JP5026055B2 - 複数アクチュエータの圧力に基づく流れ制御システム - Google Patents
複数アクチュエータの圧力に基づく流れ制御システム Download PDFInfo
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- JP5026055B2 JP5026055B2 JP2006297953A JP2006297953A JP5026055B2 JP 5026055 B2 JP5026055 B2 JP 5026055B2 JP 2006297953 A JP2006297953 A JP 2006297953A JP 2006297953 A JP2006297953 A JP 2006297953A JP 5026055 B2 JP5026055 B2 JP 5026055B2
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D31/00—Fluid couplings or clutches with pumping sets of the volumetric type, i.e. in the case of liquid passing a predetermined volume per revolution
- F16D31/02—Fluid couplings or clutches with pumping sets of the volumetric type, i.e. in the case of liquid passing a predetermined volume per revolution using pumps with pistons or plungers working in cylinders
-
- 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
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
-
- 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
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
-
- 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
- E02F9/2292—Systems with two or more pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
- F15B11/163—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for sharing the pump output equally amongst users or groups of users, e.g. using anti-saturation, pressure compensation
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20576—Systems with pumps with multiple pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a 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
- F15B2211/70—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
-
- 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
- F15B2211/7058—Rotary output members
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Description
Prは、圧力比(Pressure Ratio)であり、
Ploadは、スイング負荷圧(Swing Load Pressure)であり、
PFMSは、スイング力変調ストール圧(Swing Force Modulation Stall Pressure)である。
SF=(1−Pr β)
ここで、
SFは、スケールファクタ(Scaling Factor)であり、
Prは、圧力比Pressure Ratioであり、
βは感度ファクタ(Sensitivity Factor)である。
Qscaled=Qdes *SF、
ここで、
Qscaledは、スケールされた流量(Scaled Flow Rate)であり、
Qdesは、所望の流量(Desired Flow Rate)であり、
SFは、スケールファクタ(Scaling Factor)である。
Qscaled=(BGF*Qdes)*SF
ここで、
Qscaledは、スケールされた流量(Scaled Flow Rate)であり、
BGFは、ブースト利得ファクタ(Boost Gain Factor)であり、
Qdesは、所望の流量(Desired Flow Rate)であり、
SFは、スケールファクタ(Scaling Factor)である。
12 作業器具システム
14 作業工具
16 駆動システム
18 動力源
20 オペレータステーション
22 ブーム部材
24 作業面
26 油圧シリンダ
28 スティック部材
30 軸
32 油圧シリンダ
34 油圧シリンダ
36 旋回軸
38 フレーム部材
39 下部走行体部材
40L 左履帯
40R 右履帯
41 垂直軸
42L 左走行モータ
42R 右走行モータ
43 スイングモータ
46 オペレータインタフェース装置
48 油圧制御システム
50 第1の回路
51 第1の供給源
52 第2の回路
53 第2の供給源
54 ブーム制御弁
56 バケット制御弁
58 左走行制御弁
60 右走行制御弁
62 スティック制御弁
63 スイング制御弁
64 タンク
66 第1の共通供給通路
68 第1の共通排出通路
70 第2の共通供給通路
72 第2の共通排出通路
74 流体通路
76 流体通路
78 流体通路
80 流体通路
82 流体通路
84 流体通路
86 流体通路
88 流体通路
89 流体通路
90 流体通路
92 流体通路
93 流体通路
94 逆止弁要素
96 共通フィルタ
98 第1のバイパス要素
100 第2のバイパス要素
102 シャトル弁
104 共通のメインリリーフ要素
106 直進走行弁
107 弁要素(直進走行弁)
108 コンバイナ弁
110 弁要素(コンバイナ弁)
112 制御器
114 通信ライン
116 通信ライン
118 圧力センサ
120 通信ライン
122 第1の曲線
124 第2の曲線
126 第3の曲線
200 ステップ:所望のスイング速度の受信
210 ステップ:Qdesの決定及び過負荷の感知
220 ステップ:所望のブーム速度の受信
230 ステップ:BGF及びβの決定
240 ステップ:BGF*Qdesの決定
250 ステップ:スイング圧力の監視
260 ステップ:Prの決定
270 ステップ:SFの決定
280 ステップ:Qscaledの決定
290 ステップ:Qscaledは限度内か?
300 ステップ:Qscaledの実施
310 ステップ:限度の実施
Claims (5)
- 流体アクチュエータと、
加圧流体供給部と、
加圧流体を供給部から流体アクチュエータに選択的に通過させるように移動可能な制御弁と、
流体アクチュエータに通過させた加圧流体の圧力を感知するように構成されたセンサと、
制御弁とセンサとに連通する制御器と
を備えた油圧制御システムであって、制御器が、
流体アクチュエータの所望の速度を示す入力を受信し、
所望の速度に対応する流体流量を決定し、
供給部のストール圧に対する感知された圧力の比率を決定し、
決定された比率に基づく量だけ、決定された流量をスケールダウンし、
スケールダウンされた流量に対応する量だけ、制御弁を移動するように構成される、油圧制御システム。 - 流体アクチュエータが第1の流体アクチュエータであり、
油圧制御システムが第2の流体アクチュエータをさらに含み、
制御器が、第2の流体アクチュエータの所望の速度を示す入力を受信するようにさらに構成され、
スケールダウンされた量が、第2の流体アクチュエータの所望の速度を示す入力にさらに基づく、請求項1に記載の油圧制御システム。 - 制御器が、第2の流体アクチュエータの所望の速度を示す入力を感度変数に関係付けるマップを記憶させたメモリを含み、
スケールダウンされた量が、圧力比と感度変数との指数関数である、請求項2に記載の油圧制御システム。 - 油圧システムを作動する方法であって、
流体を加圧するステップと、
加圧流体を流体アクチュエータに方向付けるステップと、
流体アクチュエータに方向付けられた流体の圧力を感知するステップと、
流体アクチュエータの所望の速度を示す入力を受信するステップと、
所望の速度に対応する流体流量を決定するステップと、
ストール圧に対する感知された圧力の比率を決定するステップと、
決定された比率に基づく量だけ、決定された流量をスケールダウンするステップと、
スケールダウンされた流量に対応する量だけ、流体アクチュエータに関連付けられた制御弁を移動するステップと
を含む方法。 - 作業機械であって、
フレーム部材と、
下部走行体部材と、
下部走行体部材に対しフレーム部材をスイングさせるために動作的に連結された油圧モータと、
第1の加圧流体供給部と、
加圧流体を第1の供給部から油圧モータに選択的に通過させるように移動可能な第1の制御弁と、
フレーム部材に旋回可能に連結されるブーム部材と、
ブーム部材をフレーム部材に対し旋回させるように構成された油圧シリンダと、
第2の加圧流体供給部と、
加圧流体を第2の供給部から油圧シリンダに選択的に通過させるように移動可能な第2の制御弁と、
油圧モータに通過された加圧流体の圧力を感知するように構成されたセンサと、
第1の制御弁と、第2の制御弁と、センサとに連通する制御器と
を備え、制御器が、
油圧モータの所望の速度を示す入力を受信し、
所望の速度に対応する流体流量を決定し、
第1の供給部のストール圧に対する感知された圧力の比率を決定し、
油圧シリンダの所望の速度を示す入力を受信し、
決定された比率と、油圧シリンダの所望の速度を示す入力とに基づく量だけ、決定された流量をスケールダウンし、
スケールダウンされた流量に対応する量だけ、第1の制御弁を移動するように構成される、作業機械。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/287,342 | 2005-11-28 | ||
US11/287,342 US7260931B2 (en) | 2005-11-28 | 2005-11-28 | Multi-actuator pressure-based flow control system |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2007147074A JP2007147074A (ja) | 2007-06-14 |
JP5026055B2 true JP5026055B2 (ja) | 2012-09-12 |
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Application Number | Title | Priority Date | Filing Date |
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JP2006297953A Expired - Fee Related JP5026055B2 (ja) | 2005-11-28 | 2006-11-01 | 複数アクチュエータの圧力に基づく流れ制御システム |
Country Status (2)
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US (1) | US7260931B2 (ja) |
JP (1) | JP5026055B2 (ja) |
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2005
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US7260931B2 (en) | 2007-08-28 |
US20070119159A1 (en) | 2007-05-31 |
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