EP2703652A1 - Verfahren zur steuerung einer verdrängerpumpe - Google Patents

Verfahren zur steuerung einer verdrängerpumpe Download PDF

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Publication number
EP2703652A1
EP2703652A1 EP12870275.0A EP12870275A EP2703652A1 EP 2703652 A1 EP2703652 A1 EP 2703652A1 EP 12870275 A EP12870275 A EP 12870275A EP 2703652 A1 EP2703652 A1 EP 2703652A1
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EP
European Patent Office
Prior art keywords
variable displacement
flow rate
discharge pressure
virtual
displacement pump
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Granted
Application number
EP12870275.0A
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English (en)
French (fr)
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EP2703652A4 (de
EP2703652B1 (de
Inventor
Kenpei Yamaji
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Bosch Rexroth Corp Japan
Bosch Rexroth Corp
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Bosch Rexroth Corp Japan
Bosch Rexroth Corp
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • 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
    • 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
    • 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
    • F04B49/22—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by means of valves
    • F04B49/24—Bypassing
    • 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
    • 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
    • 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
    • F15B2211/20523—Internal combustion engine
    • 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
    • F15B2211/20553—Type of pump variable capacity with pilot circuit, e.g. for controlling a swash plate
    • 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
    • F15B2211/30—Directional control
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3105—Neutral or centre positions
    • F15B2211/3111—Neutral or centre positions the pump port being closed in the centre position, e.g. so-called closed centre
    • 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
    • F15B2211/632—Electronic controllers using input signals representing a flow rate
    • F15B2211/6326—Electronic controllers using input signals representing a flow rate the flow rate being an output member flow rate
    • 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
    • F15B2211/634—Electronic controllers using input signals representing a state of a valve
    • 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
    • F15B2211/6652—Control of the pressure source, e.g. control of the swash plate angle

Definitions

  • the present invention relates to a method for controlling a variable displacement pump applied to a machine, such as a construction machine using a bleed-off hydraulic system.
  • Patent Document 1 For a hydraulic circuit used in the field of construction machines including a hydraulic excavator, the applicant has proposed in Patent Document 1 a method for controlling a variable displacement pump, driven by an engine, the pump discharge flow rate of which can be adjusted from the outside, having actuators connected thereto through a plurality of closed-center-type directional control valves, respectively, the closed-center-type directional control valves controlling the variable displacement pump by electrical calculation in place of center-bypass-type directional control valves.
  • This method intends to mathematically replace a bleed-off characteristics part of a conventional bleed-off hydraulic system including center-bypass-type directional control valves, which is a part for controlling pressure and flow rate for actuators, by controlling discharge pressure of the variable displacement pump by calculation by controller.
  • a conventional variable displacement pump is controlled with some of hydraulic fluid pumped by the variable displacement pump, being actually returned to a tank, failing to effectively utilize the variable displacement pump.
  • controlling discharge pressure of a variable displacement pump by calculation by controller as if the variable displacement pump has a bleed-off characteristic allows exclusion of center-bypass paths from directional control valves and discharge of hydraulic fluid with only an actually required flow rate.
  • Patent Document 1 JP-A-2007-205464
  • a pump discharge flow rate Qidea is limited by an upper limit that is an engine horse power He divided by the commanded pump discharge pressure Pidea, as shown in Fig. 7 .
  • characteristic curve defining the relation between pump discharge pressure P and discharge flow rate Q (hereinafter sometimes simply referred to as "characteristic curve") shown in Fig.
  • variable displacement pump is usually controlled such that the pump discharge flow rate Q is kept constant when the pressure P is less than or equal to a predetermined pressure P1, and the product of the discharge pressure P and the discharge flow rate Q is kept constant when the pressure P exceeds the pressure P1. Due to this, when the flow rate of hydraulic fluid supplied to an actuator is low and the discharge pressure P has exceeded the pressure P1, even though the pump discharge flow rate Q can be increased, the obtained calculation result suggests decreasing the commanded pump discharge pressure Pidea, limiting the pump discharge flow rate Q, which may prevent effective utilization of the variable displacement pump.
  • the method for controlling a variable displacement pump of the invention is, as described in claim 1, a method for controlling a variable displacement pump, driven by an engine, the pump discharge flow rate of which can be adjusted from the outside, having an actuator or actuators connected thereto through one or more closed-center-type directional control valves, the closed-center-type directional control valves controlling the variable displacement pump in place of center-bypass-type directional control valves, the method including the steps of: detecting a real discharge flow rate of the variable displacement pump and an operation amount of the directional control valves; determining a first virtual discharge pressure from the real discharge flow rate of the variable displacement pump based on characteristic curve defining the relation between discharge pressure and discharge flow rate of the variable displacement pump; using the real discharge flow rate of the variable displacement pump as an actuator flow rate necessary for the actuators, determining a virtual bleed-off flow rate based on a virtual bleed-off area of the closed-center-type directional control valves determined according to the operation amount, and determining a second virtual discharge pressure of the variable
  • the invention described in claim 2 is the method for controlling the variable displacement pump according to claim 1, wherein, when a plurality of the variable displacement pumps are connected to the engine, and one or more of the actuators are connected to each of the variable displacement pumps through one or more of the closed-center-type directional control valves, the distribution ratio of the horse power of the engine for each of the variable displacement pumps is predetermined or determined according to the operation amount of each of the closed-center-type directional control valves, and the first virtual discharge pressure is determined from each distributed horse power and the real discharge flow rate of each of the variable displacement pumps.
  • the invention described in claim 3 is the method for controlling the variable displacement pump according to claim 2, wherein, for each of the variable displacement pumps, subtracting from the distributed horse power a value obtained by multiplying the real discharge flow rate of each of the variable displacement pumps by a smaller discharge pressure of the first virtual discharge pressure and the second virtual discharge pressure to calculate excess horse power for each of the variable displacement pumps; and determining the first virtual discharge pressure based on a horse power obtained by adding the excess horse power for one of the variable displacement pumps to the distributed horse power for the other of the variable displacement pumps.
  • the invention described in claim 4 is the method for controlling the variable displacement pump according to any one of claims 1 to 3, wherein the first virtual discharge pressure is variable according to the operation amount of the closed-center-type directional control valves.
  • closed-center-type directional control valve refers to a valve configured to cause a spool at a neutral position not to bypass hydraulic fluid.
  • center-bypass-type directional control valve used herein refers to a valve configured to cause a spool at a neutral position to bypass hydraulic fluid.
  • negative type refers to a type in which an output value gradually decreases as an input value increases
  • positive type refers to a type in which an output value gradually increases as an input value increases.
  • the pump discharge pressure specified value may be determined without taking the engine horse power calculation into consideration, allowing the variable displacement pump to be effectively utilized.
  • the pump discharge pressure specified value is determined taking the engine horse power into consideration, which can prevent engine stall.
  • varying the distribution ratio of the horse power for each of the pumps depending on the operation condition can give a priority to each actuator, which may improve the operability and allows further effective utilization of the engine horse power.
  • Fig. 1 shows a basic example of a hydraulic circuit that controls operation of a plurality of hydraulic actuators 1a, 1b and is applied to a hydraulic excavator or the like.
  • the actuators 1a, 1b are connected to a discharge circuit 3 of a variable displacement pump 2 driven by an engine E, through closed-center-type directional control valves 4a, 4b, respectively.
  • the variable displacement pump 2 is a well known one, such as an axial piston pump having a pump displacement control mechanism, such as a swash plate.
  • a solenoid drive amplifier 5 as a command input and the discharge-side pressure of the variable displacement pump 2 as a feedback input are connected to the input side of a pump pressure controller 6.
  • a control piston 7 is connected to the output side of the pump pressure controller 6.
  • the pump pressure controller 6 includes a control valve 6b and a negative electromagnetic proportional valve 6c.
  • a real pump discharge pressure Preal of the variable displacement pump 2, an elastic force of a spring 6d and a pressure signal P'c controlled by the negative electromagnetic proportional valve 6c act on both ends of the spool of the control valve 6b, in which the areas of the both ends of the spool appropriately differs from each other and then the control valve 6b is appropriately controlled according to a balance between them.
  • the negative electromagnetic proportional valve 6c is a valve that serves as a proportional relief valve, and is controlled according to a balance among a spring force, the pressure signal P'c on the input side opposite to the spring force and a force, generated by a proportional solenoid 6a, that is varied in proportion to a control current input based on a control signal P'tgt from a controller 12.
  • the closed-center-type directional control valves 4a, 4b include a proportional solenoid 8 for moving a spool.
  • a solenoid drive amplifier 13 is activated by an operation lever 9, such as an electric joystick, via the controller 12, the proportional solenoid 8 is excited according to the tilt angle of the operation lever 9.
  • This causes the spool of the closed-center-type directional control valves 4a, 4b to move to a desired position to control the opening area of an actuator port 10 according to the movement distance.
  • hydraulic fluid is supplied to the actuators 1a, 1b at the flow rate according to the opening area.
  • the specified amount such as the tile angle of the operation lever 9, for operating the closed-center-type directional control valves 4a, 4b, or the movement distance of the spool of the closed-center-type directional control valves 4a, 4b is electrically detected by a sensor, then the specified amount or movement distance having been detected is converted into an operation amount signal S according to the operation amount of the closed-center-type directional control valves 4a, 4b.
  • an electric command signal transmitted from the operation lever 9 through the controller 12 to the solenoid drive amplifier 13 is used as the operation amount signal S.
  • the closed-center-type directional control valves 4a, 4b are actually valves having no bleed-off passage, if a little leakage of hydraulic fluid into a circuit is negligible, a real pump discharge flow rate Qreal of the variable displacement pump 2 becomes almost equal to an actuator flow rate Qa.
  • the plurality of actuators 1a, 1b are connected to a single variable displacement pump 2, then the actuator flow rate Qa refers to a total sum of the flow rate of hydraulic fluid supplied to the actuator 1a, 1b through the actuator port 10 in all of the closed-center-type directional control valves 4a, 4b.
  • a tilt amount sensor 11 is provided in the variable displacement pump 2. Then, the real pump discharge flow rate Qreal can be calculated by multiplying the tilt amount detected by the tilt amount sensor 11 by the rotational frequency of the variable displacement pump 2. Since there is almost no leakage of hydraulic fluid from the closed-center-type directional control valves 4a, 4b, the calculated value of the real pump discharge flow rate Qreal can be used as an estimated value Qai of the actuator flow rate Qa (hereinafter referred to as "estimated actuator flow rate Qai").
  • the real pump discharge flow rate Qreal can also be detected using a potentiometer or the like.
  • the controller 12 includes an A/D converter 12a, a calculator 12b and a D/A converter 12c.
  • the controller 12 performs arithmetic processing based on various electric signals input to the controller 12.
  • the calculator 12b performs arithmetic processing shown by a block diagram within a dot line B in Fig. 2 .
  • the controller 12 compares the maximum discharge pressure Pmax of the variable displacement pump 2, a first virtual discharge pressure Pidea1 determined based on characteristic curve defining the relation between discharge pressure P and discharge flow rate Q of the variable displacement pump 2, and a second virtual discharge pressure Pidea2 determined based on the operation amount signal S, then selects the minimum value among them as a pump discharge pressure specified value Ptgt to control the variable displacement pump 2.
  • the inclusion of the maximum discharge pressure Pmax of the variable displacement pump 2 into the comparison is to prevent a discharge pressure more than or equal to the maximum discharge pressure Pmax of the variable displacement pump 2 from being specified as the pump discharge pressure specified value Ptgt of the variable displacement pump 2.
  • the maximum discharge pressure Pmax is not necessarily required for embodying the invention.
  • the first virtual discharge pressure Pidea1 is determined by calculation of the engine horse power based on the real pump discharge flow rate Qreal of the variable displacement pump 2. Specifically, as described above, the real pump discharge flow rate Qreal can be determined by multiplying the tilt amount detected by the tilt amount sensor 11 by the rotational frequency of the variable displacement pump 2. Then, the real pump discharge flow rate Qreal is converted to the first virtual discharge pressure Pidea1 based on characteristic curve defining the relation between discharge pressure P and discharge flow rate Q of the variable displacement pump 2. The product of the discharge pressure P and the discharge flow rate Q of the variable displacement pump 2 represents the engine horse power.
  • the first virtual discharge pressure Pidea1 is intended to set an.upper limit of the discharge flow rate Q of the variable displacement pump 2 in terms of the engine horse power.
  • the characteristic curve is preferably such that the discharge flow rate Q is kept constant against the discharge pressure P when the pressure P is less than or equal to a predetermined pressure P1, and the product of the discharge pressure P and the discharge flow rate Q is kept constant when the pressure P exceeds the pressure P1.
  • the second virtual discharge pressure Pidea2 is determined by arithmetic processing shown within an alternate long and short dash line A in Fig. 2 based on the operation amount signal S of the closed-center-type directional control valves 4a, 4b through a process different from the process of determining the first virtual discharge pressure Pidea1 based on the characteristic curve.
  • An example of the arithmetic processing within the alternate long and short dash line A in Fig. 2 is specifically described with reference to Fig. 3 .
  • the virtual pump discharge flow rate Qidea of the variable displacement pump 2 is set to a predetermined value.
  • the second virtual discharge pressure Pidea2 is calculated in a closed loop manner based on a flow rate value ⁇ Q obtained by subtracting the estimated actuator flow rate Qai and a virtual bleed-off flow rate Qb from the virtual pump discharge flow rate Qidea
  • the value of the virtual pump discharge flow rate Qidea may be appropriately set.
  • the maximum discharge flow rate Qmax of the variable displacement pump 2 is known, this value may be used.
  • the maximum discharge flow rate Qmax of the variable displacement pump 2 is used as the virtual pump discharge flow rate Qidea.
  • the input of the operation amount signal S of the closed-center-type directional control valves 4a, 4b is received, then the opening area Ab of a virtual bleed-off passage of the closed-center-type directional control valves 4a, 4b corresponding to the operation amount signal S is determined based on a virtual bleed-off characteristic that is previously stored.
  • the input of an operation amount signal Sk of a plurality of closed-center-type directional control valves 4a, 4b is received, then a total sum of the operation amount signal Sk, that is S1 + S2 + ... + Sn, is used as the total operation amount signal S.
  • weighting or appropriate arithmetic processing may be applied to the individual inputs.
  • the determined virtual opening area Ab is multiplied by the square root of the second virtual discharge pressure Pidea2 having been calculated at this time, and further multiplied by a flow rate coefficient Kq of a center-bypass-type directional control valve to determine the virtual bleed-off flow rate Qb.
  • actual closed-center-type directional control valves 4a, 4b are of a closed-center type having no bleed-off passage, so the value of the opening area Ab of the virtual bleed-off passage is for calculation purpose.
  • This virtual bleed-off characteristic is defined by predetermining the relation between the virtual opening area Ab and the operation amount signal S for the closed-center-type directional control valves 4a, 4b that are used, using design technique similar to that of the bleed-off characteristic of a center-bypass-type directional control valve for a conventional bleed-off hydraulic system.
  • the real pump discharge flow rate Qreal of the variable displacement pump 2 becomes equal to the actuator flow rate Qa.
  • the value of the real pump discharge flow rate Qreal can be used as the estimated actuator flow rate Qai.
  • the second virtual discharge pressure Pidea2 can be calculated by dividing the determined flow rate value ⁇ Q by a piping compression coefficient C'p of a pump piping system and integrating the division result, using a digital filter or the like.
  • the controller 12 After determining the first virtual discharge pressure Pidea1 and the second virtual discharge pressure Pidea2 in this way, the controller 12 compares the first virtual discharge pressure Pidea1, the second virtual discharge pressure Pidea2 and the maximum discharge pressure Pmax of the variable displacement pump 2, and selects the minimum value among them as the pump discharge pressure specified value Ptgt. Then, the controller 12 controls the discharge pressure of the variable displacement pump 2 in a closed loop manner based on the control signal P'tgt obtained by inverting the pump discharge pressure specified value Ptgt by subtracting the pump discharge pressure specified value Ptgt from the maximum discharge pressure Pmax of the pump.
  • the solenoid drive amplifier 5 receives the control signal P'tgt from the controller 12 to control the strength of the excitation of the proportional solenoid 6a of the negative electromagnetic proportional valve 6c.
  • the pressure of the negative electromagnetic proportional valve 6c is proportionally controlled in inverse proportion to the strength of the excitation, i.e., according to the pump discharge pressure specified value Ptgt, which correspondingly operates the control valve 6b.
  • the control piston 7 actuates a pump displacement control mechanism to control the pump displacement, i.e., pump discharge flow rate, to increase or decrease.
  • the discharge pressure of the variable displacement pump 2 is controlled to increase or decrease, which controls the control valve 6b against the pressure of the negative electromagnetic proportional valve 6c. Since the pump discharge pressure is thus controlled in a closed loop manner, the real pump discharge pressure Preal becomes almost equal to the value of the pump discharge pressure specified value Ptgt.
  • the negative electromagnetic proportional valve 6c is used, which can drive the variable displacement pump 2 with a maximum pressure when the control signal P'tgt is not output.
  • a positive electromagnetic proportional valve may be used instead of the negative electromagnetic proportional valve. In this case, the process of inverting the pump discharge pressure specified value Ptgt is omitted, and the pump discharge pressure specified value Ptgt is taken to be equal to the control signal P'tgt.
  • the second virtual discharge pressure Pidea2 that is less than the first virtual discharge pressure Pidea1 is used as the pump discharge pressure specified value Ptgt for the control.
  • the control of the variable displacement pump 2 in which the second virtual discharge pressure Pidea2 is used as the pump discharge pressure specified value Ptgt is performed as follows.
  • the closed-center-type directional control valves 4a, 4b are at a neutral position and the operation amount signal S input to the controller 12 is zero.
  • the second virtual discharge pressure Pidea2 i.e., the pump discharge pressure specified value Ptgt
  • the variable displacement pump 2 discharges hydraulic fluid according to the pump discharge pressure specified value Ptgt.
  • the virtual bleed-off flow rate Qb increases and the flow rate value ⁇ Q converges to zero, so the pump discharge pressure specified value Ptgt converges to a value at which a balance between the virtual pump discharge flow rate Qidea and the virtual bleed-off flow rate Qb is achieved, and becomes balanced.
  • the variable displacement pump 2 discharges hydraulic fluid according to the pump discharge pressure specified value Ptgt, in which the real pump discharge flow rate Qreal will need only a little leakage from the circuit as when the operation lever 9 is not operated.
  • the actuators 1a, 1b move and hydraulic fluid starts to flow. Then, in order to maintain the real pump discharge pressure Preal at the pump discharge pressure specified value Ptgt, the real pump discharge flow rate Qreal increases. Then, since the moving speed of the actuators increases, the estimated actuator flow rate Qai increases and the flow rate value ⁇ Q becomes a negative value and decreases. Due to this, the pump discharge pressure specified value Ptgt decreases and the virtual bleed-off flow rate Qb decreases. Then, decrease in the pump discharge pressure specified value Ptgt and thus the real pump discharge pressure Preal causes the acceleration of the actuators to decrease.
  • the real pump discharge flow rate Qreal and the real pump discharge pressure Preal gradually converge to values at which the actuator speed corresponding to the operation amount is maintained, and become balanced.
  • the bleed-off operation is performed only by calculation by the controller 12, and the real pump discharge flow rate Qreal corresponds to only the amount supplied to the actuators 1a, 1b if the leakage into the circuit is negligible.
  • the pump works efficiently.
  • the closed-center-type directional control valves 4a, 4b do not need a bleed-off passage, which provides simple and low-cost configuration and good operability.
  • the pump discharge flow rate is not limited by a horse power characteristic of the engine, which further improves the pump efficiency.
  • the second virtual discharge pressure Pidea2 when used as the pump discharge pressure specified value Ptgt for the control, if it is attempted to increase the discharge flow rate of the variable displacement pump 2 despite of the engine load being large, engine stall may occur.
  • the second virtual discharge pressure Pidea2 calculated based on the operation amount signal S of the closed-center-type directional control valves 4a, 4b will exceed the first virtual discharge pressure Pidea1 calculated based on the horse power characteristic of the engine, so the first virtual discharge pressure Pidea1 will be used as the pump discharge pressure specified value Ptgt for the control.
  • the pump discharge pressure specified value Ptgt will be switched to the first virtual discharge pressure Pidea1, to avoid the occurrence of engine stall.
  • the second virtual discharge pressure Pidea2 that is less than the first virtual discharge pressure Pidea1 is used as the pump discharge pressure specified value Ptgt for the control.
  • the second virtual discharge pressure Pidea2 itself is determined without taking engine horse power into consideration, allowing the variable displacement pump 2 to be used at maximum efficiency.
  • the second virtual discharge pressure Pidea2 calculated will exceed the first virtual discharge pressure Pidea1, so the first virtual discharge pressure Pidea1 will be used as the pump discharge pressure specified value Ptgt for the control.
  • the real pump discharge flow rate Qreal of the variable displacement pump 2 is controlled based on the engine horse power, which can prevent engine stall.
  • a method for controlling a variable displacement pump in accordance with a second embodiment of the invention in a hydraulic circuit configured using the plurality of actuators 1a, 1b, ..., 1n similarly to that in Fig. 1 , a method for calculating the second virtual discharge pressure Pidea2 is different from that of the method for controlling a variable displacement pump in accordance with the first embodiment.
  • the method for controlling a variable displacement pump in accordance with this embodiment is described below with reference to a block diagram shown in Fig. 4 .
  • Fig. 4 illustrates another method for calculating the second virtual discharge pressure Pidea2, showing arithmetic processing by the controller 12 shown within the alternate long and short dash line A in Fig. 2 .
  • the controller 12 receives the input of operation amounts S1, S2, ..., Sk, ..., Sn of the plurality of closed-center-type directional control valves 4a, 4b, ..., 4n, then determines the opening area Ab of a total virtual bleed-off passage of the closed-center-type directional control valves 4a, 4b, ..., 4n corresponding to virtual bleed-off characteristics for the received operation amounts, by combining calculation using the following equation: Note that Abk in the equation refers to a virtual bleed-off area Abk of each of the closed-center-type directional control valves 4a, 4b, ..., 4n, which correlates with each operation amount signal Sk, as previously described.
  • the remaining part of this method is similar to that of the method for calculating the second virtual discharge pressure Pidea2 described in the first embodiment. That is, the determined virtual opening area Ab is multiplied by the square root of the second virtual discharge pressure Pidea2 having been calculated at this time, and further multiplied by a flow rate coefficient Kq of a center-bypass-type directional control valve to determine the virtual bleed-off flow rate Qb.
  • the second virtual discharge pressure Pidea2 that is less than the first virtual discharge pressure Pidea1 is used as the pump discharge pressure specified value Ptgt for the control, which can provide operability satisfying individual actuators' demand characteristics.
  • the second virtual discharge pressure Pidea2 itself is determined without taking engine horse power into consideration, allowing the variable displacement pump 2 to be used at maximum efficiency.
  • the second virtual discharge pressure Pidea2 calculated will exceed the first virtual discharge pressure Pidea1, so the first virtual discharge pressure Pidea1 will be used as the pump discharge pressure specified value Ptgt for the control.
  • the real pump discharge flow rate Qreal of the variable displacement pump 2 is controlled based on the engine horse power, which can prevent engine stall.
  • a method for controlling a variable displacement pump in accordance with a third embodiment of the invention is a method for controlling a variable displacement pump in which a plurality of the variable displacement pumps are connected to a engine, and an actuator is connected to each of the variable displacement pumps through a closed-center-type directional control valve.
  • the method for controlling a variable displacement pump in accordance with this embodiment can be implemented in a way similar to the method for controlling a variable displacement pump in accordance with the first embodiment except that the first virtual discharge pressure Pidea1 is determined based on characteristic curve defining the relation between discharge pressure P and discharge flow rate Q of the variable displacement pump.
  • the third embodiment of the invention is described below with reference to Fig. 5 .
  • the first virtual discharge pressure Pidea1, the second virtual discharge pressure Pidea2 and the pump discharge pressure specified value Ptgt are determined for each variable displacement pump.
  • Fig. 5 illustrates a method for calculating the first virtual discharge pressure Pidea1 by the controller in the method for controlling a variable displacement pump in accordance with this embodiment, showing an variation of the block labeled as "HORSE POWER CALCULATION" in the block diagram shown in Fig. 2 .
  • HORSE POWER CALCULATION the block labeled as "HORSE POWER CALCULATION” in the block diagram shown in Fig. 2 .
  • horse power of the engine is predetermined to be distributed to each of the variable displacement pumps 2a, 2b with a distribution ratio of 0.5.
  • the controller 12 calculates the first virtual discharge pressure Pidea1 of each of the variable displacement pumps 2a, 2b according to the horse power distributed to each of the variable displacement pumps 2a, 2b and the real pump discharge flow rate Qreal of each of the variable displacement pumps 2a, 2b.
  • the controller 12 subtracts a value obtained by multiplying the real pump discharge flow rate Qreal of each of the variable displacement pumps 2a, 2b by the pump discharge pressure specified value Ptgt from the distributed horse power to calculate excess horse power of each of the variable displacement pumps 2a, 2b. Then, the horse power available to one of the variable displacement pumps 2a (2b) is obtained by adding excess horse power of the other of the variable displacement pumps 2a (2b) to the horse power distributed to the one of the variable displacement pumps 2a (2b).
  • variable displacement pumps may also be connected to a single engine. Also in this case, excess horse power of one of the variable displacement pumps can be effectively utilized in the other of the variable displacement pumps.
  • Fig. 6 illustrates an application example of the third embodiment.
  • the distribution ratio of the engine horse power for each of the variable displacement pumps 2a, 2b is not predetermined, but determined according to the operation amount of the closed-center-type directional control valves 4a, 4b.
  • weighting or appropriate arithmetic processing may be applied to each of the variable displacement pumps 2a, 2b.
  • the distribution ratio of the horse power available to the variable displacement pumps 2a, 2b to which an actuator under higher load pressure reflecting the operation amount of each of the actuators 1a, 1b connected to the variable displacement pumps 2a, 2b or an higher-priority actuator in terms of operation is connected is adjusted.
  • the operability is improved and the engine horse power can be effectively utilized, so the variable displacement pumps 2a, 2b can be further effectively utilized.
  • a plurality of actuators may be connected to one or more of the plurality of variable displacement pumps connected to the engine.
  • the method for calculating the second virtual discharge pressure Pidea2 of the second embodiment may be appropriately combined to be implemented.
  • the discharge flow rate of a variable displacement pump is configured to increase in a quadric manner according to the operation amount of an actuator, when operating a single actuator, resistance in a meter-in restrictor can be decreased and energy loss can be avoided, and when operating multiple actuators, meter-in diversion control effect can be improved and actuators having different loads can be operated in combination (see a block to which flow rate is added in Figs. 5 and 6 ).

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Positive-Displacement Pumps (AREA)
EP12870275.0A 2012-03-02 2012-03-02 Verfahren zur steuerung einer verdrängerpumpe Active EP2703652B1 (de)

Applications Claiming Priority (1)

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PCT/JP2012/055315 WO2013128622A1 (ja) 2012-03-02 2012-03-02 可変容量ポンプの制御方法

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Cited By (3)

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EP2759713A4 (de) * 2011-09-21 2015-11-04 Sumitomo Heavy Industries Hydraulische steuervorrichtung und hydraulisches steuerverfahren
DE102022200249A1 (de) 2022-01-12 2023-07-13 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Bestimmen einer Pumpenbetriebsgröße zum Ansteuern einer Hydraulikanordnung, Verfahren zum Bestimmen einer Abbildungsfunktion und Maschine
US11913477B2 (en) 2021-10-29 2024-02-27 Danfoss Scotland Limited Controller and method for hydraulic apparatus

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WO2015099437A1 (ko) * 2013-12-26 2015-07-02 두산인프라코어 주식회사 건설기계의 유압시스템 및 유압시스템의 제어방법
JP6367677B2 (ja) * 2014-10-03 2018-08-01 ボッシュ・レックスロス株式会社 油圧回路の制御装置及び油圧回路の制御方法
JP6367676B2 (ja) * 2014-10-03 2018-08-01 ボッシュ・レックスロス株式会社 油圧回路の制御装置及び油圧回路の制御方法
US10626986B2 (en) * 2016-10-31 2020-04-21 Hydraforce, Inc. Hydraulic motor drive system for controlling high inertial load rotary components
JP7165074B2 (ja) * 2019-02-22 2022-11-02 日立建機株式会社 作業機械
JP7490478B2 (ja) * 2020-07-10 2024-05-27 株式会社小松製作所 作業機械、および作業機械の制御方法
JP2024055161A (ja) * 2022-10-06 2024-04-18 株式会社クボタ 油圧制御装置、油圧回路の制御方法、及び油圧装置

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JP3745038B2 (ja) * 1996-07-30 2006-02-15 ボッシュ・レックスロス株式会社 可変容量ポンプを使用したブリードオフ制御方法
JPH1061605A (ja) * 1996-08-14 1998-03-06 Hitachi Constr Mach Co Ltd 油圧駆動装置
JP3471620B2 (ja) 1998-07-08 2003-12-02 内田油圧機器工業株式会社 クローズドセンター型電磁比例方向制御弁を使用したブリードオフ制御方法
JP3847475B2 (ja) * 1998-11-10 2006-11-22 ボッシュ・レックスロス株式会社 旋回系油圧装置の制御方法及び制御装置
JP3471638B2 (ja) * 1998-12-01 2003-12-02 内田油圧機器工業株式会社 可変容量ポンプを使用したブリードオフ制御方法
JP4270505B2 (ja) * 2004-08-11 2009-06-03 株式会社小松製作所 作業車両のエンジンの負荷制御装置
JP2007205464A (ja) * 2006-02-01 2007-08-16 Bosch Rexroth Corp 可変容量ポンプの制御方法
JP4726684B2 (ja) 2006-04-11 2011-07-20 ボッシュ・レックスロス株式会社 可変容量ポンプの制御方法
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JP5336558B2 (ja) * 2011-08-19 2013-11-06 ボッシュ・レックスロス株式会社 可変容量ポンプの制御方法

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2759713A4 (de) * 2011-09-21 2015-11-04 Sumitomo Heavy Industries Hydraulische steuervorrichtung und hydraulisches steuerverfahren
US9784368B2 (en) 2011-09-21 2017-10-10 Sumitomo Heavy Industries, Ltd. Hydraulic control apparatus and method
US10393260B2 (en) 2011-09-21 2019-08-27 Sumitomo Heavy Industries, Ltd. Hydraulic control apparatus and method
US11913477B2 (en) 2021-10-29 2024-02-27 Danfoss Scotland Limited Controller and method for hydraulic apparatus
DE102022200249A1 (de) 2022-01-12 2023-07-13 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Bestimmen einer Pumpenbetriebsgröße zum Ansteuern einer Hydraulikanordnung, Verfahren zum Bestimmen einer Abbildungsfunktion und Maschine

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KR20130142187A (ko) 2013-12-27
CN103688064A (zh) 2014-03-26
CN103688064B (zh) 2016-01-20
KR101638339B1 (ko) 2016-07-12
EP2703652A4 (de) 2015-07-15
WO2013128622A1 (ja) 2013-09-06
JP5877616B2 (ja) 2016-03-08
JPWO2013128622A1 (ja) 2015-07-30
EP2703652B1 (de) 2017-10-04

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