WO2022268254A1 - VERFAHREN ZUM ANPASSEN EINER ANSTEUERUNG EINES PROPORTIONALVENTILS AN SEINEN FUNKTIONSGEMÄßEN BETRIEB ALS TEIL EINES FLUIDSYSTEMS - Google Patents
VERFAHREN ZUM ANPASSEN EINER ANSTEUERUNG EINES PROPORTIONALVENTILS AN SEINEN FUNKTIONSGEMÄßEN BETRIEB ALS TEIL EINES FLUIDSYSTEMS Download PDFInfo
- Publication number
- WO2022268254A1 WO2022268254A1 PCT/DE2022/100411 DE2022100411W WO2022268254A1 WO 2022268254 A1 WO2022268254 A1 WO 2022268254A1 DE 2022100411 W DE2022100411 W DE 2022100411W WO 2022268254 A1 WO2022268254 A1 WO 2022268254A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- proportional valve
- fluid system
- fluid
- control
- family
- Prior art date
Links
- 239000012530 fluid Substances 0.000 title claims abstract description 123
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000007599 discharging Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 abstract 2
- 238000012360 testing method Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000006978 adaptation Effects 0.000 description 4
- 230000004913 activation Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000013100 final test Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
-
- 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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/002—Calibrating
Definitions
- the invention relates to a method for adapting a control of a proportional valve to its functional operation as part of a fluid system.
- DE 10 2019 000 212 A1 discloses a method for operating a circuit arrangement for load-optimized lowering of loads by means of a fluidically drivable working device.
- a proportional pressure-limiting valve is arranged, which is used to regulate a lowering speed of a respective load.
- a control device of the circuit arrangement in which a family of characteristics for the proportional pressure-limiting valve is stored, calculates a setpoint specification for the actuation of the proportional pressure-limiting valve as a function of a setpoint specification from an operator, the current speed of the working device and one from the load the pressure resulting from the work equipment.
- the object of the invention is to provide a method by which a proportional valve can be integrated into a fluid system precisely, easily and inexpensively. A pertinent task is solved by a method according to the invention with the features of patent claim 1 in its entirety.
- a manufacturer of a fluid system who connects a proportional valve to a fluid system in a fluid-conducting manner must adapt the actuation of the proportional valve to the fluid system in the sense of a teach-in before the first commissioning of the fluid system. This is done by an active parameterization of the control device of the fluid system by an operator and, if necessary, by a test run, which is costly and time-consuming.
- the method according to the invention for adapting a control of a proportional valve to its functional operation as part of a fluid system has the following method steps: determining measured values of the proportional valve during its operation outside of the fluid system; Creating a family of characteristics based on the measured values; Integrating the proportional valve into the fluid system; and adapting the actuation of the proportional valve to the fluid system based on the family of characteristics by means of a control device.
- integrating the proportional valve into the fluid system is synonymous with the fluid-carrying and/or electrical connection of the proportional valve to the fluid system for its functional operation in the fluid system, whereas operating the proportional valve outside of this fluid system is synonymous with being connected to the fluid system hydraulically and electrically unconnected, i.e. separate proportional valve.
- the associated, individual family of characteristics can be called up by the manufacturer of the fluid system for use in the control device of his fluid system for adapted control of the proportional valve to the fluid system.
- at least one characteristic curve in the required operating range of the proportional valve is automatically selected for adaptation by the control device , which is part of the total possible operating range of the proportional valve.
- An adjustment to this effect is not only carried out when the fluid system is started up, but can also be carried out when the pressure range at the input connection of the proportional valve changes during operation of the fluid system. This can be viewed as an independent, valve-specific parameterization of the control device without the active involvement of an operator, which saves time and money.
- control signal of the proportional valve emitted by the control device can be tuned to it with a particularly high resolution, as a result of which controlled and precise regulation of the movement sequence of the at least one piston rod of the working device can be achieved.
- the measured values of a flow through the proportional valve are determined outside the fluid system as a function of a varied activation current of an actuating device of the proportional valve in at least one predetermined pressure range at the input connection of the proportional valve.
- the family of characteristics for each pressure range at the input connection of the proportional valve has a characteristic curve of the flow through the proportional valve as a function of the control current of the actuating device of the proportional valve. This configuration is based on the fact that the flow, ie the volumetric flow, through the proportional valve is essentially dependent on the fluid pressure at the input connection of the proportional valve and the opening cross-section of the proportional valve, which in turn depends on its control current.
- the proportional valve is controlled by the control device as a function of a setpoint specification by an operator of the fluid system using a characteristic curve of the family of characteristics that is suitable for the operation of the proportional valve in the fluid system. It is preferably provided that a working device is connected, in particular directly, to the proportional valve integrated in the fluid system and that the control is adapted in such a way that the characteristic curve of the family of characteristics that is most suitable for the operation of the proportional valve in the fluid system is based on the measured load pressure at the input port of the proportional valve is selected.
- the association between the respective proportional valve and its family of characteristic curves is particularly preferably established by means of a one-to-one identification, which is preferably permanently connected to the proportional valve.
- the pertinent features further support the cost-effective and time-saving adaptation of the actuation of the proportional valve to the fluid system, which requires only a few activities by an operator.
- measured values of the displacement path and/or the displacement speed of a piston rod of the working device are determined and that these measured values also flow into the actuation of the proportional valve. This improves the functional safety of the fluid system, in particular the desired change in movement of the at least one piston rod of the working device, and increases the accuracy of the control of the proportional valve. This makes it possible to create a closed control loop.
- a movement of a piston rod of at least one working cylinder of the working device is controlled within setting limits (expected values) after the proportional valve has been integrated into the fluid system, in particular after the adjustment of the control. According to the invention, the training and/or test operation of the proportional valve that may take place after this check in the prior art can be omitted.
- the fluid used is a hydraulic fluid, such as hydraulic oil, and accordingly all the components of the hydraulic fluid system, in particular the proportional valve, are hydraulic components.
- the subject matter of the invention is a fluid system for fluidically controlling a working device, which can be supplied with a fluid at a predefinable pressure via an inlet for lifting a load from a motor-pump unit, with a return for removing fluid from the working device Lowering this load, in which a proportional valve, in particular for adjusting the lowering speed, is connected.
- a control of the proportional valve is adapted to its functional operation as part of the fluid system by means of the method according to the invention mentioned above.
- the return flow is otherwise free of, in particular variably adjustable, flow cross-section constriction devices.
- at least one valve can be saved in the return line, as a result of which the fluid system, in particular in a block design, can be implemented in a more space-saving manner and the load can be lowered in a dynamic pressure-optimized manner is.
- the proportional valve can be better used within its technical limits.
- the invention also relates to an industrial truck with a fork, a working device that has at least one working cylinder, by means of which the fork can be moved, and an aforementioned hydraulic fluid system for controlling the respective working cylinder.
- FIG. 1 shows, in the manner of a hydraulic circuit diagram, the fluid system according to the invention, which has the proportional valve
- a manufacturer of a proportional valve 10 regularly carries out a final test on all of the proportional valves 10 manufactured by him. In it, the manufacturer checks the functionality of each proportional valve 10 in its entire possible operating range. According to the invention, measured values are collected by its manufacturer during the final production test of the respective proportional valve 10 . Using the measured values, a characteristic curve field 12 is created for each proportional valve 10, from which the operating behavior of the proportional valve 10 can be seen in its entire possible operating range.
- the characteristic fields 12 of all proportional valves 10 are stored centrally by the manufacturer of the proportional valve 10, for example on a server.
- a respective proportional valve 10 is integrated into the fluid system 14 by a manufacturer of a fluid system 14 after it has been delivered, the manufacturer of the fluid system 14 can call up the family of characteristics 12 belonging to this proportional valve 10 from the server of the proportional valve manufacturer and transfer it to a control device 18 of the fluid system 14 implemente ren. This is where the manufacturer of the fluid system 14 differs from the manufacturer of the proportional valve 10.
- the association between the proportional valve 10 and its family of characteristics 12 is made by means of a unique identifier that is attached to the valve 10, such as a QR (Quick Response) code or a character string, and by means of which the manufacturer of the fluid system 14 gets access to the characteristics field 12 of the proportional valve 10 used by him.
- the proportional valve 10 can now be controlled according to the operating range required in this fluid system 14 using at least one characteristic curve 16 of the family of characteristics 12, without an operator having to parameterize the control device 18 of the fluid system 14 in this regard and/or test operation of the proportional valve 10 has to take place.
- the respective fluid system 14 in which the proportional valve 10 is used can be designed like the fluid system 14 shown in FIG. 1.
- This fluid system 14 is preferably used in industrial trucks to control working cylinders 20 in the form of lifting cylinders 22 for lifting gear such as lifting forks , used for lifting and lowering loads. That Lowering of raised loads caused by gravity takes place via a lowering valve 10, in the present case in the form of the proportional valve 10.
- the fluid system 14 has a motor-pump unit 24, the pump 26 of which has a fluid-carrying connection with its suction side via a first fluid line 28 to a fluid storage tank T and with its high-pressure side via a second fluid line 30 to a pressure supply connection P of the fluid system 14.
- a first branching point 34 is provided, to which a return line 38 leading to the tank T is connected, in which the electromagnetically controllable proportional valve 10 is connected.
- An inlet 40 of the fluid system 14 is formed by the fluid path starting from the tank T via the first fluid line 28, the pump 26 and the second fluid line 30 to the pressure supply port P.
- a return 42 of the fluid system 14 is formed by the fluid path starting from the pressure supply port P via part of the second fluid line 30 and the return line 38, in which the proportional valve 10 is connected, to the tank T.
- the return 42 thus differs at least partially from the inlet 40.
- the entire fluid path of the return 42 is with the exception of the proportional valve 10 free of devices for flow cross-section constriction, which can be variably adjustable and/or designed to be controllable from the outside.
- a solenoid actuator 44 of the proportional valve 10 can be controlled by the electronic control unit 18 of the fluid system 14 .
- the control device 18 is supplied with measured values from a pressure sensor 46, which picks up the fluid pressure in the second fluid line 30, and setpoint values from an input device 48, such as a joystick, for an operator to enter lifting and lowering commands.
- the proportional valve 10 is designed as a 2/2-way proportional valve 10 det.
- the valve piston 50 of the proportional valve 10 can be brought from a first end position shown in the figure into a second end position by means of the actuating device 44 against the force of a compression spring 52 .
- valve piston 50 of the valve 10 separates its input 54 and output port 56 from one another, which the valve piston 50 connects to one another in a fluid-carrying manner in the second end position via a fluid path.
- the input port 54 of the proportional valve 10 is connected to the first branching point 34 and the output port 56 is connected to the tank T, preferably in each case directly.
- the branching point 34 particularly preferably corresponds to the pressure supply connection P.
- a check valve 58 is connected in the second fluid line 30 between the first junction point 34 and the pump 26 and opens in the direction of the pressure supply connection P against the force of a compression spring.
- the check valve 58 prevents a reverse flow of fluid from the pressure supply port P to the tank T via the pump 26 .
- a second branching point 36 is provided in the second fluid line 30 between the check valve 58 and the pump 26 .
- an input port 60 of a pressure relief valve 62 is connected in a fluid-carrying manner, whose outlet port 64 is connected to the return line 38 between the proportional valve 10 and the tank T in a fluid-carrying manner.
- the pressure-limiting valve 62 protects the second fluid line 30 against impermissible excess pressure towards the tank T.
- a suction filter 66 is connected into the first fluid line 28 .
- the working cylinder 20 of a fluidically drivable working device 68 is connected to the fluid system 14 .
- a piston-side working chamber 70 of the working cylinder 20 is connected to the pressure supply port P in a fluid-carrying manner, in particular permanently, preferably free of intermediate flow cross-section constriction devices, be particularly preferably directly connected.
- the piston-side working chamber 70 of the working cylinder 20 is supplied with fluid at a predefinable pressure via the inlet 40 of the fluid system 14 to lift a load and to lower the load by draining fluid from the piston-side working chamber 70 via the return 42 of the fluid system 14 to the tank T relieved.
- the proportional valve 10, which can be designed as a spool or seat, acts as a lowering valve 10.
- the check valve 58 prevents a raised load from being lowered via the pump 26, and the pressure-limiting valve 62 protects against lifting that is too heavy loads.
- control device 18 can be supplied with measured values from a travel sensor 72, which detects the travel distance and/or the travel speed of a piston rod unit 74 of the working cylinder 20. These measured values are included in the control of the proportional valve 10 .
- the fluid system 14 and the working device 68, the two sensors 46, 72, the control device 18 and the input device 48 are part of a fluid conveyor not shown in the figures, such as a forklift truck, which has a fork for lifting the load, which is activated by the working cylinder 20 in the form of a lifting cylinder 22 can be moved up and down.
- a fluid conveyor not shown in the figures, such as a forklift truck, which has a fork for lifting the load, which is activated by the working cylinder 20 in the form of a lifting cylinder 22 can be moved up and down.
- the manufacturer of the proportional valve 10 collects measured values of the flow rate Q through the proportional valve 10 as part of the final production test as a function of a varied control signal in the form of the control current I of the actuating device. 44 of the proportional valve 10 in several pressure ranges at the input connection 54 of the proportional valve 10.
- application limits of the proportional valve 10 such as a control current value I for a minimum flow Q through the proportional valve 10, a control value I for a maximum flow Q and the Resolution of the Publ cross-sectional adjustment of the proportional valve 10 can be determined.
- the family of characteristics 12 shown in FIG. 2 has a characteristic curve 16 of the flow rate Q [litres/minute] and a further characteristic curve 17 of the fluid pressure p [bar] for each pressure range, each as a function of the control current I [milliampere].
- the pressure ranges, as shown in Fig. 2 can be, for example, approximately 10 bar (reference number 78), 20 bar (reference number 80), 50 bar (reference number 82), 100 bar (reference number 84), 150 bar (reference number 86) and 200 bar (reference character 88) may be provided.
- the manufacturer of the fluid system 14 calls up the characteristic field 12 associated with the proportional valve 10 from the manufacturer of the proportional valve 10 by means of the unique identification and transfers it to the control device 18 of the fluid system 14.
- the control device 18 selects then independently, based on the measured fast pressure p ei ner respective fast, the most suitable characteristic curve 16 of the characteristic field 12 in this fast pressure range, whereby the adaptation of the control of the proportional valve 10 to the fluid system 14 takes place valve-specifically and automatically.
- a particularly well-coordinated resolution of the control current I on the proportional valve 10 is made possible.
- valve-specific control flow I required to execute this command is determined via the selected characteristic curve 16 and transmitted by the control device 18 to the Actuating device 44 of the proportional valve 10 is released, in particular for adjusting the lowering speed of the load.
- the control current I can be a pulse width modulated current signal (PWM signal). As in the prior art, the load is lifted by operating the pump 26.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202280043759.0A CN117581029A (zh) | 2021-06-23 | 2022-06-01 | 用于将对比例阀的操控与其作为流体系统一部分的功能运行相适配的方法 |
DE112022003203.0T DE112022003203A5 (de) | 2021-06-23 | 2022-06-01 | Verfahren zum Anpassen einer Ansteuerung eines Proportionalventils an seinen funktionsgemäßen Betrieb als Teil eines Fluidsystems |
EP22735292.9A EP4320356A1 (de) | 2021-06-23 | 2022-06-01 | VERFAHREN ZUM ANPASSEN EINER ANSTEUERUNG EINES PROPORTIONALVENTILS AN SEINEN FUNKTIONSGEMÄßEN BETRIEB ALS TEIL EINES FLUIDSYSTEMS |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102021003236.5 | 2021-06-23 | ||
DE102021003236.5A DE102021003236A1 (de) | 2021-06-23 | 2021-06-23 | Verfahren zum Anpassen einer Ansteuerung eines Proportionalventils an seinen funktionsgemäßen Betrieb als Teil eines Fluidsystems |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022268254A1 true WO2022268254A1 (de) | 2022-12-29 |
Family
ID=82321481
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2022/100411 WO2022268254A1 (de) | 2021-06-23 | 2022-06-01 | VERFAHREN ZUM ANPASSEN EINER ANSTEUERUNG EINES PROPORTIONALVENTILS AN SEINEN FUNKTIONSGEMÄßEN BETRIEB ALS TEIL EINES FLUIDSYSTEMS |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP4320356A1 (de) |
CN (1) | CN117581029A (de) |
DE (2) | DE102021003236A1 (de) |
WO (1) | WO2022268254A1 (de) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE69910948T2 (de) * | 1998-11-18 | 2004-05-19 | Cnh Italia S.P.A. | Hydraulischer Schaltkreis mit Selbstkalibrierungseinrichtung für Landmaschinen oder Erdbewegungsmaschinen |
DE102004005401A1 (de) * | 2004-02-03 | 2005-08-25 | Jungheinrich Aktiengesellschaft | Verfahren zum Einstellen des Steuerstroms von stromgesteuerten Hydraulikventilen |
DE69937991T2 (de) * | 1998-07-15 | 2009-01-15 | Shin Caterpillar Mitsubishi Ltd. | Methode und verfahren zur kontrolle einer maschine |
US20180142709A1 (en) * | 2016-11-24 | 2018-05-24 | Kawasaki Jukogyo Kabushiki Kaisha | Operation device and hydraulic system |
DE102019000212A1 (de) | 2019-01-12 | 2020-07-16 | Hydac Fluidtechnik Gmbh | Schaltungsanordnung |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016205971B4 (de) | 2016-04-11 | 2021-11-18 | Hawe Hydraulik Se | Hydrauliksystem, Verfahren zum Parametrieren einer Steuerungselektronik einer Hydraulikkomponente und Recheneinheit zum Kompilieren eines Programmcodes für den Betrieb einer Hydraulikanlage |
-
2021
- 2021-06-23 DE DE102021003236.5A patent/DE102021003236A1/de not_active Withdrawn
-
2022
- 2022-06-01 CN CN202280043759.0A patent/CN117581029A/zh active Pending
- 2022-06-01 DE DE112022003203.0T patent/DE112022003203A5/de active Pending
- 2022-06-01 WO PCT/DE2022/100411 patent/WO2022268254A1/de active Application Filing
- 2022-06-01 EP EP22735292.9A patent/EP4320356A1/de active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE69937991T2 (de) * | 1998-07-15 | 2009-01-15 | Shin Caterpillar Mitsubishi Ltd. | Methode und verfahren zur kontrolle einer maschine |
DE69910948T2 (de) * | 1998-11-18 | 2004-05-19 | Cnh Italia S.P.A. | Hydraulischer Schaltkreis mit Selbstkalibrierungseinrichtung für Landmaschinen oder Erdbewegungsmaschinen |
DE102004005401A1 (de) * | 2004-02-03 | 2005-08-25 | Jungheinrich Aktiengesellschaft | Verfahren zum Einstellen des Steuerstroms von stromgesteuerten Hydraulikventilen |
US20180142709A1 (en) * | 2016-11-24 | 2018-05-24 | Kawasaki Jukogyo Kabushiki Kaisha | Operation device and hydraulic system |
DE102019000212A1 (de) | 2019-01-12 | 2020-07-16 | Hydac Fluidtechnik Gmbh | Schaltungsanordnung |
Also Published As
Publication number | Publication date |
---|---|
CN117581029A (zh) | 2024-02-20 |
DE102021003236A1 (de) | 2022-12-29 |
EP4320356A1 (de) | 2024-02-14 |
DE112022003203A5 (de) | 2024-04-18 |
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