JP2021148160A - 制御装置、及びそれを備える液圧システム - Google Patents
制御装置、及びそれを備える液圧システム Download PDFInfo
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- JP2021148160A JP2021148160A JP2020046637A JP2020046637A JP2021148160A JP 2021148160 A JP2021148160 A JP 2021148160A JP 2020046637 A JP2020046637 A JP 2020046637A JP 2020046637 A JP2020046637 A JP 2020046637A JP 2021148160 A JP2021148160 A JP 2021148160A
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- 238000004364 calculation method Methods 0.000 claims abstract description 53
- 239000012530 fluid Substances 0.000 claims description 20
- 238000006243 chemical reaction Methods 0.000 description 7
- 239000007788 liquid Substances 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000013178 mathematical model Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
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Classifications
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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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
-
- 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
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
-
- 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
- F15B13/043—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves
- F15B13/0433—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves the pilot valves being pressure control 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/30525—Directional control valves, e.g. 4/3-directional control 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
- F15B2211/30—Directional control
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
-
- 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
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/329—Directional control characterised by the type of actuation actuated by fluid pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/35—Directional control combined with flow control
- F15B2211/351—Flow control by regulating means in feed line, i.e. meter-in control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—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
-
- 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
- F15B2211/6656—Closed loop control, i.e. control using feedback
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7053—Double-acting output members
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Fluid-Pressure Circuits (AREA)
- Feedback Control In General (AREA)
Abstract
Description
本実施形態の液圧システム1は、建設機械に適用されているが、フォークリフト等の産業車両やプレス機械等の産業機械に適用されてもよい。また、本実施形態の液圧システム1では、液圧ポンプ11に対して1つの方向制御弁21だけが接続されているが、複数の方向制御弁21が並列的又は直列的に接続されていてもよい。また、方向制御弁21に接続される液圧アクチュエータもまた液圧シリンダ2に限定されず、液圧モータであってもよい。
11 液圧ポンプ
12 弁装置
17 制御装置
21 方向制御弁(スプール弁)
21a スプール(弁体)
22L 第1電磁比例制御弁
22R 第2電磁比例制御弁
31 開口指令演算部
32 ストローク指令演算部
33 オブザーバ
34 フローフォース推定部
35 圧力指令演算部(動作指令演算部)
36 状態フィードバック制御部
Claims (6)
- 液圧システムに備わる弁装置の弁体の動きを制御する制御装置であって、
入力される開口指令に基づいて、前記弁体に対するストローク指令を演算するストローク指令演算部と、
前記ストローク指令演算部で演算されるストローク指令に基づいて、当該ストローク指令に対する前記弁体におけるストロークの動的偏差を推定するオブザーバと、
前記ストローク指令演算部で演算されるストローク指令と前記オブザーバで推定される動的偏差とに基づいて、前記弁体に作用するフローフォースを推定するフローフォース推定部と、を有し、
前記ストローク指令演算部は、入力される開口指令に加えて前記フローフォース推定部で推定されるフローフォースに基づいて、ストローク指令を演算する、制御装置。 - 前記ストローク指令演算部で演算されるストローク指令に基づいて、前記弁体の動きを制御する動作指令を演算する動作指令演算部を更に有し、
前記オブザーバで演算される動的偏差に基づいて、前記動作指令演算部で演算される動作指令に対して状態フィードバックを実行する状態フィードバック制御部を有する、請求項1に記載の制御装置。 - 前記オブザーバは、前記ストローク指令に加えて前記オブザーバで推定した動的偏差の前回値に基づいて動的偏差を推定する請求項2に記載の制御装置。
- 前記オブザーバは、前記ストローク指令に基づいて前記弁体に作用する慣性力及び粘性抵抗を演算し、前記弁体に作用する慣性力、粘性抵抗、及び予め定められるクーロン摩擦力に基づいて前記ストロークの動的偏差を推定する、請求項1乃至3の何れか1つに記載の制御装置。
- アクチュエータに供給する作動液を吐出する液圧ポンプと、
前記アクチュエータに供給される作動液の流量を調整する弁装置と、
請求項1乃至4の何れか1つに記載の制御装置と、を備える液圧システム。 - 前記弁装置は、少なくとも1つの電磁比例弁と、スプール弁とを備え、
前記スプール弁は、前記弁体であるスプールを有し、
前記スプールは、前記スプールに作用するパイロット圧に応じてストロークし、
前記電磁比例弁は、前記スプールに作用するパイロット圧を出力し、
前記制御装置は、動作指令である圧力指令を演算し、演算される圧力指令に応じたパイロット圧を前記電磁比例弁から出力させて前記スプールの動きを制御する、請求項5に記載の液圧システム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020046637A JP7357575B2 (ja) | 2020-03-17 | 2020-03-17 | 制御装置、及びそれを備える液圧システム |
US17/906,319 US20230099778A1 (en) | 2020-03-17 | 2021-02-18 | Control device and hydraulic system including the same |
GB2215099.9A GB2609778B (en) | 2020-03-17 | 2021-02-18 | Control device and hydraulic system including the same |
PCT/JP2021/006107 WO2021186998A1 (ja) | 2020-03-17 | 2021-02-18 | 制御装置、及びそれを備える液圧システム |
CN202180017987.6A CN115151734A (zh) | 2020-03-17 | 2021-02-18 | 控制装置及具备该控制装置的液压*** |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP2020046637A JP7357575B2 (ja) | 2020-03-17 | 2020-03-17 | 制御装置、及びそれを備える液圧システム |
Publications (2)
Publication Number | Publication Date |
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JP2021148160A true JP2021148160A (ja) | 2021-09-27 |
JP7357575B2 JP7357575B2 (ja) | 2023-10-06 |
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JP2020046637A Active JP7357575B2 (ja) | 2020-03-17 | 2020-03-17 | 制御装置、及びそれを備える液圧システム |
Country Status (5)
Country | Link |
---|---|
US (1) | US20230099778A1 (ja) |
JP (1) | JP7357575B2 (ja) |
CN (1) | CN115151734A (ja) |
GB (1) | GB2609778B (ja) |
WO (1) | WO2021186998A1 (ja) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000257601A (ja) * | 1999-03-05 | 2000-09-19 | Hitachi Constr Mach Co Ltd | 油圧回路装置 |
JP2006162058A (ja) * | 2004-12-07 | 2006-06-22 | Volvo Construction Equipment Ab | 油圧制御回路及び油圧制御方法 |
US20130269808A1 (en) * | 2011-01-14 | 2013-10-17 | Parker Hannifin Manufacturing Finland Oy | Directional valve equipped with pressure compensation |
JP2015197185A (ja) * | 2014-04-02 | 2015-11-09 | 日立建機株式会社 | 作業機械の油圧制御装置 |
WO2016111205A1 (ja) * | 2015-01-06 | 2016-07-14 | 住友重機械工業株式会社 | 建設機械 |
-
2020
- 2020-03-17 JP JP2020046637A patent/JP7357575B2/ja active Active
-
2021
- 2021-02-18 CN CN202180017987.6A patent/CN115151734A/zh active Pending
- 2021-02-18 GB GB2215099.9A patent/GB2609778B/en active Active
- 2021-02-18 US US17/906,319 patent/US20230099778A1/en active Pending
- 2021-02-18 WO PCT/JP2021/006107 patent/WO2021186998A1/ja active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000257601A (ja) * | 1999-03-05 | 2000-09-19 | Hitachi Constr Mach Co Ltd | 油圧回路装置 |
JP2006162058A (ja) * | 2004-12-07 | 2006-06-22 | Volvo Construction Equipment Ab | 油圧制御回路及び油圧制御方法 |
US20130269808A1 (en) * | 2011-01-14 | 2013-10-17 | Parker Hannifin Manufacturing Finland Oy | Directional valve equipped with pressure compensation |
JP2015197185A (ja) * | 2014-04-02 | 2015-11-09 | 日立建機株式会社 | 作業機械の油圧制御装置 |
WO2016111205A1 (ja) * | 2015-01-06 | 2016-07-14 | 住友重機械工業株式会社 | 建設機械 |
Also Published As
Publication number | Publication date |
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GB2609778B (en) | 2024-01-17 |
JP7357575B2 (ja) | 2023-10-06 |
WO2021186998A1 (ja) | 2021-09-23 |
GB202215099D0 (en) | 2022-11-30 |
US20230099778A1 (en) | 2023-03-30 |
GB2609778A (en) | 2023-02-15 |
CN115151734A (zh) | 2022-10-04 |
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