EP1413773A2 - Computerized electro-hydraulic proportional control device - Google Patents

Computerized electro-hydraulic proportional control device Download PDF

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Publication number
EP1413773A2
EP1413773A2 EP03017275A EP03017275A EP1413773A2 EP 1413773 A2 EP1413773 A2 EP 1413773A2 EP 03017275 A EP03017275 A EP 03017275A EP 03017275 A EP03017275 A EP 03017275A EP 1413773 A2 EP1413773 A2 EP 1413773A2
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EP
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Prior art keywords
control
proportional
pressure
inlet
control device
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Granted
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EP03017275A
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German (de)
French (fr)
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EP1413773A3 (en
EP1413773B1 (en
Inventor
Martin Dipl.-Ing. Univ. Heusser
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Hawe Hydraulik GmbH and Co KG
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Hawe Hydraulik GmbH and Co KG
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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
    • F15B11/006—Hydraulic "Wheatstone bridge" circuits, i.e. with four nodes, P-A-T-B, and on-off or proportional valves in each link
    • 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
    • F15B11/003—Systems with load-holding valves
    • 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"
    • 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
    • F15B11/044—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the return line, i.e. "meter out"

Definitions

  • the invention relates to a computerized electrohydraulic proportional control device of the type specified in the preamble of claim 1.
  • Pressure sensors are included in the working lines. Furthermore, adjustment path sensors connected to the computer control are assigned to the main directional control valves. As a special feature, mechanical decoupling of the inlet and outlet control edges is provided, so that the inlet and outlet could each be controlled extremely sensitively and individually.
  • the two proportional pilot valves each of which adjusts a main directional control valve, operate with the same pilot pressure, so that they influence one another and the mechanical decoupling of the control edges is at least partially nullified hydraulically.
  • controlled braking of the discharge flow is necessary in particular if a pulling or pushing load acts on a mast section which cannot be controlled with sufficient certainty by a current regulator in the inlet, since the pulling one or pushing load temporarily reverses the kinematic relationships.
  • a pulling or pushing load acts on a mast section which cannot be controlled with sufficient certainty by a current regulator in the inlet, since the pulling one or pushing load temporarily reverses the kinematic relationships.
  • Such a situation can e.g. occur if a mast section touches an obstacle when lowering or an extreme mast position causes a reversal of the direction of force.
  • the proportional pressure control valves In a control device known from US-B1-6 199 378, the proportional pressure control valves must each keep the working pressure or return pressure via slide pistons which are not leak-free in the shut-off positions. Therefore, the hydraulic consumer cannot be reliably blocked hydraulically.
  • the proportional pressure control valves provided on the outlet side contain preloaded non-return valves that limit the maximum pressure and have priority over excessive pressure increases in the event of excessive pressure increases. This means that if the load in the hydraulic motor is reversed unintentionally, pressure medium can flow to the tank, although this is not controlled by the electronic control device. This leads to movements or changes in movement on the hydraulic motor, which cannot be controlled by the electronic control device. All proportional pressure regulating valves contain spools which are acted upon directly by the proportional solenoid without pressure pre-control. This requires large, expensive and strong proportional magnets, which makes it difficult to achieve sensitive control behavior.
  • a control device known from US-A-5 875 701
  • the moving components of an earth-moving machine are actuated via hydraulic consumers, which are controlled in direction and speed by means of a joystick control with a microprocessor and unspecified valve devices.
  • the microprocessor is fed with information on the relative angular positions of the components of the machine and the joysticks.
  • the invention has for its object to provide a control device of the type mentioned, especially for a mast that is leak-tight in all shut-off positions, and in which to take into account difficult load conditions that may have a reversing effect on the hydraulic motor, the inlet and the outlet can be controlled independently of one another and individually, the performance of modern computer controls being used to adjust the control device to changing load cases.
  • the two proportional control seat valves offer the possibility of a floating position by setting the two drain proportional control seat valves to a selective passage position via the computer control. The information from the actual pressure sensors in the working lines of the hydraulic motor is processed via the computer control so that the appropriate setting is made for each control seat valve.
  • the control is able to adapt to changes in the load conditions (e.g. changes between pulling and pushing load) and to maintain the set speed of the hydraulic motor despite a simple construction of the valve assembly.
  • a pressure pilot control that can be activated against spring force via the proportional magnet in each control seat valve.
  • an individual pilot pressure of the pressure control can be set, which cannot be influenced by the pilot pressure in another proportional control valve.
  • the pressure pilot control performs the actual control adjustment of the control seat valve depending on the energization of the proportional solenoid, which therefore requires less primary force.
  • the two inlet-side control seat valves and the two outlet-side control seat valves are in each case structurally identical, preferably even identical. If necessary, even all four control seat valves are identical to one another, preferably even identical. Both options also reduce the control effort (e.g. as control signals transmitting messages) for the computer control.
  • the computer control operates with a CAN node in a CAN bus system to which the four proportional magnets are connected in parallel via a data bus.
  • the data bus preferably has a daisy chain configuration for the four proportional magnets, for which fewer or no high-quality processors are required.
  • a joint angle sensor in particular for angle detection for a superordinate mast tip position, should also be expediently provided and connected to the computer control.
  • the adjustment of the respective Proportional control poppet valves via the computer control can then take place additionally or dominantly with regard to the mast tip position or the angle between mast sections.
  • a pressure sensor for the inlet pressure to the inlet proportional control seat valves is also expediently connected to the computer control.
  • the computer control then knows the pressure difference between the supply line and the working lines. With this information, the size of the valve passage (in the outlet and / or in the inlet) can be set even more precisely in order to achieve an ideal load-independent flow distribution (LUDV), i.e. a stepless and load-independent setting of the speed of the hydraulic motor, or just throttling precisely.
  • LUDV load-independent flow distribution
  • control routines of modern processors of a computer control can continue to be used profitably, even if an electric pump drive, and possibly a pressure sensor for the pump delivery pressure, are connected to a further CAN node of the bus system, so that the drive control or regulation of the pump via the Bus system is feasible.
  • the pump can be a constant feed pump with an electrical bypass valve that is controlled from the bus system.
  • the pump can be a pressure-constant control pump that can be switched electrically from the bus system to unpressurized.
  • the pump can be a control pump with an electrical flow rate and / or delivery pressure setting controlled from the bus system.
  • a computerized, electro-hydraulic proportional control device S is used for speed and / or direction control of a hydraulic motor H, here an articulated cylinder of a mast M.
  • the hydraulic motor H is arranged between two sections 1, 3 of the mast M.
  • the two sections 1, 3 are at least pivotally connected to one another in a joint 2, so that an angle ⁇ between the sections 1, 3 can be adjusted by means of the hydraulic motor H.
  • the hydraulic motor H is fed from a pump 4, which is driven by an electric drive M, for example.
  • a pressure line 5 leads from the pump 4 to two 2/2-way proportional control seat valves VZ1, VZ2.
  • the pressure line 5 may continue to other consumers or control devices, not shown.
  • a return line 6 leads to a tank T, which comes from two outflow-side 2/2-way proportional control seat valves VA1, VA2.
  • Two working lines 7, 8 each lead to the hydraulic motor H, each with a pressure sensor 9, 10 connected to a computer control CU (a converter which converts hydraulic pressure P into an electrical signal E).
  • the pressure sensors 9, 10 are connected, for example, to a CAN node CK1 of a CAN bus system. If necessary, an angle sensor 11 is provided for the joint 2, which is also connected to the CAN node CK1 and serves to provide a higher mast tip position determined by angle detection.
  • Another pressure sensor 11 is connected to the pressure line 5 and is electrically connected to a further CAN node CK2 of the bus system, wherein the electric pump drive M can also be connected to the CAN node CK2.
  • the working line 7 branches off to the outlet-side proportional control valve VA1 and the inlet-side proportional control valve VZ1, with a branch in the branching branch to the inlet-side proportional control valve VZ1 in the direction of flow to the proportional control seat valve VZ1 non-leakage check valve 19 is arranged.
  • a check valve 19 ' is also provided for the working line 8, which branches off to the proportional control seat valves VA2, VZ2.
  • Each proportional control valve VA1, VA2, VZ1, VZ2 has its own proportional magnet 13, 14, 15, 16.
  • the proportional magnets 13 to 16 are connected in parallel to a data bus 20 to the CAN node CK1. If necessary, the data bus 20 is designed as a daisy chain.
  • a pressure pilot control 17 can be activated against the force of a valve spring 18, so that the proportional magnet adjusts the pilot pressure by adjusting the proportional control seat valve (servo effect).
  • the proportional control seat valves are structurally separate from one another, the inlet and outlet control edges are also mechanically decoupled, and an individual pilot control pressure of the pressure pilot control 17 can also be set in each proportional control seat valve, which cannot be influenced by the pilot control pressure in another proportional control seat valve is.
  • the proportional magnet 13 and the proportional magnet 16 are energized, possibly different from one another and as in the computer control Cu calculated or saved. If the angle ⁇ is to be reduced, the proportional magnet 14 and the proportional magnet 15 are energized. To brake an adjustment movement between the mast sections 1, 3, the current supply to the respective proportional magnet 15 or 16 is changed individually, for example in accordance with the information from the respective pressure sensor 9 or 10.

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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

The control of the actuator (H) used with such as a crane is based around four electro hydraulic proportional control valves (13-16) connected in a daisy chain. The pressure of the output and return lines (7,8) are monitored (9,10) and signals fed to a control unit (CU). This provides control inputs to the proportional valves to regulate the speed.

Description

Die Erfindung betrifft eine computerisierte elektrohydraulische Proportional-Steuervorrichtung der im Oberbegriff des Anspruchs 1 angegebenen Art.The invention relates to a computerized electrohydraulic proportional control device of the type specified in the preamble of claim 1.

In der Mobilhydraulik finden computerisierte Steuervorrichtungen mit Mikroprozessoren zunehmend Eingang, deren extreme Leistungsfähigkeit für hochwertige Proportional-Steuervorrichtungen eine Vielzahl außerordentlich präziser und individueller Steuerroutinen realisieren lässt, die mit der herkömmlichen Steuerelektrik kaum möglich sind.In mobile hydraulics, computerized control devices with microprocessors are increasingly being used, the extreme performance of which for high-quality proportional control devices enables a large number of extraordinarily precise and individual control routines to be implemented, which are hardly possible with conventional control electronics.

Der Artikel "Elektronic-Hydraulic CAN-Bus Control Systems" der Firma Ultronics Llmited, GL 526 RT, Englang, mit der Registiernummer UL/1/1/500/CP/1/99, befasst sich mit hydraulischen Proportional-Steuersystemen, die über ein CAN-Busnetzwerk mit Ventilbetätigungen kommunizieren. Auf der mit "Power Stage" betitelten Seite ist im Querschnitt eine Proportional-Wegesteuerventilanordnung gezeigt, die in eine auf der "System Schematic" betitelten Seite als Blockschaltbild gezeigte, computerisierte elektrohydraulische Proportional-Steuervorrichtung für einen Hydromotor integriert ist. Jeweils ein einer Arbeitsleitung zugeordnetes 3/3-Haupt-Wegesteuerventil mit Druckvorsteuerung wird durch ein zugeordnetes Proportional-Vorsteuerwegeventil verstellt, das an die Computersteuerung angeschlossen ist. In den Arbeitsleitungen sind Drucksensoren enthalten. Ferner sind den Haupt-Wegesteuerventilen an die Computersteuerung angeschlossene Verstellweg-Sensoren zugeordnet. Als Besonderheit ist eine mechanische Entkoppelung der Zulauf- und der Ablaufsteuerkanten vorgesehen, so dass der Zulauf und der Ablauf jeweils für sich extrem feinfühlig individuell steuerbar wären. Allerdings operieren die beiden Proportional-Vorsteuerventile, deren jedes ein Haupt-Wegesteuerventil verstellt, mit demselben Pilotdruck, so dass sie sich gegenseitig beeinflussen und die mechanische Entkopplung der Steuerkanten hydraulisch zumindest teilweise wieder zunichte gemacht ist.The article "Elektronic-Hydraulic CAN-Bus Control Systems" by Ultronics Llmited, GL 526 RT, Englang, with the registration number UL / 1/1/500 / CP / 1/99, deals with hydraulic proportional control systems that are used communicate a CAN bus network with valve actuations. On the side titled "Power Stage", a proportional directional control valve arrangement is shown in cross section, which is integrated in a computerized electrohydraulic proportional control device for a hydraulic motor shown as a block diagram on the "System Schematic" side. In each case a 3/3 main directional control valve with pressure pilot control assigned to a working line is adjusted by an assigned proportional pilot directional control valve which is connected to the computer control. Pressure sensors are included in the working lines. Furthermore, adjustment path sensors connected to the computer control are assigned to the main directional control valves. As a special feature, mechanical decoupling of the inlet and outlet control edges is provided, so that the inlet and outlet could each be controlled extremely sensitively and individually. However, the two proportional pilot valves, each of which adjusts a main directional control valve, operate with the same pilot pressure, so that they influence one another and the mechanical decoupling of the control edges is at least partially nullified hydraulically.

Der Artikel "Klassiker kontra Neuentwicklung ?" der Zeitschrift "fluid", Januar/Februar 2002, S. 26 und 28, 29, diskutiert Entwicklungstendenzen in der Steuerungstechnik von Mobilhydraulik, auch mit von einem Rechner gesteuerten CAN-Buskonzepten zum Ansteuern von Vorsteuerventilen. Es wird bei einer Ventilbaugruppe mit zwei Proportional-Vorsteuerventilen und zwei Haupt-Wegesteuerventilen die mechanische Entkopplung der Zulauf- und Ablaufsteuerkanten diskutiert, die eine sehr saubere und individuelle Zulauf- und Ablaufsteuerung ermöglicht, wenn die Vorsteuerventile nicht durch denselben Steuerdruck die Steuerkanten gleichsinnig verstellten. Obwohl die Steuerkanten mechanisch entkoppelt sind, wirkt dennoch fallweise eine überregelnde hydraulische Koppelung, die eine individuelle Regelung nur des Zulaufs bzw. nur des Ablaufs verwehrt.The article "Classic versus new development?" of the magazine "fluid", January / February 2002, pp. 26 and 28, 29, discusses development trends in the control technology of mobile hydraulics, also with CAN bus concepts controlled by a computer for controlling pilot valves. For a valve assembly with two proportional pilot valves and two main directional control valves, the mechanical decoupling of the inlet and outlet control edges is discussed, which enables a very clean and individual inlet and outlet control if the pilot valves did not adjust the control edges in the same direction by the same control pressure. Although the control edges are mechanically decoupled, an over-regulating hydraulic coupling still acts in some cases, which prevents individual regulation of only the inflow or outflow.

Im Besonderen bei Steuervorrichtungen von Masten oder Mast-Drehwerken für Kräne oder Betonpumpen ist ein gesteuertes Abbremsen des Ablaufstroms insbesondere dann erforderlich, wenn eine ziehende oder drückende Last auf einen Mastabschnitt einwirkt, die mit einem Stromregler im Zulauf nicht ausreichend sicher beherrschbar ist, da die ziehende oder drückende Last die kinematischen Verhältnisse vorübergehend umkehrt. Eine solche Situation kann z.B. eintreten, falls ein Mastabschnitt beim Senken ein Hindernis berührt oder eine extreme Maststellung eine Kraftrichtungsumkehr hervorruft.In particular in the case of control devices for masts or mast slewing gear for cranes or concrete pumps, controlled braking of the discharge flow is necessary in particular if a pulling or pushing load acts on a mast section which cannot be controlled with sufficient certainty by a current regulator in the inlet, since the pulling one or pushing load temporarily reverses the kinematic relationships. Such a situation can e.g. occur if a mast section touches an obstacle when lowering or an extreme mast position causes a reversal of the direction of force.

Bei einer aus US-B1-6 199 378 bekannten Steuervorrichtung müssen die Proportional-Druckregelventile jeweils den Arbeitsdruck bzw. Rücklaufdruck über Schieberkolben halten, die in den Absperrstellungen nicht leckagefrei sind. Deshalb lässt sich der Hydroverbraucher nicht zuverlässig hydraulisch blockieren. In den ablaufseitig vorgesehenen Proportional-Druckregelventilen sind vorgespannte Rückschlagventile enthalten, die den Maximaldruck begrenzen und bei exzessiven Druckanstiegen mit Priorität gegenüber der Proportionaldruckregelung wirken. Dies bedeutet, dass bei einer ungewollten Lastumkehr im Hydromotor Druckmittel zum Tank abfließen kann, obwohl dies durch die elektronische Steuervorrichtung nicht eingesteuert wird. Dies führt zu Bewegungen oder Bewegungsänderungen am Hydromotor, die durch die elektronische Steuervorrichtung nicht beherrschbar sind. Alle Proportional-Druckregelventile enthalten Schieber, die ohne Druckvorsteuerung direkt vom Proportionalmagneten beaufschlagt werden. Dies erfordert großbauende, teure und starke Proportionalmagneten, wodurch sich ein feinfühliges Steuerverhalten nur schwierig erzielen lässt.In a control device known from US-B1-6 199 378, the proportional pressure control valves must each keep the working pressure or return pressure via slide pistons which are not leak-free in the shut-off positions. Therefore, the hydraulic consumer cannot be reliably blocked hydraulically. The proportional pressure control valves provided on the outlet side contain preloaded non-return valves that limit the maximum pressure and have priority over excessive pressure increases in the event of excessive pressure increases. This means that if the load in the hydraulic motor is reversed unintentionally, pressure medium can flow to the tank, although this is not controlled by the electronic control device. This leads to movements or changes in movement on the hydraulic motor, which cannot be controlled by the electronic control device. All proportional pressure regulating valves contain spools which are acted upon directly by the proportional solenoid without pressure pre-control. This requires large, expensive and strong proportional magnets, which makes it difficult to achieve sensitive control behavior.

Bei einer aus US-A-5 875 701 bekannten Steuervorrichtung werden die beweglichen Komponenten einer Erdbewegungsmaschine über Hydroverbraucher betätigt, die über eine Joystick-Steuerung mit einem Mikroprozessor und nicht näher spezifizierte Ventileinrichtungen in Richtung und Geschwindigkeit gesteuert werden. Der Mikroprozessor wird mit Informationen zu den relativen Winkelpositionen der Komponenten der Maschine und der Joysticks gespeist.In a control device known from US-A-5 875 701, the moving components of an earth-moving machine are actuated via hydraulic consumers, which are controlled in direction and speed by means of a joystick control with a microprocessor and unspecified valve devices. The microprocessor is fed with information on the relative angular positions of the components of the machine and the joysticks.

Weiterer Stand der Technik ist enthalten in EP-A-0 900 888 und US-B1-6 467 264.Further prior art is contained in EP-A-0 900 888 and US-B1-6 467 264.

Der Erfindung liegt die Aufgabe zugrunde, eine Steuervorrichtung der eingangs genannten Art anzugeben, insbesondere für einen Masten, die in allen Absperrstellungen leckagefrei dicht ist, und bei der zur Berücksichtigung schwieriger Lastverhältnisse, die sich auf den Hydromotor gegebenenfalls lastumkehrend auswirken, der Zulauf und der Ablauf unabhängig voneinander und individuell feinfühlig steuerbar sind, wobei die Leistungsfähigkeit moderner Computersteuerungen benutzt wird, um die Steuervorrichtung auf sich ändernde Belastungsfälle einzustellen.The invention has for its object to provide a control device of the type mentioned, especially for a mast that is leak-tight in all shut-off positions, and in which to take into account difficult load conditions that may have a reversing effect on the hydraulic motor, the inlet and the outlet can be controlled independently of one another and individually, the performance of modern computer controls being used to adjust the control device to changing load cases.

Die gestellte Aufgabe wird mit den Merkmalen des Anspruchs 1 gelöst.The object is achieved with the features of claim 1.

In den beiden, je einer Arbeitsleitung zugeordneten 2/2-Wege-Proportional-Regelsitzventilen ist nicht nur eine mechanische Entkopplung zwischen jeder Zulaufund der Ablauf-Steuerkante gegeben, sondern es entfällt jeglicher gegenseitiger Einfluss der beiden Regelsitzventile aufeinander, da jedes Sitzventil nur nach Maßgabe der Bestromung seines Proportionalmagneten unabhängig von dem anderen arbeitet. Die Sitzventil-Bauweise vermeidet jegliche Leckage in der Absperrstellung, so dass der Hydromotor keine lastbedingten Nachlauf- oder Gegenbewegungen auszuführen vermag. Dennoch bieten die beiden Proportional-Regelsitzventile die Möglichkeit einer Schwimmstellung, indem die beiden Ablauf-Proportional-Regelsitzventile über die Computersteuerung auf eine selektive Durchgangsstellung eingestellt werden. Die Informationen der Ist-Drucksensoren in den Arbeitsleitungen des Hydromotors werden über die Computersteuerung so verarbeitet, dass für jedes Regelsitzventil die passende Einstellung vorgenommen wird. Die Steuerung ist auch dank der Computersteuerung jederzeit in der Lage, sich an Änderungen der Lastverhältnisse (z.B. Wechsel zwischen ziehender und drückender Last) anzupassen und trotz eines einfachen Aufbaus der Ventilbaugruppe die eingestellte Geschwindigkeit des Hydromotors zu halten. Um bei großer Fördermenge und/oder hohem Arbeitsdruck mit klein bauenden, kostengünstigen und leichten Proportionalmagneten auskommen zu können, ist es zweckmäßig, in jedem Regel-Sitzventil eine über den Proportionalmagneten gegen Federkraft aktivierbare Druckvorsteuerung vorzusehen. In jedem Proportional-Regelsitzventil ist so ein individueller Vorsteuerdruck der Druckvorsteuerung einstellbar, der durch den Vorsteuerdruck in einem anderen Proportional-Regelsitzventil nicht beeinflussbar ist. Die Druckvorsteuerung nimmt die eigentliche Regelverstellung des Regelsitzventils in Abhängigkeit von der Bestromung des Proportionalmagneten vor, der deshalb mit geringerer Primärkraft auskommt. Dies hat z.B. bei den Ablauf-Regel-Sitzventilen den Vorteil, dass bei einer Lastumkehr (ziehende Last) der Vorsteuerdruck der Druckvorsteuerung steigt und flankierend zu jederzeit anpassbarer Bestromung des Proportionalmagneten zur Verkleinerung des Ablauf-Ventildurchgangs beiträgt, um die eingestellte Geschwindigkeit des Hydromotors zu halten.In the two 2/2-way proportional control seat valves, each assigned to a working line, there is not only mechanical decoupling between each inlet and the outlet control edge, but there is no mutual influence of the two control seat valves on each other, since each seat valve only works in accordance with the Energizing its proportional magnet works independently of the other. The poppet valve design prevents any leakage in the shut-off position, so that the hydraulic motor cannot make any load-related wake or counter movements. Nevertheless, the two proportional control seat valves offer the possibility of a floating position by setting the two drain proportional control seat valves to a selective passage position via the computer control. The information from the actual pressure sensors in the working lines of the hydraulic motor is processed via the computer control so that the appropriate setting is made for each control seat valve. Thanks to the computer control, the control is able to adapt to changes in the load conditions (e.g. changes between pulling and pushing load) and to maintain the set speed of the hydraulic motor despite a simple construction of the valve assembly. In order to be able to make do with small, inexpensive and light proportional magnets with a large delivery volume and / or high working pressure, it is expedient to provide a pressure pilot control that can be activated against spring force via the proportional magnet in each control seat valve. In each proportional control valve, an individual pilot pressure of the pressure control can be set, which cannot be influenced by the pilot pressure in another proportional control valve. The pressure pilot control performs the actual control adjustment of the control seat valve depending on the energization of the proportional solenoid, which therefore requires less primary force. This has the advantage, for example, with the drain control poppet valves that when the load reverses (pulling load), the pilot pressure of the pressure pilot control increases and flanking the flow of the proportional solenoid, which can be adjusted at any time, to reduce the drain valve passage in order to maintain the set speed of the hydraulic motor ,

Kostengünstig sind die beiden zulaufseitigen Regelsitzventile und die beiden ablaufseitigen Regelsitzventile jeweils untereinander baugleich, vorzugsweise sogar identisch. Gegebenenfalls sind sogar alle vier Regelsitzventile untereinander baugleich, vorzugsweise sogar identisch. Beide Möglichkeiten verringern auch den steuerungstechnischen Aufwand (z.B. als Nachrichten übertragende Stellsignale) für die Computersteuerung.The two inlet-side control seat valves and the two outlet-side control seat valves are in each case structurally identical, preferably even identical. If necessary, even all four control seat valves are identical to one another, preferably even identical. Both options also reduce the control effort (e.g. as control signals transmitting messages) for the computer control.

Eine einfache Verschaltung ist möglich, falls die Computersteuerung mit einem CAN-Knoten in einem CAN-Bussystem operiert, an den über einen Datenbus die vier Proportionalmagneten parallel angeschlossen sind. Vorzugsweise hat der Datenbus, zu den vier Proportionalmagneten, eine Daisy-Chain-Konfiguration, wofür weniger oder keine hochwertigen Prozessoren erforderlich sind.Simple connection is possible if the computer control operates with a CAN node in a CAN bus system to which the four proportional magnets are connected in parallel via a data bus. The data bus preferably has a daisy chain configuration for the four proportional magnets, for which fewer or no high-quality processors are required.

Bei einem Hydromotor, der ein Knickzylinder zwischen zwei in einem Gelenk verbundenen Mastabschnitten ist, sollte zweckmäßig auch ein Gelenk-Winkelsensor insbesondere zur Winkelerfassung für eine übergeordnete Mastspitzen-Position, vorgesehen und an die Computersteuerung angeschlossen sein. Die Verstellung der jeweiligen Proportional-Regel-Sitzventile über die Computersteuerung kann dann zusätzlich oder dominierend im Hinblick auf die Mastspitzenposition oder den Winkel zwischen Mastabschnitten erfolgen.In the case of a hydraulic motor, which is an articulated cylinder between two mast sections connected in a joint, a joint angle sensor, in particular for angle detection for a superordinate mast tip position, should also be expediently provided and connected to the computer control. The adjustment of the respective Proportional control poppet valves via the computer control can then take place additionally or dominantly with regard to the mast tip position or the angle between mast sections.

Zweckmäßig ist ferner ein Drucksensor für den Zulaufdruck zu den Zulauf-Proportional-Regelsitzventilen, an die Computersteuerung angeschlossen. Die Computersteuerung kennt dann die Druckdifferenz zwischen der Versorgungsleitung und den Arbeitsleitungen. Mit dieser Information lässt sich die Größe des Ventildurchgangs (im Ablauf und/oder im Zulauf) noch präziser einstellen, um eine ideale lastunabhängige Durchflussverteilung (LUDV) zu erzielen, d.h. eine stufenlose und lastunabhängige Einstellung der Geschwindigkeit des Hydromotors, oder nur präzise einzdrosseln.A pressure sensor for the inlet pressure to the inlet proportional control seat valves is also expediently connected to the computer control. The computer control then knows the pressure difference between the supply line and the working lines. With this information, the size of the valve passage (in the outlet and / or in the inlet) can be set even more precisely in order to achieve an ideal load-independent flow distribution (LUDV), i.e. a stepless and load-independent setting of the speed of the hydraulic motor, or just throttling precisely.

Die Vielfalt der Steuerroutinen moderner Prozessoren einer Computersteuerung lässt sich weiter gewinnbringend nutzen, wenn auch ein elektrischer Pumpenantrieb, und gegebenenfalls ein Drucksensor für den Pumpenförderdruck, an einen weiteren CAN-Knoten des Bussystems angeschlossen sind, so dass auch die Antriebssteuerung oder Regelung der Pumpe über das Bussystem durchführbar ist.The variety of control routines of modern processors of a computer control can continue to be used profitably, even if an electric pump drive, and possibly a pressure sensor for the pump delivery pressure, are connected to a further CAN node of the bus system, so that the drive control or regulation of the pump via the Bus system is feasible.

Bei einer Ausführungsform kann die Pumpe eine Konstantförderpumpe mit einem elektrischen Beipassventil sein, das aus dem Bussystem gesteuert wird.In one embodiment, the pump can be a constant feed pump with an electrical bypass valve that is controlled from the bus system.

Bei einer anderen Ausführungsform kann die Pumpe eine druckkonstante Regelpumpe sein, die elektrisch aus dem Bussystem auf drucklos schaltbar ist.In another embodiment, the pump can be a pressure-constant control pump that can be switched electrically from the bus system to unpressurized.

Bei einer weiteren Ausführungsform kann die Pumpe eine Regelpumpe mit elektrischer, und aus dem Bussystem gesteuerter Förderstrom- und/oder Förderdruck-Einstellung sein.In a further embodiment, the pump can be a control pump with an electrical flow rate and / or delivery pressure setting controlled from the bus system.

Eine Ausführungsform des Erfindungsgegenstandes wird anhand der Zeichnung erläutert.

Fig. 1
ist ein Blockschaltbild einer computerisierten, elektrohydraulischen Proportional-Steuervorrichtung für einen Hydromotor, der beispielsweise ein Knickzylinder eines Masten eines Mobilkrans oder einer Betonpumpe ist.
An embodiment of the subject matter of the invention is explained with reference to the drawing.
Fig. 1
Fig. 3 is a block diagram of a computerized electrohydraulic proportional control device for a hydraulic motor which is, for example, an articulated cylinder of a mast of a mobile crane or a concrete pump.

In Fig. 1 dient eine computerisierte, elektrohydraulische Proportional-Steuervorrichtung S zur Geschwindigkeits- und/oder Richtungssteuerung eines Hydromotors H, hier eines Knickzylinders eines Masten M. Der Hydromotor H ist zwischen zwei Abschnitten 1, 3 des Masten M eingeordnet. Die beiden Abschnitte 1, 3 sind in einem Gelenk 2 zumindest schwenkbar miteinander verbunden, so dass sich ein Winkel α zwischen den Abschnitten 1, 3 mittels des Hydromotors H verstellen lässt.In Fig. 1, a computerized, electro-hydraulic proportional control device S is used for speed and / or direction control of a hydraulic motor H, here an articulated cylinder of a mast M. The hydraulic motor H is arranged between two sections 1, 3 of the mast M. The two sections 1, 3 are at least pivotally connected to one another in a joint 2, so that an angle α between the sections 1, 3 can be adjusted by means of the hydraulic motor H.

Der Hydromotor H wird aus einer Pumpe 4 gespeist, die durch einen beispielsweise elektrischen Antrieb M angetrieben wird. Von der Pumpe 4 führt eine Druckleitung 5 zu zwei 2/2-Wege-Proportional-Regelsitzventilen VZ1, VZ2. Die Druckleitung 5 setzt sich gegebenenfalls zu weiteren nicht gezeigten Verbrauchern oder Steuervorrichtungen fort. Zu einem Tank T führt eine Rücklaufleitung 6, die von zwei ablaufseitigen 2/2-Wege-Proportional-Regelsitzventilen VA1, VA2 kommt.The hydraulic motor H is fed from a pump 4, which is driven by an electric drive M, for example. A pressure line 5 leads from the pump 4 to two 2/2-way proportional control seat valves VZ1, VZ2. The pressure line 5 may continue to other consumers or control devices, not shown. A return line 6 leads to a tank T, which comes from two outflow-side 2/2-way proportional control seat valves VA1, VA2.

Zum Hydromotor H führen zwei Arbeitsleitungen 7, 8 mit je einem an eine Computersteuerung CU angeschlossenen Drucksensor 9, 10 (einen Wandler, der hydraulischen Druck P in ein elektrisches Signal E wandelt). Die Drucksensoren 9, 10 sind beispielsweise mit einem CAN-Knoten CK1 eines CAN-Bussystems verbunden.Gegebenenfalls ist für das Gelenk 2 ein Winkelsensor 11 vorgesehen, der ebenfalls an den CAN-Knoten CK1 angeschlossen ist, und dazu dient, eine übergeordnete Mastspitzen-Position durch Winkelerfassung zu ermitteln.Two working lines 7, 8 each lead to the hydraulic motor H, each with a pressure sensor 9, 10 connected to a computer control CU (a converter which converts hydraulic pressure P into an electrical signal E). The pressure sensors 9, 10 are connected, for example, to a CAN node CK1 of a CAN bus system. If necessary, an angle sensor 11 is provided for the joint 2, which is also connected to the CAN node CK1 and serves to provide a higher mast tip position determined by angle detection.

Ein weiterer Drucksensor 11 ist an die Druckleitung 5 angeschlossen und elektrisch mit einem weiteren CAN-Knoten CK2 des Bussystems verbunden, wobei an den CAN-Knoten CK2 auch der elektrische Pumpenantrieb M angeschlossen sein kann.Another pressure sensor 11 is connected to the pressure line 5 and is electrically connected to a further CAN node CK2 of the bus system, wherein the electric pump drive M can also be connected to the CAN node CK2.

Die Arbeitsleitung 7 zweigt sich zu dem ablaufseitigen Proportional-Regelsitzventil VA1 und dem zulaufseitigen Proportional-Regelsitzventil VZ1 auf, wobei in dem abzweigenden Ast zum zulaufseitigen Proportional-Regelsitzventil VZ1 ein in Strömungsrichtung zum Proportional-Regelsitzventil VZ1 leckagefrei absperrendes Rückschlagventil 19 angeordnet ist. Analog ist auch für die Arbeitsleitung 8, die sich zu den Proportional-Regelsitzventilen VA2, VZ2 aufzweigt, ein Rückschlagventil 19' vorgesehen.The working line 7 branches off to the outlet-side proportional control valve VA1 and the inlet-side proportional control valve VZ1, with a branch in the branching branch to the inlet-side proportional control valve VZ1 in the direction of flow to the proportional control seat valve VZ1 non-leakage check valve 19 is arranged. Similarly, a check valve 19 'is also provided for the working line 8, which branches off to the proportional control seat valves VA2, VZ2.

Jedes Proportional-Regelsitzventil VA1, VA2, VZ1, VZ2 hat einen eigenen Proportionalmagneten 13, 14, 15, 16. Die Proportionalmagneten 13 bis 16 sind parallel an einen Datenbus 20 zum CAN-Knoten CK1 angeschlossen. Gegebenenfalls ist der Datenbus 20 als Daisy-Chain ausgelegt. Mit jedem Proportionalmagneten 13 bis 16 ist eine Druckvorsteuerung 17 gegen die Kraft einer Ventilfeder 18 aktivierbar, so dass der Proportionalmagnet durch Verstellen des Proportional-Regelsitzventils den Vorsteuerdruck einstellt (Servowirkung).Each proportional control valve VA1, VA2, VZ1, VZ2 has its own proportional magnet 13, 14, 15, 16. The proportional magnets 13 to 16 are connected in parallel to a data bus 20 to the CAN node CK1. If necessary, the data bus 20 is designed as a daisy chain. With each proportional magnet 13 to 16, a pressure pilot control 17 can be activated against the force of a valve spring 18, so that the proportional magnet adjusts the pilot pressure by adjusting the proportional control seat valve (servo effect).

Jedes Proportional-Regelsitzventil VA1, VA2, VZ1, VZ2 definiert einen eigenen Ventildurchgang (DA = Ablaufdurchgang in VA1, VA2; DZ = Zulaufdurchgang in VZ1 und VZ2), dessen Größe durch Verstellen einer nicht hervorgehobenen Steuerkante variabel ist, um den Durchfluss lastunabhängig einzustellen, oder gegebenenfalls eine verstellbare Drosselwirkung zu erzeugen. In der Absperrstellung ist der Ventildurchgang leckagefrei dicht.Each proportional control valve VA1, VA2, VZ1, VZ2 defines its own valve passage (DA = drain passage in VA1, VA2; DZ = inlet passage in VZ1 and VZ2), the size of which can be varied by adjusting a control edge that is not highlighted in order to set the flow independently of the load, or if necessary to produce an adjustable throttle effect. In the shut-off position, the valve passage is leak-tight.

Da die Proportional-Regelsitzventile baulich voneinander getrennt sind, sind auch die Zulauf- und Ablauf-Steuerkanten mechanisch entkoppelt, und ist ferner in jedem Proportional-Regelsitzventil ein individueller Vorsteuerdruck der Druckvorsteuerung 17 einstellbar, der durch den Vorsteuerdruck in einem anderen Proportional-Regelsitzventil nicht beeinflussbar ist.Since the proportional control seat valves are structurally separate from one another, the inlet and outlet control edges are also mechanically decoupled, and an individual pilot control pressure of the pressure pilot control 17 can also be set in each proportional control seat valve, which cannot be influenced by the pilot control pressure in another proportional control seat valve is.

In Fig. 1 ist kein Proportionalmagnet 13 bis 16 bestromt. Alle Proportional-Regelsitzventile VZ1, VZ2, VA2, werden von den Ventilfedern 18 in ihren Absperrstellungen gehalten, in denen sie leckagefrei dicht sind. Auch die Rückschlagventile 19, 19' sperren leckagefrei ab. Der Hydromotor H ist hydraulisch blockiert.In Fig. 1, no proportional magnet 13 to 16 is energized. All proportional control seat valves VZ1, VZ2, VA2 are held in their shut-off positions by the valve springs 18, in which they are leak-tight. The check valves 19, 19 'shut off without leakage. The hydraulic motor H is hydraulically blocked.

Um den Winkel α zu vergrößern, werden der Proportionalmagnet 13 und der Proportionalmagnet 16 bestromt, ggfs. voneinander verschieden und wie in der Computersteuerung Cu berechnet oder gespeichert. Ist der Winkel α zu verkleinern, dann werden der Proportionalmagnet 14 und der Proportionalmagnet 15 bestromt. Zum Abbremsen einer Verstellbewegung zwischen den Mastabschnitten 1, 3 wird die Bestromung des jeweiligen Proportionalmagneten 15 oder 16 individuell verändert, z.B. nach Maßgabe der Information des jeweiligen Drucksensors 9 bzw. 10. Tritt beispielsweise beim Vergrößern des Winkels α eine Lastrichtungsumkehr von einer drückenden zu einer ziehenden Last ein (über den Drucksensor 9 oder über beide Drucksensoren 9, 10 festgestellt), dann wird zum Beibehalten der eingestellten Bewegungsgeschwindigkeit des Hydromotors H entweder die Bestromung des Proportionalmagneten 15, und/oder die Bestromung des Proportionalmagneten 14 entsprechend verringert.To increase the angle α, the proportional magnet 13 and the proportional magnet 16 are energized, possibly different from one another and as in the computer control Cu calculated or saved. If the angle α is to be reduced, the proportional magnet 14 and the proportional magnet 15 are energized. To brake an adjustment movement between the mast sections 1, 3, the current supply to the respective proportional magnet 15 or 16 is changed individually, for example in accordance with the information from the respective pressure sensor 9 or 10. If, for example, the angle α is reversed, a load direction change from a pressing to a pulling direction occurs Load on (determined via the pressure sensor 9 or via both pressure sensors 9, 10), then either the energization of the proportional magnet 15 and / or the energization of the proportional magnet 14 is reduced accordingly in order to maintain the set movement speed of the hydraulic motor H.

Claims (10)

Computerisierte elektrohydraulische Proportional-Steuervorrichtung für wenigstens einen Hydromotor (H), insbesondere für einen Masten (M) eines Kranes oder einer Betonpumpe, mit zwischen einer Pumpe (4) mit Tank (T) und dem Hydromotor (H) angeordneten Proportional-Steuerventilen zum Einstellen der Hydromotor-Bewegungs-Geschwindigkeit und -richtung über mit verstellbaren Steuerkanten variable Ventil-Durchgänge (VA1, VA2, VZ1, VZ2) an der Zulauf- und der Ablaufseite, wobei die Zulauf- und Ablaufsteuerkanten mechanisch entkoppelt sind, und mit einer Computersteuerung (CU), an die zumindest Drucksensoren (9, 10) in den beiden Hydromotor-Arbeitsleitungen (7, 8) und die Proportionalmagneten (13 bis 16) der Proportional-Steuerventile angeschlossen sind, dadurch gekennzeichnet, dass für jede Arbeitsleitung (7 bzw. 8) zulaufseitig und ablaufseitig je ein 2/2-Wege-Proportional-Regelsitzventil (VA1, VA2, VZ1, VZ2) vorgesehen ist, das für die Arbeitsleitung (7 bzw. 8) einen variablen Zulauf- und einen variablen Ablaufdurchgang (DA, DZ) aufweist, dass zwischen der Arbeitsleitung (7) bzw. (8) und dem Zulaufdurchgang (DZ) ein in Strömungsrichtung zum Zulaufdurchgang leckagefrei absperrendes Rückschlagventil (19, 19') angeordnet ist, dass bei nicht bestromtem Proportionalmagneten (13, 14, 15, 16) das zulaufseitige Ventil (VZ1, VZ2) in einer leckagefreien Zulauf-Absperrstellung und das ablaufseitige Ventil (VA1, VA2) in einer leckagefreien Ablauf-Absperrstellung gehalten ist, und dass jedes Ventil (VA1, VA2, VZ1, VZ2) eine über den Proportionalmagneten (13 bis 16) gegen Federkraft (18) aktivierbare Druckvorsteuerung (17) aufweist, mit der ein individueller, durch den Vorsteuerdruck in einem anderen Ventil nicht beeinflussbarer Vorsteuerdruck einstellbar ist.Computerized electrohydraulic proportional control device for at least one hydraulic motor (H), in particular for a mast (M) of a crane or a concrete pump, with proportional control valves arranged between a pump (4) with tank (T) and the hydraulic motor (H) for adjustment the hydraulic motor movement speed and direction via variable valve passages (VA1, VA2, VZ1, VZ2) on the inlet and outlet sides, with the inlet and outlet control edges being mechanically decoupled, and with a computer control (CU ), to which at least pressure sensors (9, 10) in the two hydraulic motor working lines (7, 8) and the proportional magnets (13 to 16) of the proportional control valves are connected, characterized in that for each working line (7 or 8) A 2/2-way proportional control poppet valve (VA1, VA2, VZ1, VZ2) is provided on the inlet and outlet sides, which has a variable inlet for the working line (7 or 8). and has a variable drain passage (DA, DZ) that between the working line (7) or (8) and the inlet passage (DZ) a non-leakage check valve (19, 19 ') is arranged in the flow direction to the inlet passage, that when the valve is not energized Proportional magnets (13, 14, 15, 16) the inlet-side valve (VZ1, VZ2) is held in a leak-free inlet shut-off position and the outlet-side valve (VA1, VA2) in a leak-free outlet shut-off position, and that each valve (VA1, VA2 , VZ1, VZ2) has a pressure pilot control (17) which can be activated against the spring force (18) via the proportional magnet (13 to 16) and with which an individual pilot pressure which cannot be influenced by the pilot pressure in another valve can be set. Steuervorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die beiden zulaufseitigen Ventile (VZ1, VZ2) und die beiden ablaufseitigen Ventile (VA1, VA2) jeweils untereinander baugleich, vorzugsweise identisch, ausgebildet sind.Control device according to claim 1, characterized in that the two inlet-side valves (VZ1, VZ2) and the two outlet-side valves (VA1, VA2) are each constructed identically to one another, preferably identically. Steuervorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass alle vier Ventile (VA1, VA2, VZ1, VZ2) baugleich, vorzugsweise identisch, ausgebildet sind.Control device according to claim 1, characterized in that all four valves (VA1, VA2, VZ1, VZ2) are constructed identically, preferably identically. Steuervorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Computersteuerung (CU) einen CAN-Knoten (CK1) in einem CAN-Bussystem (B) aufweist, und dass die vier Proportionalmagneten (13 bis 16) parallel an einen Datenbus (20) angeschlossen sind, vorzugsweise an einen in einer Daisy-Chain-Konfiguration ausgebildeten Datenbus.Control device according to claim 1, characterized in that the computer control (CU) has a CAN node (CK1) in a CAN bus system (B), and that the four proportional magnets (13 to 16) are connected in parallel to a data bus (20) , preferably to a data bus designed in a daisy chain configuration. Steuervorrichtung nach wenigstens einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass der Hydromotor (H) ein Knickzylinder zwischen zwei in einem Gelenk (2) verbundenen Mastabschnitten (1, 3) ist, und dass ein Gelenk-Winkelsensor (11), vorzugsweise zur Winkelerfassung für eine übergeordnete Mastspitzen-Position, vorgesehen und an die Computersteuerung (CU) angeschlossen ist.Control device according to at least one of Claims 1 to 4, characterized in that the hydraulic motor (H) is an articulated cylinder between two mast sections (1, 3) connected in a joint (2), and in that a joint angle sensor (11), preferably for Angle detection for a higher mast tip position, is provided and connected to the computer control (CU). Steuervorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass ein den Zulaufdruck zu den zulaufseitigen Ventilen (VZ1, VZ2) abgreifender Drucksensor (11) vorgesehen und an die Computersteuerung (CU) angeschlossen ist.Control device according to Claim 1, characterized in that a pressure sensor (11) which taps the inlet pressure to the inlet-side valves (VZ1, VZ2) is provided and is connected to the computer control (CU). Steuervorrichtung nach Anspruch 4, dadurch gekennzeichnet, dass ein elektrischer Pumpenantrieb (M) und der den Pumpenförderdruck abgreifende Drucksensor (11) an einen weiteren CAN-Knoten (CK2) des CAN-Bussystems (B) angeschlossen sind.Control device according to claim 4, characterized in that an electric pump drive (M) and the pressure sensor (11) tapping the pump delivery pressure are connected to a further CAN node (CK2) of the CAN bus system (B). Steuervorrichtung nach Anspruch 7, dadurch gekennzeichnet, dass die Pumpe (4) eine Konstantförderpumpe mit aus dem Bussystem betätigbarem, elektrischen Beipassventil ist.Control device according to Claim 7, characterized in that the pump (4) is a constant feed pump with an electrical bypass valve which can be actuated from the bus system. Steuervorrichtung nach Anspruch 7, dadurch gekennzeichnet, dass die Pumpe (4) eine druckkonstante Regelpumpe und auf drucklos schaltbar, vorzugsweise aus dem Bussystem elektrisch auf drucklos schaltbar, ausgebildet ist.Control device according to claim 7, characterized in that the pump (4) is a pressure-constant control pump and can be switched to pressureless, preferably electrically switchable to pressureless from the bus system. Steuervorrichtung nach Anspruch 7, dadurch gekennzeichnet, dass die Pumpe (4) eine Regelpumpe mit elektrischer, aus dem Bussystem betätigbarer Förderstromund/oder Förderdruck-Einstellung ist.Control device according to claim 7, characterized in that the pump (4) is a control pump with electrical delivery flow and / or delivery pressure setting which can be actuated from the bus system.
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WO2006094970A2 (en) * 2005-03-08 2006-09-14 Robert Bosch Gmbh Method for protecting against jamming and jamming protection device
WO2006094970A3 (en) * 2005-03-08 2006-12-14 Bosch Gmbh Robert Method for protecting against jamming and jamming protection device
US7444809B2 (en) 2006-01-30 2008-11-04 Caterpillar Inc. Hydraulic regeneration system
WO2008000707A1 (en) * 2006-06-26 2008-01-03 Robert Bosch Gmbh Method for actuating an electrohydraulic soft top, and system for carrying out said method
EP2199186A1 (en) 2008-12-17 2010-06-23 HAWE Hydraulik SE Hydraulic steering controller
EP2392819A1 (en) * 2010-05-31 2011-12-07 HAWE Hydraulik SE Device for an electrohydraulic adjustment of a pitch angle of rotor blades on a rotor of a wind turbine
US8726645B2 (en) 2010-12-15 2014-05-20 Caterpillar Inc. Hydraulic control system having energy recovery
CN102339026A (en) * 2011-05-26 2012-02-01 陈海波 Horizontal control system for operation platform based on gravity adjustment
CN102339026B (en) * 2011-05-26 2014-05-28 昆山航天智能技术有限公司 Horizontal control system for operation platform based on gravity adjustment

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DE50302571D1 (en) 2006-05-04
DE20215838U1 (en) 2004-02-26
EP1413773A3 (en) 2004-05-12
EP1413773B1 (en) 2006-03-08

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