program for improving performance of a hydraulic system of a dri||ing rig.
Yet another object of the invention is to provide an energy effective method controlling operation of a hydraulic system of a dri||ing rig.
Some of said objects are achieved by a method for controlling operation of a hydraulic system of a dri||ing rig according to claim 1. Other objects are achieved by a system for controlling operation of a hydraulic system of a dri||ing rig according to claim 6. Advantageous embodiments are depicted in the dependent claims.
According to an embodiment there is provided a method for controlling operation of a hydraulic system of a dri||ing rig, said hydraulic system comprises an electric motor configuration, a variable displacement pump configuration configured to power at least one hydraulic consumer unit and a sensor arrangement arranged at said variable displacement pump configuration, the electric motor configuration comprising an electric motor, an inverter, and a power source, wherein the electric motor is arranged to power the variable displacement pump configuration, the method comprising the steps of: - obtaining a desired operational displacement value relating to said variable displacement pump configuration; - determining a prevailing operational displacement value of said variable displacement pump configuration by means of said sensor arrangement; - comparing said desired operational displacement value and said prevailing operational displacement value; and - controlling operation of said electric motor configuration on the basis of a result of said comparison, wherein controlling operation comprises controlling a motor speed of said electric motor configuration so that said motor speed is minimized while meeting a current power demand of said at least one hydraulic consumer unit.
Hereby a robust and reliable method is provided. This solution is cost-effective since the operational motor speed is continuously keept at a desired/required level. This solution is thus also energy-efficient.
Hereby efficiency losses during idle/low operation of the variable displacement pump configuration is reduced. Production performance of the drilling rig is advantageously increased. Due to the reduced efficiency losses longer work cycles of the drilling rig may be achieved.
The inventive method is applicable to various setups of hydraulic systems. The method is hereby versatile.
Advantageously an increased comfort for an operator of the drilling rig is achieved because of an overall lower operational motor speed. Advantageously wear of e.g. the electric motor and the variable displacement pump configuration is reduced. Hereby total operational time of these components may be increased. Advantageously flow/friction losses in said variable displacement pump configuration is minimized.
The method may comprise the step of controlling the inverter to reduce or increase electrical power supply from the power source to the electric motor. Hereby a reliable and robust method is provided. The power supply to the electric motor is hereby controlled in a highly accurate manner.
The method may comprise the step of controlling operation of said electric motor configuration such that a difference between said desired operational displacement value and said prevailing operational displacement value is minimized. Hereby efficiency of the variable displacement pump configuration may be optimized.
The method may comprise the steps of: - determining at least one parameter value of the hydraulic system; and - controlling operation of said electric motor configuration on the basis of said at least one parameter value. Said parameter value may relate to a temperature of a hydraulic fluid of the hydraulic system. Hereby an improved operation of said hydraulic system is provided taking various parameters into consideration when controlling motor speed of the electric motor.
The method may comprise the step of controlling operation of said electric motor configuration on the basis of operational parameters of a fixed displacement pump configuration further comprised in said hydraulic system. Advantageously the provided method is applicable to various configurations of the hydraulic system. Hereby a versatile method is provided.
According to an example embodiment there is provided hydraulic system of a drilling rig, said hydraulic system comprises an electric motor configuration, a variable displacement pump configuration and at least one hydraulic consumer unit and a sensor arrangement arranged at said variable displacement pump configuration, the electric motor configuration comprising an electric motor, an inverter, and a power source, wherein the electric motor is arranged to power the variable displacement pump configuration, said hydraulic system further comprises a first control unit configured to: - obtain a desired operational displacement value relating to said variable displacement pump configuration; - determine a prevailing operational displacement value of said variable displacement pump configuration by means of said sensor arrangement; - compare said desired operational displacement value and said prevailing operational displacement value; and - control operation of said electric motor configuration on the basis of a result of said comparison, wherein controlling operation comprises controlling a motor speed of said electric motor configuration so that said motor speed is minimized while meeting a current power demand of said at least one hydraulic consumer unit.
According to an embodiment the electric motor configuration comprises an electrical motor, an inverter and a power source. Hereby there is provided means being arranged to control the motor speed by controlling the inverter to reduce or increase electrical power supply from the power source to the electric motor.
According to an embodiment the system comprises means being arranged for controlling operation of said electric motor configuration such that a difference between said desired operational displacement value and said prevailing operational displacement value is minimized.
According to an embodiment the system comprises: - means being arranged for determining at least one parameter value of the hydraulic system; and - means being arranged for controlling operation of said electric motor configuration on the basis of said at least one parameter value.
According to an embodiment the system comprises: - means being arranged for controlling operation of said electric motor configuration on the basis of operational parameters of a fixed displacement pump configuration further comprised in said hydraulic system.
Hereby it is provided a cost effective system for achieving a reliable and robust operation of the hydraulic system. Advantageously operator comfort may be increased due to comparably lower operational motor speed thus also providing reduced ware of components of the hydraulic system, e.g. components of the variable displacement pump configuration.
According to an embodiment there is provided a dri||ing rig comprising a system for contro||ing operation of a hydraulic system of the dri||ing rig. According to an embodiment there is provided a dri||ing rig being equipped with a hydraulic system according to the teachings herein. Said dri||ing rig may be intended for earth surface USS.
According to an aspect of the present invention there is provided an autonomous dri||ing rig comprising a hydraulic system. According to an embodiment there is provided an autonomous dri||ing rig comprising a system according to c|aim 6. According to an embodiment there is provided an autonomous dri||ing rig comprising a hydraulic system according to the teachings herein. Said autonomous dri||ing rig may be intended for earth surface use.
According to an embodiment there is provided a vehicle equipped with a hydraulic system. Said vehicle may be an arbitrarily suitable vehicle. Said vehicle may be a, tractor, dumper, wheel loader, platform comprising an industrial robot, forest machine, earth mover, asphalt construction machine, road planner or a tracked vehicle.
According to an embodiment there is provided an autonomous vehicle equipped with a hydraulic system according to the teachings herein. Said autonomous vehicle may be any suitable vehicle.
According to an embodiment there is provided a computer program for contro||ing operation of a hydraulic system of a dri||ing rig, where said computer program comprises program code for causing an electronic control unit or a computer connected to the electronic control unit to perform the steps according to anyone of the claims 1- According to an embodiment there is provided a computer program product comprising a program code stored on a, by a computer readable medium, for performing the method steps according to anyone of claims 1-5, when said program code is run on an electronic control unit or a computer connected to the electronic control unit.
According to an embodiment there is provided a computer program for controlling operation of a hydraulic system of a drilling rig, where said computer program comprises program code for causing an electronic control unit or a computer connected to the electronic control unit to perform the steps according to anyone of the claims 1-5, when said program code is run on said electronic control unit or said other computer.
According to an embodiment there is provided a computer program for controlling operation of a hydraulic system of a drilling rig, where said computer program comprises program code stored on a, by a computer readable, medium for causing an electronic control unit or a computer connected to the electronic control unit to perform the steps according to anyone of the claims 1- According to an embodiment there is provided a computer program product comprising a program product comprising a program code stored on a, by a computer readable, medium for performing the method steps according to anyone of the claim 1-5, when said program code is run on an electronic control unit or a computer connected to the electronic control unit.
According to an embodiment there is provided a computer program product comprising a program code non-volatile stored on a, by a computer readable, medium for performing the steps according to anyone of claims 1-5, when said program code is run on an electronic control unit or a computer connected to the electronic control unit.
Further objects, advantages and novel features of the present invention will become apparent to the one skilled in the art from the following details, and also by applying the invention. Although the invention is described below, it should be noted that it is not limited to the specific details described. One skilled in the art who has access to the teachings herein will recognize further applications, modifications and incorporations within other fields, which are within the scope of the invention.
BRIEF DESCRIPTION OF THE DRAWINGS For fuller understanding of the present invention and its further objects and advantages, the detailed description set out below should be read in conjunction with the accompanying drawings, in which the same reference notations denote similar items in the various diagrams, and in which: Figure 1 schematically illustrates a drilling rig; Figure 2 schematically illustrates a hydraulic system of the drilling rig; Figure 3a schematically illustrates a flowchart of a method, according to an embodiment of the invention; Figure 3b schematically illustrates a flowchart of a method in greater detail, according to an embodiment of the invention; and Figure 4 schematically illustrates a computer, according to an embodiment of the invenfion.
DETAILED DESCRIPTION OF THE DRAWINGS With reference to Figure 1 there is illustrated a side view ofa drilling rig 100. According to this example the drilling rig may be used for various kinds of ground works and/or construction works and for which the present invention may be used. The drilling rig 100 may be adapted for mining operation. The drilling rig 100 may be adapted for surface mining. Hereby the drilling rig 100 may be adapted for performing so called percussion drilling.
The drilling rig 100 is according to an embodiment arranged for operation in open quarries. The drilling rig 100 is according to an example adapted for use at infrastructure works. The drilling rig 100 may be of any suitable size and may present a mass within an interval of for example 3 to 30 tons (3.000 to 30.000 kilograms). According to one example the drilling rig 100 may present a mass within an interval of for example 30 to 70 tons (30.000 to 70.000 kilograms).
Said drilling rig 100 comprises, among other elements, an elongated, movable arm having a drilling device arranged at one end thereof, tracks for propulsion of the drilling rig 100, a cabin for an operator and a motor body. Said movable arm may also be denoted articulated arm.
Various components are located in said motor body as well as systems for providing satisfactory function of said drilling rig 100 such as for example an engine which is arranged to provide necessary power to said drilling rig 100. Said engine may be used for propulsion of said drilling rig Said motor body is comprising a system 299 comprising a hydraulic system. The system 299 is depicted in greater detail with reference to Figure Herein the term "link" refers to a communications link which may be a physical wire, such as an opto-electronic communication wire, or a non-physical wire, such as a wireless connection, for example a radio link or microwave link.
Herein the term "passage" and "passage configuration" relate to a passage for holding and transporting a hydraulic fluid, such as for example hydraulic oil. The passage may be a pipe of suitable dimensions. The passage may consist of an arbitrary, suitable material, such as plastics, rubber or metal. lt should be noted that the invention is suitable for application at an arbitrary suitable vehicle or other platform having a hydraulic system and is not limited to systems of a drilling rig. The inventive method and the inventive system may also be used for other platforms than drilling rig, such as mining vehicles, tractors, dumpers, vehicle/platforms for industrial robots, forest machines, tracked vehicles, constructions vehicles, utility vehicles, terrain vehicles or military vehicles.
Herein the term "suitable" among other things may be interpreted as "arbitrary suitable" or "according to a relevant embodiment of the invention".
Figure 2 schematically illustrates a system 299 of said drilling rig 100, according to an embodiment of the present invention. The system 299 comprises a hydraulic system.
A first control unit 210 is arranged for communication with an inverter 231 via a link L231. The inverter 231 is arranged to communicate information regarding a prevailing motor speed RPM (revolutions per minute) of said electric motor 230. The prevailing motor speed RPM may be determined in any suitable way, e.g. by means of said inverter 231 _ According to one example there is a motor speed sensor (not shown) arranged at the electric motor 230. According to this example the motor speed sensor may be arranged for communication directly with the first control unit 210 via a suitable link (not shown).According to one example said inverter 231 is arranged to determine a prevailing motor speed by means of said motor speed sensor. According to one example said inverter 231 is arranged to determine a prevailing motor speed by evaluating prevailing phase currents. This is advantageous in case said motor speed sensor is malfunctioning.
The first control unit 210 is arranged to control operation of an electric motor 230 by means of said inverter 231. Said inverter 231 is electrically connected to a power source 232. The power source 232 is an electrical power source. The power source 232 is according to one example comprising a battery. Said inverter 231 is electrically connected to the electric motor 230. This electrical connection may comprise a 3- phase current arrangement, e.g. at 700V. According to one example there is provided a 3-phase system, 400 Volt Alternating Current, VAC) being motor speed dependent and wherein a DC aspect is arranged for 700VAC being SoC-dependent (State of Charge). The first control unit 210 is arranged to power/operate said electric motor 230 by means of said power source 232 and said inverter 231. Controlling of operation of said electric motor 230 may for an example comprise to control said motor speed RPM. Controlling of operation of said electric motor 230 may for an example comprise to control said motor speed RPM and/or an output torque and/or an electrical power.
Herein the term "electrical motor configuration" refers to an arrangement comprising the electrical motor 230, the inverter 231 and said power sourceThe first control unit 210 is arranged for communication with a first actuator means 201 via a link L201. Said first actuator means 201 is arranged for controlling operation of at least one hydraulic consumer unit CU1-CU6 of the drilling rig100. According to this example there is provided six hydraulic consumer units CU1-CU6. The number of hydraulic consumer units may be any number depending on the specific configuration of the drilling rig The first control unit 210 is arranged for communication with a second actuator means 202 via a link L202. Said second actuator means 202 is arranged for controlling operation of at least one hydraulic consumer unit CU1-CU6 of the drilling ng According to this example there is provided two actuator means, however any suitable number of actuator means may be provided depending on the configuration of the drilling rig 100 comprising the hydraulic system depicted herein.
According to a first example said first actuator means 201 and said second actuator means 202 are manually controlled by one or more operators of the drilling rig 100. According to a second example the hydraulic consumer units CU1-CU6 may be remotely controlled by one or more operators located at a distance from said drilling rig 100. Hereby suitable arrangements are provided for allowing to remotely control operation of the drilling rig 100, including the hydraulic consumer units CU1-CU According to one example embodiment said first actuator means 201 and said second actuator means 202 may comprise a steering wheel, touch screen, pedal, paddle, joystick or any other suitable device for controlling operation of said drilling rig 100, including said hydraulic consumer units CU1-CU Said hydraulic consumer units CU1-CU6 may be any suitable hydraulically operated unit, such as a cylinder arrangement, loading/tipping arrangement for a loading platform or bucket, continuous load conveying arrangement, drill positioning arrangement, brake system, suspension arrangement, hoist motor configuration, fanmotor configuration, AC Compressor arrangement, air compressor arrangement, steering arrangement, etc.
Said electrical motor 230 is arranged to operate/power a variable displacement pump configuration 240. Said variable displacement pump configuration 240 may be denoted main pump of the hydraulic system. Said first control unit 210 is arranged for communication with said variable displacement pump configuration 240 via a link L241 _ A sensor arrangement 241 is arranged at said variable displacement pump configuration 240. Said sensor arrangement 241 is arranged to detect a prevailing operational displacement value Dcont. Said sensor arrangement 241 is arranged to communicate said detected prevailing operational displacement value Dcont to said first control unit 210 via said link L241. Said detected prevailing operational displacement value Dcont refers to a swash plate angle of said variable displacement pump configuration 240. Said prevailing operational displacement value Dcont may be a normalized value and is expressed as a number within the interval of 0-1. Herein a desired operational displacement value D1 is referred to a desired/preferred/most suitable/optimal operational displacement value. Said desired operational displacement value D1 may be a normalized value and is expressed as a number within the interval of 0.0-1 .0. D1 is a predetermined value relating to the specific variable displacement pump configuration 240. D1 is according to one example 0.8. D1 is according to one example 0.9. D1 is according to one example a value within the interval 0.6-0.9. According to one example D1 is a value within the interval 0.9-0.
The proposed method is also applicable to various variable displacement pump configuration, such as bent axis pumps/motors and digital displacement pumps (DDP).
According to an example embodiment said system 299 comprises at least one variable displacement pump configuration. Said electrical motor 230 is hereby arranged to operate/power said at least one variable displacement pump configuration 240. ln a case where at least two variable displacement pump configurations are hydraulically connected in parallel a mean value of determined prevailing operational displacement values Dcont may be used for controlling thevariable displacement pump configurations according to the method depicted herein. Hereby the variable displacement pump configurations is considered as one single pump configuration.
According to one example said system 299 comprises at least two variable displacement pump configurations which are not hydraulically connected in parallel. Hereby said at least two variable displacement pump configurations operate separate hydraulic sub-systems of said system 299. ln such a case said first control unit 210 is arranged to control operation of the system 299 on the basis of a highest requested motor speed value.
The method and system depicted herein are apllicable to various variable displacement pump configurations. According to one example said prevailing operational displacement value Dcont may be a normalized value and is expressed as a number within another interval than 0.0-1.0, e.g. -1.0 to 1.0. Hereby a correspondingly suitable desired operational displacement value D1 is used.
A sensor arrangement 205 is arranged for communication with the first control unit 210 via a link L205. Said sensor arrangement 205 is arranged to detect at least one parameter value of the hydraulic system and communicate said at least one parameter value to said first control unit via said link L205. Said parameter value may refer to any suitable parameter of the hydraulic system, such as a temperature Temp of a hydraulic fluid of the hydraulic system. The first control unit 210 is arranged to control operation of said variable displacement pump configuration 240 on the basis of said at least one detected parameter value of the hydraulic system.
Said variable displacement pump configuration 240 is arranged with a hydraulic passage configuration 289. Said hydraulic passage configuration 289 is holding a hydraulic fluid by means of which a number of hydraulic consumer units CU1-CU3 is powered by said variable displacement pump configuration According to one embodiment a fixed displacement pump configuration 250 is provided. Said fixed displacement pump configuration 250 is arranged with said hydraulic passage configuration 289. Said hydraulic passage configuration 289 isholding said hydraulic fluid by means of which a number of hydraulic consumer units CU1-CU3 is powered by said fixed displacement pump configuration 250. Said fixed displacement pump configuration 250 may be denoted auxiliary pump of the hydraulic system.
According to an embodiment of the invention more than one auxiliary pump (fixed displacement pump configuration) may be provided. The inventive method is applicable to different configurations of the hydraulic system. The inventive method is applicable to a hydraulic system comprising at least one variable displacement pump configuration and any number of fixed displacement pump configurations and any number of hydraulic consumer units. According to one example the inventive method is applicable to a hydraulic system comprising at least one variable displacement pump configuration and no additional fixed displacement pump configurations. The first control unit 210 is according to one example arranged to control operation of said variable displacement pump configuration 240 considering a total power demand of the hydraulic consumer units. The first control unit 210 is according to one example arranged to control operation of said variable displacement pump configuration 240 on the basis of said desired operational displacement value D1, said prevailing operational displacement value Dcont and a total power demand of the hydraulic consumer units of the hydraulic system.
Said first control unit 210 may be arranged for communication with presentation means 260 via a link L260. Said presentation means 260 may be provided in a cabin of said drilling rig 100. Said presentation means 260 may comprise a presentation screen, for example a touch screen. Hereby said first control unit 210 may be arranged to present alphanumerical signs and/or symbols regarding operational status parameters of said drilling rig 100. According to one example said first control unit 210 may be arranged to present information regarding a prevailing motor speed RPM of said electric motor 230. According to one example said first control unit 210 may be arranged to present information regarding a current efficiency of said variable displacement pump 240. According to one example said first control unit 210 may be arranged to present information regarding a current efficiency of said fixed displacement pump 250. According to one example said first control unit 210 may be arranged to present information regarding a load level of said power source Said presentation means 260 may comprise means for audio and/or tactile and/or visual presentation of information/instructions/recommendations regarding operation of said hydraulic system of the dri||ing rig Said first control unit 210 may be arranged to, where applicable, present information comprising instructions for operating said hydraulic consumer units CU1-CU6. Said information may thus be presented in a suitable way by means of said presentation means A second control unit 220 is arranged for communication with the first control unit 210 via a first link L210. The second control unit 220 may be detachably connected to the first control unit 210. The second control unit 220 may be an external control unit of the dri||ing rig 100. The second control unit 220 may be arranged to perform the method steps depicted herein. The second control unit 220 may be used for transferring program code to the first control unit 210, in particular program code for performing the inventive method. The second control unit 220 may alternatively be arranged for communication with the first control unit 210 via an internal network of the dri||ing rig 100. The second control unit 220 may be arranged to perform substantially similar functions as the first control unit According to an aspect of the present invention said dri||ing rig 100 is an autonomous dri||ing rig. lt should hereby be noted that the dri||ing rig 100 in such a case is equipped with suitable sensor configurations and navigation means so as to in an autonomous way be used for any suitable application, such as for example dri||ing works.
According to an example embodiment the hydraulic system and the dri||ing rig 100 are arranged to be remotely controlled. Hereby an operator may be located at any suitable distance from the dri||ing rig 100. The inventive method is hereby applicable by means of use of stored control routines of said first control unit 210 and/or second control unitFigure 3a schematically illustrates a flowchart of a method for for controlling operation of a hydraulic system of a drilling rig 100, said hydraulic system comprises an electric motor configuration, a variable displacement pump configuration 240 configured to power at least one hydraulic consumer unit. The method comprises a first method step s401. The step s401 comprises the steps of: - obtaining a desired operational displacement value D1 relating to said variable displacement pump configuration; - determining a prevailing operational displacement value Dcont of said variable displacement pump configuration; - comparing said desired operational displacement value D1 and said prevailing operational displacement value Dcont; and - controlling operation of said electric motor configuration by the basis of a result of said comparison, wherein controlling operation comprises controlling a motor speed RPM of said electric motor configuration so that said motor speed RPM is minimized while meeting a current power demand of said at least one hydraulic consumer unit.
After the method step s401 the method ends or is returned.
Figure 3b schematically illustrates a flowchart of a method for controlling operation of a hydraulic system of a drilling rig 100, said hydraulic system comprises an electric motor configuration, a variable displacement pump configuration 240 configured to power at least one hydraulic consumer unit.
The method comprises a first method step s410. The step s410 comprises the step of obtaining a desired operational displacement value D1 relating to said variable displacement pump configuration 240. The step s410 may be performed by the first control unit 210. Said desired operational displacement value D1 may be a predetermined value. Said desired operational displacement value D1 may have been empirically determined. Said desired operational displacement value D1 may be uniquely determined for said variable displacement pump configuration 240. After the method step s410 there is performed a subsequent method step s The step s420 comprises the step of determining a prevailing operational displacement value Dcont of said variable displacement pump configuration 240. This may be performed by means of the first control unit 210. Said prevailingoperational displacement value Dcont may be determined in any suitable way, e.g. by means of the sensor configuration 241 _ After the method step s420 there is performed a subsequent method step s The step s430 comprises the step of comparing said desired operational displacement value D1 and said prevailing operational displacement value Dcont. This may be performed by means of the first control unit After the method step s430 there is performed a subsequent method step s The step s440 comprises the step of controlling operation of said electric motor configuration by the basis of a result of said comparison, wherein controlling operation comprises controlling a motor speed RPM of said electric motor configuration so that said motor speed is minimized while meeting a current power demand of said at least one hydraulic consumer unit.
This may be performed by means of the first control unit After the method step s440 a subsequent method step s450 is performed.
The step s450 comprises the step of, wherein the electric motor configuration comprises an electric motor 230, an inverter 231, and a power source 232, wherein controlling the motor speed RPM comprises controlling the inverter 231 to reduce or increase electrical power supply from the power source 232 to the electric motor This step is performed by the first control unit 210. Hereby an optimal efficiency of the variable displacement pump configuration 240 may be achieved. After the method step s450 a subsequent method step s460 is performed.
The step s460 comprises the step of controlling operation of said electric motor configuration such that a difference between said desired operational displacement value D1 and said prevailing operational displacement value Dcont is minimized. Hereby an optimal efficiency of the variable displacement configuration 240 may be achieved. This is performed by means of said first control unit After the method step s460 a subsequent method step s470 is performed.
The step s470 comprises the steps of:- determining at least one parameter value of the hydraulic system; and - controlling operation of said electric motor configuration on the basis of said at least one parameter value.
The step s470 is an optional step. According to one embodiment of the hydraulic system comprises a sensor configuration 205 being arranged for detecting at least one parameter value of the hydraulic system. Said sensor configuration 205 is arranged to transmit said detected at least one parameter value to the first control unit 210. Alternatively said at least one parameter value may be determined/modelled/calculated/estimated by means of said first control unit 210. Said at least one parameter value may relate to various temperatures, component settings, hydraulic fluid pressures, or other, of the hydraulic system.
According to an example controlling operation of said electric motor configuration on the basis of said at least one parameter value comprises the step of determining a modified desired operational displacement value D2, which may be higher than said desired operational displacement value D1, and comparing said modified desired operational displacement value D2 and said prevailing operational displacement value Dcont. The step of controlling operation of said electric motor configuration is hereby performed on the basis of said comparison.
After the method step s470 a subsequent method step s480 is performed.
The step s480 comprises the step of controlling operation of said electric motor configuration on the basis of operational parameters of a fixed displacement pump configuration 250 further comprised in said hydraulic system.
The step s480 is an optional step. The step s480 may be performed by means of said first control unit 210. Said operational parameters of the fixed displacement pump configuration 250 may be determined in any suitable way. According to one example said operational parameters may be detected by a suitable sensor configuration (not shown). According to another example said operational parameters may be determined/modelled/calculated/estimated by means of said first control unit According to one example said operational parameter is a temperature Temp of said hydraulic fluid of said hydraulic system. Hereby a flow rate of a cooling fluid of saidhydraulic system may be controlled. Cooling may be initiated at a certain temperature of the hydraulic fluid and may be maximized at a certain, higher, temperature of the hydraulic fluid. According to this example the motor speed RPM of the electrical motor 230 is controlled to a value higher than what is determined in the step s According to one example the motor speed RPM of the electrical motor 230 is controlled to a value higher than what is determined in the step s440 for the purpose of affecting a transmission clutch unit pressure of the drilling rig 100. Hereby a transmission arrangement of the drilling rig may be properly lubricated. Said operational parameter may according to this example relate to a motor speed value request of said transmission arrangement.
According to one example said operational parameter is a temperature of said electrical motor 230. ln case said temperature is exceeding a predetermined temperature value the motor speed RPM of the electrical motor 230 is controlled to a value higher than what is determined in the step s440 for the purpose of recucing currents of the electrical motor 230 and thus reducing generation of heat.
According to an example controlling operation of said electric motor configuration on the basis of said operational parameters comprises the step of determining a modified desired operational displacement value D3, which may be higher than said desired operational displacement value D1 or modified desired operational displacement value D2, and comparing said modified desired operational displacement value D3 and said prevailing operational displacement value Dcont. The step of controlling operation of said electric motor configuration is hereby performed on the basis of said comparison.
After the method step s480 the method ends. Alternatively the method step s410 is performed again. lt should be noted that even though a particular sequence of the method steps is given, any suitable sequence of the method steps s410-s480 may be provided. Where applicable, at least two method steps may be performed simultaneously.
With reference to Figure 4 there is illustrated a diagram of an embodiment of a device 500. The control units 210 and 220 depicted with reference to Figure 2 may in one version comprise the device 500. The device 500 comprises a non-volatile memory 520, a data processing unit 510 and a read/write memory 550. The non- volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operative system, is stored for contro||ing the function of the device 500. The device 500 further comprises a bus-controller, a seria| communication port, I/O means, A/D converter, a time and date input and transfer unit, an event counter and an interruption controller (not shown). The non-volatile memory 520 also has a second memory portion There is provided a computer program P comprising routines for contro||ing operation of a hydrau|ic system of a dri||ing rig 100, said hydrau|ic system comprises an electric motor configuration, a variable disp|acement pump configuration configured to power at least one hydrau|ic consumer unit.
The computer program P may comprise routines for obtaining a desired operational disp|acement value D1 relating to said variable disp|acement pump configuration. The computer program P may comprise routines for determining a prevailing operational disp|acement value Dcont of said variable disp|acement pump configuration.
The computer program P may comprise routines for comparing said desired operational disp|acement value D1 and said prevailing operational disp|acement value Dcont.
The computer program P may comprise routines for contro||ing operation of said electric motor configuration by the basis of a result of said comparison, wherein contro||ing operation comprises contro||ing a motor speed RPM of said electric motor configuration so that said motor speed is minimized while meeting a current power demand of said at least one hydrau|ic consumer unit.
The computer program P may comprise routines for, wherein the electric motor configuration comprises a motor, an inverter, and a power source, contro||ing the motor speed by contro||ing the inverter to reduce or increase electrical power supply from the power source to the electric motor.The computer program P may comprise routines for controlling operation of said electric motor configuration such that a difference between said desired operational displacement value D1 and said prevailing operational displacement value Dcont is minimized.
The computer program P may comprise routines for determining at least one parameter value of the hydraulic system. The computer program P may comprise routines for controlling operation of said electric motor configuration on the basis of said at least one parameter value.
The computer program P may comprise routines for controlling operation of said electric motor configuration on the basis of operational parameters of a fixed displacement pump configuration further comprised in said hydraulic system.
The computer program P may be stored in an executable form or in compressed form in a memory 560 and/or in a read/write memory Where it is stated that the data processing unit 510 performs a certain function, it means that the data processing unit 510 affects a certain part of the program stored in the memory 560 or a certain part of the program stored in the read/write memory The data processing device 510 can communicate with a data port 599 via a fourth data bus 515. The non-volatile memory 520 is intended for communication with the data processing unit 510 via a second data bus 512. The separate memory 560 is intended to communicate with the data processing unit 510 via a first data bus 511. The read/write memory 550 is intended to communicate with the data processing unit 510 via a third data bus 514. The data port 599 may for example be connected to the link L201, link L202, link L205, link L210, link L231 and link L240 (see Figure 2).
When data are received on the data port 599, they are stored temporarily in the second memory element 540. When input data received have been temporarily stored, the data processing unit 510 will be ready to effect code execution in a manner described above. ln one version, signals received on the data port 599 comprise informationabout a prevailing operational displacement value Dcont of said variable displacement pump configuration. ln one version, signals received on the data port 599 comprise information about a current motor speed RPM. The desired operational displacement value D1 may be stored in any suitable memory of the device Parts of the methods herein described may be applied by the device 500 by means of the data processing unit 510 which runs the program stored in the memory 560 or the read/write memory 550. When the device 500 runs the program, methods herein described are executed.
The foregoing description of the preferred embodiments of the present invention is provided for illustrative and descriptive purposes. lt is not intended to be exhaustive, nor to limit the invention to the variants described. Many modifications and variations will obviously suggest themselves to one skilled in the art. The embodiments have been chosen and described in order best to explain the principles of the invention and its practical applications and hence to make it possible for one skilled in the art to understand the invention for various embodiments and with the various modifications appropriate to the intended use.

Claims (9)

1. A method for controlling operation of a hydraulic system of a cšrišlâng rig (100), said hydraulic system comprises an electric motor configuration (230, 231, 232), a variable displacement pump configuration (240) configured to power at least one hydraulic consumer unit (CU1-CU6) and a sensor arrangement (241) arranged at said variable displacement pump configuration (240), the electric motor configuration (230, 231, 232) comprising an electric motor (230), an inverter (231 ), and a power source (232), wherein the electric motor (230) is arranged to power the variable displacement pump configuration (240), the method comprising the steps of: - obtaining (s410) a desired operational displacement value (D1) relating to said variable displacement pump configuration (240); - determining (s420) a prevailing operational displacement value (Dcont) of said variable displacement pump configuration (240) by means of said sensor arrangement (241 ); - comparing (s430) said desired operational displacement value (D1) and said prevailing operational displacement value (Dcont); and - controlling operation (s440) of said electric motor configuration (230, 231, 232) by ggthe basis of a result of said comparison, wherein controlling operation comprises controlling a motor speed (RPM) of said electric motor configuration (230, 231, 232) so that said motor speed (RPM) is minimized while meeting a current power demand of said at least one hydraulic consumer unit (CU1-CU6).
2. The method according to claim 1, wherein controlling the motor speed (RPM) comprises controlling (s450) the inverter (231) to reduce or increase electrical power supply from the power source (232) to the electric motor (230).
3. The method according to claim 1 or 2, comprising the step of: - controlling operation (s460) of said electric motor configuration (230, 231, 232) such that a difference between said desired operational displacement value (D1) and said prevailing operational displacement value (Dcont) is minimized.
4. The method according to anyone of claims 1 to 3, comprising the steps of: - determining (s470) at least one parameter value (Temp) of the hydraulic system; and - controlling operation (s470) of said electric motor configuration (230, 231, 232) on the basis of said at least one parameter value (Temp).
5. The method according to anyone of the preceding claims, comprising the step of: - controlling operation (s480) of said electric motor configuration (230, 231 , 232) on the basis of operational parameters of a fixed displacement pump configuration (250) further comprised in said hydraulic system.
6. A hydraulic system of a dršilšftg; rigurnining-»rit-aehitf-te«(100), said hydraulic system comprises an electric motor configuration (230, 231, 232), a variable displacement pump configuration (240) and at least one hydraulic consumer unit (CU1-CU6), and a sensor arrangement (241) arranged at said variable displacement pump configuration (240), the electric motor configuration (230, 231, 232) comprising an electric motor (230), an inverter (231), and a power source (232), wherein the electric motor (230) is arranged to power the variable displacement pump configuration (240), said hydraulic system further comprises a first control unit (210) configured to: - obtain a desired operational displacement value (D1) relating to said variable displacement pump configuration (240); - determine a prevailing operational displacement value (Dcont) of said variable displacement pump configuration (240) by means of said sensor arrangement (241); - compare said desired operational displacement value (D1) and said prevailing operational displacement value (Dcont); and - control operation of said electric motor configuration (230, 231, 232) on the basis of a result of said comparison, wherein controlling operation comprises controlling a motor speed (RPM) of said electric motor configuration (230, 231, 232) so that said motor speed (RPM) is minimized while meeting a current power demand of said at least one hydraulic consumer unit (CU1-CU6).
7. A driliiawg rid l4iee4100) comprising a hydraulic system according to claim
8. A computer program (P) for controlling operation of a hydraulic system of a gílšiligg gigh ü0O), wherein said computer program comprises program code for causing an electronic control unit (210; 500) or a computer (220; 500) connected to the electronic control unit (210; 500) to perform the steps according to anyone of the claims 1-
9. A computer program product comprising a program code stored on a, by a computer readable medium, for performing the method steps according to anyone of the claims 1-5, when said program code is run on an electronic control unit (210; 500) or a computer (220; 500) connected to said electronic control unit (210; 500).
SE1950428A 2019-04-05 2019-04-05 Method and system for controlling operation of a hydraulic system of a drilling rig SE544986C2 (en)

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AU2020254232A AU2020254232A1 (en) 2019-04-05 2020-04-02 System and method for controlling operation of a hydraulic system of a mining machine
EP20718850.9A EP3949107A1 (en) 2019-04-05 2020-04-02 System and method for controlling operation of a hydraulic system of a mining machine
CN202080016422.1A CN113491061A (en) 2019-04-05 2020-04-02 System and method for controlling operation of a hydraulic system of a mining machine
CA3127562A CA3127562A1 (en) 2019-04-05 2020-04-02 System and method for controlling operation of a hydraulic system of a mining machine
PCT/SE2020/050348 WO2020204803A1 (en) 2019-04-05 2020-04-02 System and method for controlling operation of a hydraulic system of a mining machine

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CA3127562A1 (en) 2020-10-08
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WO2020204803A1 (en) 2020-10-08
EP3949107A1 (en) 2022-02-09

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