TWI822499B - Control method and system for hydraulic drive device - Google Patents
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Abstract
本發明為一種液壓驅動裝置的控制方法及系統,該液壓驅動裝置包含有一馬達驅動裝置、一電動馬達、一液壓幫浦及至少一液壓缸,該液壓幫浦透過液壓管路連接該液壓缸;其中,一控制器執行本發明之控制方法而對該液壓驅動裝置進行控制,該控制方法包含緩啟動階段、液壓缸動作階段及緩關閉階段。在緩啟動階段,控制器係命令該電動馬達維持在一相對較低的轉速,以節省電力;在液壓缸動作階段,控制器根據偵測到的液壓總壓變化而適時提高或降低該電動馬達的轉速,令液壓管路中維持足夠的壓力值並節省電動馬達的耗電;在緩關閉階段,控制器係命令該電動馬達漸漸降速而停止,閉免瞬停產生的反電動勢。The present invention is a control method and system for a hydraulic drive device. The hydraulic drive device includes a motor drive device, an electric motor, a hydraulic pump and at least one hydraulic cylinder. The hydraulic pump is connected to the hydraulic cylinder through a hydraulic pipeline; Among them, a controller executes the control method of the present invention to control the hydraulic drive device. The control method includes a slow start phase, a hydraulic cylinder action phase and a slow closing phase. In the slow start phase, the controller commands the electric motor to maintain a relatively low speed to save power; in the hydraulic cylinder action phase, the controller increases or decreases the electric motor in a timely manner based on the detected changes in the total hydraulic pressure. The rotation speed maintains sufficient pressure in the hydraulic pipeline and saves the power consumption of the electric motor; during the slow closing stage, the controller commands the electric motor to gradually slow down and stop, avoiding the back electromotive force generated by the instantaneous shutdown.
Description
本發明關於一種液壓控制裝置,尤指一種可以節省液壓驅動裝置之電力消耗的控制系統及方法。 The present invention relates to a hydraulic control device, and in particular, to a control system and method that can save power consumption of a hydraulic drive device.
液壓技術廣泛應用人們的日常生活中,舉凡各類型的機械設備裝置、生產裝置等均有可能使用,以重型設備為例,液壓油會利用一液壓幫浦加壓而被傳送到一執行機構,令該執行機構產生所需的作動,例如控制一機械手臂產生所需的夾持、移動等。 Hydraulic technology is widely used in people's daily lives. It can be used in various types of mechanical equipment, production equipment, etc. Taking heavy equipment as an example, hydraulic oil will be pressurized by a hydraulic pump and sent to an actuator. The actuator is allowed to produce the required action, such as controlling a robotic arm to produce the required clamping, movement, etc.
驅動該液壓幫浦的動力來源可為引擎或電動馬達,在引擎驅動的液壓系統中,可根據液壓管路中所偵測到的數據而控制該引擎的轉速,例如在液壓壓力值偏低時,會立刻提高引擎轉速以達到足夠的壓力值。但這樣對引擎頻繁進行開、關反復操作的結果,會提高引擎的油耗,不僅大量耗費能源,還會衍生空氣汙染等嚴重環保問題,對而液壓油在管路中所承受的壓力變化也很劇烈。 The power source to drive the hydraulic pump can be an engine or an electric motor. In an engine-driven hydraulic system, the engine speed can be controlled based on the data detected in the hydraulic pipeline. For example, when the hydraulic pressure value is low , will immediately increase the engine speed to reach a sufficient pressure value. However, such repeated operations of turning the engine on and off will increase the fuel consumption of the engine. It not only consumes a lot of energy, but also creates serious environmental problems such as air pollution. The pressure changes experienced by the hydraulic oil in the pipeline are also very large. Violent.
另一方面,若是以電動馬達作為動力來源來驅動液壓幫浦,以應用在工程車輛中的液壓幫浦為例,仍沒有解決上述頻繁開、關運轉的問題。當偵測到液壓壓力值偏低時,仍是會直接提高電動馬達的轉速,以達到足夠的壓力值。這樣頻繁開、關的控制方式,導致電動馬達的轉速會被快速拉高、耗電嚴重。液壓的壓力變化劇烈,造成液壓缸的動力輸出不穩定。 On the other hand, if an electric motor is used as the power source to drive a hydraulic pump, taking the hydraulic pump used in engineering vehicles as an example, the above-mentioned problem of frequent on and off operation is still not solved. When the hydraulic pressure value is detected to be low, the speed of the electric motor will be directly increased to achieve a sufficient pressure value. Such a control method of frequently turning on and off will cause the electric motor's speed to be quickly increased and consume serious power. The hydraulic pressure changes drastically, causing the power output of the hydraulic cylinder to be unstable.
有鑑於此,本發明係提出一種液壓驅動裝置的控制方法,使液壓幫浦的壓力能以相對緩和的方式改變,維持液壓缸具有穩定的動力,並節省驅動該液壓幫浦之電動馬達的耗電。 In view of this, the present invention proposes a control method for a hydraulic drive device, which enables the pressure of the hydraulic pump to change in a relatively gentle manner, maintains stable power of the hydraulic cylinder, and saves the consumption of the electric motor that drives the hydraulic pump. Electricity.
為達成前述發明目的,本發明液壓驅動裝置的控制方法,該液壓驅動裝置包含有一馬達驅動裝置、一電動馬達、一液壓幫浦及至少一液壓缸,該液壓幫浦透過液壓管路連接該液壓缸,其中,該控制方法由一控制器執行且包含以下步驟:當該液壓驅動裝置開啟電源時,該控制器接收從該液壓管路中偵測到之一液壓總壓,判斷該液壓總壓小於預設的一基準液壓值時,輸出一緩啟動的馬達控制指令給該馬達驅動裝置,令該馬達驅動裝置控制該電動馬達維持運轉在一基礎轉速;該控制器判斷接收到一液壓缸操作命令時,輸出對應該液壓缸操作命令的一馬達控制指令給該馬達驅動裝置,令該馬達驅動裝置控制該電動馬達提升至一對應的工作轉速;該控制器輸出對應該液壓缸操作命令的該馬達控制指令之後,係延遲一預設時段後再輸出一控制閥指令,用以控制該液壓缸開始作動;於該液壓缸作動期間,該控制器根據當下的該液壓總壓,即時輸出升速或降速之馬達控制指令給該馬達驅動裝置,用以動態地調整該電動馬達的工作轉速;該控制器判斷接收到一關閉信號時,輸出一用於關閉的馬達控制指令給該馬達驅動裝置,令該馬達驅動裝置逐漸降低提供至該電動馬達之工作電壓而緩關閉該電動馬達。 In order to achieve the foregoing object of the invention, there is a control method for a hydraulic drive device of the present invention. The hydraulic drive device includes a motor drive device, an electric motor, a hydraulic pump and at least one hydraulic cylinder. The hydraulic pump is connected to the hydraulic drive through a hydraulic pipeline. Cylinder, wherein the control method is executed by a controller and includes the following steps: when the hydraulic drive device turns on the power, the controller receives a total hydraulic pressure detected from the hydraulic pipeline, and determines the total hydraulic pressure When it is less than a preset reference hydraulic value, a slow-start motor control command is output to the motor drive device, so that the motor drive device controls the electric motor to maintain operation at a basic speed; the controller determines that a hydraulic cylinder operation has been received When commanding, a motor control command corresponding to the hydraulic cylinder operation command is output to the motor drive device, so that the motor drive device controls the electric motor to increase to a corresponding operating speed; the controller outputs the motor control command corresponding to the hydraulic cylinder operation command. After the motor control command, a control valve command is output after a preset period of delay to control the hydraulic cylinder to start operating; during the operation of the hydraulic cylinder, the controller immediately outputs a speed increase based on the current total hydraulic pressure. Or a motor control command for deceleration is given to the motor drive device to dynamically adjust the working speed of the electric motor; when the controller determines that a shutdown signal is received, it outputs a motor control command for shutdown to the motor drive device. , causing the motor driving device to gradually reduce the operating voltage provided to the electric motor and slowly turn off the electric motor.
藉由前述方法,本發明在電源開啟時提供一緩啟動機制,令電動馬達以一相對較低的基礎轉速運轉,以節省電力,並漸漸建立基礎液壓。當控制器收到使用者輸出的液壓缸操作指令並控制相對應的液壓缸產生作動後,該控制器係持續監控液壓總壓,適時動態地提高/降低該電動馬達的轉速,令液壓管路中維持足夠的壓力值並節省電動馬達的耗電。在緩關閉階段中,電動馬達不會瞬停,避免產生反向電動勢的高壓沖擊,確保系統的穩定安全。 Through the aforementioned method, the present invention provides a slow start mechanism when the power is turned on, allowing the electric motor to operate at a relatively low base speed to save power and gradually establish a base hydraulic pressure. When the controller receives the hydraulic cylinder operation command output by the user and controls the corresponding hydraulic cylinder to act, the controller continuously monitors the total hydraulic pressure and dynamically increases/decreases the speed of the electric motor in a timely manner to make the hydraulic pipeline Maintain sufficient pressure value and save power consumption of the electric motor. During the slow closing stage, the electric motor will not stop instantaneously, avoiding the high-voltage impact of reverse electromotive force and ensuring the stability and safety of the system.
100:液壓驅動裝置 100:Hydraulic drive device
10:馬達驅動裝置 10: Motor drive device
20:電動馬達 20: Electric motor
30:液壓幫浦 30:Hydraulic pump
31:控制閥 31:Control valve
40:感測器組 40: Sensor group
41:壓力感測器 41: Pressure sensor
42:溫度感測器 42:Temperature sensor
51:重載液壓缸 51:Heavy duty hydraulic cylinder
52:輕載液壓缸 52:Light load hydraulic cylinder
200:控制器 200:Controller
rpm:馬達轉速 rpm: motor speed
P:液壓總壓 P: total hydraulic pressure
T:液壓油溫度 T: Hydraulic oil temperature
S1:馬達控制指令 S1: Motor control command
S2:控制閥指令 S2: Control valve command
圖1:本發明液壓驅動裝置的控制系統之方塊圖。 Figure 1: Block diagram of the control system of the hydraulic drive device of the present invention.
圖2:本發明液壓驅動裝置的控制方法之流程圖。 Figure 2: Flow chart of the control method of the hydraulic drive device of the present invention.
圖3:本發明控制方法應用於控制一重載液壓缸之示意信號波形圖。 Figure 3: Schematic signal waveform diagram of the control method of the present invention applied to control a heavy-duty hydraulic cylinder.
圖4:本發明控制方法應用於控制一重載液壓缸及一輕載液壓缸之示意信號波形圖。 Figure 4: Schematic signal waveform diagram of the control method of the present invention applied to control a heavy-load hydraulic cylinder and a light-load hydraulic cylinder.
本發明廣泛應用於各類型的液壓使用場域,舉例而言,各種需要使用液壓的工程車輛例如垃圾車、水泥攪拌車、或是需使用沖壓原理之射出成型機、沖壓設備等均可應用。請參考圖1,本發明的控制系統包含有一液壓驅動裝置100及一控制器200,其中,該液壓驅動裝置100具有一馬達驅動裝置10、一電動馬達20、一液壓幫浦30、一感測器組40,該控制器200用於控制該液壓驅動裝置100。
The present invention is widely used in various types of hydraulic application fields. For example, it can be applied to various engineering vehicles that require the use of hydraulic pressure, such as garbage trucks, cement mixer trucks, or injection molding machines and stamping equipment that require the use of stamping principles. Please refer to Figure 1. The control system of the present invention includes a
該馬達驅動裝置10電性連接該電動馬達20,提供一工作電壓以控制該電動馬達20的一馬達轉速rpm,當工作電壓越高,該馬達轉速rpm隨之上升;反之當工作電壓較低,馬達轉速rpm下降。
The
該電動馬達20提供動力以帶動該液壓幫浦30運轉,藉此控制該液壓幫浦30的轉速。該液壓幫浦30之吸油口及出油口連接有液壓管路,在液壓管路上依據需求設置有複數個不同功能之控制閥31,該些控制閥31包含但不限於例如壓力控制閥、流量控制閥、方向控制閥等,用以分別控制液壓油的壓力、流量或運動方向等。該液壓管路中的液壓油可推動至少一個液壓缸51、52,本文以下說明以一個重載液壓缸51及一個輕載液壓缸52為例說明,但不以此數量或種類為限。
The
該感測器組40包含一個或多個感測器,用於偵測該液壓油的狀態資訊。在本實施例中,該感測器組40包含有一壓力感測器41及一溫度感測器42,該壓力感測器41用以偵測液壓總壓P,該溫度感測器42用以偵測液壓油的溫度T;在其中一實施例中,該壓力感測器41設置在液壓幫浦30的出油口而感測液壓總壓P,該溫度感測器42可設置在液壓管路中的任意位置以感測該液壓油的溫度T。
The
該控制器200電性連接該馬達驅動裝置10、該感測器組40及該些控制閥31,其中,該控制器200可輸出一馬達控制指令S1給該馬達驅動裝置10,使該馬達驅動裝置10根據該馬達控制指令S1而控制該電動馬達20的馬達轉速rpm;而控制器200亦接收來自感測器組40所測得的液壓油狀態資訊,例如接收來自壓力感測器41測得的液壓總壓P、來自溫度感測器42測得的液壓油溫度T;該控制器200亦輸出控制閥指令至各個控制閥31,藉此控制該液壓缸51、52的作動。
The
本發明之控制方法可透過如上述的系統架構具體實施,請參考圖2所示,為本發明控制方法的流程圖,整體而言包含有初始的緩啟動階段、液壓缸動作階段及緩關閉階段,各階段之具體步驟說明如下: The control method of the present invention can be implemented through the above-mentioned system architecture. Please refer to Figure 2, which is a flow chart of the control method of the present invention. Generally speaking, it includes an initial slow start phase, a hydraulic cylinder action phase and a slow closing phase. , the specific steps of each stage are explained as follows:
緩啟動階段S21: Slow start phase S21:
S21:控制器200於開機後,接收由感測器組40偵測之液壓油的狀態資訊,其中,該液壓油的狀態資訊包含液壓總壓P、液壓油溫度T,判斷液壓總壓P小於預設的一基準液壓值時,輸出一緩啟動的馬達控制指令S1給該馬達驅動裝置10,令該馬達驅動裝置10控制該電動馬達20維持運轉在一基礎轉速。因為系統在開機初始時,液壓總壓P還尚未到達該基準液壓值,因此控制器200控制該電動馬達20緩啟動以漸漸提高液壓總壓P,讓電動馬達20維持在基礎轉速時,可以節省電力。
S21: After starting up, the
液壓缸動作階段S22~S24: Hydraulic cylinder action stage S22~S24:
S22:控制器200判斷是否接收到由使用者輸入的一液壓缸操作命令,若是,該控制器200輸出對應該液壓操作命令的一馬達控制指令S1給該馬達驅動裝置10,由該馬達驅動裝置10控制該電動馬達20的轉速,使馬達轉速rpm提升至所需要的工作轉速;其中,根據使用者輸入的不同液壓缸操作命令,該控制器200能夠分別輸出對應不同的馬達控制指令S1,以得到相應的馬達轉速rpm,舉例而言,如果使用者輸入的該液壓缸操作命令是用於啟動重載液壓缸51,對應的馬達控制指令S1可驅動該電動馬達20產生較高的工作轉速,以提供相對較高的液壓總壓P,相反的,如果使用者輸入的該液壓缸操作命令是用於啟動輕載液壓缸52,對應的馬達控制指令S1可驅動該電動馬達20產生較低的工作轉速,以提供相對較低的液壓總壓P。
S22: The
S23:控制器200延遲一預設時段Td之後,輸出對應該液壓操作信號的控制閥指令S2給相關的控制閥31,令對應的液壓缸51,52開始作動;在馬達控制指令S1之後延遲該預設時段Td是為了確保該液壓總壓P已經足夠,此時才輸出該控制閥指令S2控制液壓缸51,52運作,讓液壓缸51,52在壓力足夠的情形下作動。
S23: After delaying a preset period of time T d , the
S24:在液壓缸51,52作動的期間,該控制器200持續接收來自壓力感測器41測得的液壓總壓P、來自溫度感測器42測得的液壓油溫度T,該控制器200持續監控當下的液壓總壓P,並根據該液壓總壓P適當的動態調整馬達轉速rpm,以下以二種不同實施例說明如何根據該液壓總壓P控制馬達轉速rpm。
S24: During the operation of the
在第一較佳實施例中,該控制器200判斷測得的液壓總壓P是否低於預設的一工作壓力下限值。因為當液壓缸51,52開始作動時,該液壓總壓P會從原本的一目標壓力值下降,若其下降幅度過大恐會影響液壓缸51,52的動力輸出,其中,該目標壓力值是指液壓缸51,52作動所需的壓力值,該目標壓力值大於前述基準壓力值,而針對不同的液壓缸51、52可各別設定其所需之目標壓力值,舉例來說,重載液壓缸51之目標壓力值可大於輕載液壓缸52之目標壓力值,當液壓缸51,52在作動的過程中若監測得到的液壓總壓P下降至低於或等於該工作壓力下限值時,控制器200輸出馬達控制指令S1給馬達驅動裝置10以再次提高電動馬達20的運轉速度,令液壓總壓P再漸漸回復至該目標壓力值。舉例來說,若該目標壓力值設定為200kg/cm2而工作壓力下限值設定為160kg/cm2,當液壓缸51,52開始作動後,一旦液壓總壓P下降至預設的工作壓力下限值160kg/cm2,該控制器200便輸出提高轉速的馬達控制指令S1給馬達驅動裝置10,讓液壓總壓能再恢復至目標壓力值200kg/cm2。
In the first preferred embodiment, the
在第二較佳實施例中,該控制器200計算感測到的液壓總壓P與該目標壓力值之間的一壓力差值△P,根據該壓力差值△P的大小調整電動馬達20的之工作轉速的調整幅度。當壓力差值△P越大,提高電動馬達20的運轉於一相對較高的轉速;當壓力差值△P較小,控制電動馬達20相對運轉於一相對較低的轉速,舉例而言,電動馬達20運轉在200rpm時可達到目標壓力值200kg/cm2,當控制器200計算出壓力差值△P為160kg/cm2時,便控制電動馬達20以2000rpm
轉速運轉;當壓力差值△P降低至80kg/cm2時,控制電動馬達20的轉速下降至800rpm。
In the second preferred embodiment, the
另一方面,當控制器200偵測到液壓總壓P持續降低甚至低於預設的一異常下限值時,例如低於10kg/cm2時,代表可能存在液壓油洩漏的問題,此時控制器200轉為輸出用於降速的馬達控制指令S1給馬達驅動裝置10,降低電動馬達20的轉速以避免漏油風險,其中,該異常下限值會低於該工作壓力下限值。
On the other hand, when the
在溫度監控方面,當控制器200判斷該溫度感測器42測得的液壓油溫度T是否高於一溫度上限值,若是,該控制器200輸出用於降速的馬達控制指令S1給馬達驅動裝置10,以降低電動馬達20的轉速。
In terms of temperature monitoring, when the
緩關閉階段S25: Slow closing phase S25:
S25:當控制器200接收到使用者輸入的一關閉信號,該控制器200係輸出一用於關閉的馬達控制指令S1給該馬達驅動裝置10。該馬達驅動裝置10在接收到該馬達控制指令S1後,並不會立即中斷對電動馬達20的供電,而是採取漸進式的緩關閉,逐漸降低提供給電動馬達20的工作電壓而控制馬達轉速rpm逐漸下降,因此電動馬達20不會發生瞬停的現象,可避免產生極大的反向電動勢。
S25: When the
為更清楚說明前述本發明控制方法的初始緩啟動階段、液壓缸動作階段及緩關閉階段,圖3以控制一重載液壓缸為例,在t0~t1期間為初始緩啟動階段,控制器200於系統開機後,判斷液壓總壓P小於預設的一基準液壓值200kg/cm2時,輸出一緩啟動的馬達控制指令S1給該馬達驅動裝置10,控制馬達轉速rpm逐漸上升並維持運轉在一基礎轉速400rpm。
In order to more clearly illustrate the initial slow start phase, hydraulic cylinder action phase and slow closing phase of the control method of the present invention, Figure 3 takes the control of a heavy-load hydraulic cylinder as an example. The period from t0 to t1 is the initial slow start phase, and the
在t1時刻,控制器200接收到使用者輸入的一液壓缸操作命令後,輸出對應該液壓操作命令的一馬達控制指令S1給該馬達驅動裝置10,該馬
達驅動裝置10提升該電動馬達20的轉速至800rpm。在t1~t2之間為延遲的預設時段Td,該控制器200在t2時刻輸出控制閥指令S2給相關的控制閥31,藉此控制重載液壓缸51開始運作。
At time t1, after receiving a hydraulic cylinder operation command input by the user, the
於該重載液壓缸51運作的期間t2~t3,控制器200仍持續監控液壓總壓P與液壓油溫度T,當液壓總壓P低於一工作壓力下限值160kg/cm2時(圖中未示),控制器200便會輸出馬達控制指令S1給馬達驅動裝置10以再次提高電動馬達20的運轉速度至1600rpm,直到液壓總壓P恢復至基準液壓值200kg/cm2時,便降低電動馬達20的速度至基礎轉速400rpm。
During the operation period t2~t3 of the heavy-duty
在t3時刻,控制器200接收到使用者輸入的一關閉信號,該控制器200輸出一用於關閉液壓系統的馬達控制指令S1給該馬達驅動裝置10。該馬達驅動裝置10在接收到該馬達控制指令S1後,逐漸降低電動馬達20的運轉速度,直到完全停止。
At time t3, the
上述範例中各項壓力值及轉速值僅是作為舉例說明,並非限定本發明所使用之數值範圍。 The various pressure values and rotational speed values in the above examples are only for illustration and do not limit the numerical range used in the present invention.
請參考圖4所示的另一範例,以控制一重載液壓缸51及一輕載液壓缸52舉例說明,其中在t0~t3的動作如同圖3的說明,故不再贅述。差異之處在於t4時刻,控制器200接收使用者輸入對應該輕載液壓缸52的一液壓缸操作命令後,控制器200輸出對應該液壓操作命令的一馬達控制指令S1給該馬達驅動裝置10,該馬達驅動裝置10略微降低該電動馬達20的工作轉速,使其略低於重載狀態下的馬達轉速,相應的液壓總壓P也會略低重載狀態下的壓力值,但仍可確保該輕載液壓缸52可以正常運作。而在t5時刻,控制器200接收到使用者輸入的一關閉信號,該控制器200係輸出一用於關閉的馬達控制指令S1給該馬達驅動裝置10。該馬達驅動裝置10根據該馬達控制指令S1,逐漸降低電動馬達20的運轉速度,直到完全停止。
Please refer to another example shown in FIG. 4 , which takes the control of a heavy-load
綜上所述,本發明在緩啟動階段中,控制器讓電動馬達以一相對較低的基礎轉速運轉,以節省電力,並先建立出基礎油壓值,避免後續在液壓缸動作階段中,急速由零直接升高至目標壓力值所導致的電力突波及電力負擔。在液壓缸動作階段中,控制器根據偵測到的液壓總壓及當下的負載狀態,適當地動態提高或降低電動馬達轉速。在緩關閉階段中,電動馬達不會產生瞬停的問題,避免產生反向電動勢的高壓沖擊,確保系統的穩定安全。 To sum up, in the slow start phase of the present invention, the controller allows the electric motor to run at a relatively low basic speed to save power, and first establishes a basic oil pressure value to avoid subsequent hydraulic cylinder action phases. The power surge and power burden caused by the rapid increase from zero to the target pressure value. During the hydraulic cylinder action phase, the controller dynamically increases or decreases the electric motor speed appropriately based on the detected total hydraulic pressure and the current load status. During the slow closing stage, the electric motor will not cause instantaneous stop problems, avoid high-voltage impact of reverse electromotive force, and ensure the stability and safety of the system.
在整體的控制過程中,當電動馬達轉速降為50%時,液壓油的流量也降為50%。但電動馬達所消耗的電力與馬達轉速rpm的三次方成正比,當馬達轉速降為50%時,消耗電力將大幅降低至12.5%。整體而言,本發明的電動馬達因為沒有持續維持在高轉速而且沒有頻繁接受開/關控制,故液壓總壓的壓力變化可以緩慢降低,耗電量也可減少。 In the overall control process, when the electric motor speed drops to 50%, the flow rate of hydraulic oil also drops to 50%. However, the power consumed by an electric motor is proportional to the cube of the motor speed rpm. When the motor speed drops to 50%, the power consumption will be significantly reduced to 12.5%. Overall, since the electric motor of the present invention does not continuously maintain a high speed and does not undergo frequent on/off control, the pressure change of the total hydraulic pressure can be slowly reduced, and the power consumption can also be reduced.
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TWM391594U (en) * | 2010-04-16 | 2010-11-01 | Taiwan Luder Electronic Co Ltd | Pressure stabilizing device for hydraulic system |
US10422109B2 (en) * | 2014-07-03 | 2019-09-24 | Sumitomo Heavy Industries, Ltd. | Shovel and method of controlling shovel |
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TWM391594U (en) * | 2010-04-16 | 2010-11-01 | Taiwan Luder Electronic Co Ltd | Pressure stabilizing device for hydraulic system |
US10422109B2 (en) * | 2014-07-03 | 2019-09-24 | Sumitomo Heavy Industries, Ltd. | Shovel and method of controlling shovel |
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